+ python -m lidar_slam --no-model /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c Lidar SLAM 0.0.12 ===================================================== The recording path: /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c 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 0.019072329 Adjusted end_distance from 9.223372036854776e+18 to 452.009072329 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019072329 meters 0.24400757632653697 Centerline is valid? [0, False] SLAMing on 0.049072329 meters 0.23544380908278575 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99999212e-01 -4.92989882e-04 -1.15488734e-03 1.71275319e-03] [ 4.91328555e-04 9.99998845e-01 -1.43836161e-03 5.61537198e-03] [ 1.15559510e-03 1.43779305e-03 9.99998299e-01 9.71171053e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079072329 meters 0.2404758455629862 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 0.99999659 -0.00121202 -0.00231377 0.00312752] [ 0.00120465 0.9999942 -0.00318687 0.01231905] [ 0.00231762 0.00318408 0.99999225 0.00242916] [ 0. 0. 0. 1. ]] SLAMing on 0.109072329 meters 0.22880077273428764 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 0.99999011 -0.00109283 -0.00431147 0.00735773] [ 0.00107468 0.99999056 -0.0042109 0.02694739] [ 0.00431603 0.00420623 0.99998184 0.00200928] [ 0. 0. 0. 1. ]] SLAMing on 0.139072329 meters 0.22883041220131742 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99984744e-01 -1.90960052e-03 -5.18308269e-03 1.04749248e-02] [ 1.87760361e-03 9.99979195e-01 -6.17119591e-03 3.40348951e-02] [ 5.19475937e-03 6.16136999e-03 9.99967525e-01 3.67711867e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.169072329 meters 0.2300758437010293 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 0.99997643 -0.00106336 -0.00678363 0.01634928] [ 0.00100215 0.99995881 -0.0090207 0.051638 ] [ 0.00679294 0.00901369 0.9999363 -0.00345829] [ 0. 0. 0. 1. ]] SLAMing on 0.199072329 meters 0.22945273529067642 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.00 [[ 0.99997163 0.00119802 -0.0074371 0.01845956] [-0.00126121 0.9999631 -0.00849745 0.06141461] [ 0.00742664 0.00850659 0.99993624 -0.00401855] [ 0. 0. 0. 1. ]] SLAMing on 0.229072329 meters 0.22804096528880913 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.00 [[ 0.99995923 0.00331427 -0.00839967 0.01966068] [-0.00338292 0.99996089 -0.00817103 0.07202624] [ 0.00837226 0.00819912 0.99993134 -0.00240415] [ 0. 0. 0. 1. ]] SLAMing on 0.259072329 meters 0.22766063739209624 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:-0.01 [[ 9.99986096e-01 -2.74028252e-03 -4.50541368e-03 2.77944789e-02] [ 2.73589860e-03 9.99995778e-01 -9.78909457e-04 8.57626164e-02] [ 4.50807715e-03 9.66569492e-04 9.99989371e-01 -5.81221468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.289072329 meters 0.22725590479012678 Centerline is valid? [False, False] Translation: X:0.03, Y:0.11, Z:-0.00 [[ 0.99998044 -0.00297469 -0.00550115 0.02790603] [ 0.00294765 0.99998357 -0.00491549 0.10777922] [ 0.00551568 0.00489918 0.99997279 -0.00197869] [ 0. 0. 0. 1. ]] SLAMing on 0.319072329 meters 0.2277447638051358 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:-0.00 [[ 0.99997108 -0.00382298 -0.00657405 0.03121076] [ 0.00377751 0.99996895 -0.00691536 0.11645561] [ 0.00660029 0.00689032 0.99995448 -0.00331548] [ 0. 0. 0. 1. ]] SLAMing on 0.34907232899999996 meters 0.2286954637681302 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:-0.00 [[ 0.9999612 -0.0042897 -0.00769373 0.0343845 ] [ 0.00422493 0.99995567 -0.00841526 0.12421763] [ 0.00772949 0.00838243 0.99993499 -0.00434513] [ 0. 0. 0. 1. ]] SLAMing on 0.379072329 meters 0.23063869275444313 Centerline is valid? [False, False] Translation: X:0.04, Y:0.14, Z:-0.00 [[ 0.99994798 -0.00300595 -0.00974713 0.03829279] [ 0.00291614 0.99995329 -0.00921476 0.14338545] [ 0.00977438 0.00918586 0.99991004 -0.00411726] [ 0. 0. 0. 1. ]] SLAMing on 0.409072329 meters 0.23154270465765614 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:-0.01 [[ 9.99936123e-01 -6.82651031e-04 -1.12820367e-02 4.26174217e-02] [ 5.92463122e-04 9.99967861e-01 -7.99534844e-03 1.52690468e-01] [ 1.12871321e-02 7.98815353e-03 9.99904390e-01 -5.67777262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.439072329 meters 0.23287765663263327 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:-0.01 [[ 0.99997926 -0.00395686 -0.00508248 0.05439699] [ 0.00396508 0.99999085 0.00160732 0.1614881 ] [ 0.00507607 -0.00162744 0.99998579 -0.01420418] [ 0. 0. 0. 1. ]] SLAMing on 0.46907232899999995 meters 0.2338997002426101 Centerline is valid? [False, False] Translation: X:0.07, Y:0.18, Z:-0.02 [[ 0.99995159 -0.00753416 -0.00632952 0.07449987] [ 0.00758595 0.99993762 0.00819799 0.18362658] [ 0.00626736 -0.00824561 0.99994636 -0.02355429] [ 0. 0. 0. 1. ]] SLAMing on 0.499072329 meters 0.2351876757609999 Centerline is valid? [False, False] Translation: X:0.08, Y:0.19, Z:-0.03 [[ 0.99994441 -0.0064831 -0.00831572 0.07961557] [ 0.0065526 0.99994361 0.00835746 0.19273685] [ 0.00826106 -0.00841148 0.9999305 -0.02517416] [ 0. 0. 0. 1. ]] SLAMing on 0.529072329 meters 0.23838720174574546 Centerline is valid? [False, False] Translation: X:0.08, Y:0.20, Z:-0.03 [[ 0.99993261 -0.00665907 -0.00950971 0.08263832] [ 0.0067276 0.9999515 0.00719249 0.20008661] [ 0.00946136 -0.00725598 0.99992891 -0.02567696] [ 0. 0. 0. 1. ]] SLAMing on 0.559072329 meters 0.24081510480799356 Centerline is valid? [False, False] Translation: X:0.09, Y:0.22, Z:-0.03 [[ 0.99988609 -0.00779282 -0.01292621 0.0906365 ] [ 0.00783855 0.99996318 0.00349134 0.21749897] [ 0.01289853 -0.00359226 0.99991036 -0.02716285] [ 0. 0. 0. 1. ]] SLAMing on 0.589072329 meters 0.24118207745436615 Centerline is valid? [False, False] Translation: X:0.09, Y:0.22, Z:-0.03 [[ 0.99987029 -0.00807518 -0.01393535 0.09262972] [ 0.0081079 0.9999645 0.00229303 0.22388578] [ 0.01391634 -0.00240572 0.99990027 -0.02654628] [ 0. 0. 0. 1. ]] SLAMing on 0.619072329 meters 0.24062913535359245 Centerline is valid? [False, False] Translation: X:0.10, Y:0.23, Z:-0.03 [[ 9.99962271e-01 -8.52451282e-03 -1.66999235e-03 9.58783742e-02] [ 8.52342005e-03 9.99963457e-01 -6.60387052e-04 2.33824962e-01] [ 1.67556080e-03 6.46128090e-04 9.99998388e-01 -2.91872498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.649072329 meters 0.24445475608890108 Centerline is valid? [False, False] Translation: X:0.10, Y:0.24, Z:-0.03 [[ 0.99997577 -0.00611976 -0.00331747 0.1002114 ] [ 0.00612444 0.99998026 0.00140377 0.2394266 ] [ 0.00330881 -0.00142406 0.99999351 -0.03078178] [ 0. 0. 0. 1. ]] SLAMing on 0.6790723289999999 meters 0.2445910365260545 Centerline is valid? [False, False] Translation: X:0.10, Y:0.25, Z:-0.03 [[ 0.9999841 -0.00369713 -0.00425788 0.1027303 ] [ 0.00370718 0.99999036 0.00235366 0.25021913] [ 0.00424914 -0.0023694 0.99998817 -0.03116465] [ 0. 0. 0. 1. ]] SLAMing on 0.709072329 meters 0.24513224750914153 Centerline is valid? [False, False] Translation: X:0.10, Y:0.26, Z:-0.03 [[ 0.99997887 -0.00386771 -0.00522567 0.1046151 ] [ 0.00387473 0.9999916 0.00133307 0.25560401] [ 0.00522047 -0.00135329 0.99998546 -0.03044334] [ 0. 0. 0. 1. ]] SLAMing on 0.739072329 meters 0.2484596697529947 Centerline is valid? [False, False] Translation: X:0.11, Y:0.27, Z:-0.03 [[ 0.9999645 -0.00504983 -0.00674564 0.10814724] [ 0.00504288 0.99998674 -0.00104653 0.26541569] [ 0.00675084 0.00101248 0.9999767 -0.03044111] [ 0. 0. 0. 1. ]] SLAMing on 0.769072329 meters 0.25118956166130557 Centerline is valid? [False, False] Translation: X:0.11, Y:0.27, Z:-0.03 [[ 0.9999612 -0.00495068 -0.00728671 0.10969594] [ 0.00494253 0.99998714 -0.00113592 0.26676063] [ 0.00729224 0.00109986 0.99997281 -0.03082353] [ 0. 0. 0. 1. ]] SLAMing on 0.799072329 meters 0.2526100374495136 Centerline is valid? [False, False] Translation: X:0.11, Y:0.27, Z:-0.03 [[ 0.99995778 -0.00495596 -0.00773813 0.11061257] [ 0.00494592 0.9999869 -0.00131575 0.2679788 ] [ 0.00774455 0.00127742 0.99996919 -0.03054431] [ 0. 0. 0. 1. ]] SLAMing on 0.8290723289999999 meters 0.25410175870966134 Centerline is valid? [False, False] Translation: X:0.11, Y:0.27, Z:-0.03 [[ 0.99995208 -0.00510449 -0.00835372 0.11127597] [ 0.00509049 0.99998561 -0.00169592 0.26948884] [ 0.00836226 0.00165332 0.99996367 -0.02925793] [ 0. 0. 0. 1. ]] SLAMing on 0.859072329 meters 0.2549982296434757 Centerline is valid? [False, False] Translation: X:0.13, Y:0.28, Z:-0.03 [[ 0.99993183 -0.01088488 -0.0042253 0.1276022 ] [ 0.0108964 0.99993695 0.00271402 0.2784484 ] [ 0.00419549 -0.00275988 0.99998739 -0.03077527] [ 0. 0. 0. 1. ]] SLAMing on 0.889072329 meters 0.2568844087055966 Centerline is valid? [False, False] Translation: X:0.13, Y:0.28, Z:-0.03 [[ 0.99992684 -0.01102398 -0.00497863 0.12866931] [ 0.01103633 0.99993608 0.00245826 0.27970921] [ 0.00495121 -0.00251302 0.99998458 -0.02966575] [ 0. 0. 0. 1. ]] SLAMing on 0.9190723289999999 meters 0.25675380462146424 Centerline is valid? [False, False] Translation: X:0.13, Y:0.28, Z:-0.03 [[ 0.99992516 -0.01080991 -0.00572897 0.13082162] [ 0.01082634 0.99993735 0.00284454 0.27957154] [ 0.00569786 -0.00290635 0.99997954 -0.03030537] [ 0. 0. 0. 1. ]] SLAMing on 0.9490723289999999 meters 0.26012815151098306 Centerline is valid? [False, False] Translation: X:0.13, Y:0.28, Z:-0.03 [[ 0.99986179 -0.01551496 -0.00597441 0.1333106 ] [ 0.01550262 0.99987761 -0.00210661 0.28173793] [ 0.00600636 0.0020137 0.99997993 -0.03255238] [ 0. 0. 0. 1. ]] SLAMing on 0.979072329 meters 0.2608188124760589 Centerline is valid? [False, False] Translation: X:0.14, Y:0.28, Z:-0.03 [[ 0.99986702 -0.0149373 -0.00654405 0.13593869] [ 0.01492992 0.99988785 -0.00117509 0.2802722 ] [ 0.00656087 0.00107723 0.9999779 -0.03454101] [ 0. 0. 0. 1. ]] SLAMing on 1.0090723289999999 meters 0.2597988269035203 Centerline is valid? [False, False] Translation: X:0.14, Y:0.28, Z:-0.03 [[ 0.99984855 -0.01551018 -0.00789427 0.13819416] [ 0.01549442 0.99987784 -0.00205398 0.28410524] [ 0.00792516 0.00193135 0.99996673 -0.03323345] [ 0. 0. 0. 1. ]] SLAMing on 1.0390723290000001 meters 0.2597874243705314 Centerline is valid? [False, False] Translation: X:0.14, Y:0.29, Z:-0.03 [[ 0.99984491 -0.01545136 -0.00845072 0.13937689] [ 0.01543384 0.99987861 -0.00213445 0.28507241] [ 0.00848267 0.00200369 0.99996201 -0.03290264] [ 0. 0. 0. 1. ]] SLAMing on 1.069072329 meters 0.2604356344081395 Centerline is valid? [False, False] Translation: X:0.14, Y:0.29, Z:-0.03 [[ 0.99984543 -0.01513286 -0.00895073 0.1412106 ] [ 0.01511712 0.99988407 -0.0018227 0.28525289] [ 0.00897727 0.00168711 0.99995828 -0.03381267] [ 0. 0. 0. 1. ]] SLAMing on 1.0990723290000002 meters 0.26175668184281786 Centerline is valid? [False, False] Translation: X:0.14, Y:0.28, Z:-0.04 [[ 0.99984769 -0.01466847 -0.0094573 0.14348226] [ 0.01465732 0.9998918 -0.00124753 0.28493012] [ 0.00947458 0.00110872 0.9999545 -0.03539981] [ 0. 0. 0. 1. ]] SLAMing on 1.129072329 meters 0.26092173543590474 Centerline is valid? [False, False] Translation: X:0.15, Y:0.29, Z:-0.04 [[ 9.99842714e-01 -1.44043375e-02 -1.03471355e-02 1.46250363e-01] [ 1.43942313e-02 9.99895846e-01 -1.05052754e-03 2.85868980e-01] [ 1.03611899e-02 9.01423243e-04 9.99945915e-01 -3.63102802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1590723289999998 meters 0.26092173543590474 Centerline is valid? [False, False] Translation: X:0.15, Y:0.29, Z:-0.04 [[ 9.99842714e-01 -1.44043375e-02 -1.03471355e-02 1.46250363e-01] [ 1.43942313e-02 9.99895846e-01 -1.05052754e-03 2.85868980e-01] [ 1.03611899e-02 9.01423243e-04 9.99945915e-01 -3.63102802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.189072329 meters 0.2604974067154505 Centerline is valid? [False, False] Translation: X:0.15, Y:0.29, Z:-0.04 [[ 9.99840695e-01 -1.41952107e-02 -1.08204025e-02 1.47690584e-01] [ 1.41869082e-02 9.99899005e-01 -8.43675045e-04 2.86155833e-01] [ 1.08312858e-02 6.90032587e-04 9.99941102e-01 -3.67123670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2190723289999998 meters 0.2601830966609765 Centerline is valid? [False, False] Translation: X:0.15, Y:0.29, Z:-0.04 [[ 9.99839494e-01 -1.38381530e-02 -1.13794557e-02 1.49704028e-01] [ 1.38345463e-02 9.99904220e-01 -3.95609654e-04 2.85914282e-01] [ 1.13838403e-02 2.38116551e-04 9.99935174e-01 -3.76853266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.249072329 meters 0.2588213813450263 Centerline is valid? [False, False] Translation: X:0.15, Y:0.29, Z:-0.04 [[ 9.99835441e-01 -1.35862337e-02 -1.20210040e-02 1.54279098e-01] [ 1.35902184e-02 9.99907618e-01 2.49846641e-04 2.85141983e-01] [ 1.20164990e-02 -4.13173596e-04 9.99927714e-01 -4.22085224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.279072329 meters 0.25801278593271143 Centerline is valid? [False, False] Translation: X:0.16, Y:0.28, Z:-0.04 [[ 0.999841 -0.01279536 -0.01241996 0.15700043] [ 0.01281577 0.99991665 0.00156533 0.28262982] [ 0.0123989 -0.00172425 0.99992164 -0.04497103] [ 0. 0. 0. 1. ]] SLAMing on 1.3090723290000001 meters 0.25746614878902746 Centerline is valid? [False, False] Translation: X:0.16, Y:0.28, Z:-0.05 [[ 0.99984442 -0.01215978 -0.01277773 0.15893708] [ 0.01219465 0.99992212 0.00265483 0.2800587 ] [ 0.01274445 -0.00281024 0.99991484 -0.04663984] [ 0. 0. 0. 1. ]] SLAMing on 1.339072329 meters 0.2556298487997156 Centerline is valid? [False, False] Translation: X:0.16, Y:0.28, Z:-0.05 [[ 0.9998443 -0.01189615 -0.01303286 0.15970817] [ 0.01193911 0.99992353 0.00322305 0.27836363] [ 0.01299352 -0.00337815 0.99990987 -0.0468723 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3690723289999998 meters 0.250473760726756 Centerline is valid? [False, False] Translation: X:0.16, Y:0.28, Z:-0.04 [[ 0.99982809 -0.01212922 -0.01402422 0.16051068] [ 0.01217764 0.99992016 0.00337251 0.27800404] [ 0.01398219 -0.00354271 0.99989597 -0.0446924 ] [ 0. 0. 0. 1. ]] SLAMing on 1.399072329 meters 0.2517064656377433 Centerline is valid? [False, False] Translation: X:0.16, Y:0.28, Z:-0.05 [[ 0.99982467 -0.0116235 -0.01468077 0.16275546] [ 0.01168972 0.99992185 0.00443296 0.27553356] [ 0.0146281 -0.0046038 0.99988241 -0.04578782] [ 0. 0. 0. 1. ]] SLAMing on 1.4290723289999998 meters 0.24578959315477533 Centerline is valid? [False, False] Translation: X:0.16, Y:0.27, Z:-0.05 [[ 9.99764489e-01 -1.58177309e-02 -1.48582083e-02 1.63185649e-01] [ 1.58270219e-02 9.99874616e-01 5.07923211e-04 2.74203506e-01] [ 1.48483111e-02 -7.42964778e-04 9.99889482e-01 -4.54983836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.459072329 meters 0.24550527652214268 Centerline is valid? [False, False] Translation: X:0.17, Y:0.27, Z:-0.05 [[ 9.99681119e-01 -1.99895930e-02 -1.54297521e-02 1.65277029e-01] [ 1.99736716e-02 9.99799804e-01 -1.18529477e-03 2.65398759e-01] [ 1.54503567e-02 8.76727997e-04 9.99880252e-01 -4.72325353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4890723289999999 meters 0.23827598936695893 Centerline is valid? [False, False] Translation: X:0.17, Y:0.26, Z:-0.05 [[ 9.99678344e-01 -1.97448386e-02 -1.59169983e-02 1.66481490e-01] [ 1.97473432e-02 9.99805002e-01 1.88424740e-07 2.61797599e-01] [ 1.59138908e-02 -3.14506793e-04 9.99873317e-01 -4.74584018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.519072329 meters 0.23761882545190283 Centerline is valid? [False, False] Translation: X:0.17, Y:0.26, Z:-0.05 [[ 9.99674228e-01 -1.95945734e-02 -1.63551555e-02 1.67318489e-01] [ 1.96111182e-02 9.99807321e-01 8.51809003e-04 2.59112995e-01] [ 1.63353133e-02 -1.17227439e-03 9.99865883e-01 -4.71573894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.549072329 meters 0.23309723912518593 Centerline is valid? [False, False] Translation: X:0.17, Y:0.25, Z:-0.05 [[ 0.99957878 -0.0236829 -0.01677468 0.16855712] [ 0.02365553 0.9997185 -0.0018284 0.25407937] [ 0.01681326 0.00143082 0.99985762 -0.04723022] [ 0. 0. 0. 1. ]] SLAMing on 1.5790723290000002 meters 0.2321331255867648 Centerline is valid? [False, False] Translation: X:0.17, Y:0.25, Z:-0.05 [[ 0.99948588 -0.0272415 -0.01690811 0.1704682 ] [ 0.02716923 0.99962076 -0.00448995 0.24966418] [ 0.01702401 0.00402826 0.99984697 -0.04932506] [ 0. 0. 0. 1. ]] SLAMing on 1.609072329 meters 0.2280907288138155 Centerline is valid? [False, False] Translation: X:0.17, Y:0.24, Z:-0.05 [[ 0.99937699 -0.03103169 -0.01681287 0.17131076] [ 0.03091259 0.99949545 -0.00729841 0.24497438] [ 0.01703087 0.00677414 0.99983202 -0.05063728] [ 0. 0. 0. 1. ]] SLAMing on 1.6390723289999998 meters 0.22251020751035716 Centerline is valid? [False, False] Translation: X:0.17, Y:0.23, Z:-0.05 [[ 0.99935936 -0.03133363 -0.01729372 0.17181933] [ 0.03126233 0.99950163 -0.00437787 0.2339877 ] [ 0.01742227 0.00383442 0.99984087 -0.05043547] [ 0. 0. 0. 1. ]] SLAMing on 1.669072329 meters 0.2212010382890672 Centerline is valid? [False, False] Translation: X:0.17, Y:0.23, Z:-0.05 [[ 0.99947754 -0.02670086 -0.01821274 0.17413114] [ 0.02674241 0.99964027 0.00204137 0.22783235] [ 0.01815168 -0.00252736 0.99983205 -0.05180628] [ 0. 0. 0. 1. ]] SLAMing on 1.6990723289999998 meters 0.2176858242426905 Centerline is valid? [False, False] Translation: X:0.18, Y:0.22, Z:-0.05 [[ 0.99946875 -0.02637432 -0.01914696 0.17645867] [ 0.02646289 0.99964017 0.00438692 0.22092094] [ 0.01902437 -0.00489127 0.99980706 -0.05249176] [ 0. 0. 0. 1. ]] SLAMing on 1.729072329 meters 0.21592459873697845 Centerline is valid? [False, False] Translation: X:0.18, Y:0.22, Z:-0.05 [[ 9.99353381e-01 -3.02782230e-02 -1.93919752e-02 1.78014626e-01] [ 3.03020814e-02 9.99540347e-01 9.37601457e-04 2.18864146e-01] [ 1.93546727e-02 -1.52461240e-03 9.99811518e-01 -5.35346158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7590723289999999 meters 0.21365066439542152 Centerline is valid? [False, False] Translation: X:0.18, Y:0.22, Z:-0.06 [[ 0.99922945 -0.03403182 -0.01955338 0.17971546] [ 0.03399567 0.99941961 -0.00217809 0.21579421] [ 0.01961616 0.00151168 0.99980644 -0.0551267 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7890723290000001 meters 0.21179421890531125 Centerline is valid? [False, False] Translation: X:0.18, Y:0.21, Z:-0.06 [[ 0.999091 -0.03778623 -0.01973243 0.18141286] [ 0.03768696 0.99927512 -0.00537874 0.21291258] [ 0.01992137 0.00463019 0.99979083 -0.05655714] [ 0. 0. 0. 1. ]] SLAMing on 1.819072329 meters 0.20886947602628286 Centerline is valid? [False, False] Translation: X:0.18, Y:0.21, Z:-0.06 [[ 0.99897774 -0.04063772 -0.01980034 0.18264622] [ 0.0405025 0.99915362 -0.00718335 0.20782866] [ 0.0200755 0.00637405 0.99977815 -0.05776868] [ 0. 0. 0. 1. ]] SLAMing on 1.8490723289999997 meters 0.2062877589852221 Centerline is valid? [False, False] Translation: X:0.18, Y:0.20, Z:-0.06 [[ 9.99155117e-01 -3.57740491e-02 -2.02304253e-02 1.84427590e-01] [ 3.57578254e-02 9.99359807e-01 -1.16322875e-03 2.02702812e-01] [ 2.02590874e-02 4.38849942e-04 9.99794667e-01 -5.97368229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.879072329 meters 0.20701148983630577 Centerline is valid? [False, False] Translation: X:0.19, Y:0.20, Z:-0.06 [[ 9.99160974e-01 -3.54432487e-02 -2.05213028e-02 1.85252048e-01] [ 3.54430223e-02 9.99371628e-01 -3.74857890e-04 2.00303282e-01] [ 2.05216940e-02 -3.52793616e-04 9.99789346e-01 -5.98274168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9090723289999998 meters 0.20441296732063216 Centerline is valid? [False, False] Translation: X:0.19, Y:0.20, Z:-0.06 [[ 0.99917736 -0.03479278 -0.02083402 0.18682632] [ 0.03482565 0.99939266 0.00121676 0.19571436] [ 0.02077903 -0.00194132 0.99978221 -0.06110369] [ 0. 0. 0. 1. ]] SLAMing on 1.939072329 meters 0.19984628010586464 Centerline is valid? [False, False] Translation: X:0.18, Y:0.18, Z:-0.07 [[ 0.99932892 -0.03337715 -0.01508862 0.17810742] [ 0.03329795 0.9994305 -0.00546973 0.1836168 ] [ 0.01526259 0.00496364 0.9998712 -0.06548383] [ 0. 0. 0. 1. ]] SLAMing on 1.9690723289999998 meters 0.19745749999134632 Centerline is valid? [False, False] Translation: X:0.18, Y:0.18, Z:-0.07 [[ 0.99934173 -0.0330642 -0.01492848 0.17811151] [ 0.03301095 0.99944777 -0.00379924 0.17660076] [ 0.01504586 0.00330394 0.99988135 -0.06597996] [ 0. 0. 0. 1. ]] SLAMing on 1.999072329 meters 0.19554197869519505 Centerline is valid? [False, False] Translation: X:0.18, Y:0.17, Z:-0.07 [[ 0.99935334 -0.03269187 -0.0149716 0.17856321] [ 0.03266356 0.99946413 -0.00213111 0.17115587] [ 0.01503324 0.00164071 0.99988565 -0.06648542] [ 0. 0. 0. 1. ]] SLAMing on 2.029072329 meters 0.19413209388829641 Centerline is valid? [False, False] Translation: X:0.18, Y:0.16, Z:-0.07 [[ 9.99351439e-01 -3.26098321e-02 -1.52741512e-02 1.78954865e-01] [ 3.26209038e-02 9.99467683e-01 4.76221644e-04 1.62276491e-01] [ 1.52504910e-02 -9.74169404e-04 9.99883230e-01 -6.63698606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.059072329 meters 0.1914006651324234 Centerline is valid? [False, False] Translation: X:0.18, Y:0.16, Z:-0.07 [[ 0.99936278 -0.03211462 -0.01557859 0.18039618] [ 0.03215074 0.99948088 0.00207347 0.15755336] [ 0.01550391 -0.00257302 0.9998765 -0.06755849] [ 0. 0. 0. 1. ]] SLAMing on 2.089072329 meters 0.19004071811441386 Centerline is valid? [False, False] Translation: X:0.19, Y:0.15, Z:-0.07 [[ 0.99962825 -0.02278363 -0.0149759 0.1851739 ] [ 0.02271592 0.99973103 -0.00467578 0.15059925] [ 0.01507841 0.00433385 0.99987692 -0.06937837] [ 0. 0. 0. 1. ]] SLAMing on 2.119072329 meters 0.19008568471225534 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-0.07 [[ 0.99954441 -0.02605215 -0.01523975 0.18787105] [ 0.02595167 0.99964038 -0.00675427 0.14485622] [ 0.01541024 0.00635569 0.99986106 -0.07235082] [ 0. 0. 0. 1. ]] SLAMing on 2.149072329 meters 0.18467778409908453 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.08 [[ 0.99918023 -0.03771216 -0.01471964 0.18980784] [ 0.03748234 0.99917569 -0.01558874 0.13339775] [ 0.01529539 0.01502423 0.99977014 -0.07635779] [ 0. 0. 0. 1. ]] SLAMing on 2.1790723290000003 meters 0.18459196513133697 Centerline is valid? [False, False] Translation: X:0.19, Y:0.12, Z:-0.08 [[ 0.99920768 -0.03694083 -0.01481163 0.19154739] [ 0.03675749 0.99924648 -0.01246462 0.12480678] [ 0.01526093 0.0119103 0.99981261 -0.07949531] [ 0. 0. 0. 1. ]] SLAMing on 2.209072329 meters 0.18017521493365454 Centerline is valid? [False, False] Translation: X:0.19, Y:0.11, Z:-0.08 [[ 0.99923017 -0.03645139 -0.01450372 0.18898093] [ 0.03632906 0.99930279 -0.00861024 0.1123736 ] [ 0.01480746 0.0080767 0.99985774 -0.07664962] [ 0. 0. 0. 1. ]] SLAMing on 2.239072329 meters 0.17772418456944367 Centerline is valid? [False, False] Translation: X:0.19, Y:0.11, Z:-0.08 [[ 0.99923646 -0.03627556 -0.01451146 0.18878864] [ 0.0361741 0.9993196 -0.00719477 0.10737633] [ 0.01476258 0.00666433 0.99986882 -0.07606128] [ 0. 0. 0. 1. ]] SLAMing on 2.269072329 meters 0.17573503219475983 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.08 [[ 0.9992471 -0.03599352 -0.01448116 0.18881243] [ 0.03591668 0.99933948 -0.00553164 0.10129138] [ 0.0146707 0.00500736 0.99987984 -0.0760583 ] [ 0. 0. 0. 1. ]] SLAMing on 2.299072329 meters 0.17106270265172938 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.07 [[ 0.99939912 -0.02839175 -0.0198823 0.17069431] [ 0.02795176 0.99936564 -0.02206865 0.08830362] [ 0.02049625 0.02149965 0.99955874 -0.07005552] [ 0. 0. 0. 1. ]] SLAMing on 2.329072329 meters 0.17091037969121803 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.08 [[ 0.99942556 -0.02717589 -0.02024887 0.17578642] [ 0.02683736 0.99949852 -0.01680676 0.07738149] [ 0.02069545 0.01625368 0.9996537 -0.08039499] [ 0. 0. 0. 1. ]] SLAMing on 2.359072329 meters 0.16643897968738086 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.08 [[ 0.99932571 -0.03055769 -0.02035568 0.17756847] [ 0.03017407 0.99936607 -0.01889396 0.07134254] [ 0.02092013 0.018267 0.99961426 -0.08245555] [ 0. 0. 0. 1. ]] SLAMing on 2.389072329 meters 0.16554921231257302 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:-0.09 [[ 0.99935562 -0.0293858 -0.02061099 0.17970522] [ 0.02913125 0.99949689 -0.01254375 0.05562136] [ 0.02096923 0.01193525 0.99970888 -0.08733314] [ 0. 0. 0. 1. ]] SLAMing on 2.419072329 meters 0.1636740361538985 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:-0.09 [[ 0.99937432 -0.0285706 -0.02084906 0.18108717] [ 0.02836623 0.99954724 -0.01003326 0.04858235] [ 0.02112628 0.00943557 0.99973229 -0.08859654] [ 0. 0. 0. 1. ]] SLAMing on 2.449072329 meters 0.16647649179662485 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.09 [[ 0.99928243 -0.03521479 -0.01394819 0.19426596] [ 0.03514587 0.99936889 -0.00515574 0.04134565] [ 0.01412095 0.00466182 0.99988943 -0.09337483] [ 0. 0. 0. 1. ]] SLAMing on 2.479072329 meters 0.16499524311799046 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.10 [[ 0.99950873 -0.03001607 -0.00901865 0.18625184] [ 0.02994557 0.99952069 -0.00785232 0.03302734] [ 0.00925002 0.0075784 0.9999285 -0.09828449] [ 0. 0. 0. 1. ]] SLAMing on 2.509072329 meters 0.16219587720267803 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.10 [[ 0.99941488 -0.03345617 -0.00711162 0.18385144] [ 0.03340358 0.99941462 -0.00739039 0.01622359] [ 0.00735471 0.00714851 0.9999474 -0.10044104] [ 0. 0. 0. 1. ]] SLAMing on 2.539072329 meters 0.16190772660960043 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.11 [[ 0.99962147 -0.02737609 -0.00273389 0.17791322] [ 0.02734784 0.99957709 -0.0098867 0.00889529] [ 0.0030034 0.0098082 0.99994739 -0.10756074] [ 0. 0. 0. 1. ]] SLAMing on 2.569072329 meters 0.15882703480610083 Centerline is valid? [False, False] Translation: X:0.18, Y:0.00, Z:-0.11 [[ 0.99964429 -0.02650372 -0.00297497 0.17944746] [ 0.02648005 0.99961943 -0.00773296 0.00305353] [ 0.00317879 0.00765143 0.99996567 -0.10925931] [ 0. 0. 0. 1. ]] SLAMing on 2.599072329 meters 0.1578578555990288 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.11 [[ 0.99967447 -0.02528953 -0.0033751 0.18167838] [ 0.02527464 0.99967094 -0.00438322 -0.00563626] [ 0.00348484 0.00429649 0.9999847 -0.11163471] [ 0. 0. 0. 1. ]] SLAMing on 2.629072329 meters 0.1612176857768255 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.12 [[ 9.99817949e-01 -1.90744442e-02 4.83520999e-04 1.77345415e-01] [ 1.90773934e-02 9.99792895e-01 -7.08663831e-03 -1.03207777e-02] [-3.48247172e-04 7.09457250e-03 9.99974773e-01 -1.19924018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.659072329 meters 0.1594488519933341 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.12 [[ 9.99764511e-01 -2.16926905e-02 5.91900927e-04 1.79368114e-01] [ 2.16964717e-02 9.99737349e-01 -7.38217658e-03 -2.10024696e-02] [-4.31606192e-04 7.39328032e-03 9.99972576e-01 -1.23627580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.689072329 meters 0.1576368859127632 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.13 [[ 0.99986659 -0.01559411 0.00485967 0.17302751] [ 0.01563909 0.9998339 -0.00935879 -0.02762562] [-0.00471292 0.00943354 0.9999444 -0.13028191] [ 0. 0. 0. 1. ]] SLAMing on 2.719072329 meters 0.15436891260292612 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.13 [[ 0.99992868 -0.01085904 0.00497054 0.17421887] [ 0.01087425 0.99993624 -0.00304296 -0.03669916] [-0.00493718 0.00309679 0.99998302 -0.13253708] [ 0. 0. 0. 1. ]] SLAMing on 2.749072329 meters 0.15094927923551033 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.13 [[ 0.99994697 -0.00468384 0.00917177 0.16282201] [ 0.00473935 0.99997053 -0.00604047 -0.04621738] [-0.00914321 0.00608362 0.99993969 -0.13405234] [ 0. 0. 0. 1. ]] SLAMing on 2.779072329 meters 0.1513027713785047 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.14 [[ 0.99995193 -0.00390575 0.008993 0.16397432] [ 0.00394494 0.99998278 -0.00434433 -0.05068297] [-0.00897588 0.0043796 0.99995013 -0.13526672] [ 0. 0. 0. 1. ]] SLAMing on 2.809072329 meters 0.15485553890127776 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:-0.14 [[ 0.99995786 -0.00297549 0.00868525 0.16585879] [ 0.00299686 0.99999251 -0.00244794 -0.05525195] [-0.0086779 0.00247387 0.99995929 -0.13725534] [ 0. 0. 0. 1. ]] SLAMing on 2.839072329 meters 0.15474581252372172 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:-0.14 [[ 9.99963197e-01 -1.93267894e-03 8.35876163e-03 1.67877896e-01] [ 1.93542628e-03 9.99998076e-01 -3.20601364e-04 -6.05757466e-02] [-8.35812593e-03 3.36767332e-04 9.99965014e-01 -1.39434211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.869072329 meters 0.15522636251984434 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:-0.14 [[ 0.99995354 -0.00507004 0.00819841 0.16890305] [ 0.00508646 0.9999851 -0.00198256 -0.06814098] [-0.00818824 0.00202417 0.99996443 -0.14059578] [ 0. 0. 0. 1. ]] SLAMing on 2.899072329 meters 0.15546398457532032 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:-0.14 [[ 9.99957877e-01 -4.37048817e-03 8.07115879e-03 1.69610963e-01] [ 4.37360620e-03 9.99990368e-01 -3.68707654e-04 -7.26750193e-02] [-8.06946961e-03 4.03992193e-04 9.99967360e-01 -1.41240004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.929072329 meters 0.1553402075970738 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:-0.14 [[ 9.99960462e-01 -3.87668842e-03 8.00291265e-03 1.69754980e-01] [ 3.86965794e-03 9.99992113e-01 8.93787370e-04 -7.64529942e-02] [-8.00631447e-03 -8.62783496e-04 9.99967577e-01 -1.41163728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.959072329 meters 0.15141723286326092 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.08, Z:-0.14 [[ 0.99996111 -0.00362568 0.00803997 0.16928206] [ 0.00361192 0.99999199 0.00172517 -0.07932017] [-0.00804616 -0.00169606 0.99996619 -0.14041669] [ 0. 0. 0. 1. ]] SLAMing on 2.989072329 meters 0.15375683302785537 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.14 [[ 0.99996364 -0.00266154 0.00810133 0.16934256] [ 0.00262861 0.99998825 0.00407324 -0.08606531] [-0.00811207 -0.0040518 0.99995889 -0.14045604] [ 0. 0. 0. 1. ]] SLAMing on 3.019072329 meters 0.15407879914034367 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.13 [[ 9.99970736e-01 -1.46669322e-03 -7.50844899e-03 1.71428181e-01] [ 1.47015402e-03 9.99998816e-01 4.55422081e-04 -8.84348805e-02] [ 7.50777213e-03 -4.66447330e-04 9.99971707e-01 -1.30755018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.049072329 meters 0.15407879914034367 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.13 [[ 9.99970736e-01 -1.46669322e-03 -7.50844899e-03 1.71428181e-01] [ 1.47015402e-03 9.99998816e-01 4.55422081e-04 -8.84348805e-02] [ 7.50777213e-03 -4.66447330e-04 9.99971707e-01 -1.30755018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.079072329 meters 0.1547111569629709 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.13 [[ 9.99970415e-01 -5.93458869e-04 -7.66926987e-03 1.72887935e-01] [ 6.11003763e-04 9.99997201e-01 2.28554710e-03 -9.33455429e-02] [ 7.66789203e-03 -2.29016544e-03 9.99967979e-01 -1.32522853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.109072329 meters 0.15750277434324755 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:-0.13 [[ 9.99963493e-01 -3.59683246e-03 -7.75078798e-03 1.74579355e-01] [ 3.60359061e-03 9.99993139e-01 8.58141037e-04 -1.01243135e-01] [ 7.74764821e-03 -8.86040376e-04 9.99969594e-01 -1.34819512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.139072329 meters 0.16148884747144407 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.11, Z:-0.14 [[ 0.99996411 -0.00282667 -0.00798631 0.17598791] [ 0.00284649 0.99999289 0.00247168 -0.10523724] [ 0.00797927 -0.00249433 0.99996505 -0.13615358] [ 0. 0. 0. 1. ]] SLAMing on 3.169072329 meters 0.16255822712510132 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.11, Z:-0.13 [[ 0.99996541 -0.00347834 -0.00755453 0.17351404] [ 0.00350176 0.9999891 0.00308963 -0.10967425] [ 0.0075437 -0.00311598 0.99996669 -0.13343763] [ 0. 0. 0. 1. ]] SLAMing on 3.199072329 meters 0.16592809387671245 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.11, Z:-0.13 [[ 0.99996702 -0.00305826 -0.00752389 0.17363524] [ 0.00309205 0.99998517 0.00448397 -0.11383273] [ 0.00751006 -0.00450709 0.99996164 -0.13357687] [ 0. 0. 0. 1. ]] SLAMing on 3.229072329 meters 0.16405562706075694 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.12, Z:-0.13 [[ 0.99995348 -0.00625394 -0.00734394 0.17423392] [ 0.00627768 0.99997513 0.00321376 -0.12235475] [ 0.00732366 -0.00325972 0.99996787 -0.13454531] [ 0. 0. 0. 1. ]] SLAMing on 3.259072329 meters 0.16320960631094877 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:-0.14 [[ 0.99995725 -0.00569625 -0.007284 0.1746084 ] [ 0.00573216 0.99997148 0.00491782 -0.12742058] [ 0.00725578 -0.00495936 0.99996138 -0.13525619] [ 0. 0. 0. 1. ]] SLAMing on 3.289072329 meters 0.16184558939381036 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:-0.14 [[ 0.99992619 -0.00968386 -0.00733686 0.17495068] [ 0.00969448 0.99995201 0.00141324 -0.12968231] [ 0.00732282 -0.00148427 0.99997209 -0.13541844] [ 0. 0. 0. 1. ]] SLAMing on 3.319072329 meters 0.15968121841722788 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:-0.14 [[ 0.99993199 -0.00891602 -0.00751732 0.17623814] [ 0.00894064 0.99995476 0.00324695 -0.13454512] [ 0.00748803 -0.00331394 0.99996647 -0.13695654] [ 0. 0. 0. 1. ]] SLAMing on 3.349072329 meters 0.16194275981445175 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:-0.14 [[ 9.99893552e-01 -1.24341995e-02 -7.63380055e-03 1.77513205e-01] [ 1.24404985e-02 9.99922311e-01 7.78212176e-04 -1.39248070e-01] [ 7.62353104e-03 -8.73097621e-04 9.99970559e-01 -1.38361121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.379072329 meters 0.16253516467541798 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:-0.14 [[ 0.99989819 -0.01191748 -0.00784727 0.17850134] [ 0.01193243 0.99992707 0.00186136 -0.14189787] [ 0.00782452 -0.00195481 0.99996748 -0.139136 ] [ 0. 0. 0. 1. ]] SLAMing on 3.409072329 meters 0.16494325543936192 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:-0.14 [[ 0.99990069 -0.01160385 -0.00799741 0.17897309] [ 0.01162471 0.99992914 0.00256687 -0.14375267] [ 0.00796706 -0.00265959 0.99996473 -0.13926849] [ 0. 0. 0. 1. ]] SLAMing on 3.439072329 meters 0.16496708022169457 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.15, Z:-0.14 [[ 0.99990734 -0.01105627 -0.00794154 0.1795724 ] [ 0.01109162 0.99992871 0.00442092 -0.14934461] [ 0.00789209 -0.0045086 0.99995869 -0.14019809] [ 0. 0. 0. 1. ]] SLAMing on 3.469072329 meters 0.16713874979342233 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.15, Z:-0.14 [[ 9.99854905e-01 -1.50503319e-02 -7.97847731e-03 1.80119789e-01] [ 1.50571665e-02 9.99886317e-01 7.97255644e-04 -1.51116575e-01] [ 7.96557132e-03 -9.17273228e-04 9.99967854e-01 -1.40737343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.499072329 meters 0.1644668522143681 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:-0.15 [[ 0.99993677 -0.01043747 -0.00418506 0.17370972] [ 0.01042333 0.99993994 -0.00338582 -0.15464099] [ 0.00422015 0.00334198 0.99998551 -0.14750624] [ 0. 0. 0. 1. ]] SLAMing on 3.529072329 meters 0.1651084620342247 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.16, Z:-0.15 [[ 0.99994487 -0.00958618 -0.00428622 0.17515424] [ 0.00957876 0.99995259 -0.00174862 -0.1586163 ] [ 0.00430278 0.00170746 0.99998929 -0.14940731] [ 0. 0. 0. 1. ]] SLAMing on 3.559072329 meters 0.16799927778638823 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.16, Z:-0.15 [[ 9.99952745e-01 -8.48706254e-03 -4.74097119e-03 1.78003964e-01] [ 8.48910553e-03 9.99963882e-01 4.10964817e-04 -1.63299997e-01] [ 4.73731207e-03 -4.51192002e-04 9.99988677e-01 -1.52753157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.589072329 meters 0.1711742064609835 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.17, Z:-0.15 [[ 0.99995596 -0.00801592 -0.00488062 0.17909104] [ 0.00802227 0.999967 0.00128432 -0.16519994] [ 0.00487016 -0.00132342 0.99998726 -0.15409695] [ 0. 0. 0. 1. ]] SLAMing on 3.6190723289999998 meters 0.1769768533300982 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.17, Z:-0.16 [[ 0.99996076 -0.00693863 -0.00550676 0.18222774] [ 0.0069582 0.99996951 0.00354432 -0.17023348] [ 0.005482 -0.0035825 0.99997856 -0.15737031] [ 0. 0. 0. 1. ]] SLAMing on 3.649072329 meters 0.17717682517232744 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.17, Z:-0.16 [[ 0.99996365 -0.00648483 -0.0055352 0.18267008] [ 0.00650993 0.99996856 0.00452789 -0.1729179 ] [ 0.00550566 -0.00456376 0.99997443 -0.1579574 ] [ 0. 0. 0. 1. ]] SLAMing on 3.679072329 meters 0.1750303699748682 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.16 [[ 0.99996669 -0.00602567 -0.00550632 0.18300737] [ 0.0060561 0.99996639 0.00552654 -0.17569143] [ 0.00547283 -0.0055597 0.99996957 -0.15858281] [ 0. 0. 0. 1. ]] SLAMing on 3.709072329 meters 0.17460488315389067 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.16 [[ 0.99993676 -0.00983541 -0.00545316 0.18338071] [ 0.00984841 0.99994871 0.00236212 -0.17880925] [ 0.00542964 -0.00241567 0.99998234 -0.15913949] [ 0. 0. 0. 1. ]] SLAMing on 3.739072329 meters 0.17611004355873075 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.16 [[ 0.99994069 -0.009361 -0.00556644 0.1841654 ] [ 0.0093806 0.99994986 0.00350449 -0.18173728] [ 0.00553335 -0.0035565 0.99997837 -0.16009689] [ 0. 0. 0. 1. ]] SLAMing on 3.769072329 meters 0.17541256868132138 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:-0.16 [[ 0.99994505 -0.00885424 -0.00561246 0.18470496] [ 0.00888136 0.99994892 0.00482568 -0.18528341] [ 0.00556944 -0.00487527 0.99997261 -0.16087046] [ 0. 0. 0. 1. ]] SLAMing on 3.799072329 meters 0.17772319281326707 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.16 [[ 0.99995039 -0.00823379 -0.00560608 0.18534457] [ 0.00826966 0.99994528 0.00640669 -0.189573 ] [ 0.00555302 -0.00645273 0.99996376 -0.16200076] [ 0. 0. 0. 1. ]] SLAMing on 3.829072329 meters 0.18030871830257286 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.16 [[ 0.99991579 -0.01167539 -0.0056647 0.18664932] [ 0.01169901 0.99992293 0.00415436 -0.19470768] [ 0.00561576 -0.00422029 0.99997533 -0.16390425] [ 0. 0. 0. 1. ]] SLAMing on 3.859072329 meters 0.1831273311092861 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:-0.17 [[ 0.99992147 -0.01114393 -0.00573295 0.18756875] [ 0.01117525 0.99992265 0.00545993 -0.19797632] [ 0.00567166 -0.00552357 0.99996866 -0.16540334] [ 0. 0. 0. 1. ]] SLAMing on 3.8890723289999998 meters 0.1843154765949107 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.20, Z:-0.17 [[ 0.99992648 -0.01062296 -0.00584764 0.1886392 ] [ 0.01066309 0.99991951 0.00687545 -0.20165026] [ 0.00577414 -0.0069373 0.99995927 -0.16706434] [ 0. 0. 0. 1. ]] SLAMing on 3.919072329 meters 0.19665840711888657 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.21, Z:-0.17 [[ 0.99986021 -0.01520176 -0.00696167 0.19487013] [ 0.01523249 0.99987438 0.00438201 -0.20883114] [ 0.00689418 -0.00448744 0.99996617 -0.17388327] [ 0. 0. 0. 1. ]] SLAMing on 3.949072329 meters 0.19948007160367567 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.21, Z:-0.18 [[ 0.99979715 -0.01891991 -0.00690594 0.19567746] [ 0.01892998 0.99981984 0.00139635 -0.2122825 ] [ 0.00687828 -0.0015268 0.99997518 -0.17515587] [ 0. 0. 0. 1. ]] SLAMing on 3.979072329 meters 0.20700696836650703 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.22, Z:-0.18 [[ 0.99963394 -0.02614794 -0.00694708 0.19790809] [ 0.02612345 0.99965227 -0.00359268 -0.2215761 ] [ 0.00703861 0.00340988 0.99996941 -0.17831887] [ 0. 0. 0. 1. ]] SLAMing on 4.009072328999999 meters 0.20855417860451794 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.23, Z:-0.18 [[ 0.99965002 -0.0255865 -0.00672077 0.19802338] [ 0.02557566 0.99967145 -0.00169399 -0.22718153] [ 0.00676191 0.00152151 0.99997598 -0.17947691] [ 0. 0. 0. 1. ]] SLAMing on 4.039072329 meters 0.2138817389292443 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.23, Z:-0.18 [[ 9.99664679e-01 -2.50264724e-02 -6.64865539e-03 1.98252033e-01] [ 2.50256441e-02 9.99686788e-01 -2.07760602e-04 -2.31116706e-01] [ 6.65177247e-03 4.13040516e-05 9.99977876e-01 -1.80108570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.069072329 meters 0.22108618540368605 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:-0.18 [[ 0.99975466 -0.02115225 -0.00657289 0.19844065] [ 0.02119164 0.99975753 0.00598226 -0.2380126 ] [ 0.00644476 -0.00612009 0.9999605 -0.18142789] [ 0. 0. 0. 1. ]] SLAMing on 4.099072329 meters 0.22757785679158532 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.24, Z:-0.19 [[ 0.99985174 -0.01704506 -0.00244149 0.19135868] [ 0.01705087 0.99985179 0.00237871 -0.24179237] [ 0.00240059 -0.00241999 0.99999419 -0.18817966] [ 0. 0. 0. 1. ]] SLAMing on 4.1290723289999995 meters 0.23386540276551152 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.25, Z:-0.20 [[ 0.99987215 -0.01592015 0.00149426 0.18483431] [ 0.01592633 0.99986427 -0.00421797 -0.24753259] [-0.0014269 0.00424122 0.99998999 -0.19598764] [ 0. 0. 0. 1. ]] SLAMing on 4.159072329 meters 0.24190539293131522 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.25, Z:-0.20 [[ 0.99979323 -0.01938417 0.00614351 0.17728225] [ 0.0194712 0.99970617 -0.01443774 -0.25299787] [-0.00586184 0.01455437 0.9998769 -0.20328331] [ 0. 0. 0. 1. ]] SLAMing on 4.189072329 meters 0.25524700950936136 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.27, Z:-0.21 [[ 0.99959917 -0.02744494 0.00694815 0.17816866] [ 0.02755739 0.99948168 -0.01664227 -0.26752856] [-0.0064878 0.01682708 0.99983737 -0.21053992] [ 0. 0. 0. 1. ]] SLAMing on 4.219072329 meters 0.2643618541974145 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.28, Z:-0.21 [[ 0.99970427 -0.02320891 0.00726065 0.17818063] [ 0.02327962 0.99968086 -0.00981008 -0.27596882] [-0.00703065 0.0099762 0.99992552 -0.21293324] [ 0. 0. 0. 1. ]] SLAMing on 4.249072329 meters 0.25910953470692066 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.28, Z:-0.21 [[ 0.99978702 -0.01910051 0.00781569 0.17741982] [ 0.01912507 0.99981235 -0.00308013 -0.28445849] [-0.0077554 0.00322895 0.99996471 -0.21472664] [ 0. 0. 0. 1. ]] SLAMing on 4.279072329 meters 0.30113156146424935 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.29, Z:-0.21 [[ 0.9994605 -0.03127523 0.01002838 0.17208649] [ 0.03140031 0.99942787 -0.0125676 -0.29351886] [-0.00962959 0.01287572 0.99987074 -0.21157575] [ 0. 0. 0. 1. ]] SLAMing on 4.309072329 meters 0.31620740901217503 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.31, Z:-0.21 [[ 0.99915636 -0.04053858 0.00657212 0.18054382] [ 0.04059273 0.99914107 -0.00832773 -0.30730364] [-0.00622888 0.00858748 0.99994373 -0.20766048] [ 0. 0. 0. 1. ]] SLAMing on 4.339072329 meters 0.28974273092214436 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.32, Z:-0.21 [[ 0.99894757 -0.04506376 0.00854495 0.17785004] [ 0.04512835 0.99895287 -0.00752326 -0.32107864] [-0.00819698 0.00790096 0.99993519 -0.21111082] [ 0. 0. 0. 1. ]] SLAMing on 4.369072329 meters 0.22186601878082615 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.34, Z:-0.22 [[ 0.99866863 -0.05033417 0.01128865 0.17404226] [ 0.05039944 0.99871359 -0.00557343 -0.33694433] [-0.01099359 0.00613495 0.99992075 -0.2162313 ] [ 0. 0. 0. 1. ]] SLAMing on 4.399072329 meters 0.34889629093956454 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.36, Z:-0.22 [[ 0.99565528 -0.09173312 0.01598765 0.17216994] [ 0.09178782 0.99577487 -0.00272066 -0.3638524 ] [-0.01567053 0.00417631 0.99986849 -0.21805431] [ 0. 0. 0. 1. ]] SLAMing on 4.429072329 meters 0.2591606780428749 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.38, Z:-0.22 [[ 0.99462942 -0.10159396 0.01977313 0.1676912 ] [ 0.10169449 0.99480704 -0.0041443 -0.37939557] [-0.01924941 0.00613286 0.9997959 -0.22426582] [ 0. 0. 0. 1. ]] SLAMing on 4.459072329 meters 0.270068740441876 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.40, Z:-0.23 [[ 0.99292381 -0.11609153 0.02500135 0.16110389] [ 0.11633802 0.99317213 -0.00863619 -0.39530081] [-0.02382805 0.01148369 0.99965011 -0.23143157] [ 0. 0. 0. 1. ]] SLAMing on 4.489072329 meters 0.28942938840233123 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.43, Z:-0.23 [[ 0.98469751 -0.17176173 0.02947422 0.14158094] [ 0.17195408 0.98509643 -0.00410121 -0.42959602] [-0.02833052 0.00910667 0.99955713 -0.23250549] [ 0. 0. 0. 1. ]] SLAMing on 4.519072329 meters 0.29881274333629676 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.45, Z:-0.24 [[ 0.97950546 -0.19687695 0.04252674 0.11550174] [ 0.19731326 0.9803204 -0.00627652 -0.44731266] [-0.04045413 0.01453897 0.99907561 -0.24043877] [ 0. 0. 0. 1. ]] SLAMing on 4.549072329 meters 0.3037356791101161 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.46, Z:-0.24 [[ 0.97289258 -0.22640464 0.0471272 0.07704288] [ 0.22694674 0.97388602 -0.00641852 -0.45828774] [-0.04444333 0.0169399 0.99886827 -0.2421029 ] [ 0. 0. 0. 1. ]] SLAMing on 4.579072329 meters 0.5094735429712415 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.48, Z:-0.24 [[ 0.95574585 -0.28963529 0.05158753 0.00656424] [ 0.29025688 0.95693657 -0.00483076 -0.48099969] [-0.04796684 0.01959061 0.99865679 -0.24085981] [ 0. 0. 0. 1. ]] SLAMing on 4.609072329 meters 0.4897592274453409 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.47, Z:-0.24 [[ 0.94600715 -0.3189702 0.05769299 -0.09201664] [ 0.32002647 0.94735734 -0.00985515 -0.47355486] [-0.05151238 0.02778633 0.99828573 -0.24267684] [ 0. 0. 0. 1. ]] SLAMing on 4.639072329 meters 0.4846510778335203 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.46, Z:-0.24 [[ 0.93543959 -0.34792757 0.06244345 -0.208599 ] [ 0.34962434 0.9367105 -0.01833725 -0.45969265] [-0.0521114 0.03898514 0.99788003 -0.24241518] [ 0. 0. 0. 1. ]] SLAMing on 4.669072329 meters 0.4763666996856218 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.46, Z:-0.24 [[ 0.90806905 -0.41323926 0.06814624 -0.36093619] [ 0.4157113 0.90910602 -0.02665251 -0.45962399] [-0.0509383 0.05253148 0.99731927 -0.23506317] [ 0. 0. 0. 1. ]] SLAMing on 4.699072329 meters 0.4945872594577279 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.43, Z:-0.23 [[ 0.89435385 -0.44152139 0.07204208 -0.52982491] [ 0.44492387 0.89465772 -0.04037716 -0.42704877] [-0.04662562 0.06816471 0.99658398 -0.23292097] [ 0. 0. 0. 1. ]] SLAMing on 4.729072329 meters 0.6503612987592828 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.38, Z:-0.23 [[ 0.88072378 -0.46757187 0.07551274 -0.72898312] [ 0.47186846 0.87996274 -0.05482455 -0.38129954] [-0.04081398 0.08391737 0.99563653 -0.23078266] [ 0. 0. 0. 1. ]] SLAMing on 4.759072329 meters 0.670278498337675 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.35, Z:-0.23 [[ 0.85620226 -0.51095532 0.07643528 -0.94948852] [ 0.51562633 0.85438411 -0.06447703 -0.34811284] [-0.03236021 0.09461742 0.99498762 -0.22974814] [ 0. 0. 0. 1. ]] SLAMing on 4.789072329 meters 0.6766833308646844 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.28, Z:-0.23 [[ 0.85014612 -0.52058953 0.07898173 -1.19589211] [ 0.52594917 0.84671845 -0.08028286 -0.27786943] [-0.02508087 0.10979254 0.99363804 -0.22619157] [ 0. 0. 0. 1. ]] SLAMing on 4.819072329 meters 0.6746411709579975 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:-0.22 [[ 0.84648719 -0.52585435 0.08328645 -1.45149118] [ 0.53202472 0.84140524 -0.0947994 -0.20325565] [-0.02022698 0.12455693 0.99200627 -0.21701051] [ 0. 0. 0. 1. ]] SLAMing on 4.849072329 meters 0.671833650964603 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.14, Z:-0.20 [[ 0.8441411 -0.52840378 0.09063799 -1.71611441] [ 0.53574676 0.83772552 -0.10578925 -0.14473682] [-0.02003032 0.13786006 0.99024915 -0.20184644] [ 0. 0. 0. 1. ]] SLAMing on 4.8790723289999995 meters 0.6489554490463452 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.07, Z:-0.18 [[ 0.84982959 -0.51712066 0.10186212 -1.9716353 ] [ 0.52641687 0.84232022 -0.11568026 -0.06720169] [-0.02597987 0.15193044 0.98804969 -0.18033771] [ 0. 0. 0. 1. ]] SLAMing on 4.909072329 meters 0.6391886689612695 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.01, Z:-0.15 [[ 0.85845365 -0.50076935 0.11084853 -2.21593559] [ 0.51181277 0.85041009 -0.12186207 0.00846889] [-0.03324192 0.16134663 0.98633779 -0.15193896] [ 0. 0. 0. 1. ]] SLAMing on 4.939072329 meters 0.6091930703621883 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.06, Z:-0.12 [[ 0.88127546 -0.4563179 0.12299403 -2.4444761 ] [ 0.46962351 0.8747206 -0.11965632 0.06144127] [-0.05298409 0.16321107 0.98516741 -0.11975018] [ 0. 0. 0. 1. ]] SLAMing on 4.969072329 meters 0.5894755058690069 Centerline is valid? [False, False] Translation: X:-2.63, Y:0.12, Z:-0.09 [[ 0.89613744 -0.42234301 0.13625002 -2.63374568] [ 0.43782468 0.89153272 -0.11609888 0.11827266] [-0.07243781 0.16369417 0.98384805 -0.08888519] [ 0. 0. 0. 1. ]] SLAMing on 4.999072329 meters 0.5894755058690069 Centerline is valid? [False, False] Translation: X:-2.79, Y:0.18, Z:-0.06 [[ 0.89589384 -0.41898598 0.14773274 -2.78987087] [ 0.43599357 0.89305424 -0.11119234 0.17566385] [-0.08534532 0.16402706 0.98275699 -0.06202279] [ 0. 0. 0. 1. ]] SLAMing on 5.029072329 meters 0.29912967042767313 Centerline is valid? [False, False] Translation: X:-2.94, Y:0.22, Z:-0.03 [[ 0.91115017 -0.38053958 0.15809805 -2.94078448] [ 0.39874099 0.9110038 -0.10525067 0.21996775] [-0.10397587 0.15893934 0.981798 -0.03260525] [ 0. 0. 0. 1. ]] SLAMing on 5.059072329 meters 0.33493658031298823 Centerline is valid? [False, False] Translation: X:-3.05, Y:0.25, Z:-0.01 [[ 0.92670281 -0.33898933 0.1621978 -3.05194151] [ 0.35651395 0.92952659 -0.09422376 0.2496891 ] [-0.11882632 0.14514321 0.98224933 -0.00585334] [ 0. 0. 0. 1. ]] SLAMing on 5.0890723289999995 meters 0.25017592766027824 Centerline is valid? [False, False] Translation: X:-3.11, Y:0.25, Z:0.02 [[ 0.95630238 -0.24430539 0.16062575 -3.11221777] [ 0.25863453 0.96305636 -0.07503756 0.25369735] [-0.13635957 0.11330196 0.9841589 0.01904272] [ 0. 0. 0. 1. ]] SLAMing on 5.119072329 meters 0.26804403533341464 Centerline is valid? [False, False] Translation: X:-3.12, Y:0.25, Z:0.04 [[ 0.96923171 -0.19387896 0.15166031 -3.12180591] [ 0.20461127 0.9770912 -0.05854072 0.24987555] [-0.13683614 0.08777093 0.98669759 0.03653418] [ 0. 0. 0. 1. ]] SLAMing on 5.149072329 meters 0.2854952678589207 Centerline is valid? [False, False] Translation: X:-3.10, Y:0.24, Z:0.05 [[ 0.98179696 -0.14263057 0.12542424 -3.10100319] [ 0.14962988 0.98756508 -0.04822985 0.24029119] [-0.11698555 0.06611913 0.99093019 0.05049279] [ 0. 0. 0. 1. ]] SLAMing on 5.179072329 meters 0.3120119220839034 Centerline is valid? [False, False] Translation: X:-3.07, Y:0.23, Z:0.06 [[ 0.99079724 -0.08609343 0.10444492 -3.0716962 ] [ 0.09080654 0.99501455 -0.04123371 0.22756397] [-0.10037427 0.05033852 0.99367552 0.05834228] [ 0. 0. 0. 1. ]] SLAMing on 5.209072329 meters 0.29786212363332026 Centerline is valid? [False, False] Translation: X:-3.00, Y:0.21, Z:0.07 [[ 0.99836642 0.03168699 0.04754387 -3.00497348] [-0.03061901 0.99926587 -0.02302585 0.20863443] [-0.04823859 0.02153249 0.99860372 0.072434 ] [ 0. 0. 0. 1. ]] SLAMing on 5.239072329 meters 0.2713522449145422 Centerline is valid? [False, False] Translation: X:-2.94, Y:0.19, Z:0.08 [[ 0.99608717 0.08828196 0.00408052 -2.93730182] [-0.08825563 0.99607833 -0.00623661 0.19199261] [-0.00461509 0.00585208 0.99997223 0.08474542] [ 0. 0. 0. 1. ]] SLAMing on 5.269072329 meters 0.18306862663836976 Centerline is valid? [False, False] Translation: X:-2.85, Y:0.17, Z:0.10 [[ 0.97800529 0.20394532 -0.04372601 -2.8471985 ] [-0.20359876 0.97897733 0.01228515 0.17374457] [ 0.04531227 -0.00311238 0.99896802 0.10196645] [ 0. 0. 0. 1. ]] SLAMing on 5.2990723289999995 meters 0.13160677421046618 Centerline is valid? [False, False] Translation: X:-2.81, Y:0.17, Z:0.11 [[ 9.65525603e-01 2.50464800e-01 -7.09062333e-02 -2.80969786e+00] [-2.49730560e-01 9.68125366e-01 1.91813431e-02 1.69184456e-01] [ 7.34503743e-02 -8.12624567e-04 9.97298542e-01 1.13473024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.329072329 meters 0.09180277667870795 Centerline is valid? [False, True] Translation: X:-2.78, Y:0.17, Z:0.12 [[ 9.54330374e-01 2.87392216e-01 -8.16042363e-02 -2.78306681e+00] [-2.86234050e-01 9.57812143e-01 2.58063417e-02 1.69533609e-01] [ 8.55780702e-02 -1.26986467e-03 9.96330659e-01 1.24847998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359072329 meters 0.08943189172837442 Centerline is valid? [True, True] Translation: X:-2.73, Y:0.24, Z:0.13 [[ 9.38784368e-01 3.35280042e-01 -7.91909318e-02 -2.73068353e+00] [-3.34316384e-01 9.42115166e-01 2.55258558e-02 2.36074035e-01] [ 8.31652878e-02 2.51155160e-03 9.96532602e-01 1.28305226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.389072329 meters 0.15369670241959307 Centerline is valid? [True, False] Translation: X:-2.77, Y:0.27, Z:0.13 [[ 0.91419938 0.39928324 -0.06937142 -2.77124609] [-0.39870483 0.91680089 0.02259611 0.26782373] [ 0.07262202 0.00700137 0.99733496 0.12784257] [ 0. 0. 0. 1. ]] SLAMing on 5.419072329 meters 0.187529301574277 Centerline is valid? [False, False] Translation: X:-2.84, Y:0.30, Z:0.12 [[ 0.90829797 0.41433062 -0.05766231 -2.84429389] [-0.41378874 0.91011657 0.02160332 0.30243347] [ 0.06143034 0.00423777 0.99810238 0.12222899] [ 0. 0. 0. 1. ]] SLAMing on 5.449072329 meters 0.14390755595275487 Centerline is valid? [False, False] Translation: X:-2.94, Y:0.34, Z:0.12 [[ 0.90487985 0.42307648 -0.04689076 -2.94226125] [-0.42271161 0.90608684 0.01793129 0.3437444 ] [ 0.0500734 0.00359561 0.99873907 0.11599256] [ 0. 0. 0. 1. ]] SLAMing on 5.479072329 meters 0.166379907913637 Centerline is valid? [False, False] Translation: X:-3.04, Y:0.39, Z:0.11 [[ 8.96186742e-01 4.42296339e-01 -3.49753071e-02 -3.04371629e+00] [-4.42011099e-01 8.96868185e-01 1.59263126e-02 3.88375271e-01] [ 3.84123900e-02 1.18652373e-03 9.99261267e-01 1.06356286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.509072329 meters 0.17446829387613969 Centerline is valid? [False, False] Translation: X:-3.16, Y:0.43, Z:0.09 [[ 8.98657491e-01 4.38090924e-01 -2.21597808e-02 -3.16390154e+00] [-4.37930295e-01 8.98930118e-01 1.19037980e-02 4.29845279e-01] [ 2.51350402e-02 -9.92997936e-04 9.99683572e-01 9.18128220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539072329 meters 0.1738597696672372 Centerline is valid? [False, False] Translation: X:-3.28, Y:0.47, Z:0.08 [[ 0.90155142 0.43247439 -0.01307437 -3.27594852] [-0.43234707 0.90163386 0.01150637 0.46611296] [ 0.0167645 -0.00472092 0.99984832 0.08058911] [ 0. 0. 0. 1. ]] SLAMing on 5.569072329 meters 0.1697473794035905 Centerline is valid? [False, False] Translation: X:-3.40, Y:0.51, Z:0.07 [[ 9.03962787e-01 4.27602982e-01 2.63980612e-03 -3.40146605e+00] [-4.27610210e-01 9.03930802e-01 7.65598810e-03 5.08416608e-01] [ 8.87521279e-04 -8.04953639e-03 9.99967208e-01 6.90056014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.599072329 meters 0.1766693570271821 Centerline is valid? [False, False] Translation: X:-3.52, Y:0.54, Z:0.06 [[ 9.09270308e-01 4.15756353e-01 1.93432477e-02 -3.52004212e+00] [-4.15865890e-01 9.09424083e-01 1.84382680e-03 5.41927589e-01] [-1.68246326e-02 -9.72073389e-03 9.99811202e-01 5.97374698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6290723289999995 meters 0.17515639551546594 Centerline is valid? [False, False] Translation: X:-3.63, Y:0.57, Z:0.05 [[ 9.14241286e-01 4.04069027e-01 2.98511861e-02 -3.62639467e+00] [-4.04234934e-01 9.14655043e-01 -5.19480139e-04 5.69550520e-01] [-2.75134437e-02 -1.15919621e-02 9.99554219e-01 5.39755548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659072329 meters 0.18158360285004338 Centerline is valid? [False, False] Translation: X:-3.73, Y:0.60, Z:0.05 [[ 9.18601326e-01 3.93902403e-01 3.18198202e-02 -3.72657017e+00] [-3.94029912e-01 9.19094422e-01 -2.42307275e-03 5.99607704e-01] [-3.01998735e-02 -1.03121231e-02 9.99490684e-01 5.17664279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.689072329 meters 0.18535020279066258 Centerline is valid? [False, False] Translation: X:-3.82, Y:0.62, Z:0.05 [[ 0.92199159 0.38534608 0.03794614 -3.81710976] [-0.38544333 0.92271789 -0.00501282 0.62238678] [-0.03694526 -0.01000431 0.99926721 0.0486159 ] [ 0. 0. 0. 1. ]] SLAMing on 5.719072329 meters 0.1876967410668931 Centerline is valid? [False, False] Translation: X:-3.90, Y:0.64, Z:0.05 [[ 0.92524165 0.37694086 0.04293571 -3.9026775 ] [-0.37710029 0.92616084 -0.0046339 0.64280437] [-0.04151208 -0.01190359 0.99906709 0.04651628] [ 0. 0. 0. 1. ]] SLAMing on 5.749072329 meters 0.19208123097051563 Centerline is valid? [False, False] Translation: X:-3.99, Y:0.67, Z:0.04 [[ 9.27316178e-01 3.71093164e-01 4.87295534e-02 -3.98648001e+00] [-3.71517656e-01 9.28425814e-01 -3.72261382e-04 6.68477926e-01] [-4.53799190e-02 -1.77586855e-02 9.98811940e-01 4.21268714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779072329 meters 0.19356962578798317 Centerline is valid? [False, False] Translation: X:-4.07, Y:0.69, Z:0.04 [[ 9.29847333e-01 3.63807181e-01 5.50297490e-02 -4.07336709e+00] [-3.64457549e-01 9.31218008e-01 1.92772306e-03 6.89000886e-01] [-5.05433738e-02 -2.18484956e-02 9.98482854e-01 4.18021021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809072329 meters 0.20011892204140355 Centerline is valid? [False, False] Translation: X:-4.15, Y:0.71, Z:0.04 [[ 9.31899019e-01 3.56745327e-01 6.55514322e-02 -4.14964623e+00] [-3.57673881e-01 9.33842878e-01 2.62169215e-03 7.08373656e-01] [-6.02794617e-02 -2.58891875e-02 9.97845748e-01 3.84298241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8390723289999995 meters 0.20211825244072043 Centerline is valid? [False, False] Translation: X:-4.23, Y:0.73, Z:0.04 [[ 9.33402550e-01 3.52629370e-01 6.64244502e-02 -4.22526593e+00] [-3.53571096e-01 9.35404019e-01 2.60796574e-03 7.25765249e-01] [-6.12140524e-02 -2.59200475e-02 9.97788049e-01 4.08165938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869072329 meters 0.21066711341555422 Centerline is valid? [False, False] Translation: X:-4.31, Y:0.75, Z:0.04 [[ 9.33728335e-01 3.51599924e-01 6.72970241e-02 -4.30952538e+00] [-3.52194998e-01 9.35921173e-01 -3.20020378e-03 7.50334823e-01] [-6.41099011e-02 -2.07135543e-02 9.97727853e-01 4.10232365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899072329 meters 0.21438194798232585 Centerline is valid? [False, False] Translation: X:-4.40, Y:0.77, Z:0.04 [[ 9.35255056e-01 3.46727529e-01 7.12600939e-02 -4.39635804e+00] [-3.47319399e-01 9.37736996e-01 -4.30827345e-03 7.68610636e-01] [-6.83170234e-02 -2.07206784e-02 9.97448464e-01 4.18065971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.929072329 meters 0.21679505880369918 Centerline is valid? [False, False] Translation: X:-4.48, Y:0.79, Z:0.04 [[ 9.36821585e-01 3.41663706e-01 7.50415192e-02 -4.48088408e+00] [-3.42488596e-01 9.39519884e-01 -1.98737964e-03 7.86556360e-01] [-7.11820149e-02 -2.38390444e-02 9.97178430e-01 4.32675393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959072329 meters 0.2136174479197408 Centerline is valid? [False, False] Translation: X:-4.56, Y:0.80, Z:0.04 [[ 9.39028826e-01 3.34383719e-01 8.00774189e-02 -4.55567529e+00] [-3.35743758e-01 9.41945822e-01 3.76785019e-03 8.04408004e-01] [-7.41686824e-02 -3.04236135e-02 9.96781526e-01 4.43801087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.989072329 meters 0.2159537465378133 Centerline is valid? [False, False] Translation: X:-4.63, Y:0.83, Z:0.04 [[ 0.9399462 0.32940401 0.08940993 -4.63110443] [-0.33143802 0.94343856 0.00851653 0.83495194] [-0.0815474 -0.03763893 0.9959585 0.0431032 ] [ 0. 0. 0. 1. ]] SLAMing on 6.019072329 meters 0.2215272099963343 Centerline is valid? [False, False] Translation: X:-4.70, Y:0.85, Z:0.05 [[ 0.94095795 0.32440981 0.09672856 -4.69800576] [-0.32651347 0.94517133 0.00633306 0.85210543] [-0.08937055 -0.03754232 0.99529065 0.04509647] [ 0. 0. 0. 1. ]] SLAMing on 6.0490723289999995 meters 0.22202057415824422 Centerline is valid? [False, False] Translation: X:-4.76, Y:0.87, Z:0.05 [[ 9.41935248e-01 3.19513812e-01 1.03290426e-01 -4.76408710e+00] [-3.21487141e-01 9.46910360e-01 2.60558143e-03 8.67223908e-01] [-9.69742556e-02 -3.56608329e-02 9.94647826e-01 4.82312943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079072329 meters 0.22773454026555423 Centerline is valid? [False, False] Translation: X:-4.83, Y:0.89, Z:0.05 [[ 9.41777382e-01 3.17602262e-01 1.10381910e-01 -4.82730240e+00] [-3.19397928e-01 9.47619516e-01 -1.48898204e-03 8.90722767e-01] [-1.05072956e-01 -3.38534638e-02 9.93888131e-01 5.41715711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.109072329 meters 0.22736893188648308 Centerline is valid? [False, False] Translation: X:-4.90, Y:0.91, Z:0.06 [[ 9.41881348e-01 3.14173669e-01 1.18972396e-01 -4.90055931e+00] [-3.16345392e-01 9.48643848e-01 -6.64817049e-04 9.09196971e-01] [-1.13071299e-01 -3.70101904e-02 9.92897340e-01 6.11615371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139072329 meters 0.20436611111021077 Centerline is valid? [False, False] Translation: X:-4.97, Y:0.93, Z:0.07 [[ 9.41968591e-01 3.10079701e-01 1.28630293e-01 -4.97144309e+00] [-3.12887349e-01 9.49788706e-01 1.70921939e-03 9.29596875e-01] [-1.21641605e-01 -4.18568224e-02 9.91691145e-01 6.74604301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169072329 meters 0.2077302771887129 Centerline is valid? [False, False] Translation: X:-5.05, Y:0.97, Z:0.08 [[ 0.94218292 0.30486742 0.13909424 -5.04619694] [-0.30855752 0.95119119 0.0052513 0.96606088] [-0.13070426 -0.04786626 0.99026523 0.07864293] [ 0. 0. 0. 1. ]] SLAMing on 6.199072329 meters 0.20862959471555362 Centerline is valid? [False, False] Translation: X:-5.11, Y:0.98, Z:0.09 [[ 9.44382121e-01 2.96356163e-01 1.42532225e-01 -5.10598685e+00] [-3.00078282e-01 9.53902160e-01 4.86753864e-03 9.84249113e-01] [-1.34519272e-01 -4.73676416e-02 9.89778193e-01 8.83284775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.229072329 meters 0.24040801258820813 Centerline is valid? [False, False] Translation: X:-5.15, Y:1.02, Z:0.10 [[ 0.94792002 0.28405454 0.14408556 -5.15239705] [-0.2878696 0.95765136 0.0059141 1.01547072] [-0.1363038 -0.04708394 0.98954756 0.09913655] [ 0. 0. 0. 1. ]] SLAMing on 6.259072329 meters 0.213278322411308 Centerline is valid? [False, False] Translation: X:-5.20, Y:1.03, Z:0.10 [[ 0.95096373 0.27217919 0.14692334 -5.19505555] [-0.27628766 0.96104234 0.00792128 1.03372565] [-0.13904354 -0.04812595 0.98911616 0.10418033] [ 0. 0. 0. 1. ]] SLAMing on 6.289072329 meters 0.21349774554838039 Centerline is valid? [False, False] Translation: X:-5.23, Y:1.05, Z:0.11 [[ 0.95404327 0.26271552 0.14415962 -5.22830175] [-0.26629744 0.96387351 0.00579046 1.0511723 ] [-0.1374304 -0.04391369 0.98953751 0.1111015 ] [ 0. 0. 0. 1. ]] SLAMing on 6.319072329 meters 0.21311108516483762 Centerline is valid? [False, False] Translation: X:-5.26, Y:1.08, Z:0.12 [[ 9.59123607e-01 2.49696994e-01 1.33166502e-01 -5.25666963e+00] [-2.52523695e-01 9.67580236e-01 4.50234569e-03 1.07906722e+00] [-1.27725053e-01 -3.79460031e-02 9.91083453e-01 1.17491520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349072329 meters 0.2138264714130069 Centerline is valid? [False, False] Translation: X:-5.29, Y:1.09, Z:0.12 [[ 9.61437212e-01 2.41373805e-01 1.31822510e-01 -5.28656041e+00] [-2.43801543e-01 9.69822288e-01 2.35301513e-03 1.09413631e+00] [-1.27276452e-01 -3.44008077e-02 9.91270543e-01 1.16936518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3790723289999995 meters 0.23904760108324613 Centerline is valid? [False, False] Translation: X:-5.31, Y:1.11, Z:0.12 [[ 0.96479501 0.22955105 0.12836241 -5.3071221 ] [-0.23234933 0.97260676 0.00706252 1.10844376] [-0.12322494 -0.03663881 0.99170218 0.12141882] [ 0. 0. 0. 1. ]] SLAMing on 6.409072329 meters 0.2146228284581181 Centerline is valid? [False, False] Translation: X:-5.33, Y:1.12, Z:0.13 [[ 0.96817244 0.21760611 0.12365156 -5.325922 ] [-0.2204942 0.97533697 0.01000491 1.12277792] [-0.11842481 -0.03695093 0.99227526 0.12634265] [ 0. 0. 0. 1. ]] SLAMing on 6.439072329 meters 0.20776512398015412 Centerline is valid? [False, False] Translation: X:-5.34, Y:1.15, Z:0.13 [[ 9.70129274e-01 2.12711349e-01 1.16632213e-01 -5.34022116e+00] [-2.13875211e-01 9.76857557e-01 -2.59007167e-03 1.14829574e+00] [-1.14483996e-01 -2.24320348e-02 9.93171797e-01 1.31460445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469072329 meters 0.21835999682289825 Centerline is valid? [False, False] Translation: X:-5.36, Y:1.16, Z:0.13 [[ 9.72820389e-01 2.00801459e-01 1.15322440e-01 -5.35959759e+00] [-2.02389599e-01 9.79302813e-01 2.10968931e-03 1.15917690e+00] [-1.12511961e-01 -2.53924112e-02 9.93325870e-01 1.31987200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499072329 meters 0.21803196188856186 Centerline is valid? [False, False] Translation: X:-5.37, Y:1.17, Z:0.13 [[ 9.75230309e-01 1.93692511e-01 1.06813184e-01 -5.36541057e+00] [-1.95211169e-01 9.80753679e-01 3.84976639e-03 1.16824713e+00] [-1.04011752e-01 -2.46055353e-02 9.94271655e-01 1.34241555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529072329 meters 0.23942030594484198 Centerline is valid? [False, False] Translation: X:-5.37, Y:1.18, Z:0.13 [[ 0.97756964 0.18602221 0.09875903 -5.3675591 ] [-0.18763759 0.9822116 0.00724635 1.17734495] [-0.09565428 -0.02561472 0.99508499 0.13419883] [ 0. 0. 0. 1. ]] SLAMing on 6.559072329 meters 0.21068106970299802 Centerline is valid? [False, False] Translation: X:-5.37, Y:1.20, Z:0.14 [[ 0.982345 0.16282365 0.09212357 -5.36862732] [-0.16464206 0.98627487 0.01244444 1.19604739] [-0.08883291 -0.02739215 0.99566982 0.14239925] [ 0. 0. 0. 1. ]] SLAMing on 6.5890723289999995 meters 0.18777665617294653 Centerline is valid? [False, False] Translation: X:-5.36, Y:1.20, Z:0.14 [[ 0.98574758 0.14697896 0.0818468 -5.36411093] [-0.14853535 0.98881859 0.01323009 1.20336829] [-0.0789871 -0.02519867 0.99655711 0.14362767] [ 0. 0. 0. 1. ]] SLAMing on 6.619072329 meters 0.18785854695249352 Centerline is valid? [False, False] Translation: X:-5.35, Y:1.21, Z:0.15 [[ 0.98959021 0.12487095 0.07154348 -5.35281734] [-0.12627193 0.9918763 0.01538822 1.20896282] [-0.06904074 -0.02426197 0.99731877 0.14546308] [ 0. 0. 0. 1. ]] SLAMing on 6.649072329 meters 0.16126166681198748 Centerline is valid? [False, False] Translation: X:-5.32, Y:1.22, Z:0.15 [[ 0.99532198 0.08179506 0.05141722 -5.3151247 ] [-0.08243593 0.99654141 0.01046594 1.21694415] [-0.05038333 -0.01465561 0.99862242 0.14847478] [ 0. 0. 0. 1. ]] SLAMing on 6.679072329 meters 0.14975065905091234 Centerline is valid? [False, False] Translation: X:-5.30, Y:1.22, Z:0.15 [[ 0.99754782 0.05754738 0.03983266 -5.30195198] [-0.05799356 0.99826549 0.01013698 1.22076045] [-0.03918021 -0.01242216 0.99915494 0.14942521] [ 0. 0. 0. 1. ]] SLAMing on 6.709072329 meters 0.1369289708004481 Centerline is valid? [False, False] Translation: X:-5.29, Y:1.23, Z:0.15 [[ 0.99900484 0.03357366 0.0293621 -5.28855976] [-0.03392137 0.9993592 0.01142506 1.22528096] [-0.02895971 -0.01240969 0.99950354 0.15061705] [ 0. 0. 0. 1. ]] SLAMing on 6.739072329 meters 0.12374915257921155 Centerline is valid? [False, False] Translation: X:-5.28, Y:1.23, Z:0.15 [[ 0.99974922 0.00996844 0.02005305 -5.27615979] [-0.01024644 0.99985216 0.01380857 1.22999895] [-0.01991244 -0.01401058 0.99970356 0.1525374 ] [ 0. 0. 0. 1. ]] SLAMing on 6.769072329 meters 0.0990186948433906 Centerline is valid? [False, True] Translation: X:-5.26, Y:1.24, Z:0.16 [[ 0.99952135 -0.02909039 0.01052689 -5.25604411] [ 0.02897302 0.99951817 0.01113535 1.23723271] [-0.01084575 -0.01082503 0.99988259 0.15861431] [ 0. 0. 0. 1. ]] SLAMing on 6.7990723289999995 meters 0.0889533644588092 Centerline is valid? [True, True] Translation: X:-5.22, Y:1.22, Z:0.16 [[ 9.98763778e-01 -4.81786198e-02 1.22366605e-02 -5.22440790e+00] [ 4.81697482e-02 9.98838644e-01 1.01887112e-03 1.22184369e+00] [-1.22715372e-02 -4.28174712e-04 9.99924610e-01 1.58098068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829072329 meters 0.0810161583861587 Centerline is valid? [True, True] Translation: X:-5.19, Y:1.20, Z:0.16 [[ 9.97595141e-01 -6.79287654e-02 1.37701544e-02 -5.19167996e+00] [ 6.79194125e-02 9.97690152e-01 1.14627547e-03 1.19642772e+00] [-1.38162125e-02 -2.08258043e-04 9.99904530e-01 1.62243289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859072329 meters 0.0810161583861587 Centerline is valid? [True, True] Translation: X:-5.16, Y:1.20, Z:0.16 [[ 9.97602422e-01 -6.78218270e-02 1.37697762e-02 -5.15927323e+00] [ 6.78124012e-02 9.97697426e-01 1.15082391e-03 1.19896414e+00] [-1.38161212e-02 -2.14303134e-04 9.99904530e-01 1.60313812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889072329 meters 0.0807518175243025 Centerline is valid? [True, True] Translation: X:-5.13, Y:1.16, Z:0.16 [[ 9.94573141e-01 -1.02329852e-01 1.87848203e-02 -5.12533738e+00] [ 1.02318580e-01 9.94750454e-01 1.56268752e-03 1.16111889e+00] [-1.88461181e-02 3.67829101e-04 9.99822328e-01 1.61683794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919072329 meters 0.08507189406923248 Centerline is valid? [True, True] Translation: X:-5.09, Y:1.15, Z:0.16 [[ 9.92779384e-01 -1.17851630e-01 2.23626612e-02 -5.09405189e+00] [ 1.17839631e-01 9.93030900e-01 1.85818537e-03 1.14766235e+00] [-2.24258038e-02 7.90439606e-04 9.99748198e-01 1.62544114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949072329 meters 0.08946784123710967 Centerline is valid? [True, True] Translation: X:-5.06, Y:1.14, Z:0.16 [[ 9.91138259e-01 -1.30984262e-01 2.20923910e-02 -5.06270086e+00] [ 1.30975812e-01 9.91383865e-01 1.83526927e-03 1.14021768e+00] [-2.21424314e-02 1.07456327e-03 9.99754249e-01 1.63932318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979072329 meters 0.0975146436567923 Centerline is valid? [True, True] Translation: X:-5.03, Y:1.13, Z:0.16 [[ 9.88252201e-01 -1.51370583e-01 2.10839945e-02 -5.03110148e+00] [ 1.51367497e-01 9.88476005e-01 1.75140901e-03 1.12988052e+00] [-2.11061345e-02 1.46059767e-03 9.99776174e-01 1.64110204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.009072328999999 meters 0.1067821329930912 Centerline is valid? [True, False] Translation: X:-5.04, Y:1.13, Z:0.16 [[ 9.88666426e-01 -1.49634098e-01 1.21792765e-02 -5.03845547e+00] [ 1.49700924e-01 9.88719825e-01 -4.76865382e-03 1.12959336e+00] [-1.13283390e-02 6.53785688e-03 9.99914459e-01 1.64989041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039072329 meters 0.1115165774530538 Centerline is valid? [False, False] Translation: X:-5.03, Y:1.13, Z:0.16 [[ 0.98993022 -0.14072342 0.01533207 -5.03445254] [ 0.14093586 0.98992276 -0.01378461 1.12946228] [-0.01323774 0.01580664 0.99978743 0.16029162] [ 0. 0. 0. 1. ]] SLAMing on 7.069072329 meters 0.11726973460515129 Centerline is valid? [False, False] Translation: X:-5.03, Y:1.13, Z:0.15 [[ 0.99113813 -0.1317613 0.01685717 -5.02936691] [ 0.13211635 0.99098914 -0.02204053 1.12970276] [-0.01380118 0.02407232 0.99961495 0.15410211] [ 0. 0. 0. 1. ]] SLAMing on 7.099072329 meters 0.1093132139705007 Centerline is valid? [False, False] Translation: X:-5.03, Y:1.13, Z:0.15 [[ 0.9929504 -0.1175877 0.01492115 -5.02737794] [ 0.11794963 0.99267173 -0.02628159 1.13011473] [-0.01172141 0.02785626 0.99954321 0.15247786] [ 0. 0. 0. 1. ]] SLAMing on 7.1290723289999995 meters 0.11576349856528777 Centerline is valid? [False, False] Translation: X:-5.03, Y:1.13, Z:0.15 [[ 0.99478618 -0.10136112 0.01124145 -5.02630006] [ 0.10164527 0.99441176 -0.02852167 1.13144458] [-0.00828764 0.0295156 0.99952996 0.15244015] [ 0. 0. 0. 1. ]] SLAMing on 7.159072329 meters 0.10760285775119706 Centerline is valid? [False, False] Translation: X:-5.03, Y:1.14, Z:0.16 [[ 0.99679915 -0.07954609 0.00799206 -5.02992895] [ 0.07972982 0.99647321 -0.02615925 1.13694757] [-0.00588301 0.02671273 0.99962584 0.1564658 ] [ 0. 0. 0. 1. ]] SLAMing on 7.189072329 meters 0.10247835065745463 Centerline is valid? [False, False] Translation: X:-5.03, Y:1.14, Z:0.16 [[ 9.98030242e-01 -6.27204167e-02 1.33630373e-03 -5.02706799e+00] [ 6.27334587e-02 9.97653543e-01 -2.74211932e-02 1.13869829e+00] [ 3.86700512e-04 2.74510110e-02 9.99623075e-01 1.56689097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219072328999999 meters 0.09700618633670803 Centerline is valid? [False, True] Translation: X:-5.02, Y:1.14, Z:0.16 [[ 0.99892346 -0.04601557 -0.00587306 -5.02339081] [ 0.04583171 0.99854748 -0.02832623 1.14017467] [ 0.00716798 0.02802656 0.99958148 0.15595401] [ 0. 0. 0. 1. ]] SLAMing on 7.249072329 meters 0.08578514674030377 Centerline is valid? [True, True] Translation: X:-4.99, Y:1.16, Z:0.16 [[ 9.99489272e-01 -3.11541873e-02 -7.11413620e-03 -4.99317717e+00] [ 3.11554584e-02 9.99514549e-01 6.78827926e-05 1.15752443e+00] [ 7.10856780e-03 -2.89492297e-04 9.99974692e-01 1.55217433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279072329 meters 0.0832623849701306 Centerline is valid? [True, True] Translation: X:-4.96, Y:1.17, Z:0.15 [[ 9.99687963e-01 -2.34032491e-02 -8.73299014e-03 -4.96333660e+00] [ 2.34048623e-02 9.99726065e-01 8.25618146e-05 1.17052128e+00] [ 8.72866566e-03 -2.86930484e-04 9.99961863e-01 1.52155874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.309072329 meters 0.08215211179070202 Centerline is valid? [True, True] Translation: X:-4.93, Y:1.18, Z:0.15 [[ 9.99775468e-01 -1.76063449e-02 -1.17911041e-02 -4.93408554e+00] [ 1.76088784e-02 9.99844946e-01 1.11078807e-04 1.18103643e+00] [ 1.17873202e-02 -3.18681985e-04 9.99930476e-01 1.47349759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3390723289999995 meters 0.08137064201225006 Centerline is valid? [True, True] Translation: X:-4.91, Y:1.19, Z:0.14 [[ 9.99813246e-01 -1.32551483e-02 -1.40632387e-02 -4.90554722e+00] [ 1.32581906e-02 9.99912099e-01 1.23115890e-04 1.18969929e+00] [ 1.40603706e-02 -3.09545996e-04 9.99901100e-01 1.43410672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.369072329 meters 0.08100585211240212 Centerline is valid? [True, True] Translation: X:-4.88, Y:1.20, Z:0.14 [[ 9.99846016e-01 -9.18201620e-03 -1.49543974e-02 -4.87721728e+00] [ 9.18495488e-03 9.99957809e-01 1.27838417e-04 1.20226949e+00] [ 1.49525927e-02 -2.65174198e-04 9.99888169e-01 1.40388689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399072329 meters 0.08058759280238786 Centerline is valid? [True, True] Translation: X:-4.85, Y:1.21, Z:0.14 [[ 9.99838691e-01 -9.94620449e-03 -1.49554624e-02 -4.84842408e+00] [ 9.94917147e-03 9.99950498e-01 1.23997404e-04 1.20534340e+00] [ 1.49534887e-02 -2.72771861e-04 9.99888153e-01 1.43242435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.429072329 meters 0.08097349959038666 Centerline is valid? [True, True] Translation: X:-4.82, Y:1.20, Z:0.14 [[ 9.99819042e-01 -1.28082250e-02 -1.40653012e-02 -4.81994945e+00] [ 1.28110787e-02 9.99917928e-01 1.12805090e-04 1.20188070e+00] [ 1.40627020e-02 -2.92976358e-04 9.99901072e-01 1.42316217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459072329 meters 0.08186915410751626 Centerline is valid? [True, True] Translation: X:-4.79, Y:1.20, Z:0.15 [[ 9.99700468e-01 -2.25716839e-02 -9.46011578e-03 -4.79153272e+00] [ 2.25734251e-02 9.99745185e-01 7.73137945e-05 1.19530786e+00] [ 9.45596010e-03 -2.90837852e-04 9.99955249e-01 1.47953342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.489072329 meters 0.08278116078329138 Centerline is valid? [True, True] Translation: X:-4.76, Y:1.19, Z:0.15 [[ 9.99610101e-01 -2.74445861e-02 -5.14208863e-03 -4.76292448e+00] [ 2.74451279e-02 9.99623311e-01 3.48066964e-05 1.19286041e+00] [ 5.13919640e-03 -1.75918405e-04 9.99986779e-01 1.51394646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519072329 meters 0.08648694521113459 Centerline is valid? [True, True] Translation: X:-4.73, Y:1.18, Z:0.15 [[ 9.99474156e-01 -3.22722538e-02 -3.14840532e-03 -4.73282087e+00] [ 3.22724969e-02 9.99479107e-01 2.64256027e-05 1.18296707e+00] [ 3.14591253e-03 -1.28018608e-04 9.99995043e-01 1.49007425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5490723289999995 meters 0.08685394048609468 Centerline is valid? [True, True] Translation: X:-4.70, Y:1.18, Z:0.15 [[ 9.99272258e-01 -3.80968528e-02 -1.89342068e-03 -4.70137394e+00] [ 3.80969526e-02 9.99274047e-01 1.66822924e-05 1.17802367e+00] [ 1.89141060e-03 -8.88037101e-05 9.99998207e-01 1.51275438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579072329 meters 0.09313058649263088 Centerline is valid? [True, True] Translation: X:-4.67, Y:1.15, Z:0.15 [[ 9.98733768e-01 -5.00817273e-02 -4.76245787e-03 -4.67197958e+00] [ 5.00824866e-02 9.98745084e-01 4.02273388e-05 1.15448368e+00] [ 4.75446673e-03 -2.78692134e-04 9.99988659e-01 1.47013448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.609072329 meters 0.09745037459187461 Centerline is valid? [True, True] Translation: X:-4.64, Y:1.14, Z:0.14 [[ 9.98359351e-01 -5.69817601e-02 -5.62889875e-03 -4.64148746e+00] [ 5.69829246e-02 9.98375152e-01 4.65892161e-05 1.14175541e+00] [ 5.61709791e-03 -3.67263893e-04 9.99984157e-01 1.43880743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639072329 meters 0.10082421859690842 Centerline is valid? [True, False] Translation: X:-4.64, Y:1.14, Z:0.14 [[ 9.98153357e-01 -6.04906314e-02 -5.54620356e-03 -4.64048716e+00] [ 6.04771110e-02 9.98166265e-01 -2.57407084e-03 1.13778347e+00] [ 5.69174046e-03 2.23389909e-03 9.99981307e-01 1.42747749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.669072329 meters 0.11015533742299972 Centerline is valid? [False, False] Translation: X:-4.64, Y:1.13, Z:0.14 [[ 9.98148328e-01 -6.05961337e-02 -5.29385311e-03 -4.64077971e+00] [ 6.05987949e-02 9.98162145e-01 3.43590104e-04 1.12941253e+00] [ 5.26330354e-03 -6.63755006e-04 9.99985928e-01 1.41718009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699072329 meters 0.11462112975413068 Centerline is valid? [False, False] Translation: X:-4.64, Y:1.13, Z:0.14 [[ 9.98112677e-01 -6.12435463e-02 -4.50690483e-03 -4.64368801e+00] [ 6.12460682e-02 9.98122608e-01 4.23560330e-04 1.12734484e+00] [ 4.47250326e-03 -6.98791135e-04 9.99989754e-01 1.44169093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.729072329 meters 0.11852486318521868 Centerline is valid? [False, False] Translation: X:-4.65, Y:1.12, Z:0.15 [[ 9.98675863e-01 -5.13383576e-02 -3.30070229e-03 -4.65069556e+00] [ 5.13171351e-02 9.98663028e-01 -6.22156529e-03 1.12487256e+00] [ 3.61569429e-03 6.04394449e-03 9.99975198e-01 1.48539622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759072328999999 meters 0.1225520887275044 Centerline is valid? [False, False] Translation: X:-4.65, Y:1.12, Z:0.15 [[ 0.99881722 -0.04784856 -0.00864174 -4.65471605] [ 0.04770056 0.99872393 -0.0165884 1.11863979] [ 0.00942445 0.01615657 0.99982506 0.15138267] [ 0. 0. 0. 1. ]] SLAMing on 7.789072329 meters 0.12789035326366197 Centerline is valid? [False, False] Translation: X:-4.66, Y:1.11, Z:0.15 [[ 9.99081911e-01 -4.27210371e-02 -3.20121096e-03 -4.66371403e+00] [ 4.26596958e-02 9.98940589e-01 -1.72583127e-02 1.11308939e+00] [ 3.93511258e-03 1.71059054e-02 9.99845940e-01 1.46224690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819072329 meters 0.11779838924217666 Centerline is valid? [False, False] Translation: X:-4.66, Y:1.11, Z:0.15 [[ 9.99275859e-01 -3.79159022e-02 -3.18478455e-03 -4.66389862e+00] [ 3.78761841e-02 9.99213686e-01 -1.17219946e-02 1.10889751e+00] [ 3.62673031e-03 1.15928787e-02 9.99926223e-01 1.45734918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.849072329 meters 0.11263645516455381 Centerline is valid? [False, False] Translation: X:-4.66, Y:1.11, Z:0.14 [[ 9.99794268e-01 -2.01839308e-02 -2.00761883e-03 -4.66005750e+00] [ 2.01564619e-02 9.99713971e-01 -1.28721950e-02 1.10845862e+00] [ 2.26685609e-03 1.28290803e-02 9.99915134e-01 1.40993966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8790723289999995 meters 0.11130220161599083 Centerline is valid? [False, False] Translation: X:-4.66, Y:1.11, Z:0.14 [[ 9.99938790e-01 -1.08366390e-02 -2.23249203e-03 -4.65901223e+00] [ 1.08301543e-02 9.99937157e-01 -2.89659368e-03 1.10549540e+00] [ 2.26374107e-03 2.87223814e-03 9.99993313e-01 1.39405118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.909072329 meters 0.11057917950806334 Centerline is valid? [False, False] Translation: X:-4.66, Y:1.10, Z:0.14 [[ 9.99978961e-01 -6.03472411e-03 -2.37892081e-03 -4.65820967e+00] [ 6.04014153e-03 9.99979166e-01 2.27669066e-03 1.10348567e+00] [ 2.36513204e-03 -2.29101178e-03 9.99994579e-01 1.38401726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.939072329 meters 0.10756791878789392 Centerline is valid? [False, False] Translation: X:-4.65, Y:1.10, Z:0.14 [[ 9.99973153e-01 -1.31848361e-03 -7.20802788e-03 -4.64615057e+00] [ 1.33968812e-03 9.99994787e-01 2.93775330e-03 1.09904539e+00] [ 7.20411693e-03 -2.94733094e-03 9.99969707e-01 1.38751615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.969072328999999 meters 0.11095772977435502 Centerline is valid? [False, False] Translation: X:-4.65, Y:1.10, Z:0.14 [[ 9.99971007e-01 -1.25235796e-03 -7.51113621e-03 -4.64537370e+00] [ 1.27439760e-03 9.99994895e-01 2.93019394e-03 1.09920792e+00] [ 7.50742821e-03 -2.93968116e-03 9.99967498e-01 1.38490476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999072329 meters 0.1035883900693184 Centerline is valid? [False, False] Translation: X:-4.65, Y:1.10, Z:0.14 [[ 9.99969190e-01 -1.44884940e-03 -7.71490401e-03 -4.64509461e+00] [ 1.46795406e-03 9.99995869e-01 2.47124514e-03 1.10048572e+00] [ 7.71129168e-03 -2.48249413e-03 9.99967186e-01 1.38701195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.029072329 meters 0.10310308647137345 Centerline is valid? [False, False] Translation: X:-4.64, Y:1.11, Z:0.14 [[ 9.99968531e-01 -5.92789607e-04 -7.91111216e-03 -4.64431876e+00] [ 6.08781418e-04 9.99997776e-01 2.01918146e-03 1.10507236e+00] [ 7.90989762e-03 -2.02393406e-03 9.99966668e-01 1.38735694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059072329 meters 0.09402612825285867 Centerline is valid? [False, True] Translation: X:-4.64, Y:1.11, Z:0.14 [[ 9.99966062e-01 -1.04565958e-03 -8.17200728e-03 -4.64423904e+00] [ 1.05323579e-03 9.99999020e-01 9.22843635e-04 1.10821418e+00] [ 8.17103429e-03 -9.31419365e-04 9.99966183e-01 1.39559238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.089072329 meters 0.09172387845760503 Centerline is valid? [True, True] Translation: X:-4.61, Y:1.11, Z:0.14 [[ 9.99974033e-01 3.26249368e-03 -6.42564912e-03 -4.61322310e+00] [-3.26008638e-03 9.99994612e-01 3.85078185e-04 1.11263261e+00] [ 6.42687081e-03 -3.64120014e-04 9.99979281e-01 1.40790241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119072329 meters 0.09404312730393122 Centerline is valid? [True, True] Translation: X:-4.58, Y:1.11, Z:0.14 [[ 9.99957564e-01 8.03312276e-03 -4.50985965e-03 -4.58459284e+00] [-8.03199117e-03 9.99967707e-01 2.68970548e-04 1.10681251e+00] [ 4.51187469e-03 -2.32735981e-04 9.99989794e-01 1.36283986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.149072329 meters 0.08448524381985364 Centerline is valid? [True, True] Translation: X:-4.55, Y:1.13, Z:0.14 [[ 9.99792122e-01 1.84815513e-02 -8.61073123e-03 -4.55353752e+00] [-1.84778015e-02 9.99829138e-01 5.14832085e-04 1.12595261e+00] [ 8.61877488e-03 -3.55617680e-04 9.99962794e-01 1.36608463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179072329 meters 0.08504375268540146 Centerline is valid? [True, True] Translation: X:-4.53, Y:1.13, Z:0.12 [[ 9.99571259e-01 2.58246742e-02 -1.37979727e-02 -4.52540763e+00] [-2.58157683e-02 9.99666379e-01 8.23199300e-04 1.12842370e+00] [ 1.38146283e-02 -4.66641094e-04 9.99904465e-01 1.23148813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.209072329 meters 0.08144693867996061 Centerline is valid? [True, True] Translation: X:-4.49, Y:1.14, Z:0.12 [[ 9.99350124e-01 3.35851441e-02 -1.30907374e-02 -4.49420698e+00] [-3.35777702e-02 9.99435801e-01 7.82736682e-04 1.14036826e+00] [ 1.31096400e-02 -3.42670226e-04 9.99914006e-01 1.24835617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239072328999999 meters 0.07909946263768239 Centerline is valid? [True, True] Translation: X:-4.46, Y:1.15, Z:0.13 [[ 9.99118092e-01 4.07518260e-02 -1.01157068e-02 -4.46419417e+00] [-4.07477970e-02 9.99169281e-01 6.04163553e-04 1.15136816e+00] [ 1.01319243e-02 -1.91437970e-04 9.99948652e-01 1.28271046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.269072329 meters 0.07613992954044935 Centerline is valid? [True, True] Translation: X:-4.43, Y:1.17, Z:0.13 [[ 9.98511434e-01 5.43344645e-02 -4.76248270e-03 -4.43412996e+00] [-5.43337315e-02 9.98522792e-01 2.83267881e-04 1.17078291e+00] [ 4.77083873e-03 -2.40827627e-05 9.99988619e-01 1.34801542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299072329 meters 0.07527540762384273 Centerline is valid? [True, True] Translation: X:-4.41, Y:1.17, Z:0.14 [[ 9.98178187e-01 6.02267096e-02 -3.61258822e-03 -4.40510283e+00] [-6.02263312e-02 9.98184724e-01 2.13520337e-04 1.17389128e+00] [ 3.61889001e-03 4.44159171e-06 9.99993452e-01 1.39593867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.329072329 meters 0.07528150284520684 Centerline is valid? [True, True] Translation: X:-4.38, Y:1.17, Z:0.14 [[ 9.97878465e-01 6.50681941e-02 -2.16782999e-03 -4.37657091e+00] [-6.50680714e-02 9.97880819e-01 1.27167715e-04 1.17432022e+00] [ 2.17151054e-03 1.41585921e-05 9.99997642e-01 1.39028724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359072329 meters 0.07659095184125049 Centerline is valid? [True, True] Translation: X:-4.35, Y:1.18, Z:0.14 [[ 9.97405094e-01 7.18882927e-02 -3.89258336e-03 -4.34765351e+00] [-7.18879414e-02 9.97412688e-01 2.30262880e-04 1.18132340e+00] [ 3.89906524e-03 5.01644354e-05 9.99992397e-01 1.36611352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.389072329 meters 0.07797289267792318 Centerline is valid? [True, True] Translation: X:-4.32, Y:1.18, Z:0.13 [[ 9.97225759e-01 7.40018199e-02 -8.03214637e-03 -4.31743950e+00] [-7.40003729e-02 9.97258099e-01 4.77604321e-04 1.18417607e+00] [ 8.04546661e-03 1.18102496e-04 9.99967628e-01 1.33026758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419072329 meters 0.08040293777894693 Centerline is valid? [True, True] Translation: X:-4.29, Y:1.19, Z:0.13 [[ 9.96819051e-01 7.89695424e-02 -1.07513210e-02 -4.28751388e+00] [-7.89672388e-02 9.96877007e-01 6.39274237e-04 1.18905211e+00] [ 1.07682279e-02 2.11761395e-04 9.99941999e-01 1.28981308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.449072329 meters 0.08006090245284707 Centerline is valid? [True, True] Translation: X:-4.26, Y:1.18, Z:0.13 [[ 9.96660440e-01 8.07852900e-02 -1.19039415e-02 -4.25910412e+00] [-8.07827119e-02 9.96731492e-01 6.98031543e-04 1.18261443e+00] [ 1.19214241e-02 2.65932255e-04 9.99928902e-01 1.31170718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479072329 meters 0.08036029681627811 Centerline is valid? [True, True] Translation: X:-4.23, Y:1.18, Z:0.13 [[ 9.96575062e-01 8.17952170e-02 -1.21527441e-02 -4.23096454e+00] [-8.17926414e-02 9.96649116e-01 7.09644977e-04 1.17591041e+00] [ 1.21700673e-02 2.86790556e-04 9.99925901e-01 1.29480597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.509072329 meters 0.08140573369822354 Centerline is valid? [True, True] Translation: X:-4.20, Y:1.17, Z:0.13 [[ 9.96103614e-01 8.78248398e-02 -8.02423446e-03 -4.20420204e+00] [-8.78239109e-02 9.96135905e-01 4.68739469e-04 1.17237281e+00] [ 8.03439502e-03 2.37806573e-04 9.99967695e-01 1.30044699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539072329 meters 0.08255513626195163 Centerline is valid? [True, True] Translation: X:-4.18, Y:1.18, Z:0.13 [[ 9.95696559e-01 9.25824305e-02 -4.10557342e-03 -4.17535368e+00] [-9.25822535e-02 9.95705012e-01 2.33568874e-04 1.17843833e+00] [ 4.10956440e-03 1.47539515e-04 9.99991545e-01 1.33384494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569072328999999 meters 0.08522369021192328 Centerline is valid? [True, True] Translation: X:-4.15, Y:1.19, Z:0.14 [[ 9.95142704e-01 9.84116951e-02 -2.47747074e-03 -4.14523676e+00] [-9.84116394e-02 9.95145782e-01 1.44670001e-04 1.18881474e+00] [ 2.47968178e-03 9.98446612e-05 9.99996921e-01 1.35702243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599072329 meters 0.091088068647428 Centerline is valid? [True, True] Translation: X:-4.11, Y:1.20, Z:0.14 [[ 9.94045109e-01 1.08833164e-01 -5.44653540e-03 -4.11420475e+00] [-1.08833046e-01 9.94059991e-01 3.18862026e-04 1.20178278e+00] [ 5.44888570e-03 2.75799800e-04 9.99985117e-01 1.35666791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.629072329 meters 0.09219023433430056 Centerline is valid? [True, True] Translation: X:-4.08, Y:1.20, Z:0.13 [[ 9.93565935e-01 1.12933340e-01 -8.53192563e-03 -4.08382684e+00] [-1.12933200e-01 9.93602457e-01 4.99783092e-04 1.19676231e+00] [ 8.53378445e-03 4.66970205e-04 9.99963478e-01 1.33245815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659072329 meters 0.09933362890687253 Centerline is valid? [True, True] Translation: X:-4.05, Y:1.20, Z:0.12 [[ 9.93152012e-01 1.16271803e-01 -1.13995128e-02 -4.05436698e+00] [-1.16271781e-01 9.93217211e-01 6.66918506e-04 1.20007622e+00] [ 1.13997361e-02 6.63090192e-04 9.99934801e-01 1.22709570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.689072329 meters 0.09706145127355788 Centerline is valid? [True, True] Translation: X:-4.02, Y:1.19, Z:0.13 [[ 9.92811828e-01 1.19077460e-01 -1.20512425e-02 -4.02475632e+00] [-1.19077644e-01 9.92884695e-01 7.04811417e-04 1.18927964e+00] [ 1.20494214e-02 7.35288454e-04 9.99927133e-01 1.25205830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719072329 meters 0.09952179858292744 Centerline is valid? [True, True] Translation: X:-4.00, Y:1.19, Z:0.12 [[ 9.92489120e-01 1.21788648e-01 -1.15270115e-02 -3.99623948e+00] [-1.21789017e-01 9.92555783e-01 6.72602723e-04 1.18844294e+00] [ 1.15231173e-02 7.36312511e-04 9.99933336e-01 1.23921108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.749072329 meters 0.10294050448291774 Centerline is valid? [True, False] Translation: X:-4.01, Y:1.18, Z:0.12 [[ 0.99251633 0.12190993 0.00702164 -4.00656567] [-0.12197133 0.99249188 0.00910298 1.1839754 ] [-0.00585917 -0.00989129 0.99993391 0.11824625] [ 0. 0. 0. 1. ]] SLAMing on 8.779072329 meters 0.10294050448291774 Centerline is valid? [False, False] Translation: X:-4.00, Y:1.18, Z:0.12 [[ 0.99324182 0.11585905 0.00688187 -3.99981597] [-0.11594487 0.99316036 0.01375793 1.1838117 ] [-0.00524082 -0.01446287 0.99988167 0.12227168] [ 0. 0. 0. 1. ]] SLAMing on 8.809072329 meters 0.1041838532274351 Centerline is valid? [False, False] Translation: X:-3.98, Y:1.18, Z:0.12 [[ 0.99415452 0.10701668 0.01429057 -3.9790668 ] [-0.10733761 0.99393334 0.02398217 1.18111413] [-0.01163738 -0.0253759 0.99961024 0.12189771] [ 0. 0. 0. 1. ]] SLAMing on 8.839072329 meters 0.10825788708808921 Centerline is valid? [False, False] Translation: X:-3.98, Y:1.18, Z:0.12 [[ 0.99445851 0.10413429 0.01443352 -3.98158933] [-0.10442925 0.99430074 0.02146075 1.17766474] [-0.01211646 -0.02284911 0.9996655 0.12444152] [ 0. 0. 0. 1. ]] SLAMing on 8.869072329 meters 0.10879913427200347 Centerline is valid? [False, False] Translation: X:-3.98, Y:1.18, Z:0.12 [[ 0.9948675 0.10022547 0.01391098 -3.98151827] [-0.10046583 0.99478104 0.01781279 1.1759261 ] [-0.01205309 -0.01911895 0.99974456 0.12455988] [ 0. 0. 0. 1. ]] SLAMing on 8.899072329 meters 0.10947448838668497 Centerline is valid? [False, False] Translation: X:-3.98, Y:1.17, Z:0.13 [[ 0.99590078 0.08915476 0.0152662 -3.97937642] [-0.08949211 0.99572055 0.02305975 1.17314001] [-0.01314498 -0.02433143 0.99961752 0.12503109] [ 0. 0. 0. 1. ]] SLAMing on 8.929072329 meters 0.11351318735187355 Centerline is valid? [False, False] Translation: X:-3.98, Y:1.17, Z:0.12 [[ 0.99653048 0.08191847 0.01470961 -3.97924427] [-0.08213746 0.99650876 0.01495736 1.17466855] [-0.01343297 -0.01611367 0.99977993 0.12491756] [ 0. 0. 0. 1. ]] SLAMing on 8.959072329 meters 0.11701800961028859 Centerline is valid? [False, False] Translation: X:-3.97, Y:1.17, Z:0.13 [[ 0.99722164 0.07278062 0.01587406 -3.9745004 ] [-0.07309693 0.99711721 0.02034955 1.17391354] [-0.01434724 -0.02145335 0.9996669 0.12503452] [ 0. 0. 0. 1. ]] SLAMing on 8.989072328999999 meters 0.12048508368650263 Centerline is valid? [False, False] Translation: X:-3.97, Y:1.18, Z:0.12 [[ 0.99752512 0.06865985 0.01514816 -3.97323017] [-0.06889515 0.99750193 0.01559992 1.17569824] [-0.01403924 -0.01660495 0.99976356 0.12412576] [ 0. 0. 0. 1. ]] SLAMing on 9.019072329 meters 0.1152594637187096 Centerline is valid? [False, False] Translation: X:-3.97, Y:1.18, Z:0.12 [[ 0.99752592 0.06875226 0.01466854 -3.97152567] [-0.06897283 0.99750424 0.01510127 1.17764496] [-0.01359368 -0.01607564 0.99977837 0.12267945] [ 0. 0. 0. 1. ]] SLAMing on 9.049072329 meters 0.12996109708695908 Centerline is valid? [False, False] Translation: X:-3.97, Y:1.18, Z:0.12 [[ 0.99796363 0.06056203 0.02002067 -3.97032343] [-0.06102079 0.99786782 0.02315755 1.17904994] [-0.01857551 -0.02433207 0.99953134 0.12079513] [ 0. 0. 0. 1. ]] SLAMing on 9.079072329 meters 0.11965370854901623 Centerline is valid? [False, False] Translation: X:-3.97, Y:1.18, Z:0.12 [[ 0.99824052 0.05605417 0.01933395 -3.96920582] [-0.05639823 0.99825084 0.017734 1.18279367] [-0.01830607 -0.0187932 0.99965579 0.12030072] [ 0. 0. 0. 1. ]] SLAMing on 9.109072329 meters 0.12133222434735319 Centerline is valid? [False, False] Translation: X:-3.97, Y:1.18, Z:0.12 [[ 0.99876232 0.04534309 0.02044103 -3.96696893] [-0.04586127 0.99861879 0.02563691 1.18415837] [-0.01925034 -0.02654264 0.99946231 0.11761434] [ 0. 0. 0. 1. ]] SLAMing on 9.139072329 meters 0.11470084069110484 Centerline is valid? [False, False] Translation: X:-3.97, Y:1.19, Z:0.12 [[ 0.99896462 0.04085296 0.02001818 -3.96616214] [-0.04125997 0.998941 0.02035908 1.18706613] [-0.01916525 -0.02116395 0.99959231 0.1169247 ] [ 0. 0. 0. 1. ]] SLAMing on 9.169072329 meters 0.11470722896857015 Centerline is valid? [False, False] Translation: X:-3.96, Y:1.19, Z:0.12 [[ 9.99279993e-01 3.78310950e-02 2.88154801e-03 -3.96001578e+00] [-3.78657564e-02 9.99196804e-01 1.31122263e-02 1.19023149e+00] [-2.38318369e-03 -1.32118974e-02 9.99909879e-01 1.20342434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199072329 meters 0.12245506723632119 Centerline is valid? [False, False] Translation: X:-3.96, Y:1.19, Z:0.12 [[ 0.99952092 0.02938535 0.00971762 -3.95613323] [-0.0295655 0.99938328 0.01894599 1.19180968] [-0.00915489 -0.01922422 0.99977328 0.11627051] [ 0. 0. 0. 1. ]] SLAMing on 9.229072329 meters 0.11417329775553642 Centerline is valid? [False, False] Translation: X:-3.96, Y:1.20, Z:0.12 [[ 0.999666 0.02397599 0.0096462 -3.95643043] [-0.02409131 0.99963748 0.0120218 1.19914015] [-0.00935447 -0.01225017 0.99988121 0.11658742] [ 0. 0. 0. 1. ]] SLAMing on 9.259072329 meters 0.11991453507561452 Centerline is valid? [False, False] Translation: X:-3.96, Y:1.21, Z:0.12 [[ 0.99977676 0.01900698 0.00922823 -3.9559744 ] [-0.01906046 0.99980185 0.00574183 1.20549256] [-0.00911727 -0.00591644 0.99994093 0.11688576] [ 0. 0. 0. 1. ]] SLAMing on 9.289072329 meters 0.1136296304349076 Centerline is valid? [False, False] Translation: X:-3.96, Y:1.21, Z:0.12 [[ 0.99978952 0.01835302 0.00916933 -3.95619978] [-0.01839365 0.99982129 0.00436693 1.20930495] [-0.00908754 -0.00453467 0.99994843 0.1175506 ] [ 0. 0. 0. 1. ]] SLAMing on 9.319072328999999 meters 0.11247050831329039 Centerline is valid? [False, False] Translation: X:-3.95, Y:1.22, Z:0.12 [[ 9.99874594e-01 1.33268712e-02 8.55511715e-03 -3.95499792e+00] [-1.33061339e-02 9.99908403e-01 -2.47631884e-03 1.21807673e+00] [-8.58733511e-03 2.36217276e-03 9.99960338e-01 1.17358615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.349072329 meters 0.11239562172503376 Centerline is valid? [False, False] Translation: X:-3.95, Y:1.22, Z:0.12 [[ 9.99990071e-01 4.28592455e-03 -1.22029888e-03 -3.95082303e+00] [-4.28218886e-03 9.99986187e-01 3.04761654e-03 1.22198244e+00] [ 1.23334388e-03 -3.04236073e-03 9.99994611e-01 1.16030281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379072329 meters 0.10981727368585735 Centerline is valid? [False, False] Translation: X:-3.95, Y:1.22, Z:0.12 [[ 9.99991359e-01 3.94232856e-03 -1.31887108e-03 -3.95029798e+00] [-3.93935449e-03 9.99989709e-01 2.25006012e-03 1.22436158e+00] [ 1.32772799e-03 -2.24484517e-03 9.99996599e-01 1.15489978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.409072328999999 meters 0.10276619052683858 Centerline is valid? [False, False] Translation: X:-3.95, Y:1.23, Z:0.12 [[ 9.99994357e-01 2.95352566e-03 -1.60064036e-03 -3.94970478e+00] [-2.95185807e-03 9.99995099e-01 1.04318846e-03 1.22662470e+00] [ 1.60371360e-03 -1.03845771e-03 9.99998175e-01 1.15173186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439072329 meters 0.09787327076532705 Centerline is valid? [False, True] Translation: X:-3.95, Y:1.23, Z:0.12 [[ 9.99995027e-01 2.69555053e-03 -1.63730938e-03 -3.94997181e+00] [-2.69424794e-03 9.99996053e-01 7.97254276e-04 1.22708785e+00] [ 1.63945196e-03 -7.92838993e-04 9.99998342e-01 1.15928776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469072329 meters 0.09216966230611898 Centerline is valid? [True, True] Translation: X:-3.92, Y:1.22, Z:0.12 [[ 9.99981464e-01 -4.85578587e-03 3.67320352e-03 -3.91907214e+00] [ 4.85510326e-03 9.99988195e-01 1.94731168e-04 1.22318907e+00] [-3.67410573e-03 -1.76893776e-04 9.99993235e-01 1.22269598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499072329 meters 0.0873116635019406 Centerline is valid? [True, True] Translation: X:-3.89, Y:1.22, Z:0.13 [[ 9.99885465e-01 -1.19397042e-02 9.30054429e-03 -3.88746790e+00] [ 1.19356271e-02 9.99928646e-01 4.93753215e-04 1.21950798e+00] [-9.30577592e-03 -3.82688834e-04 9.99956627e-01 1.28722754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529072329 meters 0.08109407183803145 Centerline is valid? [True, True] Translation: X:-3.86, Y:1.21, Z:0.13 [[ 9.99609841e-01 -2.46874077e-02 1.30650948e-02 -3.85694199e+00] [ 2.46804621e-02 9.99695151e-01 6.92607712e-04 1.20797259e+00] [-1.30782107e-02 -3.69884908e-04 9.99914408e-01 1.31029928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559072329 meters 0.07940418244349697 Centerline is valid? [True, True] Translation: X:-3.82, Y:1.20, Z:0.12 [[ 9.99475554e-01 -3.06932632e-02 1.03218345e-02 -3.82468950e+00] [ 3.06892282e-02 9.99528824e-01 5.49121668e-04 1.20001332e+00] [-1.03338254e-02 -2.32064550e-04 9.99946578e-01 1.24768831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.589072329 meters 0.07824617697964703 Centerline is valid? [True, True] Translation: X:-3.79, Y:1.19, Z:0.12 [[ 9.99303014e-01 -3.65414706e-02 7.62941866e-03 -3.79232639e+00] [ 3.65394360e-02 9.99332129e-01 4.05949798e-04 1.19243467e+00] [-7.63915720e-03 -1.26892202e-04 9.99970813e-01 1.19034107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619072329 meters 0.07714351515055433 Centerline is valid? [True, True] Translation: X:-3.76, Y:1.19, Z:0.11 [[ 9.98969212e-01 -4.51480808e-02 4.70781788e-03 -3.76054353e+00] [ 4.51473992e-02 9.98980305e-01 2.51014967e-04 1.18801345e+00] [-4.71435018e-03 -3.82104910e-05 9.99988887e-01 1.14202858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649072329 meters 0.07576780798017631 Centerline is valid? [True, True] Translation: X:-3.73, Y:1.19, Z:0.12 [[ 9.98865319e-01 -4.73947978e-02 4.66995573e-03 -3.72816632e+00] [ 4.73941515e-02 9.98876235e-01 2.49015056e-04 1.19183883e+00] [-4.67650982e-03 -2.74039138e-05 9.99989065e-01 1.23955250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679072329 meters 0.07676719649010609 Centerline is valid? [True, True] Translation: X:-3.70, Y:1.21, Z:0.12 [[ 9.98869628e-01 -4.70940333e-02 6.45116190e-03 -3.69749713e+00] [ 4.70928034e-02 9.98890460e-01 3.42503897e-04 1.20945170e+00] [-6.46013397e-03 -3.83134412e-05 9.99979132e-01 1.19802964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709072329 meters 0.0769864117622095 Centerline is valid? [True, True] Translation: X:-3.67, Y:1.22, Z:0.12 [[ 9.98955057e-01 -4.50476561e-02 7.71380676e-03 -3.66607515e+00] [ 4.50458473e-02 9.98984837e-01 4.08167328e-04 1.21789621e+00] [-7.72436297e-03 -6.02658555e-05 9.99970165e-01 1.20080265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739072328999999 meters 0.07728397903009009 Centerline is valid? [True, True] Translation: X:-3.63, Y:1.22, Z:0.12 [[ 9.99031603e-01 -4.34094058e-02 7.17487898e-03 -3.63407990e+00] [ 4.34078008e-02 9.99057365e-01 3.79338950e-04 1.22456351e+00] [-7.18458257e-03 -6.75258820e-05 9.99974188e-01 1.17694493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769072329 meters 0.0783048496747486 Centerline is valid? [True, True] Translation: X:-3.60, Y:1.23, Z:0.11 [[ 9.99148074e-01 -4.07900070e-02 6.26916102e-03 -3.60370974e+00] [ 4.07887225e-02 9.99167738e-01 3.32669085e-04 1.23167827e+00] [-6.27751301e-03 -7.66746064e-05 9.99980293e-01 1.13187341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799072329 meters 0.08060232257692922 Centerline is valid? [True, True] Translation: X:-3.57, Y:1.24, Z:0.10 [[ 9.99352445e-01 -3.59034530e-02 2.37348857e-03 -3.57343072e+00] [ 3.59032573e-02 9.99355262e-01 1.25003548e-04 1.24493698e+00] [-2.37644635e-03 -3.97066308e-05 9.99997175e-01 1.03980433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829072329 meters 0.08218237652928372 Centerline is valid? [True, True] Translation: X:-3.54, Y:1.26, Z:0.10 [[ 9.99465893e-01 -3.26780766e-02 2.67845546e-04 -3.54321395e+00] [ 3.26780737e-02 9.99465929e-01 1.54234727e-05 1.25550809e+00] [-2.68206507e-04 -6.66255848e-06 9.99999964e-01 9.95704199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859072329 meters 0.08034046381033666 Centerline is valid? [True, True] Translation: X:-3.51, Y:1.26, Z:0.11 [[ 9.99553593e-01 -2.98494015e-02 -1.27570501e-03 -3.51117917e+00] [ 2.98493437e-02 9.99554407e-01 -6.43198695e-05 1.26077124e+00] [ 1.27705647e-03 2.62121994e-05 9.99999184e-01 1.07446659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.889072329 meters 0.08298472167912709 Centerline is valid? [True, True] Translation: X:-3.48, Y:1.29, Z:0.11 [[ 9.99724184e-01 -2.31449328e-02 -3.98349005e-03 -3.48292285e+00] [ 2.31442835e-02 9.99732113e-01 -2.09022025e-04 1.28629358e+00] [ 3.98726073e-03 1.16769350e-04 9.99992044e-01 1.06593608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919072329 meters 0.0846298224252326 Centerline is valid? [True, True] Translation: X:-3.45, Y:1.30, Z:0.11 [[ 9.99804439e-01 -1.93603149e-02 -4.03262389e-03 -3.45299334e+00] [ 1.93596235e-02 9.99812563e-01 -2.10423021e-04 1.29908375e+00] [ 4.03594188e-03 1.32311790e-04 9.99991847e-01 1.06262652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.949072329 meters 0.08579161400728491 Centerline is valid? [True, True] Translation: X:-3.42, Y:1.31, Z:0.11 [[ 9.99865771e-01 -1.60525607e-02 -3.27948510e-03 -3.42160400e+00] [ 1.60520905e-02 9.99871143e-01 -1.69641944e-04 1.30944938e+00] [ 3.28178571e-03 1.16976582e-04 9.99994608e-01 1.06677779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979072329 meters 0.08809253580400263 Centerline is valid? [True, True] Translation: X:-3.39, Y:1.32, Z:0.11 [[ 9.99951556e-01 -9.47276661e-03 2.67442892e-03 -3.39136214e+00] [ 9.47242357e-03 9.99955126e-01 1.40903654e-04 1.32214595e+00] [-2.67564365e-03 -1.15563505e-04 9.99996414e-01 1.09221198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.009072329 meters 0.08766525535330431 Centerline is valid? [True, True] Translation: X:-3.36, Y:1.32, Z:0.11 [[ 9.99961050e-01 -7.27164415e-03 5.00214486e-03 -3.35965844e+00] [ 7.27042004e-03 9.99973536e-01 2.62857707e-04 1.32452030e+00] [-5.00392389e-03 -2.26479774e-04 9.99987455e-01 1.10891146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039072329 meters 0.08958687928533089 Centerline is valid? [True, True] Translation: X:-3.33, Y:1.33, Z:0.11 [[ 9.99954634e-01 -5.03870895e-03 8.08337459e-03 -3.32917796e+00] [ 5.03545211e-03 9.99987232e-01 4.23207006e-04 1.33250036e+00] [-8.08540381e-03 -3.82484361e-04 9.99967239e-01 1.10653983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.069072328999999 meters 0.0903768314873647 Centerline is valid? [True, True] Translation: X:-3.30, Y:1.34, Z:0.11 [[ 9.99950287e-01 -2.57251420e-03 9.63351998e-03 -3.29776302e+00] [ 2.56778291e-03 9.99996577e-01 5.03464903e-04 1.34013528e+00] [-9.63478217e-03 -4.78703087e-04 9.99953470e-01 1.11900959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099072329 meters 0.0955784463455334 Centerline is valid? [True, True] Translation: X:-3.27, Y:1.36, Z:0.11 [[ 9.99955710e-01 5.21267388e-03 7.83615511e-03 -3.26861014e+00] [-5.21603107e-03 9.99986313e-01 4.08047295e-04 1.36353268e+00] [-7.83392084e-03 -4.48902851e-04 9.99969214e-01 1.11878855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.129072329 meters 0.10065721126855316 Centerline is valid? [True, False] Translation: X:-3.27, Y:1.37, Z:0.11 [[ 9.99957803e-01 5.89919226e-03 7.04207611e-03 -3.26578907e+00] [-5.89737568e-03 9.99982571e-01 -2.78698623e-04 1.36915533e+00] [-7.04359747e-03 2.37157095e-04 9.99975165e-01 1.09763986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159072328999999 meters 0.10632848732354228 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.37, Z:0.11 [[ 9.99929593e-01 1.01500771e-02 6.14694308e-03 -3.26177435e+00] [-1.01668125e-02 9.99944678e-01 2.69744062e-03 1.37424085e+00] [-6.11922379e-03 -2.75974552e-03 9.99977469e-01 1.06103467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.189072329 meters 0.10483033442245362 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.38, Z:0.11 [[ 9.99967331e-01 5.72916925e-03 5.70211711e-03 -3.26110903e+00] [-5.71343285e-03 9.99979836e-01 -2.77222057e-03 1.37807306e+00] [-5.71788465e-03 2.73955134e-03 9.99979900e-01 1.06161566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219072329 meters 0.11076832358504982 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.38, Z:0.11 [[ 9.99967808e-01 5.83335645e-03 5.50956934e-03 -3.26065955e+00] [-5.81814796e-03 9.99979231e-01 -2.77238271e-03 1.37834014e+00] [-5.52562721e-03 2.74023797e-03 9.99980979e-01 1.06030616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.249072329 meters 0.11100255329470586 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.38, Z:0.11 [[ 9.99968809e-01 5.87001897e-03 5.28428778e-03 -3.26039289e+00] [-5.85524058e-03 9.99978916e-01 -2.80780683e-03 1.37848776e+00] [-5.30065824e-03 2.77677847e-03 9.99982096e-01 1.06307142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279072329 meters 0.11103030072261794 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.38, Z:0.11 [[ 0.99997318 0.00507144 0.00528412 -3.26146291] [-0.00504807 0.99997746 -0.00442744 1.38237157] [-0.00530645 0.00440064 0.99997624 0.10812517] [ 0. 0. 0. 1. ]] SLAMing on 10.309072329 meters 0.12352506482010374 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.39, Z:0.11 [[ 0.99997658 0.00440355 0.00523826 -3.26190741] [-0.00437249 0.99997288 -0.00592677 1.38656251] [-0.00526422 0.00590372 0.99996872 0.10909549] [ 0. 0. 0. 1. ]] SLAMing on 10.339072329 meters 0.1126103773611039 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.39, Z:0.11 [[ 9.99951193e-01 8.37231832e-03 5.24559164e-03 -3.26198710e+00] [-8.35947644e-03 9.99962020e-01 -2.46528991e-03 1.38923780e+00] [-5.26603260e-03 2.42131918e-03 9.99983203e-01 1.09380883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.369072329 meters 0.1311713372400174 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.39, Z:0.11 [[ 9.99945373e-01 9.16674148e-03 5.02215585e-03 -3.26028030e+00] [-9.15989273e-03 9.99957088e-01 -1.38501657e-03 1.38752204e+00] [-5.03463643e-03 1.33893850e-03 9.99986430e-01 1.07498939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399072329 meters 0.13276065981502902 Centerline is valid? [False, False] Translation: X:-3.26, Y:1.39, Z:0.11 [[ 0.99997491 0.00524215 0.00476487 -3.25923013] [-0.00521703 0.99997251 -0.00526808 1.38685763] [-0.00479235 0.00524308 0.99997477 0.10637582] [ 0. 0. 0. 1. ]] SLAMing on 10.429072329 meters 0.11666738951224243 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.39, Z:0.11 [[ 9.99999217e-01 2.18537908e-04 -1.23248443e-03 -3.24572446e+00] [-2.19101743e-04 9.99999871e-01 -4.57361832e-04 1.38560624e+00] [ 1.23238432e-03 4.57631513e-04 9.99999136e-01 1.07105731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459072329 meters 0.11829192262325984 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.39, Z:0.11 [[ 9.99999056e-01 2.22338213e-04 -1.35604897e-03 -3.24556940e+00] [-2.22808554e-04 9.99999915e-01 -3.46705838e-04 1.38516548e+00] [ 1.35597177e-03 3.47007650e-04 9.99999020e-01 1.07236453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.489072328999999 meters 0.12001376263012394 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.39, Z:0.11 [[ 9.99998848e-01 1.24092254e-04 -1.51281762e-03 -3.24564029e+00] [-1.24806118e-04 9.99999881e-01 -4.71792056e-04 1.38530071e+00] [ 1.51275890e-03 4.71980322e-04 9.99998744e-01 1.07870891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519072329 meters 0.12199522109551798 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.38, Z:0.11 [[ 9.99998630e-01 1.16605009e-04 -1.65139531e-03 -3.24572321e+00] [-1.17233159e-04 9.99999921e-01 -3.80283805e-04 1.38478682e+00] [ 1.65135084e-03 3.80476882e-04 9.99998564e-01 1.08453584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.549072329 meters 0.125448329194793 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.38, Z:0.11 [[ 9.99998455e-01 5.35049853e-04 -1.67453886e-03 -3.24602387e+00] [-5.33891674e-04 9.99999618e-01 6.92011025e-04 1.38120436e+00] [ 1.67490848e-03 -6.91115933e-04 9.99998359e-01 1.08987426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579072328999999 meters 0.11671728628687945 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.38, Z:0.11 [[ 9.99998071e-01 9.36178430e-04 -1.72651223e-03 -3.24584616e+00] [-9.33527351e-04 9.99998385e-01 1.53567856e-03 1.37886452e+00] [ 1.72794711e-03 -1.53406385e-03 9.99997330e-01 1.08869879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.609072329 meters 0.12507805386101756 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.38, Z:0.11 [[ 9.99997737e-01 1.31070633e-03 -1.67546726e-03 -3.24593032e+00] [-1.30658420e-03 9.99996123e-01 2.45901816e-03 1.37614714e+00] [ 1.67868382e-03 -2.45682346e-03 9.99995573e-01 1.08881166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639072329 meters 0.1104681461610553 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.37, Z:0.11 [[ 9.99995809e-01 -2.42625426e-03 -1.57963763e-03 -3.24625090e+00] [ 2.42586176e-03 9.99997026e-01 -2.50345336e-04 1.37140933e+00] [ 1.58024033e-03 2.46512304e-04 9.99998721e-01 1.09210730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669072329 meters 0.10971881987246275 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.37, Z:0.11 [[ 9.99997290e-01 -1.41326118e-03 -1.85013293e-03 -3.24502776e+00] [ 1.41676199e-03 9.99997206e-01 1.89225059e-03 1.36602014e+00] [ 1.84745351e-03 -1.89486666e-03 9.99996498e-01 1.08082136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699072329 meters 0.10971881987246275 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.37, Z:0.11 [[ 9.99997290e-01 -1.41326118e-03 -1.85013293e-03 -3.24502776e+00] [ 1.41676199e-03 9.99997206e-01 1.89225059e-03 1.36602014e+00] [ 1.84745351e-03 -1.89486666e-03 9.99996498e-01 1.08082136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.729072329 meters 0.10917461536042428 Centerline is valid? [False, False] Translation: X:-3.24, Y:1.36, Z:0.11 [[ 9.99988638e-01 -4.39147553e-03 -1.85441871e-03 -3.24423793e+00] [ 4.39372210e-03 9.99989617e-01 1.20913763e-03 1.35593650e+00] [ 1.84908955e-03 -1.21727170e-03 9.99997550e-01 1.06762367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759072329 meters 0.10706187613778653 Centerline is valid? [False, False] Translation: X:-3.24, Y:1.35, Z:0.11 [[ 9.99991639e-01 -3.57064601e-03 -1.99310377e-03 -3.24356142e+00] [ 3.57727108e-03 9.99988056e-01 3.33038833e-03 1.35025940e+00] [ 1.98118833e-03 -3.33749036e-03 9.99992468e-01 1.06115212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.789072329 meters 0.10382348180548889 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.35, Z:0.11 [[ 9.99989350e-01 -4.40219412e-03 -1.38605280e-03 -3.24618624e+00] [ 4.40713230e-03 9.99983880e-01 3.58009643e-03 1.34589689e+00] [ 1.37027018e-03 -3.58616682e-03 9.99992631e-01 1.08316748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819072328999999 meters 0.10231221868118902 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.34, Z:0.11 [[ 9.99964671e-01 -8.27025878e-03 -1.50331219e-03 -3.24584871e+00] [ 8.27062714e-03 9.99965769e-01 2.38982347e-04 1.34330295e+00] [ 1.50128428e-03 -2.51407239e-04 9.99998841e-01 1.08326600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.849072329 meters 0.10153584778399118 Centerline is valid? [False, False] Translation: X:-3.25, Y:1.34, Z:0.11 [[ 9.99928297e-01 -1.19083480e-02 -1.26213041e-03 -3.24658866e+00] [ 1.19061905e-02 9.99927668e-01 -1.70336580e-03 1.33629720e+00] [ 1.28232339e-03 1.68821649e-03 9.99997753e-01 1.09112921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879072329 meters 0.0950648788804792 Centerline is valid? [False, True] Translation: X:-3.25, Y:1.33, Z:0.11 [[ 9.99938603e-01 -1.09840247e-02 -1.46306042e-03 -3.24565641e+00] [ 1.09845337e-02 9.99939610e-01 3.40316185e-04 1.33101453e+00] [ 1.45923402e-03 -3.56366327e-04 9.99998872e-01 1.08112086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.909072328999999 meters 0.09841881811591985 Centerline is valid? [True, True] Translation: X:-3.21, Y:1.33, Z:0.10 [[ 9.99915485e-01 -1.25336566e-02 -3.45404352e-03 -3.21441333e+00] [ 1.25329009e-02 9.99921431e-01 -2.40353352e-04 1.33269800e+00] [ 3.45678465e-03 1.97043853e-04 9.99994006e-01 9.99976178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939072329 meters 0.09528761383368294 Centerline is valid? [True, True] Translation: X:-3.18, Y:1.32, Z:0.10 [[ 9.99902905e-01 -1.31028102e-02 -4.74318463e-03 -3.18150526e+00] [ 1.31013748e-02 9.99914118e-01 -3.33554827e-04 1.32427581e+00] [ 4.74714778e-03 2.71380201e-04 9.99988695e-01 1.00775706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.969072329 meters 0.09764228779722052 Centerline is valid? [True, True] Translation: X:-3.15, Y:1.33, Z:0.10 [[ 9.99944161e-01 -9.09614611e-03 -5.37911696e-03 -3.15124440e+00] [ 9.09422672e-03 9.99958574e-01 -3.81173682e-04 1.32760483e+00] [ 5.38236134e-03 3.32233489e-04 9.99985460e-01 9.93409605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999072329 meters 0.10493607012766898 Centerline is valid? [True, False] Translation: X:-3.15, Y:1.33, Z:0.10 [[ 0.99997464 -0.00455402 -0.00547538 -3.15107583] [ 0.00457791 0.99998002 0.00435894 1.32645665] [ 0.00545542 -0.0043839 0.99997551 0.09925562] [ 0. 0. 0. 1. ]] SLAMing on 11.029072329 meters 0.10422853995931428 Centerline is valid? [False, False] Translation: X:-3.15, Y:1.33, Z:0.10 [[ 0.99997334 -0.00437589 -0.00584629 -3.15019854] [ 0.00440111 0.99998104 0.00430795 1.32712473] [ 0.00582732 -0.00433356 0.99997363 0.0989401 ] [ 0. 0. 0. 1. ]] SLAMing on 11.059072329 meters 0.10625118839941454 Centerline is valid? [False, False] Translation: X:-3.15, Y:1.33, Z:0.10 [[ 0.99997434 -0.0040524 -0.00590724 -3.14993754] [ 0.00408166 0.99997942 0.00494988 1.32535979] [ 0.00588706 -0.00497386 0.9999703 0.09869546] [ 0. 0. 0. 1. ]] SLAMing on 11.089072329 meters 0.1071369792095672 Centerline is valid? [False, False] Translation: X:-3.15, Y:1.32, Z:0.10 [[ 0.99997561 -0.00363246 -0.00596593 -3.14967137] [ 0.00366697 0.99997656 0.00578259 1.3229845 ] [ 0.00594479 -0.00580432 0.99996548 0.09840541] [ 0. 0. 0. 1. ]] SLAMing on 11.119072329 meters 0.10367114949716891 Centerline is valid? [False, False] Translation: X:-3.14, Y:1.32, Z:0.10 [[ 9.99943856e-01 -3.02317096e-03 -1.01560060e-02 -3.13834220e+00] [ 3.03012981e-03 9.99995185e-01 6.69877950e-04 1.32196628e+00] [ 1.01539320e-02 -7.00614357e-04 9.99948202e-01 1.00719197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.149072329 meters 0.10523788826195789 Centerline is valid? [False, False] Translation: X:-3.14, Y:1.32, Z:0.10 [[ 9.99943798e-01 -3.20734910e-03 -1.01051135e-02 -3.13838056e+00] [ 3.21018719e-03 9.99994812e-01 2.64649711e-04 1.32321468e+00] [ 1.01042123e-02 -2.97074143e-04 9.99948907e-01 1.00669222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179072329 meters 0.10391197709827302 Centerline is valid? [False, False] Translation: X:-3.14, Y:1.33, Z:0.10 [[ 9.99941554e-01 -3.79814170e-03 -1.01223510e-02 -3.13839032e+00] [ 3.78886059e-03 9.99992384e-01 -9.35911540e-04 1.32697162e+00] [ 1.01258287e-02 8.97504663e-04 9.99948330e-01 1.00763826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.209072329 meters 0.10419103062414281 Centerline is valid? [False, False] Translation: X:-3.14, Y:1.33, Z:0.10 [[ 9.99940991e-01 -3.73698766e-03 -1.02004321e-02 -3.13799704e+00] [ 3.72826621e-03 9.99992668e-01 -8.73889910e-04 1.32701228e+00] [ 1.02036230e-02 8.35808417e-04 9.99947592e-01 1.00401142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239072328999999 meters 0.10353637854486859 Centerline is valid? [False, False] Translation: X:-3.14, Y:1.33, Z:0.10 [[ 9.99940870e-01 -3.54557492e-03 -1.02803406e-02 -3.13767509e+00] [ 3.54069592e-03 9.99993610e-01 -4.92756102e-04 1.32600541e+00] [ 1.02820220e-02 4.56327405e-04 9.99947034e-01 1.00071653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.269072329 meters 0.1016524037130293 Centerline is valid? [False, False] Translation: X:-3.14, Y:1.32, Z:0.10 [[ 9.99941692e-01 -3.23722044e-03 -1.03021229e-02 -3.13738150e+00] [ 3.23879549e-03 9.99994746e-01 1.36206352e-04 1.32433276e+00] [ 1.03016278e-02 -1.69564879e-04 9.99946922e-01 9.95878826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299072329 meters 0.10170321045043378 Centerline is valid? [False, False] Translation: X:-3.14, Y:1.32, Z:0.10 [[ 9.99942189e-01 -3.02608018e-03 -1.03180328e-02 -3.13709245e+00] [ 3.03216687e-03 9.99995238e-01 5.74315760e-04 1.32322549e+00] [ 1.03162457e-02 -6.05568555e-04 9.99946603e-01 9.91401553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.329072328999999 meters 0.09761825414190425 Centerline is valid? [False, True] Translation: X:-3.14, Y:1.32, Z:0.10 [[ 9.99940528e-01 -3.23908123e-03 -1.04138687e-02 -3.13677473e+00] [ 3.24017855e-03 9.99994747e-01 8.85006935e-05 1.32482761e+00] [ 1.04135274e-02 -1.22238224e-04 9.99945770e-01 9.89826517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359072329 meters 0.09455493368233986 Centerline is valid? [True, True] Translation: X:-3.11, Y:1.32, Z:0.10 [[ 9.99906352e-01 -7.88708443e-03 -1.11839351e-02 -3.10630621e+00] [ 7.88033033e-03 9.99968740e-01 -6.47850477e-04 1.32310936e+00] [ 1.11886951e-02 5.59656705e-04 9.99937248e-01 1.00018525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389072329 meters 0.08944850331954092 Centerline is valid? [True, True] Translation: X:-3.08, Y:1.32, Z:0.10 [[ 9.99769749e-01 -1.88496643e-02 -1.02537818e-02 -3.07580615e+00] [ 1.88445584e-02 9.99822249e-01 -5.94349087e-04 1.31546116e+00] [ 1.02631625e-02 4.00984247e-04 9.99947252e-01 9.97616205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419072329 meters 0.08966354928030476 Centerline is valid? [True, True] Translation: X:-3.05, Y:1.32, Z:0.09 [[ 9.99692419e-01 -2.33945707e-02 -8.23175961e-03 -3.04687928e+00] [ 2.33914306e-02 9.99726269e-01 -4.77550723e-04 1.31615730e+00] [ 8.24067841e-03 2.84851204e-04 9.99966004e-01 9.34545174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449072329 meters 0.08680763056271104 Centerline is valid? [True, True] Translation: X:-3.02, Y:1.31, Z:0.09 [[ 9.99544889e-01 -2.91223767e-02 -7.86783447e-03 -3.01556045e+00] [ 2.91196987e-02 9.99575828e-01 -4.54734439e-04 1.31200595e+00] [ 7.87774010e-03 2.25418515e-04 9.99968945e-01 9.38579529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479072329 meters 0.08316345094398248 Centerline is valid? [True, True] Translation: X:-2.98, Y:1.31, Z:0.10 [[ 9.99208895e-01 -3.94870464e-02 -4.72828178e-03 -2.98402210e+00] [ 3.94861952e-02 9.99220079e-01 -2.73264895e-04 1.30748671e+00] [ 4.73538451e-03 8.63468567e-05 9.99988784e-01 9.52742993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509072329 meters 0.082420189131818 Centerline is valid? [True, True] Translation: X:-2.95, Y:1.31, Z:0.09 [[ 9.98956289e-01 -4.54818513e-02 -4.21126746e-03 -2.95303113e+00] [ 4.54812343e-02 9.98965164e-01 -2.42204935e-04 1.30614152e+00] [ 4.21792541e-03 5.04185014e-05 9.99991103e-01 9.13941747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539072329 meters 0.08118185617064465 Centerline is valid? [True, True] Translation: X:-2.92, Y:1.30, Z:0.09 [[ 9.98674204e-01 -5.12714955e-02 -4.59004181e-03 -2.92021483e+00] [ 5.12708308e-02 9.98684752e-01 -2.62443086e-04 1.30258926e+00] [ 4.59746061e-03 2.67598831e-05 9.99989431e-01 9.25762856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569072328999999 meters 0.08037745361099635 Centerline is valid? [True, True] Translation: X:-2.89, Y:1.30, Z:0.09 [[ 9.98040152e-01 -6.23197037e-02 -5.66649381e-03 -2.88704117e+00] [ 6.23188677e-02 9.98056238e-01 -3.24154114e-04 1.29547783e+00] [ 5.67568069e-03 -2.96106566e-05 9.99983893e-01 9.41545799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599072329 meters 0.08085730696147712 Centerline is valid? [True, True] Translation: X:-2.85, Y:1.29, Z:0.09 [[ 9.97680430e-01 -6.77288194e-02 -6.82393446e-03 -2.85445617e+00] [ 6.77277326e-02 9.97703765e-01 -3.90502191e-04 1.29420423e+00] [ 6.83471335e-03 -7.25732146e-05 9.99976640e-01 9.19580997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629072329 meters 0.08167886722139206 Centerline is valid? [True, True] Translation: X:-2.82, Y:1.29, Z:0.09 [[ 9.97302230e-01 -7.30091640e-02 -7.61073327e-03 -2.82205972e+00] [ 7.30079672e-02 9.97331263e-01 -4.35332324e-04 1.29359631e+00] [ 7.62220547e-03 -1.21486268e-04 9.99970943e-01 8.97539360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659072328999999 meters 0.08338801021048609 Centerline is valid? [True, True] Translation: X:-2.79, Y:1.29, Z:0.09 [[ 9.96649576e-01 -8.12854557e-02 -9.07183744e-03 -2.79174047e+00] [ 8.12840725e-02 9.96690838e-01 -5.21688592e-04 1.29433469e+00] [ 9.08422296e-03 -2.17455179e-04 9.99958714e-01 8.75661768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689072329 meters 0.08387515681649498 Centerline is valid? [True, True] Translation: X:-2.76, Y:1.30, Z:0.09 [[ 9.96435863e-01 -8.40070756e-02 -7.64088364e-03 -2.75932014e+00] [ 8.40061964e-02 9.96465137e-01 -4.36508807e-04 1.29738134e+00] [ 7.65054399e-03 -2.06928542e-04 9.99970713e-01 8.64352123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719072329 meters 0.08402236298634824 Centerline is valid? [True, True] Translation: X:-2.73, Y:1.30, Z:0.09 [[ 9.96360750e-01 -8.50295422e-02 -5.93567523e-03 -2.72722412e+00] [ 8.50290357e-02 9.96378416e-01 -3.38098265e-04 1.30228953e+00] [ 5.94292703e-03 -1.67836900e-04 9.99982327e-01 8.58260527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749072329 meters 0.08455161354305409 Centerline is valid? [True, True] Translation: X:-2.70, Y:1.31, Z:0.08 [[ 9.96282443e-01 -8.59979832e-02 -5.06359060e-03 -2.69559371e+00] [ 8.59976307e-02 9.96295300e-01 -2.87710524e-04 1.30691467e+00] [ 5.06957404e-03 -1.48815850e-04 9.99987139e-01 8.28402522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779072329 meters 0.08640538235048399 Centerline is valid? [True, True] Translation: X:-2.67, Y:1.31, Z:0.08 [[ 9.95868542e-01 -9.04785855e-02 -7.71191281e-03 -2.66582077e+00] [ 9.04778714e-02 9.95898368e-01 -4.42148466e-04 1.30971128e+00] [ 7.72028635e-03 -2.57435708e-04 9.99970165e-01 7.69017038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809072329 meters 0.09035605127258547 Centerline is valid? [True, True] Translation: X:-2.64, Y:1.30, Z:0.07 [[ 9.95452208e-01 -9.48226262e-02 -9.14170578e-03 -2.63657941e+00] [ 9.48218164e-02 9.95494123e-01 -5.22944838e-04 1.30403467e+00] [ 9.15010138e-03 -3.46266553e-04 9.99958077e-01 6.78896956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839072329 meters 0.09338805585972355 Centerline is valid? [True, True] Translation: X:-2.61, Y:1.30, Z:0.07 [[ 9.94200671e-01 -1.07200592e-01 -8.54742162e-03 -2.60546219e+00] [ 1.07200333e-01 9.94237320e-01 -4.89793204e-04 1.30035837e+00] [ 8.55067169e-03 -4.29333712e-04 9.99963350e-01 7.23192765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869072329 meters 0.09360242093116772 Centerline is valid? [True, True] Translation: X:-2.57, Y:1.30, Z:0.08 [[ 9.93376693e-01 -1.14682024e-01 -7.12599178e-03 -2.57452901e+00] [ 1.14682048e-01 9.93402166e-01 -4.06559244e-04 1.30220346e+00] [ 7.12560070e-03 -4.13356858e-04 9.99974527e-01 7.88188013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899072329 meters 0.10154771200311427 Centerline is valid? [True, False] Translation: X:-2.59, Y:1.30, Z:0.08 [[ 9.93594899e-01 -1.12998845e-01 -6.61845309e-04 -2.58561103e+00] [ 1.12995423e-01 9.93587775e-01 -3.92014068e-03 1.30062986e+00] [ 1.10057278e-03 3.82024630e-03 9.99992097e-01 7.84206089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929072329 meters 0.11382895305551748 Centerline is valid? [False, False] Translation: X:-2.59, Y:1.30, Z:0.08 [[ 9.92664824e-01 -1.20893517e-01 1.14236585e-03 -2.58909592e+00] [ 1.20898757e-01 9.92603941e-01 -1.09957656e-02 1.29790624e+00] [ 1.95399932e-04 1.10532203e-02 9.99938892e-01 8.19567422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959072329 meters 0.11571298183422479 Centerline is valid? [False, False] Translation: X:-2.59, Y:1.30, Z:0.08 [[ 9.92044208e-01 -1.25865927e-01 2.46133362e-03 -2.59146205e+00] [ 1.25888963e-01 9.91925485e-01 -1.53558314e-02 1.29598749e+00] [-5.08683596e-04 1.55435183e-02 9.99879063e-01 8.38148014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989072328999999 meters 0.12324212290315159 Centerline is valid? [False, False] Translation: X:-2.60, Y:1.29, Z:0.08 [[ 0.99172141 -0.12821059 0.00711917 -2.59780037] [ 0.12832735 0.99153924 -0.01954533 1.29239384] [-0.00455301 0.02029711 0.99978363 0.08273936] [ 0. 0. 0. 1. ]] SLAMing on 12.019072329 meters 0.1284661518521737 Centerline is valid? [False, False] Translation: X:-2.60, Y:1.29, Z:0.08 [[ 0.99110556 -0.13284017 0.00795294 -2.5979171 ] [ 0.13298681 0.99086829 -0.02223835 1.28651776] [-0.00492617 0.02309819 0.99972106 0.0820146 ] [ 0. 0. 0. 1. ]] SLAMing on 12.049072329 meters 0.1425930264955978 Centerline is valid? [False, False] Translation: X:-2.60, Y:1.28, Z:0.08 [[ 0.99112634 -0.13265065 0.0085082 -2.59854079] [ 0.13280255 0.99092281 -0.02086775 1.28204185] [-0.00566285 0.02181249 0.99974604 0.08151004] [ 0. 0. 0. 1. ]] SLAMing on 12.079072328999999 meters 0.15174342995087586 Centerline is valid? [False, False] Translation: X:-2.61, Y:1.28, Z:0.08 [[ 0.99102528 -0.13294587 0.01393861 -2.60526798] [ 0.13325524 0.99078382 -0.02429927 1.27721304] [-0.01057966 0.02593859 0.99960755 0.07821516] [ 0. 0. 0. 1. ]] SLAMing on 12.109072329 meters 0.13836987441947313 Centerline is valid? [False, False] Translation: X:-2.61, Y:1.27, Z:0.08 [[ 9.90645646e-01 -1.36451736e-01 1.45871707e-03 -2.60586953e+00] [ 1.36449683e-01 9.90389109e-01 -2.26030218e-02 1.27128442e+00] [ 1.63952405e-03 2.25906266e-02 9.99743455e-01 7.97998493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139072329 meters 0.15844095646116324 Centerline is valid? [False, False] Translation: X:-2.61, Y:1.26, Z:0.08 [[ 9.90013378e-01 -1.40942617e-01 2.94785215e-03 -2.60798853e+00] [ 1.40972217e-01 9.89701184e-01 -2.48676567e-02 1.26208482e+00] [ 5.87419852e-04 2.50348780e-02 9.99686406e-01 8.13612597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169072329 meters 0.14714098284787752 Centerline is valid? [False, False] Translation: X:-2.61, Y:1.26, Z:0.08 [[ 9.90069943e-01 -1.40506758e-01 4.39997514e-03 -2.61179484e+00] [ 1.40571607e-01 9.89793425e-01 -2.34222043e-02 1.25673494e+00] [-1.06408846e-03 2.38081321e-02 9.99715980e-01 8.35228528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199072329 meters 0.15337993742354952 Centerline is valid? [False, False] Translation: X:-2.62, Y:1.25, Z:0.08 [[ 0.99059794 -0.1364022 0.01049585 -2.6222039 ] [ 0.13661729 0.99034218 -0.02362378 1.25139726] [-0.00717215 0.02483558 0.99966582 0.08163408] [ 0. 0. 0. 1. ]] SLAMing on 12.229072329 meters 0.14526482020287554 Centerline is valid? [False, False] Translation: X:-2.61, Y:1.24, Z:0.08 [[ 0.99043913 -0.136469 0.02016281 -2.61242629] [ 0.1368037 0.99046457 -0.01626897 1.24200544] [-0.01775034 0.01887177 0.99966433 0.07629798] [ 0. 0. 0. 1. ]] SLAMing on 12.259072329 meters 0.1537897313267277 Centerline is valid? [False, False] Translation: X:-2.62, Y:1.24, Z:0.07 [[ 0.99147288 -0.12875294 0.0201049 -2.6187546 ] [ 0.12915852 0.99141463 -0.02037424 1.23838254] [-0.01730904 0.02279723 0.99959026 0.07150651] [ 0. 0. 0. 1. ]] SLAMing on 12.289072329 meters 0.14175365917889005 Centerline is valid? [False, False] Translation: X:-2.64, Y:1.23, Z:0.06 [[ 0.99268789 -0.11750639 0.02762232 -2.6352683 ] [ 0.11817969 0.99269847 -0.02415169 1.23432246] [-0.02458266 0.02723949 0.99932662 0.0647515 ] [ 0. 0. 0. 1. ]] SLAMing on 12.319072328999999 meters 0.14075768597177898 Centerline is valid? [False, False] Translation: X:-2.63, Y:1.23, Z:0.06 [[ 0.99407461 -0.10656445 0.02144022 -2.63414616] [ 0.10713792 0.99385939 -0.02765824 1.23042171] [-0.01836117 0.02979142 0.99938748 0.06177774] [ 0. 0. 0. 1. ]] SLAMing on 12.349072329 meters 0.13757302896747634 Centerline is valid? [False, False] Translation: X:-2.63, Y:1.23, Z:0.06 [[ 0.99586862 -0.08979056 0.01354053 -2.62971194] [ 0.09012828 0.99556879 -0.02682672 1.22514437] [-0.01107174 0.02793627 0.99954839 0.05948385] [ 0. 0. 0. 1. ]] SLAMing on 12.379072329 meters 0.13404962170360338 Centerline is valid? [False, False] Translation: X:-2.63, Y:1.22, Z:0.06 [[ 0.99702608 -0.07667199 0.00777134 -2.63237515] [ 0.07685476 0.9966805 -0.02685751 1.22308663] [-0.00568632 0.02737491 0.99960906 0.05746223] [ 0. 0. 0. 1. ]] SLAMing on 12.409072328999999 meters 0.12550869625272845 Centerline is valid? [False, False] Translation: X:-2.63, Y:1.22, Z:0.06 [[ 9.98450615e-01 -5.56393831e-02 -7.92540202e-04 -2.62953625e+00] [ 5.56065011e-02 9.98188031e-01 -2.29907070e-02 1.22115042e+00] [ 2.07029290e-03 2.29110152e-02 9.99735365e-01 5.88537206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439072329 meters 0.12158350942083794 Centerline is valid? [False, False] Translation: X:-2.63, Y:1.22, Z:0.06 [[ 0.99906473 -0.04238441 -0.00855724 -2.62978392] [ 0.04216509 0.99881361 -0.02436144 1.21885875] [ 0.00957963 0.02397784 0.99966659 0.05929085] [ 0. 0. 0. 1. ]] SLAMing on 12.469072329 meters 0.11762298233725554 Centerline is valid? [False, False] Translation: X:-2.64, Y:1.21, Z:0.06 [[ 9.99537337e-01 -3.03085390e-02 -2.55052236e-03 -2.64152501e+00] [ 3.02518568e-02 9.99343898e-01 -1.99147852e-02 1.21435339e+00] [ 3.15243700e-03 1.98284133e-02 9.99798428e-01 5.54627346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499072329 meters 0.11041628810073921 Centerline is valid? [False, False] Translation: X:-2.63, Y:1.21, Z:0.06 [[ 0.99983956 -0.01662552 -0.00666752 -2.63147524] [ 0.0165666 0.99982406 -0.00879765 1.20531806] [ 0.00681261 0.00868578 0.99993907 0.05595931] [ 0. 0. 0. 1. ]] SLAMing on 12.529072329 meters 0.1058478841360421 Centerline is valid? [False, False] Translation: X:-2.63, Y:1.20, Z:0.06 [[ 0.99990681 -0.01175492 -0.00694196 -2.6307314 ] [ 0.01173052 0.99992491 -0.00354505 1.20306873] [ 0.00698311 0.00346329 0.99996962 0.05533147] [ 0. 0. 0. 1. ]] SLAMing on 12.559072329 meters 0.1022591843333758 Centerline is valid? [False, False] Translation: X:-2.64, Y:1.20, Z:0.05 [[ 9.99996074e-01 -2.38979551e-03 -1.46348868e-03 -2.63982638e+00] [ 2.38843795e-03 9.99996716e-01 -9.28664836e-04 1.20103779e+00] [ 1.46570319e-03 9.25165737e-04 9.99998498e-01 5.06417230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.589072329 meters 0.1022591843333758 Centerline is valid? [False, False] Translation: X:-2.64, Y:1.20, Z:0.05 [[ 9.99996074e-01 -2.38979551e-03 -1.46348868e-03 -2.63982638e+00] [ 2.38843795e-03 9.99996716e-01 -9.28664836e-04 1.20103779e+00] [ 1.46570319e-03 9.25165737e-04 9.99998498e-01 5.06417230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619072329 meters 0.09542929144579251 Centerline is valid? [False, True] Translation: X:-2.64, Y:1.20, Z:0.05 [[ 9.99995508e-01 2.34874394e-03 -1.86184827e-03 -2.63913471e+00] [-2.34115921e-03 9.99988995e-01 4.06553160e-03 1.19934363e+00] [ 1.87137667e-03 -4.06115445e-03 9.99990002e-01 5.05827539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649072329 meters 0.09326954767960656 Centerline is valid? [True, True] Translation: X:-2.61, Y:1.20, Z:0.05 [[ 9.99961661e-01 8.27005297e-03 -2.87804782e-03 -2.60998592e+00] [-8.26958089e-03 9.99965791e-01 1.75887002e-04 1.20140988e+00] [ 2.87940396e-03 -1.52080009e-04 9.99995843e-01 4.86096476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679072329 meters 0.09132628617680164 Centerline is valid? [True, True] Translation: X:-2.58, Y:1.20, Z:0.05 [[ 9.99917305e-01 1.23841990e-02 -3.46629786e-03 -2.58033766e+00] [-1.23835403e-02 9.99923299e-01 2.11431645e-04 1.19987242e+00] [ 3.46865041e-03 -1.68489122e-04 9.99993970e-01 4.66658048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709072329 meters 0.08902398892065454 Centerline is valid? [True, True] Translation: X:-2.55, Y:1.20, Z:0.04 [[ 9.99813263e-01 1.88393149e-02 -4.30346521e-03 -2.55154839e+00] [-1.88383569e-02 9.99822508e-01 2.63043903e-04 1.19510991e+00] [ 4.30765694e-03 -1.81924569e-04 9.99990705e-01 4.33741605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739072328999999 meters 0.0880277208216081 Centerline is valid? [True, True] Translation: X:-2.52, Y:1.19, Z:0.04 [[ 9.99753693e-01 2.17202969e-02 -4.55870080e-03 -2.52229101e+00] [-2.17192540e-02 9.99764070e-01 2.78160697e-04 1.19227190e+00] [ 4.56366700e-03 -1.79080603e-04 9.99989570e-01 4.26741671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769072329 meters 0.08664507956926139 Centerline is valid? [True, True] Translation: X:-2.49, Y:1.19, Z:0.04 [[ 9.99670504e-01 2.53130923e-02 -4.25800354e-03 -2.49234840e+00] [-2.53122135e-02 9.99679561e-01 2.60150178e-04 1.19085395e+00] [ 4.26322431e-03 -1.52284965e-04 9.99990901e-01 4.22193999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799072329 meters 0.08138067340081141 Centerline is valid? [True, True] Translation: X:-2.46, Y:1.20, Z:0.05 [[ 9.99481341e-01 3.19919488e-02 -3.68302970e-03 -2.46139640e+00] [-3.19913373e-02 9.99488121e-01 2.24839431e-04 1.19645787e+00] [ 3.68833748e-03 -1.06897771e-04 9.99993192e-01 4.99221213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829072328999999 meters 0.08132527337785474 Centerline is valid? [True, True] Translation: X:-2.43, Y:1.19, Z:0.05 [[ 9.99384619e-01 3.49057978e-02 -3.45966463e-03 -2.43412630e+00] [-3.49052841e-02 9.99390603e-01 2.08754516e-04 1.19123132e+00] [ 3.46484307e-03 -8.78654753e-05 9.99993994e-01 4.68241878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859072329 meters 0.08214648912252126 Centerline is valid? [True, True] Translation: X:-2.41, Y:1.18, Z:0.04 [[ 9.99274788e-01 3.79533119e-02 -3.07321248e-03 -2.40670347e+00] [-3.79529224e-02 9.99279511e-01 1.84977852e-04 1.18469270e+00] [ 3.07801879e-03 -6.82063092e-05 9.99995261e-01 4.03307951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889072329 meters 0.07943009717063648 Centerline is valid? [True, True] Translation: X:-2.38, Y:1.19, Z:0.05 [[ 9.99045053e-01 4.35722319e-02 -3.23165897e-03 -2.37687617e+00] [-4.35718274e-02 9.99050278e-01 1.95488649e-04 1.18699147e+00] [ 3.23710766e-03 -5.44926803e-05 9.99994759e-01 4.64667242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919072329 meters 0.07902758548594062 Centerline is valid? [True, True] Translation: X:-2.35, Y:1.19, Z:0.04 [[ 9.98914862e-01 4.64685777e-02 -3.12582023e-03 -2.34807166e+00] [-4.64682159e-02 9.98919751e-01 1.88316822e-04 1.18540614e+00] [ 3.13119438e-03 -4.28611831e-05 9.99995097e-01 4.49426315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949072329 meters 0.07900791263633786 Centerline is valid? [True, True] Translation: X:-2.32, Y:1.18, Z:0.04 [[ 9.98820352e-01 4.83853684e-02 -4.09388764e-03 -2.31955712e+00] [-4.83847625e-02 9.98828741e-01 2.46988464e-04 1.18163401e+00] [ 4.10104326e-03 -4.86153236e-05 9.99991590e-01 4.27583839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979072329 meters 0.07835930203430694 Centerline is valid? [True, True] Translation: X:-2.29, Y:1.18, Z:0.05 [[ 9.98780762e-01 4.89693787e-02 -6.24421469e-03 -2.29062523e+00] [-4.89679778e-02 9.98800278e-01 3.77122634e-04 1.17740088e+00] [ 6.25519082e-03 -7.08962658e-05 9.99980434e-01 4.54184527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009072329 meters 0.07958803879901727 Centerline is valid? [True, True] Translation: X:-2.26, Y:1.16, Z:0.04 [[ 9.98908635e-01 4.60759962e-02 -7.65127162e-03 -2.26458614e+00] [-4.60738235e-02 9.98937932e-01 4.60074850e-04 1.16056493e+00] [ 7.66434385e-03 -1.07049402e-04 9.99970623e-01 3.86954384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039072329 meters 0.07963871770293322 Centerline is valid? [True, True] Translation: X:-2.24, Y:1.15, Z:0.04 [[ 9.99051081e-01 4.29026499e-02 -7.50336675e-03 -2.23623369e+00] [-4.29004635e-02 9.99079249e-01 4.52166428e-04 1.15147721e+00] [ 7.51585715e-03 -1.29839447e-04 9.99971747e-01 3.99339064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069072328999999 meters 0.08072841618380136 Centerline is valid? [True, True] Translation: X:-2.21, Y:1.14, Z:0.04 [[ 9.99187029e-01 3.96631700e-02 -7.21906238e-03 -2.20926639e+00] [-3.96610706e-02 9.99213096e-01 4.33807487e-04 1.14083895e+00] [ 7.23058785e-03 -1.47139071e-04 9.99973848e-01 3.69704813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099072329 meters 0.08217749331823904 Centerline is valid? [True, True] Translation: X:-2.18, Y:1.12, Z:0.04 [[ 9.99436963e-01 3.33181324e-02 -3.95705292e-03 -2.18240516e+00] [-3.33174574e-02 9.99444791e-01 2.36380234e-04 1.12112319e+00] [ 3.96273168e-03 -1.04408201e-04 9.99992143e-01 3.90011105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129072329 meters 0.08262656692878911 Centerline is valid? [True, True] Translation: X:-2.15, Y:1.11, Z:0.04 [[ 9.99541976e-01 3.00481622e-02 -3.59809290e-03 -2.15442880e+00] [-3.00475830e-02 9.99548446e-01 2.14933645e-04 1.11031912e+00] [ 3.60292653e-03 -1.06721205e-04 9.99993504e-01 3.98898628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159072328999999 meters 0.08606899229387296 Centerline is valid? [True, True] Translation: X:-2.13, Y:1.09, Z:0.04 [[ 9.99713529e-01 2.36810061e-02 -3.47412412e-03 -2.12698756e+00] [-2.36804225e-02 9.99719558e-01 2.09039493e-04 1.08722540e+00] [ 3.47810009e-03 -1.26710882e-04 9.99993943e-01 3.64670762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.189072329 meters 0.08752759817405965 Centerline is valid? [True, True] Translation: X:-2.10, Y:1.08, Z:0.03 [[ 9.99778388e-01 2.03518046e-02 -5.38316649e-03 -2.09768934e+00] [-2.03503551e-02 9.99792858e-01 3.23918807e-04 1.07717182e+00] [ 5.38864374e-03 -2.14297673e-04 9.99985458e-01 3.48935840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219072329 meters 0.09099834309887848 Centerline is valid? [True, True] Translation: X:-2.07, Y:1.06, Z:0.03 [[ 9.99883281e-01 1.30453509e-02 -7.95256788e-03 -2.06889998e+00] [-1.30419549e-02 9.99914835e-01 4.78737927e-04 1.05747314e+00] [ 7.95813591e-03 -3.74965018e-04 9.99968263e-01 3.32805247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249072328999999 meters 0.09464147333165979 Centerline is valid? [True, True] Translation: X:-2.04, Y:1.04, Z:0.03 [[ 9.99919575e-01 9.59564191e-03 -8.29262001e-03 -2.04067380e+00] [-9.59183793e-03 9.99953873e-01 4.98369262e-04 1.04266071e+00] [ 8.29701967e-03 -4.18787713e-04 9.99965491e-01 2.97411762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279072329 meters 0.09498326306217095 Centerline is valid? [True, True] Translation: X:-2.01, Y:1.03, Z:0.03 [[ 9.99945928e-01 6.46597628e-03 -8.14445178e-03 -2.01058292e+00] [-6.46219573e-03 9.99979000e-01 4.90417834e-04 1.03449796e+00] [ 8.14745178e-03 -4.37760275e-04 9.99966713e-01 3.15737361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309072329 meters 0.09777353442530838 Centerline is valid? [True, True] Translation: X:-1.98, Y:1.02, Z:0.03 [[ 9.99965171e-01 4.52263928e-03 -7.01439260e-03 -1.98328028e+00] [-4.51980840e-03 9.99989698e-01 4.19381313e-04 1.02212984e+00] [ 7.01621705e-03 -3.87662996e-04 9.99975311e-01 2.97594491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339072329 meters 0.0931441799065014 Centerline is valid? [True, True] Translation: X:-1.95, Y:1.02, Z:0.04 [[ 9.99983965e-01 2.41321525e-03 -5.12304323e-03 -1.95442845e+00] [-2.41168112e-03 9.99997045e-01 3.05613390e-04 1.01990801e+00] [ 5.12376561e-03 -2.93253343e-04 9.99986830e-01 3.71895849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369072329 meters 0.09423440343014383 Centerline is valid? [True, True] Translation: X:-1.93, Y:1.01, Z:0.04 [[ 9.99983266e-01 1.50962243e-03 -5.58465847e-03 -1.92596917e+00] [-1.50778642e-03 9.99998808e-01 3.32955236e-04 1.01153037e+00] [ 5.58515445e-03 -3.24529192e-04 9.99984350e-01 3.55911731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399072329 meters 0.10252981535687501 Centerline is valid? [True, False] Translation: X:-1.93, Y:1.01, Z:0.04 [[ 0.99998163 0.00243868 -0.00554971 -1.92590819] [-0.00242595 0.99999442 0.00229844 1.00636065] [ 0.00555528 -0.00228493 0.99998196 0.03516616] [ 0. 0. 0. 1. ]] SLAMing on 13.429072329 meters 0.09899493405664249 Centerline is valid? [False, True] Translation: X:-1.91, Y:1.00, Z:0.03 [[ 9.99995754e-01 -2.30472715e-03 1.78315735e-03 -1.91284296e+00] [ 2.29219803e-03 9.99972895e-01 6.99678925e-03 9.96409997e-01] [-1.79923471e-03 -6.99267219e-03 9.99973932e-01 2.97415201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459072329 meters 0.1042633136972693 Centerline is valid? [True, False] Translation: X:-1.92, Y:0.99, Z:0.03 [[ 9.99998924e-01 5.07428127e-04 1.37617175e-03 -1.92477819e+00] [-5.06190647e-04 9.99999467e-01 -8.99418559e-04 9.94123619e-01] [-1.37662741e-03 8.98720986e-04 9.99998649e-01 3.00259852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.489072328999999 meters 0.10467793306627604 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.99, Z:0.03 [[ 9.99993520e-01 -3.36343493e-03 1.28326639e-03 -1.92457988e+00] [ 3.36895767e-03 9.99984968e-01 -4.32604941e-03 9.91766239e-01] [-1.26869671e-03 4.33034465e-03 9.99989819e-01 2.99915384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519072329 meters 0.1045594786978484 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.99, Z:0.03 [[ 9.99996192e-01 -2.44272815e-03 1.28439487e-03 -1.92452330e+00] [ 2.44593420e-03 9.99993882e-01 -2.50054446e-03 9.86888383e-01] [-1.27827886e-03 2.50367648e-03 9.99996049e-01 2.97905293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.549072329 meters 0.09508826083861009 Centerline is valid? [False, True] Translation: X:-1.94, Y:0.98, Z:0.03 [[ 9.99979750e-01 8.19991950e-05 6.36346353e-03 -1.93519293e+00] [-5.39272263e-05 9.99990268e-01 -4.41147539e-03 9.78164335e-01] [-6.36376334e-03 4.41104290e-03 9.99970022e-01 2.71620032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579072328999999 meters 0.10067597828063667 Centerline is valid? [True, False] Translation: X:-1.93, Y:0.97, Z:0.03 [[ 9.99979563e-01 8.70344294e-04 6.33373603e-03 -1.93495424e+00] [-8.52300292e-04 9.99995573e-01 -2.85101343e-03 9.74073146e-01] [-6.33618935e-03 2.84555692e-03 9.99975877e-01 2.67905569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.609072329 meters 0.10017629268467611 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.97, Z:0.03 [[ 9.99978827e-01 1.45989232e-03 6.34152061e-03 -1.93482595e+00] [-1.44940496e-03 9.99997575e-01 -1.65804213e-03 9.70947067e-01] [-6.34392579e-03 1.64881559e-03 9.99978518e-01 2.65111171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639072329 meters 0.09569255663576065 Centerline is valid? [False, True] Translation: X:-1.93, Y:0.97, Z:0.03 [[ 9.99977422e-01 2.26003744e-03 6.32832467e-03 -1.93492810e+00] [-2.25991595e-03 9.99997446e-01 -2.63488375e-05 9.66686540e-01] [-6.32836806e-03 1.20467608e-05 9.99979976e-01 2.66546521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.669072329 meters 0.09340288347892982 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.97, Z:0.03 [[ 9.99968435e-01 3.77142786e-03 6.99324929e-03 -1.90323316e+00] [-3.76856062e-03 9.99992809e-01 -4.23132810e-04 9.66042306e-01] [-6.99479482e-03 3.96764970e-04 9.99975457e-01 2.80307713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699072329 meters 0.09566150735176661 Centerline is valid? [True, True] Translation: X:-1.87, Y:0.96, Z:0.02 [[ 9.99964832e-01 4.97350757e-03 6.75269123e-03 -1.87265585e+00] [-4.97091206e-03 9.99987565e-01 -4.01096035e-04 9.55548564e-01] [-6.75460211e-03 3.67514895e-04 9.99977120e-01 2.34026390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.729072329 meters 0.09556531570343976 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.94, Z:0.02 [[ 9.99963931e-01 5.72832001e-03 6.27080289e-03 -1.84080159e+00] [-5.72609395e-03 9.99983536e-01 -3.72884431e-04 9.43790694e-01] [-6.27283565e-03 3.36963775e-04 9.99980269e-01 2.14135986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759072329 meters 0.09867404367543102 Centerline is valid? [True, True] Translation: X:-1.81, Y:0.93, Z:0.02 [[ 9.99967055e-01 5.43331364e-03 6.03055578e-03 -1.81024912e+00] [-5.43123863e-03 9.99985186e-01 -3.60406206e-04 9.30700645e-01] [-6.03242464e-03 3.27640945e-04 9.99981751e-01 1.66349610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.789072329 meters 0.09465562167207531 Centerline is valid? [True, True] Translation: X:-1.78, Y:0.93, Z:0.02 [[ 9.99963338e-01 5.60183380e-03 6.47626292e-03 -1.77772430e+00] [-5.59943619e-03 9.99984248e-01 -3.88287926e-04 9.30058937e-01] [-6.47833602e-03 3.52010270e-04 9.99978953e-01 2.04419675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819072328999999 meters 0.09727956311734712 Centerline is valid? [True, True] Translation: X:-1.75, Y:0.91, Z:0.02 [[ 9.99978442e-01 1.90114426e-03 6.28491824e-03 -1.74899308e+00] [-1.89874380e-03 9.99998122e-01 -3.87885460e-04 9.12567174e-01] [-6.28564386e-03 3.75943648e-04 9.99980174e-01 1.81640838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.849072329 meters 0.09891751773498479 Centerline is valid? [True, True] Translation: X:-1.72, Y:0.90, Z:0.02 [[ 9.99975346e-01 -9.81203452e-04 6.95303855e-03 -1.71800294e+00] [ 9.84201359e-04 9.99999424e-01 -4.27756489e-04 9.02719076e-01] [-6.95261483e-03 4.34589133e-04 9.99975736e-01 1.71430418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879072329 meters 0.10127148067784487 Centerline is valid? [True, False] Translation: X:-1.72, Y:0.90, Z:0.02 [[ 9.99975038e-01 -1.04239936e-04 7.06487859e-03 -1.71829728e+00] [ 9.11793507e-05 9.99998287e-01 1.84896063e-03 8.96764056e-01] [-7.06505922e-03 -1.84827030e-03 9.99973334e-01 1.73702319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.909072328999999 meters 0.10685574215758592 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.88, Z:0.02 [[ 9.99996538e-01 -2.58937645e-03 -4.67676457e-04 -1.70512459e+00] [ 2.59040959e-03 9.99994176e-01 2.22216887e-03 8.81779783e-01] [ 4.61919701e-04 -2.22337265e-03 9.99997422e-01 2.32227370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939072329 meters 0.1110700426401472 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.88, Z:0.02 [[ 9.99983634e-01 -5.70999435e-03 -3.57516021e-04 -1.70554752e+00] [ 5.71019062e-03 9.99983545e-01 5.50391236e-04 8.75001703e-01] [ 3.54367407e-04 -5.52423713e-04 9.99999785e-01 2.34959967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.969072329 meters 0.1151332595308004 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.87, Z:0.02 [[ 9.99963416e-01 -8.55032457e-03 -2.41098444e-04 -1.70545679e+00] [ 8.55016949e-03 9.99963244e-01 -6.37065408e-04 8.67176455e-01] [ 2.46536698e-04 6.34980670e-04 9.99999768e-01 2.30476285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999072328999999 meters 0.12475906094457935 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.85, Z:0.02 [[ 9.99868203e-01 -1.61977250e-02 -1.09972119e-03 -1.70176104e+00] [ 1.61927281e-02 9.99859164e-01 -4.41002301e-03 8.52539166e-01] [ 1.17099865e-03 4.39163430e-03 9.99989671e-01 1.90243870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.029072329 meters 0.1290586228918683 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.84, Z:0.02 [[ 9.99885567e-01 -1.50639671e-02 -1.38923278e-03 -1.70119293e+00] [ 1.50627060e-02 9.99886133e-01 -9.13788071e-04 8.43088892e-01] [ 1.40283987e-03 8.92757898e-04 9.99998618e-01 1.85160577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059072329 meters 0.132386710204972 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.84, Z:0.02 [[ 9.99833056e-01 -1.82333355e-02 -1.18557371e-03 -1.70161031e+00] [ 1.82300395e-02 9.99830081e-01 -2.73392355e-03 8.36679332e-01] [ 1.23522081e-03 2.71185409e-03 9.99995560e-01 1.88032756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.089072329 meters 0.13645063554479198 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.83, Z:0.02 [[ 9.99861051e-01 -1.66535242e-02 -7.34535277e-04 -1.70349054e+00] [ 1.66542016e-02 9.99860880e-01 9.25896665e-04 8.27791665e-01] [ 7.19013646e-04 -9.38001111e-04 9.99999302e-01 2.05748396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119072329 meters 0.14208943013373232 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.81, Z:0.02 [[ 9.99823834e-01 -1.87677092e-02 -2.73931178e-04 -1.70529637e+00] [ 1.87686172e-02 9.99816595e-01 3.80991676e-03 8.11966922e-01] [ 2.02377528e-04 -3.81438689e-03 9.99992705e-01 2.46262360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.149072329 meters 0.145223718688932 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.81, Z:0.03 [[ 9.99757491e-01 -2.20211951e-02 -1.62933877e-04 -1.70574733e+00] [ 2.20214298e-02 9.99756194e-01 1.61527435e-03 8.06473390e-01] [ 1.27323881e-04 -1.61847066e-03 9.99998682e-01 2.52723859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179072329 meters 0.14711468004426237 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.80, Z:0.03 [[ 9.99681383e-01 -2.52412821e-02 -9.60102183e-05 -1.70592445e+00] [ 2.52412261e-02 9.99681241e-01 -5.45607389e-04 8.00776222e-01] [ 1.09751444e-04 5.43010134e-04 9.99999847e-01 2.56408042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.209072329 meters 0.12424520117281632 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.79, Z:0.03 [[ 9.99645074e-01 -2.66406961e-02 -1.51975680e-05 -1.70579506e+00] [ 2.66407000e-02 9.99644990e-01 4.08666061e-04 7.86515326e-01] [ 4.30502437e-06 -4.08925888e-04 9.99999916e-01 2.51789975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239072328999999 meters 0.1524754090994319 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.78, Z:0.02 [[ 9.99618456e-01 -2.76041639e-02 -9.75541768e-04 -1.70190103e+00] [ 2.76047394e-02 9.99618747e-01 5.81435746e-04 7.79961961e-01] [ 9.59119793e-04 -6.08143480e-04 9.99999355e-01 2.22719704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.269072329 meters 0.1275580513316659 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.77, Z:0.02 [[ 9.99655917e-01 -2.61879549e-02 -1.49607940e-03 -1.70039482e+00] [ 2.61942712e-02 9.99647315e-01 4.37105205e-03 7.68866412e-01] [ 1.38108284e-03 -4.40873676e-03 9.99989328e-01 2.14430778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299072329 meters 0.12714950748866954 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.76, Z:0.02 [[ 9.99730349e-01 -2.24746511e-02 -5.84125896e-03 -1.68902519e+00] [ 2.24759803e-02 9.99747370e-01 1.62006407e-04 7.62947710e-01] [ 5.83614225e-03 -2.93250743e-04 9.99982927e-01 2.45940051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.329072328999999 meters 0.12847480316182808 Centerline is valid? [False, False] Translation: X:-1.68, Y:0.76, Z:0.03 [[ 0.99976355 -0.02021261 -0.00801825 -1.67737281] [ 0.02015365 0.99976975 -0.00736766 0.75709704] [ 0.00816532 0.00720432 0.99994071 0.02636488] [ 0. 0. 0. 1. ]] SLAMing on 14.359072329 meters 0.1289432603175193 Centerline is valid? [False, False] Translation: X:-1.68, Y:0.75, Z:0.03 [[ 0.99972378 -0.02214282 -0.00787767 -1.67904559] [ 0.02208439 0.99972852 -0.00742791 0.74605127] [ 0.00804 0.00725188 0.99994138 0.02843645] [ 0. 0. 0. 1. ]] SLAMing on 14.389072329 meters 0.13024698563749326 Centerline is valid? [False, False] Translation: X:-1.68, Y:0.74, Z:0.03 [[ 0.99974391 -0.02121906 -0.00786506 -1.67936303] [ 0.0211754 0.99976012 -0.00559424 0.7411513 ] [ 0.00798188 0.00542627 0.99995342 0.02887509] [ 0. 0. 0. 1. ]] SLAMing on 14.419072328999999 meters 0.12353106059563934 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.74, Z:0.03 [[ 0.99982411 -0.01523112 -0.01094318 -1.66715464] [ 0.01513278 0.99984486 -0.0090138 0.73543907] [ 0.01107877 0.00884661 0.99989949 0.03013271] [ 0. 0. 0. 1. ]] SLAMing on 14.449072329 meters 0.12089546643022762 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.73, Z:0.03 [[ 0.99989373 -0.00975817 -0.01083046 -1.6679181 ] [ 0.00973173 0.99994954 -0.00249097 0.72979269] [ 0.01085422 0.00238531 0.99993825 0.03077438] [ 0. 0. 0. 1. ]] SLAMing on 14.479072329 meters 0.12089546643022762 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.73, Z:0.03 [[ 0.99989373 -0.00975817 -0.01083046 -1.6679181 ] [ 0.00973173 0.99994954 -0.00249097 0.72979269] [ 0.01085422 0.00238531 0.99993825 0.03077438] [ 0. 0. 0. 1. ]] SLAMing on 14.509072329 meters 0.11905087820361168 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.72, Z:0.03 [[ 0.99993594 -0.00351776 -0.01075787 -1.66927906] [ 0.0035729 0.99998055 0.00511132 0.72104085] [ 0.01073968 -0.00514943 0.99992907 0.03238164] [ 0. 0. 0. 1. ]] SLAMing on 14.539072329 meters 0.1195352890906158 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.72, Z:0.03 [[ 9.99918778e-01 2.57556820e-03 -1.24821365e-02 -1.65794841e+00] [-2.56887349e-03 9.99996548e-01 5.52346666e-04 7.16021196e-01] [ 1.24835160e-02 -5.20236774e-04 9.99921943e-01 3.40027927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569072328999999 meters 0.11245730085896816 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.71, Z:0.03 [[ 0.99991598 0.00333743 -0.01252554 -1.65825254] [-0.0033127 0.99999252 0.00199491 0.71227526] [ 0.01253211 -0.00195325 0.99991956 0.03461149] [ 0. 0. 0. 1. ]] SLAMing on 14.599072329 meters 0.10904210805235616 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.71, Z:0.04 [[ 9.99925863e-01 5.01877117e-04 -1.21662293e-02 -1.65960792e+00] [-5.04001267e-04 9.99999858e-01 -1.71528554e-04 7.07952905e-01] [ 1.21661415e-02 1.77647632e-04 9.99925974e-01 3.56783704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.629072329 meters 0.10659672231805627 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.71, Z:0.04 [[ 9.99923945e-01 8.45365918e-04 -1.23040277e-02 -1.65954691e+00] [-8.38826686e-04 9.99999504e-01 5.36621873e-04 7.06035418e-01] [ 1.23044753e-02 -5.26260114e-04 9.99924159e-01 3.60584631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659072328999999 meters 0.10403313269115556 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.70, Z:0.04 [[ 9.99922455e-01 1.11156674e-03 -1.24035579e-02 -1.65966231e+00] [-1.09920449e-03 9.99998892e-01 1.00344240e-03 7.04910139e-01] [ 1.24046596e-02 -9.89730541e-04 9.99922569e-01 3.65957557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689072329 meters 0.09841643076291266 Centerline is valid? [False, True] Translation: X:-1.66, Y:0.70, Z:0.04 [[ 9.99919559e-01 1.78629851e-03 -1.25572892e-02 -1.65963115e+00] [-1.76783135e-03 9.99997340e-01 1.48157951e-03 7.04503522e-01] [ 1.25599024e-02 -1.45926116e-03 9.99920057e-01 3.70433568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719072329 meters 0.09469397511250197 Centerline is valid? [True, True] Translation: X:-1.63, Y:0.71, Z:0.04 [[ 9.99868269e-01 9.01072384e-03 -1.35000410e-02 -1.62937889e+00] [-9.00018143e-03 9.99959143e-01 8.41468717e-04 7.09999341e-01] [ 1.35070717e-02 -7.19855051e-04 9.99908516e-01 3.50744584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.749072328999999 meters 0.0911819560882312 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.72, Z:0.03 [[ 9.99741998e-01 1.69634587e-02 -1.51056013e-02 -1.59939099e+00] [-1.69511660e-02 9.99855875e-01 9.41457197e-04 7.15912201e-01] [ 1.51193946e-02 -6.85156744e-04 9.99885461e-01 3.19212236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779072329 meters 0.0841164820632991 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.73, Z:0.03 [[ 9.99343588e-01 3.29129831e-02 -1.51369775e-02 -1.56830613e+00] [-3.29024603e-02 9.99458122e-01 9.43754074e-04 7.32941232e-01] [ 1.51598369e-02 -4.45090782e-04 9.99884984e-01 3.06373659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809072329 meters 0.08141638196376161 Centerline is valid? [True, True] Translation: X:-1.54, Y:0.74, Z:0.03 [[ 9.99070294e-01 4.08010130e-02 -1.39221309e-02 -1.53808512e+00] [-4.07928867e-02 9.99167247e-01 8.67289447e-04 7.41087054e-01] [ 1.39459235e-02 -2.98559215e-04 9.99902706e-01 2.98448815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839072329 meters 0.07899738446328165 Centerline is valid? [True, True] Translation: X:-1.51, Y:0.75, Z:0.03 [[ 9.98690432e-01 4.93001900e-02 -1.36715822e-02 -1.50680138e+00] [-4.92931427e-02 9.98783991e-01 8.52172984e-04 7.50211925e-01] [ 1.36969697e-02 -1.77141753e-04 9.99906176e-01 3.04168888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.869072329 meters 0.07674001337364572 Centerline is valid? [True, True] Translation: X:-1.47, Y:0.77, Z:0.03 [[ 9.97823142e-01 6.45883204e-02 -1.33163622e-02 -1.47409302e+00] [-6.45829776e-02 9.97911994e-01 8.31305687e-04 7.68049985e-01] [ 1.33422502e-02 3.05142656e-05 9.99910988e-01 3.13622943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899072329 meters 0.07596230218339288 Centerline is valid? [True, True] Translation: X:-1.44, Y:0.77, Z:0.04 [[ 9.97322577e-01 7.19871654e-02 -1.28656424e-02 -1.44115152e+00] [-7.19826775e-02 9.97405552e-01 8.12153824e-04 7.74574813e-01] [ 1.28907278e-02 1.16124044e-04 9.99916904e-01 3.79249815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.929072329 meters 0.07710109235261994 Centerline is valid? [True, True] Translation: X:-1.41, Y:0.78, Z:0.03 [[ 9.96771020e-01 7.89341985e-02 -1.47284359e-02 -1.41027814e+00] [-7.89291696e-02 9.96879799e-01 9.23319724e-04 7.83686366e-01] [ 1.47553617e-02 2.42164872e-04 9.99891104e-01 3.14526411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959072329 meters 0.07913041269754119 Centerline is valid? [True, True] Translation: X:-1.38, Y:0.80, Z:0.03 [[ 9.95758687e-01 9.02925796e-02 -1.76603181e-02 -1.37854112e+00] [-9.02871398e-02 9.95915161e-01 1.10672840e-03 7.99057873e-01] [ 1.76881079e-02 4.92465194e-04 9.99843432e-01 2.81228143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989072328999999 meters 0.08350734785603865 Centerline is valid? [True, True] Translation: X:-1.35, Y:0.81, Z:0.02 [[ 9.95300469e-01 9.50046046e-02 -1.87376969e-02 -1.34741173e+00] [-9.49993015e-02 9.95476646e-01 1.17494709e-03 8.12811467e-01] [ 1.87645650e-02 6.10642725e-04 9.99823744e-01 1.57160592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019072329 meters 0.0809620772230763 Centerline is valid? [True, True] Translation: X:-1.32, Y:0.81, Z:0.03 [[ 9.94923188e-01 9.90512429e-02 -1.77961171e-02 -1.31623412e+00] [-9.90470849e-02 9.95082121e-01 1.11706349e-03 8.08421833e-01] [ 1.78192445e-02 6.51261159e-04 9.99841013e-01 2.64329458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.049072329 meters 0.08109222318130942 Centerline is valid? [True, True] Translation: X:-1.28, Y:0.81, Z:0.03 [[ 9.94586330e-01 1.02571538e-01 -1.66466657e-02 -1.28384006e+00] [-1.02568354e-01 9.94725407e-01 1.04719909e-03 8.10238424e-01] [ 1.66662741e-02 6.65891198e-04 9.99860886e-01 2.88321025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079072328999999 meters 0.08193991262326004 Centerline is valid? [True, True] Translation: X:-1.25, Y:0.82, Z:0.03 [[ 9.94126239e-01 1.07322770e-01 -1.39586581e-02 -1.25089747e+00] [-1.07320979e-01 9.94224036e-01 8.79473727e-04 8.17646187e-01] [ 1.39724209e-02 6.23748940e-04 9.99902186e-01 2.96885133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.109072329 meters 0.08273028032562176 Centerline is valid? [True, True] Translation: X:-1.22, Y:0.82, Z:0.03 [[ 9.93981986e-01 1.08675741e-01 -1.37621034e-02 -1.21972618e+00] [-1.08674028e-01 9.94077055e-01 8.74490665e-04 8.21168166e-01] [ 1.37756272e-02 6.26355246e-04 9.99904915e-01 2.72447380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139072329 meters 0.0831680207448262 Centerline is valid? [True, True] Translation: X:-1.19, Y:0.82, Z:0.02 [[ 9.93920710e-01 1.09059551e-01 -1.50875989e-02 -1.18721772e+00] [-1.09057477e-01 9.94034979e-01 9.62623437e-04 8.24132541e-01] [ 1.51025843e-02 6.88644092e-04 9.99885712e-01 2.41824314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169072328999999 meters 0.09088799406398658 Centerline is valid? [True, True] Translation: X:-1.16, Y:0.84, Z:0.01 [[ 9.93933454e-01 1.08662533e-01 -1.69924198e-02 -1.15682706e+00] [-1.08659975e-01 9.94078393e-01 1.07650050e-03 8.43109563e-01] [ 1.70087727e-02 7.76426045e-04 9.99855039e-01 7.21905218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199072329 meters 0.08560083525311972 Centerline is valid? [True, True] Translation: X:-1.13, Y:0.84, Z:0.01 [[ 9.94173811e-01 1.06335177e-01 -1.76426557e-02 -1.12639561e+00] [-1.06332045e-01 9.94330049e-01 1.11814354e-03 8.35305795e-01] [ 1.76615207e-02 7.64350633e-04 9.99843731e-01 1.38335891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229072329 meters 0.0827167518127283 Centerline is valid? [True, True] Translation: X:-1.10, Y:0.83, Z:0.02 [[ 9.94471265e-01 1.03422134e-01 -1.81869405e-02 -1.09595463e+00] [-1.03418305e-01 9.94637282e-01 1.15341678e-03 8.26529333e-01] [ 1.82086979e-02 7.33822720e-04 9.99833939e-01 1.75970152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259072329 meters 0.08193078577158977 Centerline is valid? [True, True] Translation: X:-1.07, Y:0.82, Z:0.02 [[ 9.94828742e-01 9.99161632e-02 -1.82355302e-02 -1.06522182e+00] [-9.99117198e-02 9.94995633e-01 1.15684002e-03 8.22427628e-01] [ 1.82598600e-02 6.71085482e-04 9.99833050e-01 1.70339087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289072329 meters 0.0794289526782407 Centerline is valid? [True, True] Translation: X:-1.03, Y:0.82, Z:0.02 [[ 9.95606061e-01 9.21350492e-02 -1.67243803e-02 -1.03447815e+00] [-9.21302218e-02 9.95746402e-01 1.06052351e-03 8.17480849e-01] [ 1.67509529e-02 4.84957231e-04 9.99859575e-01 1.72292785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319072328999999 meters 0.07816018915458707 Centerline is valid? [True, True] Translation: X:-1.00, Y:0.82, Z:0.02 [[ 9.96024577e-01 8.79214620e-02 -1.43128519e-02 -1.00373373e+00] [-8.79174807e-02 9.96127347e-01 9.08356181e-04 8.16022368e-01] [ 1.43372872e-02 3.53604800e-04 9.99897153e-01 1.83876442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349072329 meters 0.07780841589535806 Centerline is valid? [True, True] Translation: X:-0.97, Y:0.82, Z:0.02 [[ 9.96387926e-01 8.40816966e-02 -1.18898728e-02 -9.74295372e-01] [-8.40786883e-02 9.96458833e-01 7.53539351e-04 8.16504684e-01] [ 1.19111277e-02 2.48867398e-04 9.99929029e-01 1.59319621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379072329 meters 0.0765352876130213 Centerline is valid? [True, True] Translation: X:-0.94, Y:0.81, Z:0.02 [[ 9.96773479e-01 7.97795487e-02 -8.82356334e-03 -9.43525529e-01] [-7.97777151e-02 9.96812521e-01 5.60149578e-04 8.11772558e-01] [ 8.84012690e-03 1.45581479e-04 9.99960915e-01 1.99047763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409072328999999 meters 0.07602361263453657 Centerline is valid? [True, True] Translation: X:-0.91, Y:0.80, Z:0.02 [[ 9.97494360e-01 7.02673840e-02 -8.21557667e-03 -9.13838286e-01] [-7.02654699e-02 9.97528191e-01 5.21746508e-04 7.99410586e-01] [ 8.23193109e-03 5.68321560e-05 9.99966115e-01 1.94544769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439072329 meters 0.07615596717551695 Centerline is valid? [True, True] Translation: X:-0.88, Y:0.79, Z:0.02 [[ 9.97809704e-01 6.54568204e-02 -9.54983189e-03 -8.82509319e-01] [-6.54539356e-02 9.97855403e-01 6.14650782e-04 7.90095620e-01] [ 9.56958443e-03 1.17695667e-05 9.99954210e-01 1.80345524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469072329 meters 0.07653997563629056 Centerline is valid? [True, True] Translation: X:-0.85, Y:0.78, Z:0.02 [[ 9.98165878e-01 5.96693955e-02 -1.02197930e-02 -8.50531455e-01] [-5.96657649e-02 9.98218193e-01 6.60059048e-04 7.81816016e-01] [ 1.02409686e-02 -4.90766555e-05 9.99947559e-01 1.64380635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499072328999999 meters 0.07764783167666556 Centerline is valid? [True, True] Translation: X:-0.82, Y:0.77, Z:0.01 [[ 9.98474717e-01 5.38045647e-02 -1.23817918e-02 -8.19711554e-01] [-5.37987681e-02 9.98551476e-01 8.00993669e-04 7.74527153e-01] [ 1.24069536e-02 -1.33646782e-04 9.99923022e-01 1.29357400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529072329 meters 0.08094818726045182 Centerline is valid? [True, True] Translation: X:-0.79, Y:0.76, Z:0.01 [[ 9.98958724e-01 4.20181024e-02 -1.77749094e-02 -7.89854260e-01] [-4.20044019e-02 9.99116771e-01 1.14358645e-03 7.64494984e-01] [ 1.78072614e-02 -3.95771222e-04 9.99841360e-01 6.37279808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559072329 meters 0.08265389645602682 Centerline is valid? [True, True] Translation: X:-0.76, Y:0.76, Z:0.00 [[ 9.99155419e-01 3.70371900e-02 -1.77959144e-02 -7.60761882e-01] [-3.70227268e-02 9.99313772e-01 1.14160320e-03 7.60035694e-01] [ 1.78259841e-02 -4.81785746e-04 9.99840988e-01 4.01214332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589072329 meters 0.08446754466537362 Centerline is valid? [True, True] Translation: X:-0.73, Y:0.76, Z:0.01 [[ 9.99431642e-01 3.07612318e-02 -1.37890854e-02 -7.33452467e-01] [-3.07519858e-02 9.99526657e-01 8.82112278e-04 7.55436038e-01] [ 1.38096933e-02 -4.57569163e-04 9.99904537e-01 7.42715288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619072329 meters 0.0850225508178868 Centerline is valid? [True, True] Translation: X:-0.70, Y:0.75, Z:0.01 [[ 9.99527828e-01 2.86400787e-02 -1.11295622e-02 -7.04687671e-01] [-2.86339259e-02 9.99589712e-01 7.11812809e-04 7.51886993e-01] [ 1.11453822e-02 -3.92793651e-04 9.99937811e-01 9.97426898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649072329 meters 0.08575689644049576 Centerline is valid? [True, True] Translation: X:-0.67, Y:0.75, Z:0.01 [[ 9.99583542e-01 2.72282406e-02 -9.55856562e-03 -6.74446484e-01] [-2.72236273e-02 9.99629181e-01 6.12438419e-04 7.48229838e-01] [ 9.57169674e-03 -3.51964536e-04 9.99954128e-01 1.14646043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679072329 meters 0.08659825628300016 Centerline is valid? [True, True] Translation: X:-0.64, Y:0.75, Z:0.01 [[ 9.99632435e-01 2.54077952e-02 -9.45723615e-03 -6.43685981e-01] [-2.54031978e-02 9.99677103e-01 6.05946016e-04 7.45228533e-01] [ 9.46957819e-03 -3.65479251e-04 9.99955096e-01 1.12597368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709072329 meters 0.08632017250627728 Centerline is valid? [True, True] Translation: X:-0.61, Y:0.75, Z:0.01 [[ 9.99672809e-01 2.23245634e-02 -1.24855797e-02 -6.13203060e-01] [-2.23163187e-02 9.99750640e-01 7.99288419e-04 7.50306405e-01] [ 1.25003101e-02 -5.20394722e-04 9.99921733e-01 1.06722220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739072328999999 meters 0.08702775053838296 Centerline is valid? [True, True] Translation: X:-0.58, Y:0.75, Z:0.01 [[ 9.99684068e-01 2.13793797e-02 -1.32168978e-02 -5.83956768e-01] [-2.13700894e-02 9.99771278e-01 8.43760840e-04 7.52174375e-01] [ 1.32319139e-02 -5.61047982e-04 9.99912297e-01 7.59079491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769072329 meters 0.08763267721580775 Centerline is valid? [True, True] Translation: X:-0.56, Y:0.75, Z:0.01 [[ 9.99701159e-01 2.06180057e-02 -1.31335347e-02 -5.55694807e-01] [-2.06087892e-02 9.99787266e-01 8.36726681e-04 7.54311811e-01] [ 1.31479924e-02 -5.65810384e-04 9.99913401e-01 5.52921922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799072329 meters 0.0874884135025576 Centerline is valid? [True, True] Translation: X:-0.53, Y:0.76, Z:0.01 [[ 9.99710894e-01 2.12819110e-02 -1.11897099e-02 -5.26700702e-01] [-2.12752703e-02 9.99773402e-01 7.12182000e-04 7.62480807e-01] [ 1.12023309e-02 -4.73912002e-04 9.99937140e-01 5.98276988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829072328999999 meters 0.0876128419771189 Centerline is valid? [True, True] Translation: X:-0.50, Y:0.77, Z:0.01 [[ 9.99717856e-01 2.11625148e-02 -1.07868286e-02 -4.97172851e-01] [-2.11563457e-02 9.99775944e-01 6.85715704e-04 7.65588337e-01] [ 1.07989232e-02 -4.57312359e-04 9.99941585e-01 6.34336335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859072329 meters 0.088122435903109 Centerline is valid? [True, True] Translation: X:-0.47, Y:0.77, Z:0.01 [[ 9.99723002e-01 2.08481904e-02 -1.09212188e-02 -4.69124050e-01] [-2.08418631e-02 9.99782545e-01 6.92863471e-04 7.67773114e-01] [ 1.09332888e-02 -4.65053003e-04 9.99940122e-01 5.24876923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889072329 meters 0.08883531857523858 Centerline is valid? [True, True] Translation: X:-0.44, Y:0.77, Z:0.00 [[ 9.99683890e-01 2.10035964e-02 -1.38191822e-02 -4.40193201e-01] [-2.09934711e-02 9.99779228e-01 8.77367266e-04 7.74827869e-01] [ 1.38345592e-02 -5.86977319e-04 9.99904126e-01 1.92329314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919072328999999 meters 0.08925466315035917 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.78, Z:-0.00 [[ 9.99661644e-01 2.13887353e-02 -1.48027157e-02 -4.11748620e-01] [-2.13771900e-02 9.99771042e-01 9.37752793e-04 7.78160300e-01] [ 1.48193838e-02 -6.20995033e-04 9.99889994e-01 -6.40842072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949072329 meters 0.08895946051909628 Centerline is valid? [True, True] Translation: X:-0.38, Y:0.78, Z:-0.00 [[ 9.99646964e-01 2.21782426e-02 -1.46312109e-02 -3.82506587e-01] [-2.21670572e-02 9.99753852e-01 9.26239972e-04 7.83514176e-01] [ 1.46481519e-02 -6.01582087e-04 9.99892529e-01 -2.02590941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979072329 meters 0.08484746206336007 Centerline is valid? [True, True] Translation: X:-0.35, Y:0.80, Z:0.00 [[ 9.99614387e-01 2.49346851e-02 -1.22204321e-02 -3.51329309e-01] [-2.49270878e-02 9.99688973e-01 7.73631318e-04 8.03855901e-01] [ 1.22359215e-02 -4.68713211e-04 9.99925028e-01 3.47237942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009072329 meters 0.08443653445999441 Centerline is valid? [True, True] Translation: X:-0.32, Y:0.81, Z:0.00 [[ 9.99608892e-01 2.53963683e-02 -1.17084354e-02 -3.21725448e-01] [-2.53894474e-02 9.99677363e-01 7.39388029e-04 8.10264811e-01] [ 1.17234356e-02 -4.41828144e-04 9.99931181e-01 3.11779042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039072329 meters 0.08439641376507485 Centerline is valid? [True, True] Translation: X:-0.29, Y:0.82, Z:0.00 [[ 9.99619814e-01 2.52884110e-02 -1.09874079e-02 -2.93612437e-01] [-2.52823273e-02 9.99680111e-01 6.92267513e-04 8.16004276e-01] [ 1.10013995e-02 -4.14217079e-04 9.99939397e-01 2.85169324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069072329 meters 0.08367621458753195 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.82, Z:0.00 [[ 9.99603908e-01 2.63997486e-02 -9.75088084e-03 -2.64314977e-01] [-2.63950154e-02 9.99651402e-01 6.13801987e-04 8.22690200e-01] [ 9.76368593e-03 -3.56184215e-04 9.99952271e-01 3.45220034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099072329 meters 0.08261060577505754 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.84, Z:0.00 [[ 9.99568822e-01 2.78751012e-02 -9.22763549e-03 -2.34099493e-01] [-2.78709272e-02 9.99611362e-01 5.80650106e-04 8.37099412e-01] [ 9.24023496e-03 -3.23216985e-04 9.99957256e-01 4.06445948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129072329 meters 0.08277208940409907 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.84, Z:0.00 [[ 9.99562134e-01 2.75679795e-02 -1.07492933e-02 -2.05157818e-01] [-2.75623090e-02 9.99619859e-01 6.75336961e-04 8.42240011e-01] [ 1.07638248e-02 -3.78765909e-04 9.99941997e-01 2.82934127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159072329 meters 0.08358292340081554 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.85, Z:-0.00 [[ 9.99568793e-01 2.69483651e-02 -1.16625194e-02 -1.77448869e-01] [-2.69416643e-02 9.99636740e-01 7.31313185e-04 8.45692639e-01] [ 1.16779905e-02 -4.16790156e-04 9.99931723e-01 -8.17616832e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189072329 meters 0.08544715592863343 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.85, Z:-0.00 [[ 9.99603023e-01 2.50513267e-02 -1.28928922e-02 -1.48262135e-01] [-2.50429785e-02 9.99686048e-01 8.08570521e-04 8.50725388e-01] [ 1.29091002e-02 -4.85373115e-04 9.99916556e-01 -4.90800223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219072329 meters 0.08619076799052475 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.85, Z:-0.01 [[ 9.99632839e-01 2.36488021e-02 -1.32257678e-02 -1.19663927e-01] [-2.36399094e-02 9.99720195e-01 8.28333116e-04 8.51940071e-01] [ 1.32416562e-02 -5.15373033e-04 9.99912193e-01 -6.07225611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249072329 meters 0.08550323647216286 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.86, Z:-0.00 [[ 9.99655247e-01 2.27128406e-02 -1.31724408e-02 -9.09671502e-02] [-2.27039611e-02 9.99741893e-01 8.23263217e-04 8.56039637e-01] [ 1.31877395e-02 -5.23912812e-04 9.99912901e-01 -4.38850791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279072328999998 meters 0.0854182834542181 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.86, Z:-0.00 [[ 9.99681198e-01 2.22342975e-02 -1.19640111e-02 -6.15903276e-02] [-2.22269463e-02 9.99752672e-01 7.47079453e-04 8.59463659e-01] [ 1.19776629e-02 -4.80917850e-04 9.99928150e-01 -3.80904915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309072329 meters 0.08408276821453214 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.88, Z:-0.00 [[ 9.99673586e-01 2.38314742e-02 -9.20769319e-03 -3.20182947e-02] [-2.38271851e-02 9.99715927e-01 5.75259066e-04 8.76332107e-01] [ 9.21878681e-03 -3.55677884e-04 9.99957443e-01 -2.02402249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339072329 meters 0.08316016335163536 Centerline is valid? [True, True] Translation: X:-0.00, Y:0.89, Z:-0.00 [[ 9.99642112e-01 2.54067280e-02 -8.37532847e-03 -2.23270236e-03] [-2.54032483e-02 9.99677149e-01 5.21607912e-04 8.86081256e-01] [ 8.38587684e-03 -3.08660686e-04 9.99964790e-01 -1.24568162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369072328999998 meters 0.0828818419278598 Centerline is valid? [True, True] Translation: X:0.03, Y:0.89, Z:-0.00 [[ 9.99597694e-01 2.70687719e-02 -8.46947211e-03 2.69246111e-02] [-2.70652781e-02 9.99633529e-01 5.26884169e-04 8.92805602e-01] [ 8.48063041e-03 -2.97443582e-04 9.99963995e-01 -3.37960901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399072329 meters 0.0828818419278598 Centerline is valid? [True, True] Translation: X:0.06, Y:0.89, Z:-0.00 [[ 9.99599674e-01 2.69955282e-02 -8.46951096e-03 5.52295414e-02] [-2.69920370e-02 9.99635510e-01 5.26260377e-04 8.91142068e-01] [ 8.48063058e-03 -2.97440348e-04 9.99963995e-01 -4.02900427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429072329 meters 0.08394390993053175 Centerline is valid? [True, True] Translation: X:0.08, Y:0.90, Z:-0.01 [[ 9.99614309e-01 2.61394414e-02 -9.37882774e-03 8.35668294e-02] [-2.61351273e-02 9.99658250e-01 5.82269657e-04 8.95498203e-01] [ 9.39084273e-03 -3.36928224e-04 9.99955848e-01 -8.17317867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459072328999998 meters 0.0849518296390157 Centerline is valid? [True, True] Translation: X:0.11, Y:0.89, Z:-0.01 [[ 9.99634265e-01 2.46443023e-02 -1.11352639e-02 1.13351537e-01] [-2.46381199e-02 9.99696196e-01 6.92075907e-04 8.94330197e-01] [ 1.11489367e-02 -4.17470825e-04 9.99937762e-01 -1.08880008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489072329 meters 0.08599718974059582 Centerline is valid? [True, True] Translation: X:0.14, Y:0.89, Z:-0.01 [[ 9.99691240e-01 2.20399245e-02 -1.14745673e-02 1.42533784e-01] [-2.20331997e-02 9.99756986e-01 7.12167324e-04 8.93478748e-01] [ 1.14874749e-02 -4.59126003e-04 9.99933911e-01 -1.18355752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519072329 meters 0.08864698179587241 Centerline is valid? [True, True] Translation: X:0.17, Y:0.89, Z:-0.01 [[ 9.99819983e-01 1.59150601e-02 -1.03301490e-02 1.72279129e-01] [-1.59092804e-02 9.99873234e-01 6.41440624e-04 8.93847866e-01] [ 1.03390480e-02 -4.76979918e-04 9.99946437e-01 -1.23644849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549072329 meters 0.09014505541611378 Centerline is valid? [True, True] Translation: X:0.20, Y:0.89, Z:-0.01 [[ 9.99847465e-01 1.30921764e-02 -1.15603475e-02 2.01358274e-01] [-1.30847566e-02 9.99914134e-01 7.17237295e-04 8.94119693e-01] [ 1.15687451e-02 -5.65863558e-04 9.99932920e-01 -1.38779609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579072329 meters 0.091731804998249 Centerline is valid? [True, True] Translation: X:0.23, Y:0.89, Z:-0.01 [[ 9.99888071e-01 1.01013474e-02 -1.10367154e-02 2.30463084e-01] [-1.00944140e-02 9.99948816e-01 6.83740211e-04 8.94756940e-01] [ 1.10430572e-02 -5.72254506e-04 9.99938860e-01 -1.43998494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609072329 meters 0.09186348711269375 Centerline is valid? [True, True] Translation: X:0.26, Y:0.90, Z:-0.01 [[ 9.99906008e-01 8.05539865e-03 -1.10944230e-02 2.60703967e-01] [-8.04826697e-03 9.99967376e-01 6.87314300e-04 8.98305061e-01] [ 1.10995976e-02 -5.97958820e-04 9.99938219e-01 -1.42072483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639072329 meters 0.09457807397582473 Centerline is valid? [True, True] Translation: X:0.29, Y:0.90, Z:-0.02 [[ 9.99938936e-01 4.10024945e-03 -1.02621385e-02 2.89899875e-01] [-4.09394434e-03 9.99991418e-01 6.35337377e-04 9.00179066e-01] [ 1.02646555e-02 -5.93285957e-04 9.99947141e-01 -1.52532906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669072329 meters 0.09691530051284923 Centerline is valid? [True, True] Translation: X:0.32, Y:0.90, Z:-0.02 [[ 9.99946053e-01 1.64623187e-03 -1.02557811e-02 3.17791060e-01] [-1.63982094e-03 9.99998455e-01 6.33482328e-04 8.95956270e-01] [ 1.02568081e-02 -6.16630509e-04 9.99947207e-01 -1.60968401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699072329 meters 0.09372502699276218 Centerline is valid? [True, True] Translation: X:0.35, Y:0.90, Z:-0.01 [[ 9.99962498e-01 -1.67627427e-03 -8.49668143e-03 3.47627844e-01] [ 1.68079036e-03 9.99998450e-01 5.24400214e-04 9.00720403e-01] [ 8.49578923e-03 -5.38661688e-04 9.99963765e-01 -1.11945098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729072329 meters 0.09270390318124162 Centerline is valid? [True, True] Translation: X:0.38, Y:0.90, Z:-0.01 [[ 9.99957499e-01 -4.40036994e-03 -8.10167123e-03 3.77496237e-01] [ 4.40456511e-03 9.99990175e-01 5.00044890e-04 9.02494405e-01] [ 8.09939124e-03 -5.35707975e-04 9.99967056e-01 -8.05090862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759072329 meters 0.09760808515810017 Centerline is valid? [True, True] Translation: X:0.41, Y:0.90, Z:-0.01 [[ 9.99948093e-01 -7.65882752e-03 -6.71963861e-03 4.07013280e-01] [ 7.66178778e-03 9.99970562e-01 4.14906138e-04 9.01763059e-01] [ 6.71626310e-03 -4.66369047e-04 9.99977337e-01 -1.06815395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789072329 meters 0.09240021172826215 Centerline is valid? [True, True] Translation: X:0.44, Y:0.92, Z:-0.01 [[ 9.99938818e-01 -7.80167691e-03 -7.84187745e-03 4.37290840e-01] [ 7.80565219e-03 9.99969422e-01 4.76450528e-04 9.17224034e-01] [ 7.83792054e-03 -5.37632345e-04 9.99969139e-01 -8.55478238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819072329 meters 0.10320825328720494 Centerline is valid? [True, False] Translation: X:0.45, Y:0.92, Z:-0.01 [[ 0.99999484 -0.00264587 -0.00181936 0.44858238] [ 0.00263815 0.99998756 -0.00423264 0.92190313] [ 0.00183054 0.00422782 0.99998939 -0.0124995 ] [ 0. 0. 0. 1. ]] SLAMing on 16.849072329 meters 0.09219573218790385 Centerline is valid? [False, True] Translation: X:0.45, Y:0.93, Z:-0.01 [[ 9.99997968e-01 7.72838982e-04 -1.86173448e-03 4.49229017e-01] [-7.76289443e-04 9.99997981e-01 -1.85334884e-03 9.27273989e-01] [ 1.86029838e-03 1.85479032e-03 9.99996550e-01 -1.31991821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879072329 meters 0.09320889612732063 Centerline is valid? [True, True] Translation: X:0.48, Y:0.93, Z:-0.02 [[ 9.99997320e-01 5.28676176e-04 -2.25407511e-03 4.77559243e-01] [-5.28332719e-04 9.99999849e-01 1.52964214e-04 9.26516183e-01] [ 2.25415564e-03 -1.51772902e-04 9.99997448e-01 -1.57174039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909072329 meters 0.09237749449352282 Centerline is valid? [True, True] Translation: X:0.51, Y:0.93, Z:-0.02 [[ 9.99999338e-01 2.21732629e-04 -1.12952727e-03 5.07770644e-01] [-2.21646578e-04 9.99999973e-01 7.63075781e-05 9.30694791e-01] [ 1.12954416e-03 -7.60571717e-05 9.99999359e-01 -1.56558518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939072329 meters 0.0938468871335394 Centerline is valid? [True, True] Translation: X:0.54, Y:0.94, Z:-0.02 [[ 9.99999402e-01 -1.09022961e-03 -8.84903232e-05 5.37564119e-01] [ 1.09023010e-03 9.99999406e-01 5.47825018e-06 9.37251493e-01] [ 8.84842980e-05 -5.57472171e-06 9.99999996e-01 -1.66034082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969072329 meters 0.09645844756038323 Centerline is valid? [True, True] Translation: X:0.57, Y:0.94, Z:-0.02 [[ 9.99998493e-01 -1.73581316e-03 -1.05857716e-06 5.67923019e-01] [ 1.73581316e-03 9.99998493e-01 6.55428366e-07 9.36243700e-01] [ 1.05743786e-06 -6.57264871e-07 1.00000000e+00 -1.97768170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999072329 meters 0.09551476553471351 Centerline is valid? [True, True] Translation: X:0.60, Y:0.94, Z:-0.02 [[ 9.99994716e-01 -2.92762878e-03 -1.41325384e-03 5.99302835e-01] [ 2.92777125e-03 9.99995709e-01 9.87478159e-05 9.42288383e-01] [ 1.41295868e-03 -1.02884978e-04 9.99998996e-01 -2.00429813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029072328999998 meters 0.09966059209658315 Centerline is valid? [True, True] Translation: X:0.63, Y:0.94, Z:-0.02 [[ 9.99978333e-01 -6.43060233e-03 -1.40768406e-03 6.28702383e-01] [ 6.43074389e-03 9.99979318e-01 9.60573050e-05 9.42258843e-01] [ 1.40703724e-03 -1.05107679e-04 9.99999005e-01 -2.37890928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059072329 meters 0.10291937995820521 Centerline is valid? [True, False] Translation: X:0.63, Y:0.95, Z:-0.02 [[ 9.99974806e-01 -6.96904045e-03 -1.34925229e-03 6.28657977e-01] [ 6.96770676e-03 9.99975235e-01 -9.90656846e-04 9.45248937e-01] [ 1.35612280e-03 9.81230693e-04 9.99998599e-01 -2.37796237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089072329 meters 0.09802916052808365 Centerline is valid? [False, True] Translation: X:0.63, Y:0.95, Z:-0.02 [[ 0.99996917 -0.00774908 -0.00126993 0.62815516] [ 0.00774591 0.99996691 -0.00248392 0.94901186] [ 0.00128913 0.002474 0.99999611 -0.0231484 ] [ 0. 0. 0. 1. ]] SLAMing on 17.119072328999998 meters 0.1027199555832055 Centerline is valid? [True, False] Translation: X:0.63, Y:0.96, Z:-0.02 [[ 9.99988673e-01 -4.64874624e-03 -1.02100086e-03 6.27424342e-01] [ 4.64821607e-03 9.99989061e-01 -5.21029541e-04 9.55216774e-01] [ 1.02341183e-03 5.16277807e-04 9.99999343e-01 -2.26040725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149072329 meters 0.10415747998103461 Centerline is valid? [False, False] Translation: X:0.63, Y:0.96, Z:-0.03 [[ 0.99997297 -0.00706909 -0.00201999 0.63124012] [ 0.00706236 0.99996955 -0.00332095 0.95925286] [ 0.0020434 0.0033066 0.99999245 -0.02533425] [ 0. 0. 0. 1. ]] SLAMing on 17.179072329 meters 0.10754807108143491 Centerline is valid? [False, False] Translation: X:0.63, Y:0.96, Z:-0.03 [[ 9.99994474e-01 -2.92127195e-03 -1.58663523e-03 6.30570877e-01] [ 2.92279864e-03 9.99995267e-01 9.60752443e-04 9.58818174e-01] [ 1.58382110e-03 -9.65384550e-04 9.99998280e-01 -2.56895046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209072328999998 meters 0.10908389897551204 Centerline is valid? [False, False] Translation: X:0.63, Y:0.96, Z:-0.03 [[ 9.99994091e-01 -3.12010685e-03 -1.44313202e-03 6.30409903e-01] [ 3.12090485e-03 9.99994978e-01 5.51040712e-04 9.59945640e-01] [ 1.44140546e-03 -5.55541334e-04 9.99998807e-01 -2.58618548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239072329 meters 0.11569739735133859 Centerline is valid? [False, False] Translation: X:0.63, Y:0.96, Z:-0.03 [[ 9.99992763e-01 -3.60410175e-03 -1.21816562e-03 6.30330647e-01] [ 3.60348303e-03 9.99993378e-01 -5.09722916e-04 9.63019595e-01] [ 1.21999464e-03 5.05329589e-04 9.99999128e-01 -2.62807920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269072329 meters 0.11778786262756646 Centerline is valid? [False, False] Translation: X:0.63, Y:0.96, Z:-0.02 [[ 9.99997712e-01 -2.04959709e-03 -6.12880869e-04 6.27191914e-01] [ 2.05003602e-03 9.99997642e-01 7.16403614e-04 9.64725990e-01] [ 6.11411085e-04 -7.17658403e-04 9.99999556e-01 -2.35692349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299072329 meters 0.12192974487152065 Centerline is valid? [False, False] Translation: X:0.64, Y:0.97, Z:-0.03 [[ 9.99961671e-01 6.03557459e-04 8.73458569e-03 6.37316978e-01] [-5.74162142e-04 9.99994165e-01 -3.36750975e-03 9.71139615e-01] [-8.73656721e-03 3.36236560e-03 9.99956182e-01 -2.82061123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329072329 meters 0.12457950895553953 Centerline is valid? [False, False] Translation: X:0.64, Y:0.97, Z:-0.03 [[ 9.99961862e-01 7.95423914e-05 8.73319630e-03 6.37183925e-01] [-4.07351180e-05 9.99990126e-01 -4.44373861e-03 9.73987613e-01] [-8.73346353e-03 4.44321339e-03 9.99951991e-01 -2.78439076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359072329 meters 0.12536005480971935 Centerline is valid? [False, False] Translation: X:0.63, Y:0.97, Z:-0.03 [[ 0.99994898 0.00324976 0.00956461 0.63449252] [-0.00323756 0.99999393 -0.00129103 0.97480584] [-0.00956875 0.00125999 0.99995342 -0.02618842] [ 0. 0. 0. 1. ]] SLAMing on 17.389072329 meters 0.1257690189655738 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.03 [[ 0.99994891 0.00313561 0.0096092 0.63460997] [-0.00312059 0.99999389 -0.00157773 0.97575773] [-0.00961408 0.00154766 0.99995259 -0.02647731] [ 0. 0. 0. 1. ]] SLAMing on 17.419072329 meters 0.1294058672220843 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.03 [[ 0.99994713 0.00307013 0.00981358 0.63428015] [-0.00305355 0.99999389 -0.00170416 0.97608414] [-0.00981875 0.0016741 0.99995039 -0.02655248] [ 0. 0. 0. 1. ]] SLAMing on 17.449072329 meters 0.13415770602495858 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.03 [[ 0.99994613 0.00291248 0.00996235 0.63386837] [-0.00289289 0.99999386 -0.00198002 0.97668365] [-0.00996805 0.00195109 0.99994841 -0.02633672] [ 0. 0. 0. 1. ]] SLAMing on 17.479072329 meters 0.12512939930707911 Centerline is valid? [False, False] Translation: X:0.62, Y:0.98, Z:-0.03 [[ 9.99908646e-01 5.46752515e-04 1.35055468e-02 6.21894013e-01] [-5.82812727e-04 9.99996276e-01 2.66623830e-03 9.78363918e-01] [-1.35040387e-02 -2.67386594e-03 9.99905241e-01 -2.84515692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509072329 meters 0.13831622133590915 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.03 [[ 0.99996141 -0.00445309 0.00757296 0.63290953] [ 0.00441776 0.99997931 0.00467668 0.97998405] [-0.00759363 -0.00464304 0.99996039 -0.02507783] [ 0. 0. 0. 1. ]] SLAMing on 17.539072329 meters 0.14129458861413347 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.03 [[ 0.99996124 -0.0046028 0.00750487 0.63335 ] [ 0.00457073 0.99998038 0.00428433 0.98134567] [-0.00752445 -0.00424986 0.99996266 -0.02548531] [ 0. 0. 0. 1. ]] SLAMing on 17.569072329 meters 0.12857096206313823 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.03 [[ 0.99996186 -0.00445713 0.00751141 0.63334292] [ 0.00442268 0.99997965 0.00459687 0.9804313 ] [-0.00753175 -0.00456347 0.99996122 -0.0255617 ] [ 0. 0. 0. 1. ]] SLAMing on 17.599072329 meters 0.13591460242751663 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.02 [[ 0.99999721 -0.00187667 0.00143736 0.62534283] [ 0.00188298 0.99998854 -0.00440185 0.98155673] [-0.00142909 0.00440454 0.99998928 -0.02407823] [ 0. 0. 0. 1. ]] SLAMing on 17.629072329 meters 0.12807317822997774 Centerline is valid? [False, False] Translation: X:0.63, Y:0.98, Z:-0.02 [[ 0.99999757 -0.0016341 0.00148035 0.62522313] [ 0.00163989 0.99999096 -0.00392189 0.98026046] [-0.00147392 0.00392431 0.99999121 -0.02404492] [ 0. 0. 0. 1. ]] SLAMing on 17.659072329 meters 0.12002072157508129 Centerline is valid? [False, False] Translation: X:0.62, Y:0.98, Z:-0.02 [[ 9.99995255e-01 2.55717961e-03 1.71753154e-03 6.24533465e-01] [-2.55763517e-03 9.99996695e-01 2.63096152e-04 9.80342051e-01] [-1.71685308e-03 -2.67487723e-04 9.99998490e-01 -2.37053416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689072329 meters 0.12758108936689894 Centerline is valid? [False, False] Translation: X:0.64, Y:0.98, Z:-0.02 [[ 9.99988300e-01 -6.98296692e-04 -4.78665425e-03 6.36854369e-01] [ 7.20225167e-04 9.99989248e-01 4.58097763e-03 9.82989276e-01] [ 4.78340390e-03 -4.58437150e-03 9.99978051e-01 -2.06909667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719072329 meters 0.12585380495754203 Centerline is valid? [False, False] Translation: X:0.64, Y:0.99, Z:-0.02 [[ 0.99998478 -0.00128983 -0.00536501 0.63765651] [ 0.00130625 0.99999447 0.00305859 0.98740734] [ 0.00536103 -0.00306555 0.99998093 -0.02003012] [ 0. 0. 0. 1. ]] SLAMing on 17.749072329 meters 0.12142335635409665 Centerline is valid? [False, False] Translation: X:0.64, Y:0.99, Z:-0.02 [[ 9.99983994e-01 -9.75087775e-04 -5.57320783e-03 6.38341376e-01] [ 9.95132134e-04 9.99993043e-01 3.59491616e-03 9.86241932e-01] [ 5.56966369e-03 -3.60040470e-03 9.99978008e-01 -2.04609549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779072328999998 meters 0.11794344898642561 Centerline is valid? [False, False] Translation: X:0.63, Y:0.99, Z:-0.02 [[ 9.99992237e-01 3.92185912e-03 3.81959148e-04 6.25933311e-01] [-3.92158712e-03 9.99992058e-01 -7.10273966e-04 9.85352031e-01] [-3.84741709e-04 7.08770566e-04 9.99999675e-01 -2.33942733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809072329 meters 0.11687799802732647 Centerline is valid? [False, False] Translation: X:0.63, Y:0.99, Z:-0.02 [[ 9.99993729e-01 3.53848055e-03 1.48059854e-04 6.26125944e-01] [-3.53824195e-03 9.99992489e-01 -1.58187386e-03 9.87573140e-01] [-1.53656172e-04 1.58134007e-03 9.99998738e-01 -2.28899318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839072329 meters 0.11737648221976872 Centerline is valid? [False, False] Translation: X:0.64, Y:0.99, Z:-0.02 [[ 9.99980398e-01 -3.16455398e-04 -6.25333310e-03 6.39282517e-01] [ 3.36645922e-04 9.99994733e-01 3.22797318e-03 9.89788120e-01] [ 6.25227865e-03 -3.23001506e-03 9.99975238e-01 -1.99403771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869072328999998 meters 0.11608608939373338 Centerline is valid? [False, False] Translation: X:0.64, Y:0.99, Z:-0.02 [[ 9.99978832e-01 -6.18290499e-04 -6.47717111e-03 6.39877691e-01] [ 6.34692321e-04 9.99996597e-01 2.53050146e-03 9.91986146e-01] [ 6.47558448e-03 -2.53455891e-03 9.99975821e-01 -2.00527471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899072329 meters 0.11552380069752223 Centerline is valid? [False, False] Translation: X:0.64, Y:0.99, Z:-0.02 [[ 9.99977374e-01 -5.96262697e-04 -6.70041379e-03 6.40190907e-01] [ 6.13215444e-04 9.99996616e-01 2.52833502e-03 9.91985367e-01] [ 6.69888356e-03 -2.53238661e-03 9.99974356e-01 -1.98643053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929072329 meters 0.11167808445006167 Centerline is valid? [False, False] Translation: X:0.64, Y:0.99, Z:-0.02 [[ 9.99977087e-01 -3.14455541e-04 -6.76215794e-03 6.40159790e-01] [ 3.35477514e-04 9.99995114e-01 3.10785728e-03 9.90182047e-01] [ 6.76114762e-03 -3.11005463e-03 9.99972307e-01 -1.97476366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959072328999998 meters 0.11444468549979668 Centerline is valid? [False, False] Translation: X:0.64, Y:0.99, Z:-0.02 [[ 9.99976974e-01 7.62155871e-05 -6.78567973e-03 6.40112550e-01] [-4.96699180e-05 9.99992346e-01 3.91209585e-03 9.87796330e-01] [ 6.78592595e-03 -3.91166873e-03 9.99969325e-01 -1.97348663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989072329 meters 0.11545147633065782 Centerline is valid? [False, False] Translation: X:0.65, Y:0.98, Z:-0.02 [[ 9.99948180e-01 1.07986067e-04 -1.01796205e-02 6.54365914e-01] [-1.31785598e-04 9.99997260e-01 -2.33731678e-03 9.84936627e-01] [ 1.01793402e-02 2.33853719e-03 9.99945455e-01 -2.06640278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019072329 meters 0.11455117816022212 Centerline is valid? [False, False] Translation: X:0.65, Y:0.98, Z:-0.02 [[ 9.99947532e-01 2.45037925e-04 -1.02407914e-02 6.54886244e-01] [-2.66888833e-04 9.99997691e-01 -2.13240063e-03 9.84754911e-01] [ 1.02402452e-02 2.13502190e-03 9.99945288e-01 -2.12307571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049072328999998 meters 0.11486703331504494 Centerline is valid? [False, False] Translation: X:0.65, Y:0.98, Z:-0.02 [[ 0.99993894 0.00484171 -0.00993349 0.6544645 ] [-0.00481282 0.99998412 0.00293043 0.98262007] [ 0.00994752 -0.00288244 0.99994637 -0.02157218] [ 0. 0. 0. 1. ]] SLAMing on 18.079072329 meters 0.12042522918673253 Centerline is valid? [False, False] Translation: X:0.66, Y:0.98, Z:-0.02 [[ 9.99948356e-01 1.56130434e-03 -1.00422837e-02 6.55361357e-01] [-1.55492917e-03 9.99998585e-01 6.42609545e-04 9.77829173e-01] [ 1.00432728e-02 -6.26961319e-04 9.99949369e-01 -2.27541834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109072329 meters 0.12461588396023715 Centerline is valid? [False, False] Translation: X:0.65, Y:0.97, Z:-0.02 [[ 0.9999579 0.00106853 -0.00911341 0.65244592] [-0.00105733 0.99999868 0.00123398 0.97184182] [ 0.00911472 -0.0012243 0.99995771 -0.02111444] [ 0. 0. 0. 1. ]] SLAMing on 18.139072329 meters 0.1251381758171222 Centerline is valid? [False, False] Translation: X:0.65, Y:0.97, Z:-0.02 [[ 0.99995605 -0.00250112 -0.0090357 0.65211127] [ 0.00248841 0.9999959 -0.00141756 0.967114 ] [ 0.00903921 0.00139501 0.99995817 -0.02095095] [ 0. 0. 0. 1. ]] SLAMing on 18.169072329 meters 0.1301655841842929 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 9.99961542e-01 -1.82568637e-03 -8.57794194e-03 6.51295338e-01] [ 1.82972927e-03 9.99998219e-01 4.63490261e-04 9.61733232e-01] [ 8.57708047e-03 -4.79167748e-04 9.99963101e-01 -2.09515579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199072329 meters 0.13129053507514 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.99996768 -0.00160931 -0.00787744 0.64980161] [ 0.00162387 0.99999698 0.00184258 0.95747582] [ 0.00787445 -0.00185531 0.99996727 -0.02046001] [ 0. 0. 0. 1. ]] SLAMing on 18.229072329 meters 0.13330675353808688 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.99996895 -0.00125064 -0.00777987 0.64960703] [ 0.0012714 0.99999564 0.002664 0.9552157 ] [ 0.0077765 -0.00267381 0.99996619 -0.02057422] [ 0. 0. 0. 1. ]] SLAMing on 18.259072329 meters 0.13596759344721238 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.02 [[ 9.99970725e-01 -4.21153160e-04 -7.64010461e-03 6.49642128e-01] [ 4.54521072e-04 9.99990365e-01 4.36625751e-03 9.50761587e-01] [ 7.63819213e-03 -4.36960228e-03 9.99961282e-01 -2.12837419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289072329 meters 0.13596759344721238 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.02 [[ 9.99970725e-01 -4.21153160e-04 -7.64010461e-03 6.49642128e-01] [ 4.54521072e-04 9.99990365e-01 4.36625751e-03 9.50761587e-01] [ 7.63819213e-03 -4.36960228e-03 9.99961282e-01 -2.12837419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319072329 meters 0.1401524500046863 Centerline is valid? [False, False] Translation: X:0.65, Y:0.94, Z:-0.02 [[ 0.99996732 -0.0030459 -0.00748937 0.6490943 ] [ 0.00307114 0.99998964 0.00336037 0.94063796] [ 0.00747906 -0.00338326 0.99996631 -0.02140945] [ 0. 0. 0. 1. ]] SLAMing on 18.349072329 meters 0.13888900006662971 Centerline is valid? [False, False] Translation: X:0.65, Y:0.94, Z:-0.02 [[ 0.99997128 -0.00222884 -0.00724357 0.6487234 ] [ 0.00226656 0.99998389 0.00520373 0.93559379] [ 0.00723186 -0.00522 0.99996023 -0.02182681] [ 0. 0. 0. 1. ]] SLAMing on 18.379072329 meters 0.14291501815895927 Centerline is valid? [False, False] Translation: X:0.65, Y:0.93, Z:-0.02 [[ 0.99997479 -0.00172462 -0.00688846 0.64795194] [ 0.00177035 0.99997641 0.00663696 0.9315907 ] [ 0.00687685 -0.00664898 0.99995425 -0.02175642] [ 0. 0. 0. 1. ]] SLAMing on 18.409072329 meters 0.1293806238646526 Centerline is valid? [False, False] Translation: X:0.65, Y:0.93, Z:-0.02 [[ 0.99996439 -0.00338395 -0.0077305 0.65160958] [ 0.00342615 0.99997926 0.00545272 0.93040873] [ 0.00771189 -0.00547902 0.99995525 -0.02447973] [ 0. 0. 0. 1. ]] SLAMing on 18.439072329 meters 0.13857402493732426 Centerline is valid? [False, False] Translation: X:0.65, Y:0.93, Z:-0.02 [[ 0.99996655 -0.00268769 -0.00772548 0.65147069] [ 0.00274117 0.9999723 0.00692045 0.92639803] [ 0.00770667 -0.00694139 0.99994621 -0.02440902] [ 0. 0. 0. 1. ]] SLAMing on 18.469072329 meters 0.144920785507422 Centerline is valid? [False, False] Translation: X:0.65, Y:0.92, Z:-0.03 [[ 0.99999345 -0.00345135 -0.00108951 0.65255745] [ 0.0034428 0.99996399 -0.00775653 0.91514456] [ 0.00111624 0.00775273 0.99996932 -0.02570175] [ 0. 0. 0. 1. ]] SLAMing on 18.499072329 meters 0.14761313595612824 Centerline is valid? [False, False] Translation: X:0.65, Y:0.91, Z:-0.03 [[ 9.99996828e-01 -2.38346652e-03 -8.13990107e-04 6.51661753e-01] [ 2.37897492e-03 9.99982182e-01 -5.47510138e-03 9.08784080e-01] [ 8.27025324e-04 5.47314755e-03 9.99984680e-01 -2.53720510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529072328999998 meters 0.13715677802004692 Centerline is valid? [False, False] Translation: X:0.65, Y:0.91, Z:-0.03 [[ 9.99997982e-01 -1.87744431e-03 -7.14659202e-04 6.51177588e-01] [ 1.87428761e-03 9.99988597e-01 -4.39240618e-03 9.05775298e-01] [ 7.22897551e-04 4.39105784e-03 9.99990098e-01 -2.50028736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559072329 meters 0.1367654856704361 Centerline is valid? [False, False] Translation: X:0.65, Y:0.90, Z:-0.02 [[ 9.99998317e-01 -1.65782647e-03 -7.86448278e-04 6.51318301e-01] [ 1.65469260e-03 9.99990755e-01 -3.96888717e-03 9.04736259e-01] [ 7.93020733e-04 3.96757916e-03 9.99991815e-01 -2.49646891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589072329 meters 0.13952239679652637 Centerline is valid? [False, False] Translation: X:0.65, Y:0.90, Z:-0.03 [[ 9.99993455e-01 3.54609333e-03 -7.17113135e-04 6.51551523e-01] [-3.54444064e-03 9.99991090e-01 2.29292572e-03 8.99770047e-01] [ 7.25237674e-04 -2.29036894e-03 9.99997114e-01 -2.59958221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619072328999998 meters 0.14080898985234333 Centerline is valid? [False, False] Translation: X:0.65, Y:0.90, Z:-0.03 [[ 9.99998554e-01 6.02009239e-04 -1.59047187e-03 6.54555945e-01] [-6.02445035e-04 9.99999781e-01 -2.73539427e-04 8.97042486e-01] [ 1.59030685e-03 2.74497203e-04 9.99998698e-01 -2.80472600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649072329 meters 0.14105961711470374 Centerline is valid? [False, False] Translation: X:0.65, Y:0.89, Z:-0.03 [[ 0.99999771 0.00138907 -0.00162734 0.65473855] [-0.001387 0.99999823 0.00127369 0.89288406] [ 0.00162911 -0.00127143 0.99999786 -0.02844456] [ 0. 0. 0. 1. ]] SLAMing on 18.679072329 meters 0.1431233525599697 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99999593 -0.00191573 -0.00211299 0.6555107 ] [ 0.0019132 0.99999745 -0.00119879 0.88811179] [ 0.00211528 0.00119474 0.99999705 -0.02831277] [ 0. 0. 0. 1. ]] SLAMing on 18.709072328999998 meters 0.1433060192630534 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 9.99995739e-01 -1.77341855e-03 -2.31883630e-03 6.55580067e-01] [ 1.77126525e-03 9.99997999e-01 -9.30336762e-04 8.87330854e-01] [ 2.32048154e-03 9.26225523e-04 9.99996879e-01 -2.77636763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739072329 meters 0.14194374444894714 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99999349 0.00281245 -0.00225937 0.65515006] [-0.00280354 0.99998832 0.00393804 0.88572723] [ 0.00227042 -0.00393168 0.99998969 -0.02731105] [ 0. 0. 0. 1. ]] SLAMing on 18.769072329 meters 0.1409066718254236 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99999326 0.00259162 -0.00260195 0.65563236] [-0.00258262 0.99999069 0.00345615 0.88698723] [ 0.00261089 -0.00344941 0.99999064 -0.02688594] [ 0. 0. 0. 1. ]] SLAMing on 18.799072328999998 meters 0.1371970010473029 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99998999 0.00298745 -0.00333172 0.65677633] [-0.00297564 0.9999893 0.00354159 0.88736875] [ 0.00334226 -0.00353164 0.99998818 -0.02643917] [ 0. 0. 0. 1. ]] SLAMing on 18.829072329 meters 0.13417472317787713 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99998793 0.00317006 -0.00375283 0.65756914] [-0.00315582 0.99998782 0.00379485 0.88680976] [ 0.00376482 -0.00378296 0.99998576 -0.02644083] [ 0. 0. 0. 1. ]] SLAMing on 18.859072329 meters 0.1283122163909295 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99998389 0.00376326 -0.0042504 0.65844636] [-0.00374686 0.99998553 0.00386107 0.88762414] [ 0.00426487 -0.00384508 0.99998351 -0.02624844] [ 0. 0. 0. 1. ]] SLAMing on 18.889072329 meters 0.1264048250064283 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99998253 0.00356339 -0.0047168 0.65937346] [-0.00354819 0.9999885 0.00322663 0.88954943] [ 0.00472824 -0.00320984 0.99998367 -0.02628399] [ 0. 0. 0. 1. ]] SLAMing on 18.919072329 meters 0.12267564494101402 Centerline is valid? [False, False] Translation: X:0.66, Y:0.89, Z:-0.03 [[ 0.99998158 0.00326046 -0.00511909 0.65999375] [-0.00324796 0.99999173 0.00244749 0.89175259] [ 0.00512703 -0.00243082 0.9999839 -0.02598363] [ 0. 0. 0. 1. ]] SLAMing on 18.949072329 meters 0.11930163365180192 Centerline is valid? [False, False] Translation: X:0.66, Y:0.90, Z:-0.03 [[ 0.99997526 0.00387999 -0.0058681 0.66156691] [-0.00386822 0.99999049 0.00201584 0.89500987] [ 0.00587587 -0.0019931 0.99998075 -0.02604504] [ 0. 0. 0. 1. ]] SLAMing on 18.979072329 meters 0.11715025806851859 Centerline is valid? [False, False] Translation: X:0.66, Y:0.90, Z:-0.03 [[ 0.99997411 0.00364271 -0.0062064 0.66216574] [-0.00363407 0.99999241 0.00140351 0.89668278] [ 0.00621147 -0.00138092 0.99997976 -0.02595566] [ 0. 0. 0. 1. ]] SLAMing on 19.009072329 meters 0.11295500657232628 Centerline is valid? [False, False] Translation: X:0.66, Y:0.90, Z:-0.03 [[ 9.99972747e-01 3.39165262e-03 -6.55751991e-03 6.62664084e-01] [-3.38666732e-03 9.99993968e-01 7.71197159e-04 8.98320201e-01] [ 6.56009599e-03 -7.48968004e-04 9.99978202e-01 -2.56170647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039072329 meters 0.11116092119969495 Centerline is valid? [False, False] Translation: X:0.67, Y:0.90, Z:-0.03 [[ 9.99959840e-01 8.92360300e-03 -8.29234472e-04 6.73025778e-01] [-8.92656519e-03 9.99953533e-01 -3.63992432e-03 8.98616335e-01] [ 7.96714700e-04 3.64718035e-03 9.99993032e-01 -2.82516238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069072329 meters 0.10465992506698973 Centerline is valid? [False, False] Translation: X:0.67, Y:0.90, Z:-0.03 [[ 9.99915104e-01 1.29964985e-02 -9.35779045e-04 6.72906330e-01] [-1.29966027e-02 9.99915535e-01 -1.05327349e-04 9.00603979e-01] [ 9.34331118e-04 1.17480356e-04 9.99999557e-01 -2.73990510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099072329 meters 0.10212556162418521 Centerline is valid? [False, False] Translation: X:0.67, Y:0.90, Z:-0.03 [[ 0.99992175 0.01245142 -0.00120697 0.67330522] [-0.01245316 0.99992141 -0.00144571 0.90426157] [ 0.00118887 0.00146063 0.99999823 -0.02710293] [ 0. 0. 0. 1. ]] SLAMing on 19.129072329 meters 0.09939159859729264 Centerline is valid? [False, True] Translation: X:0.67, Y:0.91, Z:-0.03 [[ 0.99986343 0.0164813 -0.00121595 0.67352621] [-0.01647855 0.99986172 0.00223789 0.9060509 ] [ 0.00125267 -0.00221755 0.99999676 -0.02713544] [ 0. 0. 0. 1. ]] SLAMing on 19.159072329 meters 0.08934983120054674 Centerline is valid? [True, True] Translation: X:0.71, Y:0.93, Z:-0.02 [[ 9.99700737e-01 2.40189003e-02 -4.63984619e-03 7.06031323e-01] [-2.40176026e-02 9.99711480e-01 3.35217818e-04 9.33841699e-01] [ 4.64655907e-03 -2.23679518e-04 9.99989180e-01 -1.81298323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189072329 meters 0.09578416365822083 Centerline is valid? [True, True] Translation: X:0.73, Y:0.92, Z:-0.03 [[ 9.99616041e-01 2.71529720e-02 -5.52147504e-03 7.32874805e-01] [-2.71511962e-02 9.99631260e-01 3.96342395e-04 9.23234026e-01] [ 5.53020092e-03 -2.46275564e-04 9.99984678e-01 -3.45665200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219072329 meters 0.09390995883047326 Centerline is valid? [True, True] Translation: X:0.76, Y:0.93, Z:-0.04 [[ 9.99524749e-01 3.04933264e-02 -4.52033373e-03 7.62897403e-01] [-3.04921656e-02 9.99534953e-01 3.25494869e-04 9.26838521e-01] [ 4.52815698e-03 -1.87505413e-04 9.99989730e-01 -3.50822484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249072329 meters 0.08757497026070075 Centerline is valid? [True, True] Translation: X:0.79, Y:0.94, Z:-0.03 [[ 9.99413593e-01 3.37468660e-02 -5.79827092e-03 7.93703030e-01] [-3.37450209e-02 9.99430388e-01 4.15777072e-04 9.43062179e-01] [ 5.80899933e-03 -2.19870484e-04 9.99983103e-01 -2.55208753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279072328999998 meters 0.08747465853753521 Centerline is valid? [True, True] Translation: X:0.82, Y:0.94, Z:-0.03 [[ 9.99401983e-01 3.40625101e-02 -5.95161323e-03 8.22860266e-01] [-3.40605738e-02 9.99419679e-01 4.26420898e-04 9.44127815e-01] [ 5.96268436e-03 -2.23450529e-04 9.99982198e-01 -2.66781271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309072329 meters 0.08818557328093081 Centerline is valid? [True, True] Translation: X:0.85, Y:0.95, Z:-0.03 [[ 9.99453006e-01 3.27352698e-02 -4.70000740e-03 8.52317729e-01] [-3.27340520e-02 9.99464041e-01 3.35817814e-04 9.46403495e-01] [ 4.70848148e-03 -1.81783837e-04 9.99988899e-01 -2.79750590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339072329 meters 0.08801884029829471 Centerline is valid? [True, True] Translation: X:0.88, Y:0.95, Z:-0.03 [[ 9.99472678e-01 3.22350380e-02 -3.90754316e-03 8.81125438e-01] [-3.22341956e-02 9.99480305e-01 2.78403043e-04 9.46714728e-01] [ 3.91448676e-03 -1.52299724e-04 9.99992327e-01 -2.80280471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369072328999998 meters 0.08869865817048707 Centerline is valid? [True, True] Translation: X:0.91, Y:0.95, Z:-0.03 [[ 9.99498658e-01 3.15675912e-02 -2.43322186e-03 9.09341091e-01] [-3.15672656e-02 9.99501615e-01 1.72105710e-04 9.45689588e-01] [ 2.43744215e-03 -9.52092650e-05 9.99997025e-01 -2.95740622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399072329 meters 0.08933490405472981 Centerline is valid? [True, True] Translation: X:0.94, Y:0.94, Z:-0.03 [[ 9.99531632e-01 3.05665633e-02 -1.48413755e-03 9.36717137e-01] [-3.05664439e-02 9.99532732e-01 1.03063712e-04 9.44993142e-01] [ 1.48659436e-03 -5.76506333e-05 9.99998893e-01 -3.05343387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429072329 meters 0.09094422315944217 Centerline is valid? [True, True] Translation: X:0.97, Y:0.95, Z:-0.03 [[ 9.99650709e-01 2.64202705e-02 -6.54720347e-04 9.66075262e-01] [-2.64202468e-02 9.99650923e-01 4.48730245e-05 9.45614344e-01] [ 6.55677357e-04 -2.75594776e-05 9.99999785e-01 -3.07865333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459072328999998 meters 0.09281119976971904 Centerline is valid? [True, True] Translation: X:0.99, Y:0.94, Z:-0.03 [[ 9.99722814e-01 2.34997726e-02 -1.43413744e-03 9.94710711e-01] [-2.34996491e-02 9.99723840e-01 1.02875253e-04 9.41931117e-01] [ 1.43615894e-03 -6.91450111e-05 9.99998966e-01 -3.33310757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489072329 meters 0.09467715966350947 Centerline is valid? [True, True] Translation: X:1.03, Y:0.94, Z:-0.04 [[ 9.99802551e-01 1.96542370e-02 -2.92739247e-03 1.02517117e+00] [-1.96537063e-02 9.99806825e-01 2.09949929e-04 9.38166379e-01] [ 2.93095338e-03 -1.52374363e-04 9.99995693e-01 -3.65202837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519072329 meters 0.10118144545839496 Centerline is valid? [True, False] Translation: X:1.03, Y:0.94, Z:-0.04 [[ 0.99998412 0.00501708 -0.00256636 1.02856644] [-0.00500572 0.99997772 0.00441668 0.94159187] [ 0.00258846 -0.00440376 0.99998695 -0.04016282] [ 0. 0. 0. 1. ]] SLAMing on 19.549072328999998 meters 0.09755889241288714 Centerline is valid? [False, True] Translation: X:1.03, Y:0.94, Z:-0.04 [[ 9.99996677e-01 2.94855197e-04 -2.56094810e-03 1.02878458e+00] [-2.96666924e-04 9.99999706e-01 -7.07092774e-04 9.43929939e-01] [ 2.56073886e-03 7.07850173e-04 9.99996471e-01 -4.04552060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579072329 meters 0.09660941319373839 Centerline is valid? [True, True] Translation: X:1.06, Y:0.94, Z:-0.04 [[ 9.99985469e-01 -5.38960682e-03 1.18585988e-04 1.05948841e+00] [ 5.38960784e-03 9.99985476e-01 -8.24789209e-06 9.44789959e-01] [-1.18539812e-04 8.88690421e-06 9.99999993e-01 -3.70704076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609072329 meters 0.10555452170744044 Centerline is valid? [True, False] Translation: X:1.06, Y:0.95, Z:-0.04 [[ 9.99980453e-01 -6.23843616e-03 4.19108869e-04 1.05870320e+00] [ 6.23912542e-03 9.99979152e-01 -1.66391504e-03 9.49424942e-01] [-4.08719903e-04 1.66649739e-03 9.99998528e-01 -3.64661388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639072329 meters 0.10796937444066297 Centerline is valid? [False, False] Translation: X:1.06, Y:0.95, Z:-0.04 [[ 9.99997649e-01 -2.05328486e-03 6.97029018e-04 1.05822530e+00] [ 2.05153617e-03 9.99994770e-01 2.50027845e-03 9.49542029e-01] [-7.02159156e-04 -2.49884259e-03 9.99996631e-01 -3.65630635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669072329 meters 0.10168184600913252 Centerline is valid? [False, False] Translation: X:1.06, Y:0.95, Z:-0.04 [[ 9.99996688e-01 -2.45816791e-03 7.62347488e-04 1.05798138e+00] [ 2.45688276e-03 9.99995567e-01 1.68215836e-03 9.51636352e-01] [-7.66479137e-04 -1.68027979e-03 9.99998295e-01 -3.63280884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699072329 meters 0.10907958149252253 Centerline is valid? [False, False] Translation: X:1.06, Y:0.95, Z:-0.04 [[ 9.99995881e-01 -2.76193025e-03 7.80888182e-04 1.05809586e+00] [ 2.76112631e-03 9.99995659e-01 1.02872665e-03 9.53506043e-01] [-7.83726063e-04 -1.02656628e-03 9.99999166e-01 -3.65130196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729072329 meters 0.10380800993461531 Centerline is valid? [False, False] Translation: X:1.06, Y:0.96, Z:-0.04 [[ 9.99995914e-01 -2.85170463e-03 2.01693893e-04 1.06131736e+00] [ 2.85173422e-03 9.99995923e-01 -1.46609042e-04 9.59493922e-01] [-2.01274985e-04 1.47183620e-04 9.99999969e-01 -3.93906160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759072329 meters 0.11135420211342971 Centerline is valid? [False, False] Translation: X:1.06, Y:0.96, Z:-0.04 [[ 9.99999273e-01 1.16985815e-03 2.91159494e-04 1.06141021e+00] [-1.17088171e-03 9.99993047e-01 3.54047764e-03 9.61307134e-01] [-2.87015613e-04 -3.54081598e-03 9.99993690e-01 -3.98076053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789072329 meters 0.10298111534480325 Centerline is valid? [False, False] Translation: X:1.06, Y:0.97, Z:-0.04 [[ 9.99999930e-01 3.43471399e-04 1.51105025e-04 1.06171391e+00] [-3.43737901e-04 9.99998379e-01 1.76721647e-03 9.66153839e-01] [-1.50497792e-04 -1.76726828e-03 9.99998427e-01 -3.98128482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819072329 meters 0.10841418441844458 Centerline is valid? [False, False] Translation: X:1.06, Y:0.98, Z:-0.04 [[ 9.99999762e-01 -6.26068530e-05 -6.87396512e-04 1.06418890e+00] [ 6.21663549e-05 9.99999793e-01 -6.40823572e-04 9.75601678e-01] [ 6.87436490e-04 6.40780687e-04 9.99999558e-01 -4.12620131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849072329 meters 0.09600234923610639 Centerline is valid? [False, True] Translation: X:1.06, Y:0.98, Z:-0.04 [[ 9.99992685e-01 3.78340196e-03 -5.61695961e-04 1.06370469e+00] [-3.78184947e-03 9.99989096e-01 2.73973092e-03 9.77936227e-01] [ 5.72055340e-04 -2.73758663e-03 9.99996089e-01 -4.08456784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879072329 meters 0.09943365377315254 Centerline is valid? [True, True] Translation: X:1.09, Y:0.97, Z:-0.04 [[ 9.99971973e-01 7.18935923e-03 2.08966102e-03 1.09323434e+00] [-7.18902725e-03 9.99974145e-01 -1.66336857e-04 9.73753905e-01] [-2.09080284e-03 1.51309565e-04 9.99997803e-01 -4.49835090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909072329 meters 0.09232364045003673 Centerline is valid? [True, True] Translation: X:1.13, Y:0.99, Z:-0.04 [[ 9.99861524e-01 1.53618745e-02 6.39885687e-03 1.12541561e+00] [-1.53589275e-02 9.99881915e-01 -5.09437425e-04 9.93048048e-01] [-6.40592718e-03 4.11087301e-04 9.99979397e-01 -4.01303553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939072329 meters 0.09131007879407696 Centerline is valid? [True, True] Translation: X:1.16, Y:1.00, Z:-0.04 [[ 9.99774953e-01 1.98742132e-02 7.42014072e-03 1.15526301e+00] [-1.98703722e-02 9.99802390e-01 -5.91019342e-04 9.98421649e-01] [-7.43042047e-03 4.43445377e-04 9.99972296e-01 -4.15007309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969072329 meters 0.08601579411973344 Centerline is valid? [True, True] Translation: X:1.19, Y:1.02, Z:-0.04 [[ 9.99568363e-01 2.85613269e-02 6.88028231e-03 1.18782122e+00] [-2.85582363e-02 9.99591981e-01 -5.47044899e-04 1.02014355e+00] [-6.89309935e-03 3.50320047e-04 9.99976181e-01 -4.08285289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999072329 meters 0.08445355658745506 Centerline is valid? [True, True] Translation: X:1.22, Y:1.03, Z:-0.04 [[ 9.99437559e-01 3.29856325e-02 6.04258052e-03 1.21872808e+00] [-3.29833200e-02 9.99455786e-01 -4.81974818e-04 1.02767618e+00] [-6.05519030e-03 2.82399369e-04 9.99981627e-01 -4.32824860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029072328999998 meters 0.08437139107127341 Centerline is valid? [True, True] Translation: X:1.25, Y:1.03, Z:-0.05 [[ 9.99311485e-01 3.67131365e-02 5.35740426e-03 1.24796037e+00] [-3.67113726e-02 9.99325819e-01 -4.27245047e-04 1.03058765e+00] [-5.36947790e-03 2.30273219e-04 9.99985558e-01 -4.68296345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059072329 meters 0.08292766740508822 Centerline is valid? [True, True] Translation: X:1.28, Y:1.04, Z:-0.05 [[ 9.99204210e-01 3.96734130e-02 4.11900470e-03 1.27722974e+00] [-3.96723903e-02 9.99212686e-01 -3.29731836e-04 1.03661521e+00] [-4.12884334e-03 1.66058677e-04 9.99991463e-01 -4.88390704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089072329 meters 0.0818331423999111 Centerline is valid? [True, True] Translation: X:1.31, Y:1.05, Z:-0.05 [[ 9.98996746e-01 4.43488202e-02 6.21963440e-03 1.30664138e+00] [-4.43465964e-02 9.99016083e-01 -4.95071447e-04 1.04501924e+00] [-6.23547063e-03 2.18755148e-04 9.99980535e-01 -5.03982626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119072328999998 meters 0.08081549983896431 Centerline is valid? [True, True] Translation: X:1.34, Y:1.05, Z:-0.05 [[ 9.98892894e-01 4.61423866e-02 9.15783638e-03 1.33701875e+00] [-4.61376490e-02 9.98934826e-01 -7.28040414e-04 1.05036444e+00] [-9.18167522e-03 3.04713356e-04 9.99957801e-01 -4.89719378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149072329 meters 0.08027790145297675 Centerline is valid? [True, True] Translation: X:1.37, Y:1.05, Z:-0.05 [[ 9.98835390e-01 4.69452981e-02 1.11356622e-02 1.36675854e+00] [-4.69383458e-02 9.98897396e-01 -8.85008260e-04 1.05441238e+00] [-1.11649310e-02 3.61288007e-04 9.99937605e-01 -4.77325596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179072329 meters 0.07983406702613456 Centerline is valid? [True, True] Translation: X:1.40, Y:1.06, Z:-0.05 [[ 9.98774911e-01 4.76813654e-02 1.32349698e-02 1.39567477e+00] [-4.76716182e-02 9.98862509e-01 -1.05116252e-03 1.05830825e+00] [-1.32700360e-02 4.18942324e-04 9.99911861e-01 -4.72673042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209072328999998 meters 0.07983406702613456 Centerline is valid? [True, True] Translation: X:1.42, Y:1.06, Z:-0.05 [[ 9.98778304e-01 4.76102144e-02 1.32350443e-02 1.42390738e+00] [-4.76004734e-02 9.98865903e-01 -1.05022280e-03 1.05616594e+00] [-1.32700358e-02 4.18945377e-04 9.99911861e-01 -4.82350491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239072329 meters 0.08001614045991678 Centerline is valid? [True, True] Translation: X:1.45, Y:1.06, Z:-0.05 [[ 9.98803035e-01 4.70005853e-02 1.35440600e-02 1.45175270e+00] [-4.69903372e-02 9.98894767e-01 -1.07406897e-03 1.06010879e+00] [-1.35795726e-02 4.36343403e-04 9.99907698e-01 -5.03785552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269072329 meters 0.08054209593521001 Centerline is valid? [True, True] Translation: X:1.48, Y:1.06, Z:-0.05 [[ 9.98890219e-01 4.52858507e-02 1.29430278e-02 1.48015975e+00] [-4.52763617e-02 9.98973973e-01 -1.02536782e-03 1.05956314e+00] [-1.29761826e-02 4.38216680e-04 9.99915710e-01 -5.23948070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299072328999998 meters 0.08110070128388902 Centerline is valid? [True, True] Translation: X:1.51, Y:1.06, Z:-0.05 [[ 9.98987134e-01 4.34179899e-02 1.18146115e-02 1.50992791e+00] [-4.34099761e-02 9.99056906e-01 -9.34022190e-04 1.05909111e+00] [-1.18440226e-02 4.20204147e-04 9.99929769e-01 -5.49961412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329072329 meters 0.08299673890628276 Centerline is valid? [True, True] Translation: X:1.54, Y:1.06, Z:-0.06 [[ 9.99216867e-01 3.83473796e-02 9.75353636e-03 1.53911101e+00] [-3.83416848e-02 9.99264390e-01 -7.70254213e-04 1.05740256e+00] [-9.77589880e-03 3.95683985e-04 9.99952136e-01 -5.87087815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359072329 meters 0.08129966260390152 Centerline is valid? [True, True] Translation: X:1.57, Y:1.06, Z:-0.06 [[ 9.99309746e-01 3.55661696e-02 1.07275253e-02 1.56915538e+00] [-3.55591139e-02 9.99367215e-01 -8.47802808e-04 1.06202793e+00] [-1.07508902e-02 4.65756315e-04 9.99942099e-01 -5.58594449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389072329 meters 0.08488004021789824 Centerline is valid? [True, True] Translation: X:1.60, Y:1.05, Z:-0.06 [[ 9.99364621e-01 3.34995190e-02 1.21711170e-02 1.59740103e+00] [-3.34902863e-02 9.99438580e-01 -9.61657529e-04 1.05257475e+00] [-1.21964989e-02 5.53432322e-04 9.99925467e-01 -6.05364419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419072329 meters 0.08259282247841526 Centerline is valid? [True, True] Translation: X:1.63, Y:1.06, Z:-0.05 [[ 9.99429211e-01 2.98736027e-02 1.57740480e-02 1.62805227e+00] [-2.98576717e-02 9.99553386e-01 -1.24454225e-03 1.06269365e+00] [-1.58041821e-02 7.72855532e-04 9.99874807e-01 -5.37983208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449072329 meters 0.0834446808466023 Centerline is valid? [True, True] Translation: X:1.66, Y:1.06, Z:-0.05 [[ 9.99425340e-01 2.89486229e-02 1.76342507e-02 1.65766139e+00] [-2.89285971e-02 9.99580515e-01 -1.38970310e-03 1.06115197e+00] [-1.76670834e-02 8.78770361e-04 9.99843539e-01 -5.39830189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479072329 meters 0.08372130187816665 Centerline is valid? [True, True] Translation: X:1.69, Y:1.06, Z:-0.06 [[ 9.99495207e-01 2.67294956e-02 1.71716623e-02 1.68930051e+00] [-2.67101832e-02 9.99642304e-01 -1.35306693e-03 1.06358236e+00] [-1.72016868e-02 8.93725666e-04 9.99851641e-01 -5.55045112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509072329 meters 0.0850779889846152 Centerline is valid? [True, True] Translation: X:1.72, Y:1.06, Z:-0.06 [[ 9.99562131e-01 2.53237077e-02 1.53054119e-02 1.71972682e+00] [-2.53081947e-02 9.99678968e-01 -1.20643383e-03 1.05908092e+00] [-1.53310498e-02 8.18553222e-04 9.99882137e-01 -5.89603495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539072329 meters 0.08556979732883532 Centerline is valid? [True, True] Translation: X:1.75, Y:1.06, Z:-0.06 [[ 9.99600174e-01 2.41487540e-02 1.47081548e-02 1.75065994e+00] [-2.41342941e-02 9.99708053e-01 -1.15984812e-03 1.05577220e+00] [-1.47318697e-02 8.04413451e-04 9.99891157e-01 -6.23995338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569072329 meters 0.08548049074172145 Centerline is valid? [True, True] Translation: X:1.78, Y:1.06, Z:-0.06 [[ 9.99688037e-01 2.07424096e-02 1.39133087e-02 1.78213507e+00] [-2.07291359e-02 9.99784526e-01 -1.09757853e-03 1.05631968e+00] [-1.39330771e-02 8.08825255e-04 9.99902603e-01 -6.28279766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599072329 meters 0.08531947017182603 Centerline is valid? [True, True] Translation: X:1.81, Y:1.06, Z:-0.06 [[ 9.99670757e-01 2.00032478e-02 1.60700655e-02 1.81359331e+00] [-1.99854319e-02 9.99799467e-01 -1.26848455e-03 1.05746012e+00] [-1.60922167e-02 9.46899706e-04 9.99870064e-01 -6.07808938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629072329 meters 0.08550453136892588 Centerline is valid? [True, True] Translation: X:1.85, Y:1.06, Z:-0.06 [[ 9.99650197e-01 1.93932817e-02 1.79828653e-02 1.84578525e+00] [-1.93709214e-02 9.99811362e-01 -1.41679714e-03 1.05829335e+00] [-1.80069494e-02 1.06795687e-03 9.99837291e-01 -5.93338253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659072329 meters 0.08530181479189133 Centerline is valid? [True, True] Translation: X:1.88, Y:1.06, Z:-0.06 [[ 9.99630655e-01 1.93039515e-02 1.91287900e-02 1.87870723e+00] [-1.92784844e-02 9.99813005e-01 -1.51487465e-03 1.05920522e+00] [-1.91544560e-02 1.14554106e-03 9.99815880e-01 -5.83311544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689072329 meters 0.08560207815589903 Centerline is valid? [True, True] Translation: X:1.91, Y:1.06, Z:-0.06 [[ 9.99590059e-01 2.04550767e-02 2.00325666e-02 1.90954867e+00] [-2.04273766e-02 9.99790081e-01 -1.58642793e-03 1.05625925e+00] [-2.00608119e-02 1.17656480e-03 9.99798069e-01 -6.13779082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719072329 meters 0.08544034325730052 Centerline is valid? [True, True] Translation: X:1.94, Y:1.05, Z:-0.06 [[ 9.99572703e-01 2.14103499e-02 1.98999344e-02 1.94113427e+00] [-2.13831181e-02 9.99770106e-01 -1.58023785e-03 1.05274224e+00] [-1.99291930e-02 1.15403997e-03 9.99800728e-01 -6.43992254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749072329 meters 0.08566545127234765 Centerline is valid? [True, True] Translation: X:1.97, Y:1.05, Z:-0.07 [[ 9.99557643e-01 2.25607135e-02 1.93786639e-02 1.97241011e+00] [-2.25350112e-02 9.99744863e-01 -1.54369454e-03 1.04916043e+00] [-1.94085465e-02 1.10631327e-03 9.99811024e-01 -6.65352191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779072328999998 meters 0.0851400363264129 Centerline is valid? [True, True] Translation: X:2.00, Y:1.05, Z:-0.07 [[ 9.99546570e-01 2.36581912e-02 1.86264411e-02 2.00474976e+00] [-2.36345677e-02 9.99719558e-01 -1.48742080e-03 1.04837667e+00] [-1.86564071e-02 1.04651847e-03 9.99825406e-01 -6.84568974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809072329 meters 0.08514230039435354 Centerline is valid? [True, True] Translation: X:2.04, Y:1.05, Z:-0.07 [[ 9.99546664e-01 2.53575270e-02 1.62315097e-02 2.03630263e+00] [-2.53397593e-02 9.99678052e-01 -1.29940248e-03 1.04967387e+00] [-1.62592337e-02 8.87510862e-04 9.99867416e-01 -7.02978764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839072329 meters 0.08484334473254429 Centerline is valid? [True, True] Translation: X:2.07, Y:1.05, Z:-0.07 [[ 9.99518289e-01 2.62430456e-02 1.65678379e-02 2.06718790e+00] [-2.62245246e-02 9.99655188e-01 -1.33419401e-03 1.04975237e+00] [-1.65971384e-02 8.99067648e-04 9.99861854e-01 -7.00585781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869072328999998 meters 0.0816497229411046 Centerline is valid? [True, True] Translation: X:2.10, Y:1.06, Z:-0.07 [[ 9.99416767e-01 2.84367761e-02 1.89070299e-02 2.09901150e+00] [-2.84130515e-02 9.99595109e-01 -1.52229858e-03 1.05758249e+00] [-1.89426638e-02 9.84204316e-04 9.99820087e-01 -6.55499955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899072329 meters 0.08130786602191149 Centerline is valid? [True, True] Translation: X:2.13, Y:1.06, Z:-0.07 [[ 9.99371438e-01 2.93551448e-02 1.98747327e-02 2.13013113e+00] [-2.93291026e-02 9.99568528e-01 -1.60059913e-03 1.05660873e+00] [-1.99131431e-02 1.01668498e-03 9.99801197e-01 -6.50710683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929072329 meters 0.08026669092618698 Centerline is valid? [True, True] Translation: X:2.16, Y:1.06, Z:-0.06 [[ 9.99291723e-01 3.07800138e-02 2.16481561e-02 2.16123362e+00] [-3.07494397e-02 9.99525603e-01 -1.74385404e-03 1.05612000e+00] [-2.16915621e-02 1.07695024e-03 9.99764130e-01 -6.46278639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959072328999998 meters 0.08088061701816032 Centerline is valid? [True, True] Translation: X:2.19, Y:1.05, Z:-0.07 [[ 9.99240433e-01 3.16293916e-02 2.27626791e-02 2.19167619e+00] [-3.15958020e-02 9.99499046e-01 -1.83387261e-03 1.05111793e+00] [-2.28092803e-02 1.11327455e-03 9.99739215e-01 -6.64390138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989072329 meters 0.07928784348226187 Centerline is valid? [True, True] Translation: X:2.22, Y:1.05, Z:-0.07 [[ 9.99135323e-01 3.41091844e-02 2.37733063e-02 2.22300819e+00] [-3.40732241e-02 9.99417502e-01 -1.91618623e-03 1.04951455e+00] [-2.38248180e-02 1.10449616e-03 9.99715539e-01 -6.77611512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019072329 meters 0.07897612933034107 Centerline is valid? [True, True] Translation: X:2.25, Y:1.05, Z:-0.07 [[ 9.99105985e-01 3.49631368e-02 2.37657252e-02 2.25394677e+00] [-3.49274204e-02 9.99388014e-01 -1.91641888e-03 1.04801923e+00] [-2.38181849e-02 1.08463010e-03 9.99715718e-01 -6.92606235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049072328999998 meters 0.07732261932741627 Centerline is valid? [True, True] Translation: X:2.29, Y:1.05, Z:-0.07 [[ 9.99083324e-01 3.62648993e-02 2.27457555e-02 2.28527833e+00] [-3.62324988e-02 9.99341703e-01 -1.83510670e-03 1.05119120e+00] [-2.27973320e-02 1.00928894e-03 9.99739598e-01 -6.96409601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079072329 meters 0.07704449816740443 Centerline is valid? [True, True] Translation: X:2.32, Y:1.05, Z:-0.07 [[ 9.99000323e-01 3.84278984e-02 2.28396923e-02 2.31508699e+00] [-3.83957750e-02 9.99260910e-01 -1.84350393e-03 1.05344218e+00] [-2.28936537e-02 9.64713338e-04 9.99737441e-01 -6.97142923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109072329 meters 0.07654237909881315 Centerline is valid? [True, True] Translation: X:2.35, Y:1.05, Z:-0.07 [[ 9.98953235e-01 3.99711357e-02 2.22428165e-02 2.34501894e+00] [-3.99410554e-02 9.99200425e-01 -1.79515070e-03 1.05219959e+00] [-2.22967859e-02 9.04870029e-04 9.99750986e-01 -7.07630337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139072328999998 meters 0.07628991928334115 Centerline is valid? [True, True] Translation: X:2.37, Y:1.05, Z:-0.07 [[ 9.98881554e-01 4.16488492e-02 2.23833335e-02 2.37367402e+00] [-4.16188216e-02 9.99131929e-01 -1.80589002e-03 1.04963712e+00] [-2.24391164e-02 8.72302269e-04 9.99747831e-01 -7.26735233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169072329 meters 0.07559592830069355 Centerline is valid? [True, True] Translation: X:2.40, Y:1.05, Z:-0.07 [[ 9.98801761e-01 4.38338891e-02 2.17631109e-02 2.40292225e+00] [-4.38060447e-02 9.99038513e-01 -1.75475130e-03 1.04776626e+00] [-2.18191035e-02 7.99292883e-04 9.99761616e-01 -7.48427247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199072329 meters 0.07391065159696233 Centerline is valid? [True, True] Translation: X:2.43, Y:1.05, Z:-0.08 [[ 9.98532286e-01 4.92860652e-02 2.24534559e-02 2.43227098e+00] [-4.92578345e-02 9.98784458e-01 -1.80897530e-03 1.04839257e+00] [-2.25153201e-02 7.00311621e-04 9.99746253e-01 -7.71588166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229072329 meters 0.07308681528019997 Centerline is valid? [True, True] Translation: X:2.46, Y:1.05, Z:-0.08 [[ 9.98404727e-01 5.16726785e-02 2.27581989e-02 2.46177865e+00] [-5.16443095e-02 9.98663860e-01 -1.83291347e-03 1.04856920e+00] [-2.28225023e-02 6.54658000e-04 9.99739318e-01 -7.81747474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259072329 meters 0.07150181309879255 Centerline is valid? [True, True] Translation: X:2.49, Y:1.05, Z:-0.08 [[ 9.98240210e-01 5.48108219e-02 2.26331030e-02 2.49160301e+00] [-5.47835955e-02 9.98496589e-01 -1.82170937e-03 1.05283161e+00] [-2.26989255e-02 5.78580791e-04 9.99742179e-01 -7.75451255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289072329 meters 0.07052545780299825 Centerline is valid? [True, True] Translation: X:2.52, Y:1.06, Z:-0.08 [[ 9.97804668e-01 6.25755654e-02 2.16827742e-02 2.52120822e+00] [-6.25524381e-02 9.98040155e-01 -1.74388334e-03 1.05939375e+00] [-2.17494038e-02 3.83744546e-04 9.99763380e-01 -7.97929996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319072329 meters 0.07004590696098363 Centerline is valid? [True, True] Translation: X:2.55, Y:1.06, Z:-0.08 [[ 9.97582710e-01 6.63053860e-02 2.07926144e-02 2.55084062e+00] [-6.62849193e-02 9.97799334e-01 -1.67274017e-03 1.06272751e+00] [-2.08577685e-02 2.90459898e-04 9.99782411e-01 -8.20099374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349072329 meters 0.06971518409242362 Centerline is valid? [True, True] Translation: X:2.58, Y:1.06, Z:-0.09 [[ 9.97396981e-01 6.93702107e-02 1.96732478e-02 2.57973983e+00] [-6.93525439e-02 9.97590963e-01 -1.57967512e-03 1.06401637e+00] [-1.97354366e-02 2.11173413e-04 9.99805215e-01 -8.50015939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379072329 meters 0.06926985409932034 Centerline is valid? [True, True] Translation: X:2.61, Y:1.07, Z:-0.09 [[ 9.97024026e-01 7.48993473e-02 1.82531951e-02 2.60837853e+00] [-7.48850833e-02 9.97191095e-01 -1.46466881e-03 1.06678010e+00] [-1.83116264e-02 9.34179558e-05 9.99832324e-01 -8.70736808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409072329 meters 0.0688373094585683 Centerline is valid? [True, True] Translation: X:2.64, Y:1.07, Z:-0.09 [[ 9.96749167e-01 7.82827197e-02 1.90502828e-02 2.63624602e+00] [-7.82678110e-02 9.96931199e-01 -1.52806689e-03 1.06737620e+00] [-1.91114425e-02 3.20754634e-05 9.99817359e-01 -8.78818487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439072329 meters 0.06866676427574396 Centerline is valid? [True, True] Translation: X:2.67, Y:1.07, Z:-0.09 [[ 9.96500565e-01 8.11067085e-02 2.02070760e-02 2.66509609e+00] [-8.10905927e-02 9.96705423e-01 -1.61699503e-03 1.06875274e+00] [-2.02716514e-02 -2.72673092e-05 9.99794509e-01 -8.78863294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469072329 meters 0.06870225865030254 Centerline is valid? [True, True] Translation: X:2.69, Y:1.08, Z:-0.09 [[ 9.95899117e-01 8.80148837e-02 2.09363297e-02 2.69455725e+00] [-8.79990923e-02 9.96119145e-01 -1.67614835e-03 1.07739321e+00] [-2.10026049e-02 -1.73103351e-04 9.99779406e-01 -8.57573659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499072329 meters 0.06906135173688814 Centerline is valid? [True, True] Translation: X:2.72, Y:1.08, Z:-0.09 [[ 9.95629957e-01 9.11427466e-02 2.03466905e-02 2.72224086e+00] [-9.11286133e-02 9.95837809e-01 -1.62265600e-03 1.08101752e+00] [-2.04098970e-02 -2.38600760e-04 9.99791668e-01 -8.66749358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529072328999998 meters 0.06963842420922803 Centerline is valid? [True, True] Translation: X:2.75, Y:1.08, Z:-0.09 [[ 9.95427936e-01 9.34953601e-02 1.95407635e-02 2.75064717e+00] [-9.34828532e-02 9.95619676e-01 -1.55452136e-03 1.08195497e+00] [-1.96005091e-02 -2.79312329e-04 9.99807853e-01 -8.88034222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559072329 meters 0.07008905088549007 Centerline is valid? [True, True] Translation: X:2.78, Y:1.08, Z:-0.09 [[ 9.95281772e-01 9.52195766e-02 1.86393963e-02 2.77887090e+00] [-9.52085285e-02 9.95456248e-01 -1.48124560e-03 1.08147042e+00] [-1.86957471e-02 -3.00372744e-04 9.99825174e-01 -9.16187757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589072329 meters 0.07087543307490236 Centerline is valid? [True, True] Translation: X:2.81, Y:1.08, Z:-0.10 [[ 9.95026890e-01 9.81701483e-02 1.68555603e-02 2.80617174e+00] [-9.81615530e-02 9.95169593e-01 -1.33852869e-03 1.08091312e+00] [-1.69055446e-02 -3.22695932e-04 9.99857039e-01 -9.67602029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619072328999998 meters 0.07096427655836744 Centerline is valid? [True, True] Translation: X:2.83, Y:1.08, Z:-0.10 [[ 9.94939128e-01 9.92968451e-02 1.53710082e-02 2.83463021e+00] [-9.92898086e-02 9.95057808e-01 -1.22213125e-03 1.07912657e+00] [-1.54163955e-02 -3.10238263e-04 9.99881112e-01 -9.83937295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649072329 meters 0.07076778568781676 Centerline is valid? [True, True] Translation: X:2.86, Y:1.08, Z:-0.10 [[ 9.94756697e-01 1.01242777e-01 1.44573084e-02 2.86380725e+00] [-1.01236801e-01 9.94861697e-01 -1.14650358e-03 1.07922128e+00] [-1.44990976e-02 -3.23119537e-04 9.99894830e-01 -9.68039735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679072329 meters 0.07186612673744311 Centerline is valid? [True, True] Translation: X:2.89, Y:1.08, Z:-0.10 [[ 9.94659846e-01 1.02172112e-01 1.45825375e-02 2.89204970e+00] [-1.02166227e-01 9.94766676e-01 -1.14990531e-03 1.08240628e+00] [-1.46237106e-02 -3.46078208e-04 9.99893008e-01 -9.90471367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709072328999998 meters 0.07265484162956608 Centerline is valid? [True, True] Translation: X:2.92, Y:1.08, Z:-0.10 [[ 9.94622151e-01 1.02575750e-01 1.43175468e-02 2.91947385e+00] [-1.02570158e-01 9.94725135e-01 -1.12634557e-03 1.08375836e+00] [-1.43575594e-02 -3.48264777e-04 9.99896864e-01 -1.01589744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739072329 meters 0.07101116374219044 Centerline is valid? [True, True] Translation: X:2.95, Y:1.08, Z:-0.10 [[ 9.94589627e-01 1.02742013e-01 1.53477545e-02 2.94726973e+00] [-1.02735578e-01 9.94707967e-01 -1.20919400e-03 1.07689926e+00] [-1.53907687e-02 -3.74108631e-04 9.99881485e-01 -9.79275658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769072329 meters 0.07103785557753185 Centerline is valid? [True, True] Translation: X:2.98, Y:1.08, Z:-0.10 [[ 9.94543693e-01 1.03096561e-01 1.59355809e-02 2.97526586e+00] [-1.03089754e-01 9.94671272e-01 -1.25019530e-03 1.07517181e+00] [-1.59795553e-02 -3.99421268e-04 9.99872239e-01 -9.88522789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799072328999998 meters 0.0713163814713606 Centerline is valid? [True, True] Translation: X:3.00, Y:1.07, Z:-0.10 [[ 9.94503643e-01 1.03532536e-01 1.56050475e-02 3.00289805e+00] [-1.03526196e-01 9.94625984e-01 -1.21578554e-03 1.07492915e+00] [-1.56470591e-02 -4.06428055e-04 9.99877495e-01 -1.00580918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829072329 meters 0.07115153685624823 Centerline is valid? [True, True] Translation: X:3.03, Y:1.07, Z:-0.10 [[ 9.94481265e-01 1.03835243e-01 1.50085150e-02 3.03135548e+00] [-1.03829382e-01 9.94594434e-01 -1.17131435e-03 1.07349241e+00] [-1.50490092e-02 -3.93474661e-04 9.99886680e-01 -1.01088616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859072329 meters 0.07111247161051926 Centerline is valid? [True, True] Translation: X:3.06, Y:1.07, Z:-0.10 [[ 9.94500193e-01 1.03576895e-01 1.55304040e-02 3.05958602e+00] [-1.03570708e-01 9.94621364e-01 -1.20431744e-03 1.07228715e+00] [-1.55716111e-02 -4.10801015e-04 9.99878671e-01 -1.01442194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889072328999998 meters 0.07092554671920093 Centerline is valid? [True, True] Translation: X:3.09, Y:1.07, Z:-0.10 [[ 9.94642358e-01 1.01904005e-01 1.73825585e-02 3.08782824e+00] [-1.01895986e-01 9.94794144e-01 -1.34869569e-03 1.07066715e+00] [-1.74295049e-02 -4.29743076e-04 9.99848002e-01 -1.01580676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919072329 meters 0.07041264644952254 Centerline is valid? [True, True] Translation: X:3.12, Y:1.07, Z:-0.10 [[ 9.94756975e-01 1.00819526e-01 1.71459566e-02 3.11604845e+00] [-1.00811638e-01 9.94904646e-01 -1.32596032e-03 1.06705290e+00] [-1.71922745e-02 -4.09503685e-04 9.99852118e-01 -1.01417938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949072329 meters 0.07004947625595925 Centerline is valid? [True, True] Translation: X:3.14, Y:1.06, Z:-0.10 [[ 9.94902234e-01 9.91234587e-02 1.85495435e-02 3.14380669e+00] [-9.91140856e-02 9.95075054e-01 -1.42623135e-03 1.06469087e+00] [-1.85995610e-02 -4.19560285e-04 9.99826925e-01 -1.01998858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979072329 meters 0.069457646465839 Centerline is valid? [True, True] Translation: X:3.17, Y:1.06, Z:-0.10 [[ 9.95270595e-01 9.54635869e-02 1.79762931e-02 3.17288015e+00] [-9.54541733e-02 9.95432865e-01 -1.38293100e-03 1.06077102e+00] [-1.80262125e-02 -3.39521635e-04 9.99837457e-01 -1.02955286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009072329 meters 0.06923662086365742 Centerline is valid? [True, True] Translation: X:3.20, Y:1.06, Z:-0.11 [[ 9.95464776e-01 9.33891758e-02 1.81201967e-02 3.20121330e+00] [-9.33793426e-02 9.95629633e-01 -1.38985820e-03 1.05707694e+00] [-1.81708025e-02 -3.08497176e-04 9.99834850e-01 -1.05050658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039072329 meters 0.06889707330486364 Centerline is valid? [True, True] Translation: X:3.23, Y:1.05, Z:-0.11 [[ 9.95719342e-01 9.05852202e-02 1.83659702e-02 3.22931998e+00] [-9.05747309e-02 9.95888672e-01 -1.40385436e-03 1.05246315e+00] [-1.84176302e-02 -2.65647866e-04 9.99830346e-01 -1.06732323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069072329 meters 0.06844045464704201 Centerline is valid? [True, True] Translation: X:3.26, Y:1.05, Z:-0.11 [[ 9.95930305e-01 8.81825041e-02 1.86191796e-02 3.25765328e+00] [-8.81713965e-02 9.96104309e-01 -1.41823977e-03 1.04843652e+00] [-1.86717089e-02 -2.29211104e-04 9.99825642e-01 -1.07408203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099072329 meters 0.06844045464704201 Centerline is valid? [True, True] Translation: X:3.28, Y:1.05, Z:-0.11 [[ 9.95955649e-01 8.78957282e-02 1.86194945e-02 3.28494713e+00] [-8.78846481e-02 9.96129655e-01 -1.41408911e-03 1.04658597e+00] [-1.86717230e-02 -2.27997686e-04 9.99825642e-01 -1.08346082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129072329 meters 0.0680212494628179 Centerline is valid? [True, True] Translation: X:3.31, Y:1.04, Z:-0.11 [[ 9.96318796e-01 8.35495800e-02 1.91917800e-02 3.31239733e+00] [-8.35371598e-02 9.96503609e-01 -1.44934810e-03 1.04224395e+00] [-1.92457704e-02 -1.59214031e-04 9.99814770e-01 -1.08752750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159072329 meters 0.06796251485990515 Centerline is valid? [True, True] Translation: X:3.34, Y:1.04, Z:-0.11 [[ 9.96514599e-01 8.12819042e-02 1.87591561e-02 3.33955383e+00] [-8.12696369e-02 9.96691145e-01 -1.41661783e-03 1.03903219e+00] [-1.88122302e-02 -1.12869453e-04 9.99823028e-01 -1.11512508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189072329 meters 0.0679572168394174 Centerline is valid? [True, True] Translation: X:3.37, Y:1.03, Z:-0.11 [[ 9.96783708e-01 7.77876335e-02 1.92697470e-02 3.36776650e+00] [-7.77741555e-02 9.96969950e-01 -1.44900493e-03 1.03468855e+00] [-1.93240734e-02 -5.43437938e-05 9.99813271e-01 -1.12572668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219072329 meters 0.06812636415365678 Centerline is valid? [True, True] Translation: X:3.40, Y:1.03, Z:-0.12 [[ 9.96815634e-01 7.72390806e-02 1.98170536e-02 3.39502207e+00] [-7.72248679e-02 9.97012599e-01 -1.48260108e-03 1.03222825e+00] [-1.98723668e-02 -5.24894085e-05 9.99802524e-01 -1.15165868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249072329 meters 0.06808443411920809 Centerline is valid? [True, True] Translation: X:3.42, Y:1.03, Z:-0.12 [[ 9.96864340e-01 7.66244312e-02 1.97530614e-02 3.42271008e+00] [-7.66102191e-02 9.97060026e-01 -1.47631783e-03 1.02960513e+00] [-1.98081100e-02 -4.15977639e-05 9.99803799e-01 -1.16527322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279072328999998 meters 0.06826922545055163 Centerline is valid? [True, True] Translation: X:3.45, Y:1.03, Z:-0.12 [[ 9.96894966e-01 7.64002984e-02 1.90635889e-02 3.45076597e+00] [-7.63870489e-02 9.97077225e-01 -1.42328629e-03 1.02769941e+00] [-1.91166098e-02 -3.73443570e-05 9.99817260e-01 -1.18701579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309072329 meters 0.06825617557264112 Centerline is valid? [True, True] Translation: X:3.48, Y:1.03, Z:-0.12 [[ 9.96888883e-01 7.64539222e-02 1.91664671e-02 3.47735632e+00] [-7.64405911e-02 9.97073115e-01 -1.42826870e-03 1.02748223e+00] [-1.92195658e-02 -4.12708906e-05 9.99815286e-01 -1.19685176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339072329 meters 0.06812220415809082 Centerline is valid? [True, True] Translation: X:3.51, Y:1.03, Z:-0.12 [[ 9.96770501e-01 7.75224817e-02 2.09483627e-02 3.50658372e+00] [-7.75068665e-02 9.96990602e-01 -1.55752257e-03 1.03093628e+00] [-2.10060638e-02 -7.11494014e-05 9.99779346e-01 -1.16827363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369072328999998 meters 0.06825396804024546 Centerline is valid? [True, True] Translation: X:3.54, Y:1.03, Z:-0.12 [[ 9.96729915e-01 7.78460457e-02 2.16672724e-02 3.53582425e+00] [-7.78294514e-02 9.96965389e-01 -1.60937304e-03 1.03032524e+00] [-2.17268040e-02 -8.22416762e-05 9.99763942e-01 -1.16919873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399072329 meters 0.0682339922147552 Centerline is valid? [True, True] Translation: X:3.56, Y:1.03, Z:-0.12 [[ 9.96677486e-01 7.83982853e-02 2.20838942e-02 3.56351179e+00] [-7.83812080e-02 9.96922113e-01 -1.63915481e-03 1.02885653e+00] [-2.21444294e-02 -9.72536151e-05 9.99754777e-01 -1.18264252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429072329 meters 0.06821783407942973 Centerline is valid? [True, True] Translation: X:3.59, Y:1.03, Z:-0.12 [[ 9.96483112e-01 8.05236056e-02 2.31809285e-02 3.59124175e+00] [-8.05054217e-02 9.96752690e-01 -1.71810465e-03 1.02822611e+00] [-2.32440009e-02 -1.54128158e-04 9.99729810e-01 -1.18301878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459072328999998 meters 0.0686755328874378 Centerline is valid? [True, True] Translation: X:3.62, Y:1.03, Z:-0.12 [[ 9.96413413e-01 8.15132418e-02 2.27134597e-02 3.61935566e+00] [-8.14961017e-02 9.96672243e-01 -1.68079676e-03 1.03049348e+00] [-2.27748820e-02 -1.76289983e-04 9.99740603e-01 -1.21915794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489072329 meters 0.06920388403911835 Centerline is valid? [True, True] Translation: X:3.65, Y:1.03, Z:-0.12 [[ 9.96321927e-01 8.27403717e-02 2.22856001e-02 3.64800141e+00] [-8.27241852e-02 9.96571117e-01 -1.64882228e-03 1.03279904e+00] [-2.23456096e-02 -2.00800319e-04 9.99750286e-01 -1.23700656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519072329 meters 0.06929029848049975 Centerline is valid? [True, True] Translation: X:3.68, Y:1.03, Z:-0.12 [[ 9.96284964e-01 8.36554172e-02 2.04460493e-02 3.67634363e+00] [-8.36421096e-02 9.96494720e-01 -1.50666488e-03 1.03246715e+00] [-2.05004208e-02 -2.09083129e-04 9.99789822e-01 -1.24577650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549072328999998 meters 0.06988173361208953 Centerline is valid? [True, True] Translation: X:3.71, Y:1.03, Z:-0.13 [[ 9.96314697e-01 8.39247782e-02 1.77103503e-02 3.70502192e+00] [-8.39148081e-02 9.96472076e-01 -1.30665362e-03 1.03193590e+00] [-1.77575301e-02 -1.84322444e-04 9.99842306e-01 -1.27462180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579072329 meters 0.07048818665052714 Centerline is valid? [True, True] Translation: X:3.73, Y:1.03, Z:-0.13 [[ 9.96198741e-01 8.56114375e-02 1.60857036e-02 3.73309197e+00] [-8.56035359e-02 9.96328581e-01 -1.18038829e-03 1.02887966e+00] [-1.61277010e-02 -2.01091777e-04 9.99869920e-01 -1.32482001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609072329 meters 0.0708281099206565 Centerline is valid? [True, True] Translation: X:3.76, Y:1.03, Z:-0.13 [[ 9.96121662e-01 8.63227365e-02 1.70299703e-02 3.76007430e+00] [-8.63140033e-02 9.96267200e-01 -1.24853700e-03 1.02660137e+00] [-1.70741780e-02 -2.26230163e-04 9.99854200e-01 -1.34262255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639072328999998 meters 0.07082403692724634 Centerline is valid? [True, True] Translation: X:3.79, Y:1.02, Z:-0.13 [[ 9.96013798e-01 8.73590254e-02 1.80253955e-02 3.78743794e+00] [-8.73494106e-02 9.96176859e-01 -1.32154418e-03 1.02381154e+00] [-1.80719306e-02 -2.58231430e-04 9.99836656e-01 -1.34193861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669072329 meters 0.07076699263809988 Centerline is valid? [True, True] Translation: X:3.82, Y:1.02, Z:-0.13 [[ 9.95801612e-01 8.89171635e-02 2.17459989e-02 3.81512975e+00] [-8.89037811e-02 9.96038961e-01 -1.58330833e-03 1.02400506e+00] [-2.18006454e-02 -3.56640542e-04 9.99762274e-01 -1.30247222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699072329 meters 0.07116382626079111 Centerline is valid? [True, True] Translation: X:3.84, Y:1.03, Z:-0.13 [[ 9.95553291e-01 9.11204814e-02 2.38893957e-02 3.84285313e+00] [-9.11050137e-02 9.95839775e-01 -1.73732064e-03 1.02552566e+00] [-2.39483159e-02 -4.46848436e-04 9.99713098e-01 -1.27928733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729072329 meters 0.07174120039899937 Centerline is valid? [True, True] Translation: X:3.87, Y:1.03, Z:-0.13 [[ 9.95338614e-01 9.32092741e-02 2.47603260e-02 3.87083900e+00] [-9.31934007e-02 9.95646404e-01 -1.79675585e-03 1.02666319e+00] [-2.48200039e-02 -5.19118499e-04 9.99691801e-01 -1.27041290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759072329 meters 0.07357628728362627 Centerline is valid? [True, True] Translation: X:3.90, Y:1.03, Z:-0.13 [[ 9.94922603e-01 9.82319014e-02 2.18976735e-02 3.90031415e+00] [-9.82207505e-02 9.95163387e-01 -1.58678977e-03 1.02749529e+00] [-2.19476363e-02 -5.72072916e-04 9.99758958e-01 -1.30598173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789072329 meters 0.07507025750106874 Centerline is valid? [True, True] Translation: X:3.93, Y:1.03, Z:-0.14 [[ 9.94797929e-01 1.00135667e-01 1.87064033e-02 3.92824056e+00] [-1.00127865e-01 9.94973654e-01 -1.35559619e-03 1.02541920e+00] [-1.87481220e-02 -5.24487943e-04 9.99824101e-01 -1.36782080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819072329 meters 0.07425513535659728 Centerline is valid? [True, True] Translation: X:3.96, Y:1.02, Z:-0.14 [[ 9.94669578e-01 1.01813972e-01 1.63200878e-02 3.95660227e+00] [-1.01808277e-01 9.94803337e-01 -1.18155873e-03 1.01530954e+00] [-1.63555770e-02 -4.86259496e-04 9.99866120e-01 -1.39147949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849072329 meters 0.07702291392053388 Centerline is valid? [True, True] Translation: X:3.98, Y:1.02, Z:-0.15 [[ 9.94560389e-01 1.03009254e-01 1.54507824e-02 3.98467712e+00] [-1.03004295e-01 9.94680282e-01 -1.11853839e-03 1.01643932e+00] [-1.54838085e-02 -4.79042983e-04 9.99880004e-01 -1.46511238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879072329 meters 0.07544412625857454 Centerline is valid? [True, True] Translation: X:4.01, Y:1.01, Z:-0.14 [[ 9.94467615e-01 1.03760594e-01 1.63677138e-02 4.01317934e+00] [-1.03755111e-01 9.94602167e-01 -1.18611109e-03 1.00669179e+00] [-1.64024352e-02 -5.18684888e-04 9.99865336e-01 -1.42663951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909072329 meters 0.07535554991566279 Centerline is valid? [True, True] Translation: X:4.04, Y:1.00, Z:-0.14 [[ 9.94346669e-01 1.04695469e-01 1.77076162e-02 4.04150937e+00] [-1.04689293e-01 9.94504157e-01 -1.27792959e-03 1.00391011e+00] [-1.77440914e-02 -5.83092792e-04 9.99842391e-01 -1.40227730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939072329 meters 0.07603019273722476 Centerline is valid? [True, True] Translation: X:4.07, Y:1.00, Z:-0.14 [[ 9.94199747e-01 1.05992805e-01 1.82315396e-02 4.06881522e+00] [-1.05986616e-01 9.94366696e-01 -1.30808017e-03 1.00251149e+00] [-1.82674828e-02 -6.31806211e-04 9.99832936e-01 -1.39928081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969072329 meters 0.07675302716727102 Centerline is valid? [True, True] Translation: X:4.10, Y:1.00, Z:-0.14 [[ 9.94063019e-01 1.07081914e-01 1.92918926e-02 4.09638103e+00] [-1.07075242e-01 9.94249961e-01 -1.38144001e-03 9.99589859e-01] [-1.93288907e-02 -6.92445638e-04 9.99812940e-01 -1.41512987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999072329 meters 0.07771986033488433 Centerline is valid? [True, True] Translation: X:4.12, Y:0.99, Z:-0.15 [[ 9.93939436e-01 1.08486224e-01 1.77520909e-02 4.12401089e+00] [-1.08480824e-01 9.94097731e-01 -1.26972840e-03 9.90245402e-01] [-1.77850613e-02 -6.63728321e-04 9.99841613e-01 -1.45258597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029072328999998 meters 0.07730356292822153 Centerline is valid? [True, True] Translation: X:4.15, Y:0.98, Z:-0.15 [[ 9.93912749e-01 1.09037485e-01 1.57567133e-02 4.15217701e+00] [-1.09033265e-01 9.94037460e-01 -1.12918489e-03 9.82587481e-01] [-1.57858868e-02 -5.95694648e-04 9.99875218e-01 -1.47776483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059072329 meters 0.07956483739152537 Centerline is valid? [True, True] Translation: X:4.18, Y:0.98, Z:-0.15 [[ 9.93866638e-01 1.09739633e-01 1.36498741e-02 4.17930736e+00] [-1.09736610e-01 9.93960226e-01 -9.72520642e-04 9.83087568e-01] [-1.36741560e-02 -5.31335093e-04 9.99906363e-01 -1.52808634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089072329 meters 0.08059207292243843 Centerline is valid? [True, True] Translation: X:4.21, Y:0.98, Z:-0.16 [[ 9.93638545e-01 1.12007198e-01 1.16973993e-02 4.20854446e+00] [-1.12005165e-01 9.93707277e-01 -8.30851800e-04 9.76559837e-01] [-1.17168522e-02 -4.84602762e-04 9.99931238e-01 -1.55232175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119072328999998 meters 0.08557466265728007 Centerline is valid? [True, True] Translation: X:4.24, Y:0.98, Z:-0.16 [[ 9.93456766e-01 1.13676891e-01 1.10099518e-02 4.23708128e+00] [-1.13675186e-01 9.93517659e-01 -7.82535237e-04 9.82129071e-01] [-1.10275377e-02 -4.74143394e-04 9.99939082e-01 -1.60819673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149072329 meters 0.08207255471426589 Centerline is valid? [True, True] Translation: X:4.27, Y:0.97, Z:-0.16 [[ 9.93269645e-01 1.15275303e-01 1.12701465e-02 4.26503484e+00] [-1.15273581e-01 9.93333456e-01 -8.04408042e-04 9.69661342e-01] [-1.12877419e-02 -5.00156056e-04 9.99936166e-01 -1.57220186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179072329 meters 0.0837923791866334 Centerline is valid? [True, True] Translation: X:4.29, Y:0.96, Z:-0.16 [[ 9.93071835e-01 1.16895704e-01 1.19885154e-02 4.29275281e+00] [-1.16893963e-01 9.93144039e-01 -8.48268888e-04 9.64503055e-01] [-1.20054816e-02 -5.58993139e-04 9.99927775e-01 -1.59398289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209072328999998 meters 0.08362852753074687 Centerline is valid? [True, True] Translation: X:4.32, Y:0.96, Z:-0.16 [[ 9.93094053e-01 1.16559407e-01 1.33456777e-02 4.32100361e+00] [-1.16557195e-01 9.93183530e-01 -9.46108325e-04 9.58819912e-01] [-1.33649851e-02 -6.15960207e-04 9.99910495e-01 -1.59350776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239072329 meters 0.08295247719585955 Centerline is valid? [True, True] Translation: X:4.35, Y:0.95, Z:-0.16 [[ 9.93268717e-01 1.15035693e-01 1.35663382e-02 4.34958559e+00] [-1.15033314e-01 9.93361172e-01 -9.58144534e-04 9.51666129e-01] [-1.35864944e-02 -6.08885850e-04 9.99907514e-01 -1.60256450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269072329 meters 0.07948552029177477 Centerline is valid? [True, True] Translation: X:4.38, Y:0.93, Z:-0.16 [[ 9.93662564e-01 1.11803791e-01 1.16026093e-02 4.37760048e+00] [-1.11801851e-01 9.93730183e-01 -8.17743239e-04 9.33499163e-01] [-1.16212898e-02 -4.84632347e-04 9.99932353e-01 -1.59407930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299072328999998 meters 0.07900995767890877 Centerline is valid? [True, True] Translation: X:4.41, Y:0.93, Z:-0.16 [[ 9.93929511e-01 1.09485762e-01 1.08164597e-02 4.40597992e+00] [-1.09483957e-01 9.93988272e-01 -7.60621271e-04 9.27196403e-01] [-1.08347113e-02 -4.28224882e-04 9.99941211e-01 -1.60859872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329072329 meters 0.07999474618751692 Centerline is valid? [True, True] Translation: X:4.43, Y:0.93, Z:-0.16 [[ 9.94190804e-01 1.07075967e-01 1.09262555e-02 4.43340205e+00] [-1.07074060e-01 9.94250756e-01 -7.61055720e-04 9.25490030e-01] [-1.09449286e-02 -4.13283938e-04 9.99940017e-01 -1.63758569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359072329 meters 0.07742193160110543 Centerline is valid? [True, True] Translation: X:4.46, Y:0.91, Z:-0.16 [[ 9.94779615e-01 1.01462518e-01 1.09029469e-02 4.46263278e+00] [-1.01460307e-01 9.94839300e-01 -7.57185576e-04 9.09875437e-01] [-1.09235061e-02 -3.52983565e-04 9.99940274e-01 -1.63592705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389072328999998 meters 0.07738627230873114 Centerline is valid? [True, True] Translation: X:4.49, Y:0.90, Z:-0.17 [[ 9.95074086e-01 9.85374196e-02 1.08600432e-02 4.48984727e+00] [-9.85350444e-02 9.95133295e-01 -7.54858115e-04 9.03419103e-01] [-1.08815724e-02 -3.18955091e-04 9.99940743e-01 -1.66868179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419072329 meters 0.07688443758725384 Centerline is valid? [True, True] Translation: X:4.52, Y:0.89, Z:-0.17 [[ 9.95336389e-01 9.58316840e-02 1.10345663e-02 4.51764768e+00] [-9.58290361e-02 9.95397510e-01 -7.69666075e-04 8.94892995e-01] [-1.10575383e-02 -2.91355204e-04 9.99938821e-01 -1.69136343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449072329 meters 0.07610491772298343 Centerline is valid? [True, True] Translation: X:4.55, Y:0.89, Z:-0.17 [[ 9.95573967e-01 9.33679991e-02 1.07188333e-02 4.54603768e+00] [-9.33653843e-02 9.95631634e-01 -7.45178296e-04 8.85645755e-01] [-1.07415853e-02 -2.58887877e-04 9.99942274e-01 -1.69982184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479072329 meters 0.0754975054706663 Centerline is valid? [True, True] Translation: X:4.57, Y:0.88, Z:-0.17 [[ 9.95909226e-01 8.98314251e-02 9.75343412e-03 4.57441926e+00] [-8.98291084e-02 9.95956964e-01 -6.76241421e-04 8.77127877e-01] [-9.77474837e-03 -2.02667221e-04 9.99952205e-01 -1.71767250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509072329 meters 0.0757525862580324 Centerline is valid? [True, True] Translation: X:4.60, Y:0.88, Z:-0.17 [[ 9.95946406e-01 8.94190892e-02 9.74586771e-03 4.60221965e+00] [-8.94167726e-02 9.95994069e-01 -6.74044774e-04 8.76868095e-01] [-9.76709891e-03 -2.00131567e-04 9.99952281e-01 -1.72539351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539072329 meters 0.07618324330322783 Centerline is valid? [True, True] Translation: X:4.63, Y:0.88, Z:-0.17 [[ 9.95818433e-01 9.07509945e-02 1.04835762e-02 4.63122678e+00] [-9.07484385e-02 9.95873587e-01 -7.20236637e-04 8.80040934e-01] [-1.05056788e-02 -2.34143248e-04 9.99944786e-01 -1.70228376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569072329 meters 0.07671225497425234 Centerline is valid? [True, True] Translation: X:4.66, Y:0.88, Z:-0.17 [[ 9.95752081e-01 9.15278530e-02 1.00222224e-02 4.65931742e+00] [-9.15256191e-02 9.95802488e-01 -6.82292341e-04 8.80019971e-01] [-1.00426028e-02 -2.37896093e-04 9.99949543e-01 -1.72363597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599072329 meters 0.07724070747018238 Centerline is valid? [True, True] Translation: X:4.69, Y:0.88, Z:-0.18 [[ 9.95676594e-01 9.24617424e-02 8.88522398e-03 4.68792079e+00] [-9.24599912e-02 9.95716214e-01 -6.08539787e-04 8.78093733e-01] [-8.90342823e-03 -2.15618909e-04 9.99960340e-01 -1.75164704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629072329 meters 0.07729253072722696 Centerline is valid? [True, True] Translation: X:4.72, Y:0.87, Z:-0.18 [[ 9.95683405e-01 9.24468620e-02 8.25436443e-03 4.71660753e+00] [-9.24453613e-02 9.95717599e-01 -5.63981539e-04 8.74114130e-01] [-8.27115425e-03 -2.01530643e-04 9.99965773e-01 -1.77883335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659072329 meters 0.07771827678798893 Centerline is valid? [True, True] Translation: X:4.74, Y:0.87, Z:-0.18 [[ 9.95688792e-01 9.23025066e-02 9.16937392e-03 4.74411326e+00] [-9.23007182e-02 9.95730985e-01 -6.18929511e-04 8.72183335e-01] [-9.18735847e-03 -2.30078622e-04 9.99957769e-01 -1.80889206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689072329 meters 0.07721532182338296 Centerline is valid? [True, True] Translation: X:4.77, Y:0.87, Z:-0.18 [[ 9.95773722e-01 9.13346800e-02 9.62660465e-03 4.77307619e+00] [-9.13326355e-02 9.95820227e-01 -6.52711320e-04 8.70544697e-01] [-9.64598280e-03 -2.29270393e-04 9.99953450e-01 -1.80012196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719072329 meters 0.07727226727780337 Centerline is valid? [True, True] Translation: X:4.80, Y:0.87, Z:-0.18 [[ 9.95876423e-01 9.01341087e-02 1.02953064e-02 4.80139162e+00] [-9.01317400e-02 9.95929609e-01 -6.94768501e-04 8.72014125e-01] [-1.03160228e-02 -2.36030312e-04 9.99946761e-01 -1.80695855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749072329 meters 0.07667755698926129 Centerline is valid? [True, True] Translation: X:4.83, Y:0.87, Z:-0.18 [[ 9.95957060e-01 8.91105379e-02 1.13510931e-02 4.83001308e+00] [-8.91076344e-02 9.96021711e-01 -7.62291137e-04 8.71238673e-01] [-1.13738634e-02 -2.52259816e-04 9.99935284e-01 -1.78695637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779072328999998 meters 0.07651276502634917 Centerline is valid? [True, True] Translation: X:4.86, Y:0.87, Z:-0.18 [[ 9.96216983e-01 8.62994303e-02 1.02044519e-02 4.85789172e+00] [-8.62969937e-02 9.96269224e-01 -6.79679267e-04 8.69110996e-01] [-1.02250374e-02 -2.03505496e-04 9.99947702e-01 -1.80876544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809072329 meters 0.07553536540020925 Centerline is valid? [True, True] Translation: X:4.89, Y:0.86, Z:-0.18 [[ 9.96485800e-01 8.32524275e-02 9.22411534e-03 4.88628024e+00] [-8.32502707e-02 9.96528479e-01 -6.18206894e-04 8.61711738e-01] [-9.24356086e-03 -1.51875709e-04 9.99957266e-01 -1.80901422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839072329 meters 0.07521949892175207 Centerline is valid? [True, True] Translation: X:4.91, Y:0.86, Z:-0.18 [[ 9.96777336e-01 7.98720095e-02 7.44346283e-03 4.91464491e+00] [-7.98705497e-02 9.96805122e-01 -4.93642665e-04 8.55639229e-01] [-7.45911011e-03 -1.02461648e-04 9.99972175e-01 -1.83517397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869072328999998 meters 0.07484839427716772 Centerline is valid? [True, True] Translation: X:4.94, Y:0.85, Z:-0.19 [[ 9.97277835e-01 7.33199170e-02 7.81725152e-03 4.94221582e+00] [-7.33181076e-02 9.97308471e-01 -5.18176170e-04 8.49829829e-01] [-7.83420379e-03 -5.63804793e-05 9.99969311e-01 -1.88458025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899072329 meters 0.07446280209261612 Centerline is valid? [True, True] Translation: X:4.97, Y:0.85, Z:-0.19 [[ 9.97451298e-01 7.07555767e-02 9.19541367e-03 4.97133907e+00] [-7.07529822e-02 9.97493682e-01 -6.07561358e-04 8.47375355e-01] [-9.21535540e-03 -4.45900748e-05 9.99957537e-01 -1.86983007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929072329 meters 0.07430841345181674 Centerline is valid? [True, True] Translation: X:5.00, Y:0.85, Z:-0.19 [[ 9.97646007e-01 6.79469684e-02 9.25495242e-03 4.99980522e+00] [-6.79442258e-02 9.97688934e-01 -6.10795488e-04 8.45351641e-01] [-9.27506532e-03 -1.94628969e-05 9.99956985e-01 -1.86481390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959072328999998 meters 0.07423627384288602 Centerline is valid? [True, True] Translation: X:5.03, Y:0.84, Z:-0.19 [[ 9.97772608e-01 6.60467521e-02 9.36215399e-03 5.02719113e+00] [-6.60438647e-02 9.97816529e-01 -6.17582047e-04 8.44266688e-01] [-9.38250129e-03 -2.10638121e-06 9.99955983e-01 -1.86618820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989072329 meters 0.07426051984413713 Centerline is valid? [True, True] Translation: X:5.06, Y:0.84, Z:-0.19 [[ 9.97961604e-01 6.29472371e-02 1.05015782e-02 5.05554688e+00] [-6.29434514e-02 9.98016856e-01 -6.90940132e-04 8.43608937e-01] [-1.05242448e-02 2.85261471e-05 9.99944618e-01 -1.87083103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019072329 meters 0.07426051984413713 Centerline is valid? [True, True] Translation: X:5.08, Y:0.84, Z:-0.19 [[ 9.97968474e-01 6.28382195e-02 1.05015730e-02 5.08294889e+00] [-6.28344269e-02 9.98023726e-01 -6.91021342e-04 8.41958198e-01] [-1.05242415e-02 2.97571940e-05 9.99944618e-01 -1.88021533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049072328999998 meters 0.07420899796336808 Centerline is valid? [True, True] Translation: X:5.11, Y:0.84, Z:-0.19 [[ 9.98029975e-01 6.20560550e-02 9.23116897e-03 5.11032444e+00] [-6.20530909e-02 9.98072665e-01 -6.07452261e-04 8.42106904e-01] [-9.25107350e-03 3.34329984e-05 9.99957207e-01 -1.90454651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079072329 meters 0.07426583992942722 Centerline is valid? [True, True] Translation: X:5.14, Y:0.84, Z:-0.19 [[ 9.98054115e-01 6.15292512e-02 1.01061995e-02 5.13878356e+00] [-6.15257041e-02 9.98105280e-01 -6.61802305e-04 8.43308082e-01] [-1.01277712e-02 3.87234764e-05 9.99948712e-01 -1.91445734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109072329 meters 0.07447033245776037 Centerline is valid? [True, True] Translation: X:5.17, Y:0.85, Z:-0.20 [[ 9.98007426e-01 6.23269254e-02 9.82503281e-03 5.16704574e+00] [-6.23236137e-02 9.98055787e-01 -6.43177944e-04 8.45557103e-01] [-9.84601815e-03 2.95648158e-05 9.99951526e-01 -1.95704053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139072328999998 meters 0.07424551868283855 Centerline is valid? [True, True] Translation: X:5.20, Y:0.85, Z:-0.19 [[ 9.97873134e-01 6.44348136e-02 9.86724177e-03 5.19656301e+00] [-6.44315897e-02 9.97921918e-01 -6.44600942e-04 8.53486346e-01] [-9.88827157e-03 7.46789024e-06 9.99951110e-01 -1.94841084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169072329 meters 0.07410580731301676 Centerline is valid? [True, True] Translation: X:5.22, Y:0.86, Z:-0.20 [[ 9.97781524e-01 6.57790902e-02 1.02538578e-02 5.22495261e+00] [-6.57756728e-02 9.97834210e-01 -6.70529381e-04 8.57733752e-01] [-1.02757570e-02 -5.41257024e-06 9.99947203e-01 -1.95272729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199072329 meters 0.07427544317822012 Centerline is valid? [True, True] Translation: X:5.25, Y:0.86, Z:-0.20 [[ 9.97611885e-01 6.81757284e-02 1.10723129e-02 5.25444396e+00] [-6.81719286e-02 9.97673328e-01 -7.20683174e-04 8.63318987e-01] [-1.10956844e-02 -3.58588248e-05 9.99938440e-01 -1.95956605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229072329 meters 0.0748493276081831 Centerline is valid? [True, True] Translation: X:5.28, Y:0.88, Z:-0.20 [[ 9.97232767e-01 7.36103435e-02 1.04079743e-02 5.28320332e+00] [-7.36072839e-02 9.97287075e-01 -6.77244545e-04 8.78464296e-01] [-1.04295905e-02 -9.07322695e-05 9.99945606e-01 -1.97511820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259072329 meters 0.07463777477795874 Centerline is valid? [True, True] Translation: X:5.31, Y:0.88, Z:-0.19 [[ 9.97059704e-01 7.60482553e-02 9.41321108e-03 5.31217401e+00] [-7.60458227e-02 9.97104133e-01 -6.16593108e-04 8.83684183e-01] [-9.43284251e-03 -1.01055239e-04 9.99955505e-01 -1.94292572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289072329 meters 0.07518881036574167 Centerline is valid? [True, True] Translation: X:5.34, Y:0.89, Z:-0.20 [[ 9.96948274e-01 7.76625694e-02 7.91602932e-03 5.34006460e+00] [-7.76609425e-02 9.96979696e-01 -5.13162941e-04 8.90360962e-01] [-7.93197406e-03 -1.03169389e-04 9.99968536e-01 -1.97018207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319072329 meters 0.07557802309123754 Centerline is valid? [True, True] Translation: X:5.37, Y:0.90, Z:-0.20 [[ 9.96881777e-01 7.86051130e-02 6.92530189e-03 5.36944845e+00] [-7.86038604e-02 9.96905827e-01 -4.53279335e-04 9.01489333e-01] [-6.93950388e-03 -9.24895545e-05 9.99975917e-01 -1.98182968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349072329 meters 0.07563926768548622 Centerline is valid? [True, True] Translation: X:5.40, Y:0.90, Z:-0.20 [[ 9.96939789e-01 7.78244525e-02 7.37647062e-03 5.39711093e+00] [-7.78230631e-02 9.96967073e-01 -4.75637986e-04 9.04267734e-01] [-7.39111459e-03 -9.98771058e-05 9.99972680e-01 -2.00376518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379072329 meters 0.07539198328627969 Centerline is valid? [True, True] Translation: X:5.43, Y:0.91, Z:-0.20 [[ 9.97044044e-01 7.64218894e-02 7.92901620e-03 5.42603072e+00] [-7.64202124e-02 9.97075567e-01 -5.14710408e-04 9.05732997e-01] [-7.94516346e-03 -9.27481551e-05 9.99968432e-01 -2.00543896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409072329 meters 0.07485254601537762 Centerline is valid? [True, True] Translation: X:5.46, Y:0.91, Z:-0.20 [[ 9.97195037e-01 7.42683398e-02 9.28822031e-03 5.45543401e+00] [-7.42659868e-02 9.97238289e-01 -5.98450642e-04 9.06704238e-01] [-9.30701487e-03 -9.30268374e-05 9.99956684e-01 -2.00383938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439072329 meters 0.07432267141415409 Centerline is valid? [True, True] Translation: X:5.48, Y:0.91, Z:-0.20 [[ 9.97516369e-01 6.96469732e-02 1.05068203e-02 5.48340689e+00] [-6.96437821e-02 9.97571699e-01 -6.69734226e-04 9.12221989e-01] [-1.05279516e-02 -6.36638537e-05 9.99944578e-01 -2.00094233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469072329 meters 0.07402824588926533 Centerline is valid? [True, True] Translation: X:5.51, Y:0.91, Z:-0.20 [[ 9.97760695e-01 6.59261961e-02 1.12841790e-02 5.51221634e+00] [-6.59222497e-02 9.97824502e-01 -7.21726443e-04 9.12889099e-01] [-1.13072110e-02 -2.37681896e-05 9.99936071e-01 -1.99676735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499072329 meters 0.07394770191548955 Centerline is valid? [True, True] Translation: X:5.54, Y:0.91, Z:-0.20 [[ 9.97935587e-01 6.30920133e-02 1.19984210e-02 5.54042504e+00] [-6.30874341e-02 9.98007714e-01 -7.60136311e-04 9.13155000e-01] [-1.20224753e-02 1.61748042e-06 9.99927727e-01 -2.00644631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529072328999998 meters 0.07398402000583514 Centerline is valid? [True, True] Translation: X:5.57, Y:0.91, Z:-0.20 [[ 9.98099297e-01 6.05810601e-02 1.13017070e-02 5.56960684e+00] [-6.05768506e-02 9.98163280e-01 -7.14735230e-04 9.13457464e-01] [-1.13242483e-02 2.87549168e-05 9.99935878e-01 -2.01687756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559072329 meters 0.07435983116762829 Centerline is valid? [True, True] Translation: X:5.60, Y:0.92, Z:-0.20 [[ 9.98346851e-01 5.68052178e-02 8.75964796e-03 5.59766323e+00] [-5.68025405e-02 9.98385278e-01 -5.54324345e-04 9.18780044e-01] [-8.77699208e-03 5.58377067e-05 9.99961480e-01 -2.04463485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589072329 meters 0.0745303392785506 Centerline is valid? [True, True] Translation: X:5.63, Y:0.92, Z:-0.21 [[ 9.98411027e-01 5.58809964e-02 7.26186908e-03 5.62620009e+00] [-5.58791243e-02 9.98437435e-01 -4.60604868e-04 9.22882387e-01] [-7.27626100e-03 5.40860940e-05 9.99973526e-01 -2.05890799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619072328999998 meters 0.07439123868282084 Centerline is valid? [True, True] Translation: X:5.66, Y:0.93, Z:-0.20 [[ 9.98403653e-01 5.59581309e-02 7.67034787e-03 5.65537366e+00] [-5.59560661e-02 9.98433115e-01 -4.83693627e-04 9.28243487e-01] [-7.68539591e-03 5.37189914e-05 9.99970465e-01 -2.04316505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649072329 meters 0.07426676750978167 Centerline is valid? [True, True] Translation: X:5.68, Y:0.94, Z:-0.21 [[ 9.98255870e-01 5.82002475e-02 9.89697083e-03 5.68424321e+00] [-5.81968902e-02 9.98304928e-01 -6.27122281e-04 9.39758761e-01] [-9.91669342e-03 5.00555731e-05 9.99950827e-01 -2.07059617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679072329 meters 0.07408764728135213 Centerline is valid? [True, True] Translation: X:5.71, Y:0.95, Z:-0.21 [[ 9.98131389e-01 6.01208237e-02 1.09186393e-02 5.71394728e+00] [-6.01169034e-02 9.98191107e-01 -6.87203707e-04 9.46896366e-01] [-1.09402039e-02 2.95248056e-05 9.99940154e-01 -2.06822892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709072328999998 meters 0.07373626904759874 Centerline is valid? [True, True] Translation: X:5.74, Y:0.95, Z:-0.20 [[ 9.97976933e-01 6.25914263e-02 1.11514081e-02 5.74376430e+00] [-6.25875588e-02 9.98039234e-01 -6.95798156e-04 9.54861819e-01] [-1.11730938e-02 -3.54890122e-06 9.99937579e-01 -2.04144431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739072329 meters 0.07397432404764535 Centerline is valid? [True, True] Translation: X:5.77, Y:0.96, Z:-0.21 [[ 9.97785211e-01 6.54483776e-02 1.18819860e-02 5.77158735e+00] [-6.54441970e-02 9.97855956e-01 -7.40736601e-04 9.62729771e-01] [-1.19049905e-02 -3.85110047e-05 9.99929132e-01 -2.06310731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769072329 meters 0.07410373376708597 Centerline is valid? [True, True] Translation: X:5.80, Y:0.98, Z:-0.21 [[ 9.97483450e-01 7.01159319e-02 1.05129870e-02 5.80107767e+00] [-7.01128803e-02 9.97538846e-01 -6.58999762e-04 9.76668842e-01] [-1.05333193e-02 -7.97544453e-05 9.99944520e-01 -2.07010869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799072328999998 meters 0.07443019456210109 Centerline is valid? [True, True] Translation: X:5.83, Y:0.98, Z:-0.21 [[ 9.97368555e-01 7.17552360e-02 1.03513777e-02 5.82904353e+00] [-7.17524369e-02 9.97422265e-01 -6.42010095e-04 9.83292484e-01] [-1.03707622e-02 -1.02415893e-04 9.99946217e-01 -2.10189504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829072329 meters 0.07422424968797035 Centerline is valid? [True, True] Translation: X:5.86, Y:0.99, Z:-0.21 [[ 9.97220564e-01 7.35387627e-02 1.19665172e-02 5.85838466e+00] [-7.35351251e-02 9.97292350e-01 -7.44290170e-04 9.88949770e-01] [-1.19888503e-02 -1.37737877e-04 9.99928122e-01 -2.09387034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859072329 meters 0.07426191910392956 Centerline is valid? [True, True] Translation: X:5.89, Y:1.00, Z:-0.21 [[ 9.97069290e-01 7.54770883e-02 1.24916393e-02 5.88657399e+00] [-7.54733573e-02 9.97147521e-01 -7.70502316e-04 9.96066472e-01] [-1.25141624e-02 -1.74541756e-04 9.99921680e-01 -2.08892931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889072328999998 meters 0.0747411776308543 Centerline is valid? [True, True] Translation: X:5.91, Y:1.01, Z:-0.21 [[ 9.96897488e-01 7.73622978e-02 1.45077311e-02 5.91480701e+00] [-7.73575195e-02 9.97003019e-01 -8.91084637e-04 1.00976365e+00] [-1.45331880e-02 -2.33962055e-04 9.99894360e-01 -2.09628504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919072329 meters 0.07436361297188104 Centerline is valid? [True, True] Translation: X:5.94, Y:1.01, Z:-0.21 [[ 9.96935176e-01 7.69416403e-02 1.41506042e-02 5.94242016e+00] [-7.69370113e-02 9.97035574e-01 -8.72021360e-04 1.01172704e+00] [-1.41757505e-02 -2.19356426e-04 9.99899495e-01 -2.09920093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949072329 meters 0.07390921996190629 Centerline is valid? [True, True] Translation: X:5.97, Y:1.02, Z:-0.21 [[ 9.97248030e-01 7.28775105e-02 1.36101225e-02 5.97165224e+00] [-7.28729101e-02 9.97340886e-01 -8.34294090e-04 1.01552581e+00] [-1.36347329e-02 -1.59811096e-04 9.99907030e-01 -2.12550301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979072329 meters 0.07346518694023468 Centerline is valid? [True, True] Translation: X:6.00, Y:1.02, Z:-0.21 [[ 9.97527329e-01 6.89124055e-02 1.37952236e-02 5.99957132e+00] [-6.89074000e-02 9.97622708e-01 -8.38401092e-04 1.01509038e+00] [-1.38202046e-02 -1.14264989e-04 9.99904490e-01 -2.14657399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009072329 meters 0.07314360628394982 Centerline is valid? [True, True] Translation: X:6.03, Y:1.01, Z:-0.22 [[ 9.97764275e-01 6.52261049e-02 1.45604621e-02 6.02791953e+00] [-6.52201113e-02 9.97870508e-01 -8.86598811e-04 1.01426278e+00] [-1.45872851e-02 -6.50183391e-05 9.99893598e-01 -2.15834386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039072329 meters 0.07290798618944268 Centerline is valid? [True, True] Translation: X:6.06, Y:1.01, Z:-0.22 [[ 9.98387499e-01 5.47485441e-02 1.49999727e-02 6.05597612e+00] [-5.47410526e-02 9.98500170e-01 -9.09869867e-04 1.01167653e+00] [-1.50272893e-02 8.72884062e-05 9.99887080e-01 -2.18472046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069072329 meters 0.07322779717461177 Centerline is valid? [True, True] Translation: X:6.08, Y:1.01, Z:-0.22 [[ 9.98668889e-01 4.95648843e-02 1.42749089e-02 6.08432288e+00] [-4.95576333e-02 9.98770894e-01 -8.61462020e-04 1.00913725e+00] [-1.43000618e-02 1.52884617e-04 9.99897737e-01 -2.21092686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099072329 meters 0.07387481906693705 Centerline is valid? [True, True] Translation: X:6.11, Y:1.01, Z:-0.23 [[ 9.98853139e-01 4.54232268e-02 1.51372692e-02 6.11189205e+00] [-4.54146988e-02 9.98967809e-01 -9.06824162e-04 1.00521283e+00] [-1.51628355e-02 2.18329639e-04 9.99885014e-01 -2.26154376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129072329 meters 0.07357991008499075 Centerline is valid? [True, True] Translation: X:6.14, Y:1.01, Z:-0.22 [[ 9.99029668e-01 4.09614845e-02 1.61826686e-02 6.14077816e+00] [-4.09512112e-02 9.99160681e-01 -9.65834661e-04 1.00719017e+00] [-1.62086482e-02 3.02197600e-04 9.99868586e-01 -2.24886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159072329 meters 0.07438443987964012 Centerline is valid? [True, True] Translation: X:6.17, Y:1.01, Z:-0.22 [[ 9.99274509e-01 3.35186099e-02 1.80819945e-02 6.17028942e+00] [-3.35045999e-02 9.99437983e-01 -1.07727304e-03 1.01050934e+00] [-1.81079408e-02 4.70661500e-04 9.99835927e-01 -2.24042119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189072329 meters 0.07434840118549157 Centerline is valid? [True, True] Translation: X:6.20, Y:1.01, Z:-0.22 [[ 9.99321957e-01 3.06925287e-02 2.03370262e-02 6.19969854e+00] [-3.06742426e-02 9.99528702e-01 -1.21055921e-03 1.01356607e+00] [-2.03645965e-02 5.85915521e-04 9.99792448e-01 -2.22894803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219072329 meters 0.07488494155588563 Centerline is valid? [True, True] Translation: X:6.23, Y:1.01, Z:-0.22 [[ 9.99387640e-01 2.79913901e-02 2.09959050e-02 6.22814247e+00] [-2.79713340e-02 9.99607946e-01 -1.24836533e-03 1.01488207e+00] [-2.10226170e-02 6.60317407e-04 9.99778782e-01 -2.23534248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249072329 meters 0.07699701054877016 Centerline is valid? [True, True] Translation: X:6.26, Y:1.02, Z:-0.23 [[ 9.99486867e-01 2.50076526e-02 2.00155012e-02 6.25637933e+00] [-2.49888682e-02 9.99687023e-01 -1.18808901e-03 1.01601067e+00] [-2.00389481e-02 6.87314636e-04 9.99798964e-01 -2.29992903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279072328999998 meters 0.07780110878608404 Centerline is valid? [True, True] Translation: X:6.28, Y:1.02, Z:-0.23 [[ 9.99539427e-01 2.41300049e-02 1.84031959e-02 6.28468893e+00] [-2.41140042e-02 9.99708620e-01 -1.09090007e-03 1.01732058e+00] [-1.84241570e-02 6.46622892e-04 9.99830052e-01 -2.34503473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309072329 meters 0.07741836150974654 Centerline is valid? [True, True] Translation: X:6.31, Y:1.02, Z:-0.24 [[ 9.99576293e-01 2.33318409e-02 1.74028659e-02 6.31358844e+00] [-2.33174201e-02 9.99727580e-01 -1.03112493e-03 1.02335559e+00] [-1.74221831e-02 6.24898102e-04 9.99848027e-01 -2.36074601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339072329 meters 0.07806987977770256 Centerline is valid? [True, True] Translation: X:6.34, Y:1.03, Z:-0.24 [[ 9.99504953e-01 2.45715116e-02 1.96491876e-02 6.34251961e+00] [-2.45534008e-02 9.99697844e-01 -1.16246661e-03 1.03398225e+00] [-1.96718141e-02 6.79436757e-04 9.99806260e-01 -2.35160804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369072328999998 meters 0.07686505292469753 Centerline is valid? [True, True] Translation: X:6.37, Y:1.04, Z:-0.23 [[ 9.99420962e-01 2.61959025e-02 2.17144118e-02 6.37229888e+00] [-2.61742068e-02 9.99656574e-01 -1.28279799e-03 1.04389773e+00] [-2.17405585e-02 7.13697696e-04 9.99763391e-01 -2.32514933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399072329 meters 0.07711044447914205 Centerline is valid? [True, True] Translation: X:6.40, Y:1.05, Z:-0.23 [[ 9.99342551e-01 2.79150342e-02 2.31347523e-02 6.40066371e+00] [-2.78909059e-02 9.99610041e-01 -1.36501945e-03 1.04807809e+00] [-2.31638353e-02 7.18872819e-04 9.99731424e-01 -2.32941687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429072329 meters 0.07538088262308555 Centerline is valid? [True, True] Translation: X:6.43, Y:1.06, Z:-0.23 [[ 9.99217387e-01 3.08327030e-02 2.47781568e-02 6.42999559e+00] [-3.08059754e-02 9.99524317e-01 -1.45975683e-03 1.06227429e+00] [-2.48113786e-02 6.95299114e-04 9.99691909e-01 -2.33828810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459072328999998 meters 0.07523227175714503 Centerline is valid? [True, True] Translation: X:6.46, Y:1.07, Z:-0.24 [[ 9.99160548e-01 3.23432044e-02 2.51419271e-02 6.45901717e+00] [-3.23162109e-02 9.99476600e-01 -1.47932117e-03 1.06573285e+00] [-2.51766138e-02 6.65587534e-04 9.99682797e-01 -2.36297482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489072329 meters 0.07590929927493362 Centerline is valid? [True, True] Translation: X:6.49, Y:1.07, Z:-0.24 [[ 9.99121078e-01 3.34463579e-02 2.52668435e-02 6.48688854e+00] [-3.34194906e-02 9.99440310e-01 -1.48498549e-03 1.06687141e+00] [-2.53023693e-02 6.39275263e-04 9.99679639e-01 -2.39066263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519072329 meters 0.07460801692326727 Centerline is valid? [True, True] Translation: X:6.52, Y:1.08, Z:-0.24 [[ 9.99070724e-01 3.44987339e-02 2.58365017e-02 6.51654926e+00] [-3.44710579e-02 9.99404547e-01 -1.51594496e-03 1.07652998e+00] [-2.58734155e-02 6.23924681e-04 9.99665032e-01 -2.37324308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549072328999998 meters 0.07505413204518559 Centerline is valid? [True, True] Translation: X:6.54, Y:1.08, Z:-0.24 [[ 9.98870787e-01 3.74959822e-02 2.91753818e-02 6.54471349e+00] [-3.74620330e-02 9.99296589e-01 -1.70954964e-03 1.08492753e+00] [-2.92189607e-02 6.14650079e-04 9.99572846e-01 -2.35453238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579072329 meters 0.0741156321354563 Centerline is valid? [True, True] Translation: X:6.57, Y:1.09, Z:-0.24 [[ 9.98782501e-01 3.97625975e-02 2.91967639e-02 6.57434322e+00] [-3.97296677e-02 9.99209006e-01 -1.70733664e-03 1.09332039e+00] [-2.92415576e-02 5.45280239e-04 9.99572225e-01 -2.35187580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609072329 meters 0.07333053634695588 Centerline is valid? [True, True] Translation: X:6.60, Y:1.10, Z:-0.24 [[ 9.98679853e-01 4.24465629e-02 2.89282005e-02 6.60398730e+00] [-4.24154174e-02 9.99098632e-01 -1.68970484e-03 1.10170837e+00] [-2.89738477e-02 4.60472480e-04 9.99580064e-01 -2.35938689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639072328999998 meters 0.07295089981946193 Centerline is valid? [True, True] Translation: X:6.63, Y:1.11, Z:-0.24 [[ 9.98466671e-01 4.80174063e-02 2.75433463e-02 6.63226318e+00] [-4.79913319e-02 9.98846459e-01 -1.60731497e-03 1.11292776e+00] [-2.75887530e-02 2.83008552e-04 9.99619318e-01 -2.41626411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669072329 meters 0.07286566166579589 Centerline is valid? [True, True] Translation: X:6.66, Y:1.12, Z:-0.24 [[ 9.98341201e-01 5.03562476e-02 2.79122530e-02 6.66166640e+00] [-5.03304647e-02 9.98731296e-01 -1.62594745e-03 1.11737411e+00] [-2.79587172e-02 2.18413665e-04 9.99609055e-01 -2.44186942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699072329 meters 0.07282583059476494 Centerline is valid? [True, True] Translation: X:6.69, Y:1.12, Z:-0.25 [[ 9.98208588e-01 5.23388819e-02 2.89871704e-02 6.69000698e+00] [-5.23121114e-02 9.98629368e-01 -1.68162898e-03 1.12040294e+00] [-2.90354543e-02 1.62236405e-04 9.99578369e-01 -2.46064657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729072328999997 meters 0.0724725427099145 Centerline is valid? [True, True] Translation: X:6.72, Y:1.12, Z:-0.25 [[ 9.98026989e-01 5.46267391e-02 3.09523638e-02 6.71824284e+00] [-5.45975857e-02 9.98506841e-01 -1.78689213e-03 1.12468890e+00] [-3.10037591e-02 9.34422323e-05 9.99519264e-01 -2.45828315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759072329 meters 0.071968277790935 Centerline is valid? [True, True] Translation: X:6.75, Y:1.14, Z:-0.24 [[ 9.97637378e-01 5.97328558e-02 3.39359481e-02 6.74687515e+00] [-5.97008710e-02 9.98214396e-01 -1.95592488e-03 1.13732499e+00] [-3.39921849e-02 -7.47018915e-05 9.99422096e-01 -2.43677728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789072329 meters 0.07183187786622627 Centerline is valid? [True, True] Translation: X:6.78, Y:1.14, Z:-0.24 [[ 9.97470926e-01 6.21660396e-02 3.44548377e-02 6.77597967e+00] [-6.21348597e-02 9.98065807e-01 -1.97598901e-03 1.14153920e+00] [-3.45110348e-02 -1.69854918e-04 9.99404302e-01 -2.44198222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819072329 meters 0.07188108398873426 Centerline is valid? [True, True] Translation: X:6.80, Y:1.14, Z:-0.25 [[ 9.97332044e-01 6.44183989e-02 3.43374961e-02 6.80480985e+00] [-6.43890572e-02 9.97922945e-01 -1.96078019e-03 1.14497581e+00] [-3.43924856e-02 -2.55410087e-04 9.99408371e-01 -2.45628726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849072329 meters 0.0725530951753473 Centerline is valid? [True, True] Translation: X:6.83, Y:1.15, Z:-0.25 [[ 9.97002524e-01 6.92818815e-02 3.44381743e-02 6.83251957e+00] [-6.92555588e-02 9.97597030e-01 -1.95806599e-03 1.14986876e+00] [-3.44910789e-02 -4.32838271e-04 9.99404912e-01 -2.48022900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879072329 meters 0.07297339616704426 Centerline is valid? [True, True] Translation: X:6.86, Y:1.15, Z:-0.25 [[ 9.96791488e-01 7.16001297e-02 3.57792054e-02 6.86001731e+00] [-7.15733832e-02 9.97433272e-01 -2.02946271e-03 1.15075563e+00] [-3.58326797e-02 -5.37887624e-04 9.99357659e-01 -2.47824993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909072329 meters 0.07297339616704426 Centerline is valid? [True, True] Translation: X:6.89, Y:1.15, Z:-0.25 [[ 9.96811118e-01 7.13261833e-02 3.57794797e-02 6.88725479e+00] [-7.12994344e-02 9.97452902e-01 -2.02461413e-03 1.14941988e+00] [-3.58327539e-02 -5.32898794e-04 9.99357659e-01 -2.48759618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939072329 meters 0.07313494280005645 Centerline is valid? [True, True] Translation: X:6.92, Y:1.15, Z:-0.25 [[ 9.96591714e-01 7.33984820e-02 3.76512830e-02 6.91598856e+00] [-7.33707442e-02 9.97302482e-01 -2.11978429e-03 1.15029812e+00] [-3.77053069e-02 -6.49943193e-04 9.99288691e-01 -2.48548172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969072329 meters 0.07365859043225848 Centerline is valid? [True, True] Translation: X:6.94, Y:1.15, Z:-0.24 [[ 9.96045108e-01 7.82073818e-02 4.21633423e-02 6.94471913e+00] [-7.81773123e-02 9.96936668e-01 -2.36406996e-03 1.15307865e+00] [-4.22190696e-02 -9.41496456e-04 9.99107934e-01 -2.44736358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999072329 meters 0.07341950056154854 Centerline is valid? [True, True] Translation: X:6.97, Y:1.15, Z:-0.24 [[ 9.95828944e-01 7.95295226e-02 4.47187861e-02 6.97284560e+00] [-7.94971831e-02 9.96831946e-01 -2.50393294e-03 1.14919273e+00] [-4.47762512e-02 -1.06152863e-03 9.98996477e-01 -2.44992339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029072328999998 meters 0.07336390919026055 Centerline is valid? [True, True] Translation: X:7.00, Y:1.15, Z:-0.25 [[ 9.95648415e-01 8.13345201e-02 4.54854949e-02 7.00160906e+00] [-8.13032190e-02 9.96686175e-01 -2.54082330e-03 1.14534254e+00] [-4.55414206e-02 -1.16835047e-03 9.98961768e-01 -2.45318535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059072329 meters 0.07388911845365939 Centerline is valid? [True, True] Translation: X:7.03, Y:1.14, Z:-0.24 [[ 9.95543368e-01 8.16781487e-02 4.71389780e-02 7.02949994e+00] [-8.16454016e-02 9.96657990e-01 -2.62291408e-03 1.14312823e+00] [-4.71956739e-02 -1.23745608e-03 9.98884897e-01 -2.44108124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089072329 meters 0.07343977326329525 Centerline is valid? [True, True] Translation: X:7.06, Y:1.14, Z:-0.24 [[ 9.95604815e-01 8.05367451e-02 4.78004643e-02 7.05831148e+00] [-8.05020611e-02 9.96750910e-01 -2.65341087e-03 1.13685054e+00] [-4.78588534e-02 -1.20628726e-03 9.98853380e-01 -2.44905875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119072328999998 meters 0.07259533282686972 Centerline is valid? [True, True] Translation: X:7.09, Y:1.12, Z:-0.25 [[ 9.95846320e-01 7.72384452e-02 4.82112946e-02 7.08637066e+00] [-7.71998584e-02 9.97012077e-01 -2.66468014e-03 1.12204044e+00] [-4.82730587e-02 -1.06829320e-03 9.98833605e-01 -2.46694612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149072329 meters 0.0724499964659261 Centerline is valid? [True, True] Translation: X:7.11, Y:1.11, Z:-0.25 [[ 9.95908368e-01 7.58274748e-02 4.91601184e-02 7.11341795e+00] [-7.57862896e-02 9.97120418e-01 -2.70388658e-03 1.11384861e+00] [-4.92235867e-02 -1.03283969e-03 9.98787250e-01 -2.47955053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179072329 meters 0.07212448112224525 Centerline is valid? [True, True] Translation: X:7.14, Y:1.10, Z:-0.25 [[ 9.96098192e-01 7.33882649e-02 4.90158649e-02 7.14163025e+00] [-7.33450447e-02 9.97303018e-01 -2.68222605e-03 1.10319221e+00] [-4.90805139e-02 -9.23310283e-04 9.98794399e-01 -2.50472186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209072328999998 meters 0.07180404441219969 Centerline is valid? [True, True] Translation: X:7.17, Y:1.08, Z:-0.25 [[ 9.96377468e-01 6.83094291e-02 5.06533688e-02 7.16849239e+00] [-6.82572915e-02 9.97663932e-01 -2.76045588e-03 1.08084015e+00] [-5.07236042e-02 -7.07005720e-04 9.98712479e-01 -2.51387737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239072329 meters 0.07160794486391336 Centerline is valid? [True, True] Translation: X:7.20, Y:1.07, Z:-0.25 [[ 9.96601340e-01 6.51515142e-02 5.04088130e-02 7.19691100e+00] [-6.50961340e-02 9.97875232e-01 -2.74134503e-03 1.06771313e+00] [-5.04803087e-02 -5.49390708e-04 9.98724905e-01 -2.52460484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269072329 meters 0.07148432053602692 Centerline is valid? [True, True] Translation: X:7.22, Y:1.05, Z:-0.25 [[ 9.96824021e-01 6.14004653e-02 5.07134538e-02 7.22407863e+00] [-6.13397666e-02 9.98113144e-01 -2.75387834e-03 1.05473985e+00] [-5.07868542e-02 -3.65619334e-04 9.98709448e-01 -2.53826736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299072328999998 meters 0.07147402667274179 Centerline is valid? [True, True] Translation: X:7.25, Y:1.03, Z:-0.26 [[ 9.97299521e-01 5.39886746e-02 4.97884307e-02 7.25109917e+00] [-5.39211464e-02 9.98541548e-01 -2.69944656e-03 1.02974489e+00] [-4.98615562e-02 7.50749942e-06 9.98756139e-01 -2.55597933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329072329 meters 0.07174329549021273 Centerline is valid? [True, True] Translation: X:7.28, Y:1.02, Z:-0.26 [[ 9.97540723e-01 5.04047301e-02 4.87018475e-02 7.27845426e+00] [-5.03360386e-02 9.98728858e-01 -2.63666019e-03 1.01547614e+00] [-4.87728407e-02 1.78717835e-04 9.98809881e-01 -2.55897389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359072329 meters 0.07203569752208377 Centerline is valid? [True, True] Translation: X:7.31, Y:1.00, Z:-0.26 [[ 9.97719055e-01 4.70899055e-02 4.83655584e-02 7.30687188e+00] [-4.70184749e-02 9.98890599e-01 -2.61416441e-03 1.00015813e+00] [-4.84350024e-02 3.34126851e-04 9.98826281e-01 -2.57331097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389072328999998 meters 0.07237454431601992 Centerline is valid? [True, True] Translation: X:7.34, Y:0.99, Z:-0.26 [[ 9.97923526e-01 4.40149977e-02 4.70246335e-02 7.33613053e+00] [-4.39441927e-02 9.99030761e-01 -2.53894483e-03 9.85660687e-01] [-4.70908071e-02 4.67213213e-04 9.98890503e-01 -2.59999519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419072329 meters 0.07298973540423812 Centerline is valid? [True, True] Translation: X:7.37, Y:0.96, Z:-0.26 [[ 9.98292453e-01 3.99617469e-02 4.26055950e-02 7.36548723e+00] [-3.98999899e-02 9.99201033e-01 -2.29923000e-03 9.60109208e-01] [-4.26634358e-02 5.95341148e-04 9.99089324e-01 -2.62846834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449072329 meters 0.07354631752467947 Centerline is valid? [True, True] Translation: X:7.40, Y:0.95, Z:-0.26 [[ 9.98458238e-01 3.84834565e-02 4.00021366e-02 7.39516698e+00] [-3.84278347e-02 9.99259046e-01 -2.15873320e-03 9.48022905e-01] [-4.00555724e-02 6.18209456e-04 9.99197262e-01 -2.64908956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479072328999997 meters 0.07408530755840359 Centerline is valid? [True, True] Translation: X:7.42, Y:0.94, Z:-0.27 [[ 9.98546033e-01 3.82327587e-02 3.80009976e-02 7.42366129e+00] [-3.81823869e-02 9.99268683e-01 -2.05066801e-03 9.36079606e-01] [-3.80516095e-02 5.96717609e-04 9.99275597e-01 -2.66039015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509072329 meters 0.0749373507531793 Centerline is valid? [True, True] Translation: X:7.45, Y:0.91, Z:-0.27 [[ 9.98771610e-01 3.78547422e-02 3.19732700e-02 7.45316925e+00] [-3.78189132e-02 9.99283120e-01 -1.72481862e-03 9.13557168e-01] [-3.20156416e-02 5.13505544e-04 9.99487236e-01 -2.69069957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539072329 meters 0.07521396162868019 Centerline is valid? [True, True] Translation: X:7.48, Y:0.90, Z:-0.27 [[ 9.98836006e-01 3.74719654e-02 3.03724513e-02 7.48190832e+00] [-3.74394368e-02 9.99297554e-01 -1.63917901e-03 9.03077417e-01] [-3.04125395e-02 5.00143547e-04 9.99537307e-01 -2.71708106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569072329 meters 0.0751955704743056 Centerline is valid? [True, True] Translation: X:7.51, Y:0.89, Z:-0.27 [[ 9.98877155e-01 3.73192731e-02 2.91839316e-02 7.50998997e+00] [-3.72891990e-02 9.99303276e-01 -1.57425274e-03 8.94592294e-01] [-2.92223485e-02 4.84239667e-04 9.99572819e-01 -2.73981224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599072329 meters 0.07564145447220874 Centerline is valid? [True, True] Translation: X:7.54, Y:0.88, Z:-0.28 [[ 9.98980030e-01 3.64067180e-02 2.67104788e-02 7.53849730e+00] [-3.63812549e-02 9.99336947e-01 -1.43880929e-03 8.75479305e-01] [-2.67451507e-02 4.65581011e-04 9.99642176e-01 -2.78183692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629072329 meters 0.07611222399303175 Centerline is valid? [True, True] Translation: X:7.57, Y:0.86, Z:-0.28 [[ 9.99042711e-01 3.50783219e-02 2.61375670e-02 7.56646892e+00] [-3.50535058e-02 9.99384446e-01 -1.40716240e-03 8.63894421e-01] [-2.61708388e-02 4.89601982e-04 9.99657365e-01 -2.80597923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659072329 meters 0.07635295070966222 Centerline is valid? [True, True] Translation: X:7.60, Y:0.85, Z:-0.28 [[ 9.99100147e-01 3.39879848e-02 2.53715181e-02 7.59579200e+00] [-3.39642887e-02 9.99422116e-01 -1.36443858e-03 8.52498398e-01] [-2.54032309e-02 5.01485224e-04 9.99677160e-01 -2.82918850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689072329 meters 0.07699276565405214 Centerline is valid? [True, True] Translation: X:7.62, Y:0.83, Z:-0.29 [[ 9.99277872e-01 3.02872673e-02 2.29437648e-02 7.62458145e+00] [-3.02669314e-02 9.99541091e-01 -1.23316323e-03 8.31994406e-01] [-2.29705848e-02 5.37835372e-04 9.99735997e-01 -2.86538360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719072329 meters 0.07763514886850698 Centerline is valid? [True, True] Translation: X:7.65, Y:0.82, Z:-0.29 [[ 9.99335170e-01 2.93030749e-02 2.16921119e-02 7.65382240e+00] [-2.92846941e-02 9.99570433e-01 -1.16459774e-03 8.20433175e-01] [-2.17169200e-02 5.28576618e-04 9.99764020e-01 -2.89570718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749072329 meters 0.07811306360265981 Centerline is valid? [True, True] Translation: X:7.68, Y:0.81, Z:-0.29 [[ 9.99407664e-01 2.82797020e-02 1.96107259e-02 7.68394362e+00] [-2.82644779e-02 9.99599925e-01 -1.05310589e-03 8.10688750e-01] [-1.96326616e-02 4.98195167e-04 9.99807137e-01 -2.92938144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779072328999998 meters 0.07890981572665053 Centerline is valid? [True, True] Translation: X:7.71, Y:0.79, Z:-0.30 [[ 9.99500701e-01 2.73189156e-02 1.58752957e-02 7.71188128e+00] [-2.73088081e-02 9.99626681e-01 -8.53156721e-04 7.92873621e-01] [-1.58926765e-02 4.19195337e-04 9.99873616e-01 -2.98906562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809072329 meters 0.07842432423333454 Centerline is valid? [True, True] Translation: X:7.74, Y:0.79, Z:-0.30 [[ 9.99538745e-01 2.65210359e-02 1.47963650e-02 7.74078181e+00] [-2.65121689e-02 9.99648174e-01 -7.95134715e-04 7.86291410e-01] [-1.48122470e-02 4.02484227e-04 9.99890212e-01 -2.98877043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839072329 meters 0.0787187963505219 Centerline is valid? [True, True] Translation: X:7.77, Y:0.78, Z:-0.30 [[ 9.99575787e-01 2.54744956e-02 1.41172128e-02 7.76993276e+00] [-2.54663350e-02 9.99675393e-01 -7.57557241e-04 7.76604419e-01] [-1.41319287e-02 3.97722204e-04 9.99900060e-01 -3.01404352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869072328999998 meters 0.07905152228486242 Centerline is valid? [True, True] Translation: X:7.80, Y:0.77, Z:-0.30 [[ 9.99625319e-01 2.44456646e-02 1.23138812e-02 7.79804253e+00] [-2.44393766e-02 9.99701095e-01 -6.60886563e-04 7.66303683e-01] [-1.23263564e-02 3.59695360e-04 9.99923963e-01 -3.04281780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899072329 meters 0.07987424943720448 Centerline is valid? [True, True] Translation: X:7.83, Y:0.75, Z:-0.31 [[ 9.99686878e-01 2.29394100e-02 9.99651635e-03 7.82540598e+00] [-2.29351930e-02 9.99736810e-01 -5.36303726e-04 7.49236466e-01] [-1.00061879e-02 3.06863766e-04 9.99949890e-01 -3.09379095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929072329 meters 0.0800166051689777 Centerline is valid? [True, True] Translation: X:7.85, Y:0.74, Z:-0.31 [[ 9.99702654e-01 2.28266131e-02 8.57612938e-03 7.85379466e+00] [-2.28235030e-02 9.99739404e-01 -4.60354895e-04 7.41305655e-01] [-8.58440282e-03 2.64480695e-04 9.99963118e-01 -3.11673333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959072328999998 meters 0.08024328845169768 Centerline is valid? [True, True] Translation: X:7.88, Y:0.73, Z:-0.31 [[ 9.99690237e-01 2.37441164e-02 7.45971170e-03 7.88090896e+00] [-2.37417856e-02 9.99718044e-01 -4.00861325e-04 7.34345704e-01] [-7.46712649e-03 2.23630277e-04 9.99972096e-01 -3.14289725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989072329 meters 0.07988745769984973 Centerline is valid? [True, True] Translation: X:7.91, Y:0.73, Z:-0.32 [[ 9.99635983e-01 2.63561835e-02 5.76656826e-03 7.90974145e+00] [-2.63548402e-02 9.99652603e-01 -3.08830867e-04 7.26908729e-01] [-5.77270457e-03 1.56741462e-04 9.99983326e-01 -3.16862033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019072329 meters 0.07953152655692043 Centerline is valid? [True, True] Translation: X:7.94, Y:0.72, Z:-0.32 [[ 9.99578654e-01 2.87230996e-02 4.18308801e-03 7.93818464e+00] [-2.87224099e-02 9.99587401e-01 -2.24857185e-04 7.24681623e-01] [-4.18782067e-03 1.04614074e-04 9.99991226e-01 -3.18465882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049072328999998 meters 0.07925644698698871 Centerline is valid? [True, True] Translation: X:7.97, Y:0.72, Z:-0.32 [[ 9.99525922e-01 3.06795700e-02 2.58751295e-03 7.96629519e+00] [-3.06793077e-02 9.99529269e-01 -1.41017526e-04 7.23698872e-01] [-2.59062129e-03 6.15675667e-05 9.99996642e-01 -3.19295653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079072329 meters 0.07934695401118252 Centerline is valid? [True, True] Translation: X:7.99, Y:0.72, Z:-0.32 [[ 9.99462096e-01 3.27814322e-02 9.46581347e-04 7.99438209e+00] [-3.27813965e-02 9.99462544e-01 -5.32237647e-05 7.22035002e-01] [-9.47817352e-04 2.21648769e-05 9.99999551e-01 -3.22165881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109072329 meters 0.07924662405602671 Centerline is valid? [True, True] Translation: X:8.02, Y:0.72, Z:-0.32 [[ 9.99322245e-01 3.68082324e-02 -4.52098444e-04 8.02218751e+00] [-3.68082267e-02 9.99322347e-01 2.08712853e-05 7.21461275e-01] [ 4.52560314e-04 -4.21619766e-06 9.99999898e-01 -3.24558766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139072328999998 meters 0.07898965591653678 Centerline is valid? [True, True] Translation: X:8.05, Y:0.72, Z:-0.33 [[ 9.99263859e-01 3.83401482e-02 -1.33179883e-03 8.05122731e+00] [-3.83400918e-02 9.99264746e-01 6.78819416e-05 7.20113867e-01] [ 1.33342222e-03 -1.67706816e-05 9.99999111e-01 -3.26373674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169072329 meters 0.07886942552626951 Centerline is valid? [True, True] Translation: X:8.08, Y:0.72, Z:-0.33 [[ 9.99195581e-01 4.00137260e-02 -2.66308485e-03 8.07936780e+00] [-4.00135022e-02 9.99199130e-01 1.37284494e-04 7.17914135e-01] [ 2.66644533e-03 -3.06147077e-05 9.99996445e-01 -3.28860590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199072329 meters 0.07877556769271235 Centerline is valid? [True, True] Translation: X:8.11, Y:0.72, Z:-0.33 [[ 9.99135108e-01 4.14409468e-02 -3.41804026e-03 8.10764020e+00] [-4.14405822e-02 9.99140954e-01 1.77445694e-04 7.15392223e-01] [ 3.42245753e-03 -3.56466439e-05 9.99994143e-01 -3.31702499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229072328999997 meters 0.07892879779139694 Centerline is valid? [True, True] Translation: X:8.13, Y:0.72, Z:-0.34 [[ 9.99088245e-01 4.23750248e-02 -5.19965301e-03 8.13487037e+00] [-4.23741962e-02 9.99101774e-01 2.69459892e-04 7.16272878e-01] [ 5.20640091e-03 -4.88830940e-05 9.99986445e-01 -3.35325145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259072329 meters 0.07898708901252721 Centerline is valid? [True, True] Translation: X:8.16, Y:0.72, Z:-0.34 [[ 9.99086476e-01 4.22593318e-02 -6.35315682e-03 8.16399832e+00] [-4.22581289e-02 9.99106674e-01 3.23518373e-04 7.17334034e-01] [ 6.36115305e-03 -5.47503113e-05 9.99979766e-01 -3.36297294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289072329 meters 0.07973270636544194 Centerline is valid? [True, True] Translation: X:8.19, Y:0.72, Z:-0.34 [[ 9.99096819e-01 4.18573815e-02 -7.31476828e-03 8.19137474e+00] [-4.18557308e-02 9.99123593e-01 3.78676446e-04 7.16614445e-01] [ 7.32420797e-03 -7.21694613e-05 9.99973175e-01 -3.41321877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319072329 meters 0.07992390133330045 Centerline is valid? [True, True] Translation: X:8.22, Y:0.72, Z:-0.34 [[ 9.99145822e-01 4.05585933e-02 -7.91368433e-03 8.22038032e+00] [-4.05566739e-02 9.99177158e-01 4.02932928e-04 7.15914248e-01] [ 7.92351501e-03 -8.16360369e-05 9.99968605e-01 -3.42618904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349072329 meters 0.07938698390169739 Centerline is valid? [True, True] Translation: X:8.25, Y:0.71, Z:-0.34 [[ 9.99268782e-01 3.75914626e-02 -6.98455098e-03 8.24884948e+00] [-3.75898757e-02 9.99293187e-01 3.58392944e-04 7.13498877e-01] [ 6.99308672e-03 -9.55824773e-05 9.99975544e-01 -3.38519057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379072329 meters 0.07969381244046592 Centerline is valid? [True, True] Translation: X:8.28, Y:0.71, Z:-0.34 [[ 9.99344467e-01 3.54072670e-02 -7.54733006e-03 8.27682251e+00] [-3.54053499e-02 9.99372959e-01 3.87510280e-04 7.09457193e-01] [ 7.55631825e-03 -1.20040392e-04 9.99971443e-01 -3.40950117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409072329 meters 0.07967731001900205 Centerline is valid? [True, True] Translation: X:8.31, Y:0.71, Z:-0.34 [[ 9.99401841e-01 3.35903568e-02 -8.22481942e-03 8.30561479e+00] [-3.35880168e-02 9.99435674e-01 4.22511533e-04 7.05698771e-01] [ 8.23437025e-03 -1.46003432e-04 9.99966086e-01 -3.41072514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439072329 meters 0.08038021015452235 Centerline is valid? [True, True] Translation: X:8.33, Y:0.70, Z:-0.35 [[ 9.99475532e-01 3.12628088e-02 -8.44384191e-03 8.33272520e+00] [-3.12602705e-02 9.99511185e-01 4.32450455e-04 7.00333694e-01] [ 8.45323404e-03 -1.68266866e-04 9.99964257e-01 -3.45371435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469072329 meters 0.08261447034565665 Centerline is valid? [True, True] Translation: X:8.36, Y:0.69, Z:-0.35 [[ 9.99664399e-01 2.46814226e-02 -7.86874877e-03 8.36007576e+00] [-2.46790150e-02 9.99695346e-01 4.02940909e-04 6.90930827e-01] [ 7.87629667e-03 -2.08612713e-04 9.99968960e-01 -3.50039392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499072329 meters 0.08212021468048185 Centerline is valid? [True, True] Translation: X:8.39, Y:0.69, Z:-0.34 [[ 9.99773158e-01 2.01585050e-02 -6.87510539e-03 8.38979517e+00] [-2.01565557e-02 9.99796774e-01 3.52706508e-04 6.89503396e-01] [ 6.88081823e-03 -2.14048055e-04 9.99976304e-01 -3.44360171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529072328999998 meters 0.0833917921971915 Centerline is valid? [True, True] Translation: X:8.42, Y:0.68, Z:-0.34 [[ 9.99859275e-01 1.53393309e-02 -6.79223378e-03 8.41931292e+00] [-1.53373188e-02 9.99882316e-01 3.48232134e-04 6.82780726e-01] [ 6.79677609e-03 -2.44008474e-04 9.99976872e-01 -3.44567152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559072329 meters 0.08587242666764905 Centerline is valid? [True, True] Translation: X:8.45, Y:0.67, Z:-0.35 [[ 9.99930924e-01 1.06866825e-02 -4.89302260e-03 8.44742046e+00] [-1.06855885e-02 9.99942876e-01 2.49674124e-04 6.72954777e-01] [ 4.89541128e-03 -1.97372052e-04 9.99987998e-01 -3.47293238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589072329 meters 0.08914989722683132 Centerline is valid? [True, True] Translation: X:8.48, Y:0.66, Z:-0.35 [[ 9.99988199e-01 -8.73265788e-05 -4.85736779e-03 8.47738345e+00] [ 8.85386205e-05 9.99999965e-01 2.49311966e-04 6.58283256e-01] [ 4.85734585e-03 -2.49739089e-04 9.99988172e-01 -3.46604687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619072328999998 meters 0.08907099034388836 Centerline is valid? [True, True] Translation: X:8.51, Y:0.65, Z:-0.34 [[ 9.99966619e-01 -6.65296242e-03 -4.74327435e-03 8.50793387e+00] [ 6.65419323e-03 9.99977831e-01 2.43752112e-04 6.53091252e-01] [ 4.74154752e-03 -2.75306640e-04 9.99988721e-01 -3.44906269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649072329 meters 0.0952998823497061 Centerline is valid? [True, True] Translation: X:8.54, Y:0.63, Z:-0.35 [[ 9.99902161e-01 -1.32654600e-02 -4.43806386e-03 8.53631217e+00] [ 1.32665995e-02 9.99911969e-01 2.27404926e-04 6.33721837e-01] [ 4.43465654e-03 -2.86260693e-04 9.99990126e-01 -3.51729959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679072329 meters 0.1026427188066926 Centerline is valid? [True, False] Translation: X:8.54, Y:0.63, Z:-0.35 [[ 9.99846823e-01 -1.70592977e-02 -3.91282641e-03 8.53577066e+00] [ 1.70517683e-02 9.99852707e-01 -1.94964973e-03 6.27359581e-01] [ 3.94550973e-03 1.88263048e-03 9.99990444e-01 -3.52367524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709072328999998 meters 0.10779499055923962 Centerline is valid? [False, False] Translation: X:8.54, Y:0.63, Z:-0.35 [[ 9.99852102e-01 -1.67545359e-02 -3.88056973e-03 8.53587997e+00] [ 1.67497952e-02 9.99858930e-01 -1.25094890e-03 6.25528329e-01] [ 3.90098137e-03 1.18576514e-03 9.99991688e-01 -3.52612652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739072329 meters 0.10018130509268121 Centerline is valid? [False, False] Translation: X:8.54, Y:0.62, Z:-0.35 [[ 9.99851765e-01 -1.67891114e-02 -3.81747088e-03 8.53544796e+00] [ 1.67847678e-02 9.99858445e-01 -1.16702614e-03 6.24940317e-01] [ 3.83652383e-03 1.10277778e-03 9.99992032e-01 -3.52080707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769072329 meters 0.10058124932716525 Centerline is valid? [False, False] Translation: X:8.54, Y:0.62, Z:-0.35 [[ 9.99860823e-01 -1.62580673e-02 -3.74293158e-03 8.53526018e+00] [ 1.62586273e-02 9.99867813e-01 1.19237694e-04 6.21032207e-01] [ 3.74049824e-03 -1.80076028e-04 9.99992988e-01 -3.52008585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799072328999998 meters 0.10276907181123532 Centerline is valid? [False, False] Translation: X:8.53, Y:0.62, Z:-0.36 [[ 9.99942499e-01 -1.05736455e-02 1.78774195e-03 8.52528022e+00] [ 1.05792582e-02 9.99939046e-01 -3.15977512e-03 6.18012374e-01] [-1.75422263e-03 3.17850641e-03 9.99993410e-01 -3.56786425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829072329 meters 0.10276907181123532 Centerline is valid? [False, False] Translation: X:8.52, Y:0.62, Z:-0.35 [[ 9.99967443e-01 -7.67859874e-03 2.48020096e-03 8.52219809e+00] [ 7.67812862e-03 9.99970503e-01 1.99013537e-04 6.16196241e-01] [-2.48165595e-03 -1.79963756e-04 9.99996904e-01 -3.54450248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859072329 meters 0.10476270069289269 Centerline is valid? [False, False] Translation: X:8.52, Y:0.61, Z:-0.36 [[ 9.99972012e-01 -7.07822283e-03 2.42351487e-03 8.52266429e+00] [ 7.07494700e-03 9.99974051e-01 1.35760079e-03 6.13185340e-01] [-2.43306138e-03 -1.34041656e-03 9.99996142e-01 -3.55069985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889072328999998 meters 0.10218681905045232 Centerline is valid? [False, False] Translation: X:8.52, Y:0.61, Z:-0.36 [[ 9.99976763e-01 -6.40372609e-03 2.33797357e-03 8.52329970e+00] [ 6.39751580e-03 9.99976013e-01 2.65415790e-03 6.09912439e-01] [-2.35491399e-03 -2.63913900e-03 9.99993745e-01 -3.55882863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919072329 meters 0.12190165592016261 Centerline is valid? [False, False] Translation: X:8.52, Y:0.61, Z:-0.36 [[ 9.99981000e-01 -5.74498996e-03 2.23473981e-03 8.52398215e+00] [ 5.73622795e-03 9.99975913e-01 3.90766716e-03 6.06760649e-01] [-2.25713549e-03 -3.89477394e-03 9.99989868e-01 -3.56739204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949072329 meters 0.11035484417641896 Centerline is valid? [False, False] Translation: X:8.52, Y:0.60, Z:-0.36 [[ 9.99985259e-01 -4.98103205e-03 2.16108846e-03 8.52439971e+00] [ 4.96912892e-03 9.99972645e-01 5.47877882e-03 6.02338016e-01] [-2.18831931e-03 -5.46795934e-03 9.99982656e-01 -3.57323996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979072328999997 meters 0.10278764799199899 Centerline is valid? [False, False] Translation: X:8.52, Y:0.60, Z:-0.36 [[ 9.99986748e-01 -4.71782115e-03 2.06073308e-03 8.52464245e+00] [ 4.70544759e-03 9.99971117e-01 5.96857852e-03 6.01009861e-01] [-2.08883224e-03 -5.95880275e-03 9.99980065e-01 -3.57383936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009072329 meters 0.10421678655445858 Centerline is valid? [False, False] Translation: X:8.52, Y:0.60, Z:-0.36 [[ 9.99986981e-01 -4.70242483e-03 1.98110549e-03 8.52444341e+00] [ 4.69030368e-03 9.99970522e-01 6.07922499e-03 6.00340975e-01] [-2.00963419e-03 -6.06985386e-03 9.99979559e-01 -3.56810001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039072329 meters 0.10152076739605993 Centerline is valid? [False, False] Translation: X:8.52, Y:0.60, Z:-0.36 [[ 9.99987142e-01 -4.72772318e-03 1.83421329e-03 8.52415570e+00] [ 4.71636011e-03 9.99969962e-01 6.15069889e-03 5.99644156e-01] [-1.86323700e-03 -6.14196899e-03 9.99979402e-01 -3.55879607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069072329 meters 0.10253583159863268 Centerline is valid? [False, False] Translation: X:8.54, Y:0.60, Z:-0.35 [[ 9.99986308e-01 -4.70916053e-03 -2.28211758e-03 8.53531925e+00] [ 4.71252605e-03 9.99987813e-01 1.47160810e-03 5.99003561e-01] [ 2.27515973e-03 -1.48234249e-03 9.99996313e-01 -3.54117636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099072329 meters 0.10270712109358598 Centerline is valid? [False, False] Translation: X:8.54, Y:0.60, Z:-0.35 [[ 9.99986421e-01 -4.66017643e-03 -2.33262918e-03 8.53521966e+00] [ 4.66396865e-03 9.99987807e-01 1.62293733e-03 5.98332307e-01] [ 2.32503756e-03 -1.63379460e-03 9.99995962e-01 -3.53828849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129072329 meters 0.10259946641554624 Centerline is valid? [False, False] Translation: X:8.54, Y:0.60, Z:-0.35 [[ 9.99987347e-01 -4.40200775e-03 -2.43469078e-03 8.53559479e+00] [ 4.40704300e-03 9.99988153e-01 2.06664010e-03 5.97293644e-01] [ 2.42556457e-03 -2.07734374e-03 9.99994901e-01 -3.54073321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159072329 meters 0.10514112373805704 Centerline is valid? [False, False] Translation: X:8.54, Y:0.60, Z:-0.35 [[ 9.99987781e-01 -4.16293532e-03 -2.66617527e-03 8.53621090e+00] [ 4.16939429e-03 9.99988376e-01 2.42160170e-03 5.96607419e-01] [ 2.65606330e-03 -2.43268844e-03 9.99993514e-01 -3.54230243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189072329 meters 0.100017233392282 Centerline is valid? [False, False] Translation: X:8.54, Y:0.60, Z:-0.35 [[ 9.99986977e-01 -4.29572320e-03 -2.75531790e-03 8.53606561e+00] [ 4.30182386e-03 9.99988301e-01 2.21204864e-03 5.96895705e-01] [ 2.74578331e-03 -2.22387272e-03 9.99993758e-01 -3.53688861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219072329 meters 0.0986022709715569 Centerline is valid? [False, True] Translation: X:8.54, Y:0.60, Z:-0.35 [[ 9.99986721e-01 -4.32587883e-03 -2.80096831e-03 8.53595846e+00] [ 4.33206662e-03 9.99988181e-01 2.20687494e-03 5.96711794e-01] [ 2.79138853e-03 -2.21897961e-03 9.99993642e-01 -3.53361505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249072329 meters 0.09817627350843854 Centerline is valid? [True, True] Translation: X:8.57, Y:0.59, Z:-0.35 [[ 9.99974974e-01 -7.00330064e-03 -1.00216955e-03 8.56588865e+00] [ 7.00338736e-03 9.99975473e-01 8.30407619e-05 5.94112354e-01] [ 1.00156341e-03 -9.00572653e-05 9.99999494e-01 -3.49979638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279072328999998 meters 0.09895309655420245 Centerline is valid? [True, True] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99962391e-01 -8.63982126e-03 7.55200228e-04 8.59672284e+00] [ 8.63987051e-03 9.99962674e-01 -6.19789557e-05 5.89770889e-01] [-7.54636552e-04 6.85014569e-05 9.99999713e-01 -3.49715100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309072329 meters 0.10271097673503313 Centerline is valid? [True, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99963718e-01 -8.48078887e-03 7.98999828e-04 8.59686834e+00] [ 8.48061681e-03 9.99964015e-01 2.18495858e-04 5.89252861e-01] [-8.00824093e-04 -2.11711919e-04 9.99999657e-01 -3.50034774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339072329 meters 0.10946106666845283 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99965407e-01 -8.27385243e-03 8.53601180e-04 8.59713175e+00] [ 8.27336440e-03 9.99965611e-01 5.73684243e-04 5.88642194e-01] [-8.58318404e-04 -5.66602244e-04 9.99999471e-01 -3.50606436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369072328999998 meters 0.10863853632637863 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99969829e-01 -7.71223560e-03 9.28950658e-04 8.59758400e+00] [ 7.71064415e-03 9.99968819e-01 1.70474271e-03 5.85893282e-01] [-9.42069071e-04 -1.69752846e-03 9.99998115e-01 -3.51678798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399072329 meters 0.10912069910228583 Centerline is valid? [False, False] Translation: X:8.60, Y:0.58, Z:-0.35 [[ 9.99971557e-01 -7.48209469e-03 9.50571500e-04 8.59771899e+00] [ 7.47999363e-03 9.99969615e-01 2.19496619e-03 5.84520311e-01] [-9.66965562e-04 -2.18779348e-03 9.99997139e-01 -3.52069649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429072329 meters 0.11165590683714438 Centerline is valid? [False, False] Translation: X:8.60, Y:0.58, Z:-0.35 [[ 9.99973331e-01 -7.23866055e-03 9.69193161e-04 8.59792761e+00] [ 7.23604173e-03 9.99970231e-01 2.67884373e-03 5.83293047e-01] [-9.88555550e-04 -2.67175917e-03 9.99995942e-01 -3.52538924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459072328999998 meters 0.12068186704698869 Centerline is valid? [False, False] Translation: X:8.60, Y:0.58, Z:-0.35 [[ 9.99973767e-01 -7.19035736e-03 8.74209641e-04 8.59840661e+00] [ 7.18800280e-03 9.99970609e-01 2.66731715e-03 5.83743976e-01] [-8.93362910e-04 -2.66096336e-03 9.99996061e-01 -3.52907768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489072329 meters 0.11586488131354682 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99970162e-01 -7.67637381e-03 8.65364060e-04 8.59798340e+00] [ 7.67483585e-03 9.99968987e-01 1.76676258e-03 5.85941163e-01] [-8.78899553e-04 -1.76006834e-03 9.99998065e-01 -3.52114922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519072329 meters 0.10954969562276541 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99967620e-01 -8.01134383e-03 7.59546787e-04 8.59812573e+00] [ 8.01057013e-03 9.99967398e-01 1.01626054e-03 5.88373258e-01] [-7.67663637e-04 -1.01014323e-03 9.99999195e-01 -3.51814153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549072328999998 meters 0.11723539468146103 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99964410e-01 -8.40927651e-03 6.80404455e-04 8.59813143e+00] [ 8.40917837e-03 9.99964631e-01 1.46970724e-04 5.91008965e-01] [-6.81616308e-04 -1.41243851e-04 9.99999758e-01 -3.51373178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579072329 meters 0.11097618824839188 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99988970e-01 -4.57093088e-03 1.07989215e-03 8.59690742e+00] [ 4.56678054e-03 9.99982295e-01 3.81499723e-03 5.92111820e-01] [-1.09731112e-03 -3.81002352e-03 9.99992140e-01 -3.50768431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609072329 meters 0.10808753803054376 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99989363e-01 -4.51578329e-03 9.38574356e-04 8.59736638e+00] [ 4.51217381e-03 9.99982551e-01 3.81288402e-03 5.92364682e-01] [-9.55776137e-04 -3.80860845e-03 9.99992290e-01 -3.51016244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639072328999998 meters 0.11537758964279571 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99990493e-01 -4.26691212e-03 8.98954315e-04 8.59796302e+00] [ 4.26313510e-03 9.99982250e-01 4.16240486e-03 5.91896446e-01] [-9.16698975e-04 -4.15853292e-03 9.99990933e-01 -3.51845683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669072329 meters 0.11123459048200832 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99990485e-01 -4.26798978e-03 9.02678931e-04 8.59807538e+00] [ 4.26422322e-03 9.99982362e-01 4.13420455e-03 5.92048154e-01] [-9.20307753e-04 -4.13031599e-03 9.99991047e-01 -3.52059775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699072329 meters 0.11468263774270135 Centerline is valid? [False, False] Translation: X:8.60, Y:0.59, Z:-0.35 [[ 9.99988421e-01 -4.70638692e-03 1.00343351e-03 8.59764068e+00] [ 4.70301500e-03 9.99983374e-01 3.33667158e-03 5.94122236e-01] [-1.01912050e-03 -3.33191378e-03 9.99993930e-01 -3.51632221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729072328999997 meters 0.11178024126142738 Centerline is valid? [False, False] Translation: X:8.60, Y:0.60, Z:-0.35 [[ 9.99987493e-01 -4.90940077e-03 9.54387815e-04 8.59767299e+00] [ 4.90661237e-03 9.99983751e-01 2.90236970e-03 5.95495267e-01] [-9.68621203e-04 -2.89765059e-03 9.99995333e-01 -3.51396814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759072329 meters 0.1236149791805863 Centerline is valid? [False, False] Translation: X:8.60, Y:0.60, Z:-0.35 [[ 9.99983172e-01 -5.71377562e-03 1.00423817e-03 8.59668433e+00] [ 5.71220389e-03 9.99982467e-01 1.56105831e-03 5.98685149e-01] [-1.01314010e-03 -1.55529563e-03 9.99998277e-01 -3.49903807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789072329 meters 0.12357590248063173 Centerline is valid? [False, False] Translation: X:8.60, Y:0.60, Z:-0.35 [[ 9.99984522e-01 -5.48730043e-03 9.18958305e-04 8.59717205e+00] [ 5.48554847e-03 9.99983153e-01 1.89824891e-03 5.98120840e-01] [-9.29359085e-04 -1.89317853e-03 9.99997776e-01 -3.50379719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819072328999997 meters 0.11493772491341349 Centerline is valid? [False, False] Translation: X:8.60, Y:0.60, Z:-0.35 [[ 9.99984796e-01 -5.44189873e-03 8.91325794e-04 8.59715611e+00] [ 5.44008962e-03 9.99983163e-01 2.01967909e-03 5.97599336e-01] [-9.02301676e-04 -2.01479949e-03 9.99997563e-01 -3.50341566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849072329 meters 0.1125477253237587 Centerline is valid? [False, False] Translation: X:8.60, Y:0.60, Z:-0.35 [[ 9.99986887e-01 -5.05812723e-03 8.00143629e-04 8.59777694e+00] [ 5.05599059e-03 9.99983707e-01 2.65017373e-03 5.96292241e-01] [-8.13535508e-04 -2.64609346e-03 9.99996168e-01 -3.51054923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879072329 meters 0.1260548994381744 Centerline is valid? [False, False] Translation: X:8.60, Y:0.60, Z:-0.35 [[ 9.99987882e-01 -4.86243473e-03 7.69553448e-04 8.59818448e+00] [ 4.86014609e-03 9.99983843e-01 2.94842917e-03 5.95854140e-01] [-7.83877559e-04 -2.94465330e-03 9.99995357e-01 -3.51575818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909072329 meters 0.12033675798490835 Centerline is valid? [False, False] Translation: X:8.60, Y:0.60, Z:-0.35 [[ 9.99986629e-01 -5.12464968e-03 6.93256809e-04 8.59834489e+00] [ 5.12296871e-03 9.99983985e-01 2.40517554e-03 5.97566120e-01] [-7.05571389e-04 -2.40159184e-03 9.99996867e-01 -3.51512251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939072329 meters 0.1280570295201385 Centerline is valid? [False, False] Translation: X:8.61, Y:0.60, Z:-0.35 [[ 9.99990282e-01 -2.88736463e-03 -3.33148655e-03 8.61205166e+00] [ 2.88606257e-03 9.99995757e-01 -3.95577239e-04 5.96306107e-01] [ 3.33261459e-03 3.85958516e-04 9.99994372e-01 -3.52539749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969072329 meters 0.11359819732670269 Centerline is valid? [False, False] Translation: X:8.61, Y:0.60, Z:-0.35 [[ 9.99990344e-01 -2.79210261e-03 -3.39357840e-03 8.61233844e+00] [ 2.79129152e-03 9.99996075e-01 -2.43720338e-04 5.95978873e-01] [ 3.39424557e-03 2.34245518e-04 9.99994212e-01 -3.52824214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999072329 meters 0.11334981702413198 Centerline is valid? [False, False] Translation: X:8.61, Y:0.59, Z:-0.35 [[ 9.99991300e-01 -2.34222710e-03 -3.45154122e-03 8.61305787e+00] [ 2.34396676e-03 9.99997128e-01 5.00064345e-04 5.94461754e-01] [ 3.45036004e-03 -5.08150292e-04 9.99993918e-01 -3.53808503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029072328999998 meters 0.11410564387960247 Centerline is valid? [False, False] Translation: X:8.61, Y:0.59, Z:-0.35 [[ 9.99991926e-01 -1.96001578e-03 -3.50798071e-03 8.61332872e+00] [ 1.96405663e-03 9.99997411e-01 1.14882958e-03 5.92751133e-01] [ 3.50571991e-03 -1.15571018e-03 9.99993187e-01 -3.54095756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059072329 meters 0.1208767950341062 Centerline is valid? [False, False] Translation: X:8.61, Y:0.59, Z:-0.35 [[ 9.99991661e-01 -2.10641920e-03 -3.49860328e-03 8.61302770e+00] [ 2.10960387e-03 9.99997364e-01 9.06830034e-04 5.93191256e-01] [ 3.49668390e-03 -9.14203139e-04 9.99993469e-01 -3.53613294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089072329 meters 0.11258145677503997 Centerline is valid? [False, False] Translation: X:8.61, Y:0.60, Z:-0.35 [[ 9.99989484e-01 -2.72435471e-03 -3.68916998e-03 8.61281005e+00] [ 2.72306307e-03 9.99996229e-01 -3.55093296e-04 5.96898996e-01] [ 3.69012347e-03 3.45043719e-04 9.99993132e-01 -3.52422303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119072328999998 meters 0.10926714832286645 Centerline is valid? [False, False] Translation: X:8.61, Y:0.60, Z:-0.35 [[ 9.99988270e-01 -2.81880813e-03 -3.93868190e-03 8.61341729e+00] [ 2.81596080e-03 9.99995770e-01 -7.28273083e-04 5.98409834e-01] [ 3.94071810e-03 7.17173367e-04 9.99991978e-01 -3.52443346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149072329 meters 0.10574251160441672 Centerline is valid? [False, False] Translation: X:8.61, Y:0.60, Z:-0.35 [[ 9.99986919e-01 -3.07041423e-03 -4.09088264e-03 8.61348865e+00] [ 3.06525941e-03 9.99994501e-01 -1.26575118e-03 5.99768671e-01] [ 4.09474652e-03 1.25319500e-03 9.99990831e-01 -3.52019246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179072329 meters 0.10224823265771461 Centerline is valid? [False, False] Translation: X:8.61, Y:0.60, Z:-0.35 [[ 9.99986163e-01 -3.03274581e-03 -4.29839963e-03 8.61398655e+00] [ 3.02705401e-03 9.99994534e-01 -1.33005651e-03 6.00174692e-01] [ 4.30240986e-03 1.31702662e-03 9.99989877e-01 -3.52092024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209072328999998 meters 0.10417334082409399 Centerline is valid? [False, False] Translation: X:8.62, Y:0.60, Z:-0.35 [[ 9.99984295e-01 -2.87816112e-03 -4.80887194e-03 8.61511285e+00] [ 2.87071896e-03 9.99994672e-01 -1.55377664e-03 6.01427127e-01] [ 4.81331834e-03 1.53994732e-03 9.99987230e-01 -3.52199148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239072329 meters 0.09834474147662665 Centerline is valid? [False, True] Translation: X:8.61, Y:0.60, Z:-0.35 [[ 9.99987883e-01 1.39409403e-03 -4.72132740e-03 8.61466042e+00] [-1.38132307e-03 9.99995382e-01 2.70713383e-03 6.01204432e-01] [ 4.72507959e-03 -2.70057935e-03 9.99985190e-01 -3.51847268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269072329 meters 0.09747405412931005 Centerline is valid? [True, True] Translation: X:8.64, Y:0.60, Z:-0.35 [[ 9.99981350e-01 5.47301122e-03 -2.71025982e-03 8.64367165e+00] [-5.47233863e-03 9.99984994e-01 2.55521262e-04 6.02515877e-01] [ 2.71161762e-03 -2.40685037e-04 9.99996295e-01 -3.50428865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299072328999998 meters 0.10314580820605124 Centerline is valid? [True, False] Translation: X:8.64, Y:0.60, Z:-0.35 [[ 9.99980686e-01 5.40013008e-03 -3.07663330e-03 8.64438792e+00] [-5.40068411e-03 9.99985401e-01 -1.71796442e-04 6.04178122e-01] [ 3.07566066e-03 1.88409049e-04 9.99995252e-01 -3.50268841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329072329 meters 0.09413178233810995 Centerline is valid? [False, True] Translation: X:8.64, Y:0.61, Z:-0.35 [[ 9.99981191e-01 5.11350234e-03 -3.38680032e-03 8.64437284e+00] [-5.11634449e-03 9.99986566e-01 -8.31053154e-04 6.05666213e-01] [ 3.38250523e-03 8.48365560e-04 9.99993919e-01 -3.49177198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359072329 meters 0.09410509183555064 Centerline is valid? [True, True] Translation: X:8.67, Y:0.60, Z:-0.35 [[ 9.99966708e-01 7.50397716e-03 -3.20506463e-03 8.67304754e+00] [-7.50314245e-03 9.99971814e-01 2.72379392e-04 6.01664643e-01] [ 3.20701822e-03 -2.48322268e-04 9.99994827e-01 -3.50362034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389072328999998 meters 0.09932809277183346 Centerline is valid? [True, True] Translation: X:8.70, Y:0.59, Z:-0.35 [[ 9.99947513e-01 9.77624162e-03 -3.06547933e-03 8.70125427e+00] [-9.77548899e-03 9.99952185e-01 2.60403478e-04 5.88974299e-01] [ 3.06787852e-03 -2.30423251e-04 9.99995268e-01 -3.51832371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419072329 meters 0.0916965592769863 Centerline is valid? [True, True] Translation: X:8.73, Y:0.60, Z:-0.35 [[ 9.99910416e-01 1.32048843e-02 -2.18872598e-03 8.73293892e+00] [-1.32045085e-02 9.99912799e-01 1.86026526e-04 5.98148201e-01] [ 2.19099158e-03 -1.57108810e-04 9.99997587e-01 -3.49419099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449072329 meters 0.09213123149103694 Centerline is valid? [True, True] Translation: X:8.76, Y:0.59, Z:-0.35 [[ 9.99898049e-01 1.42678953e-02 -5.65421477e-04 8.76076217e+00] [-1.42678707e-02 9.99898208e-01 4.76152570e-05 5.93649082e-01] [ 5.66043291e-04 -3.95430420e-05 9.99999839e-01 -3.48690773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479072328999997 meters 0.09284857788620403 Centerline is valid? [True, True] Translation: X:8.79, Y:0.59, Z:-0.35 [[ 9.99900628e-01 1.40961902e-02 -1.78571792e-04 8.78877582e+00] [-1.40961878e-02 9.99900644e-01 1.47490704e-05 5.88002082e-01] [ 1.78761955e-04 -1.22304232e-05 9.99999984e-01 -3.48540733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509072329 meters 0.09351080683345993 Centerline is valid? [True, True] Translation: X:8.82, Y:0.58, Z:-0.35 [[ 9.99912401e-01 1.31943149e-02 1.04904132e-03 8.81733704e+00] [-1.31942284e-02 9.99912948e-01 -8.93745525e-05 5.81935309e-01] [-1.05012924e-03 7.55254326e-05 9.99999446e-01 -3.48600126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539072329 meters 0.09173637002020746 Centerline is valid? [True, True] Translation: X:8.85, Y:0.58, Z:-0.35 [[ 9.99938987e-01 1.09584510e-02 1.39113452e-03 8.84738735e+00] [-1.09582974e-02 9.99939949e-01 -1.17981135e-04 5.75863680e-01] [-1.39234388e-03 1.02729471e-04 9.99999025e-01 -3.49980214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569072328999997 meters 0.09778116503242228 Centerline is valid? [True, True] Translation: X:8.87, Y:0.56, Z:-0.35 [[ 9.99954843e-01 9.27069908e-03 2.08952629e-03 8.87474233e+00] [-9.27034847e-03 9.99957014e-01 -1.77418949e-04 5.59374475e-01] [-2.09108126e-03 1.58040300e-04 9.99997801e-01 -3.50686261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599072329 meters 0.09922164753555293 Centerline is valid? [True, True] Translation: X:8.90, Y:0.55, Z:-0.35 [[ 9.99970712e-01 7.47781158e-03 1.63045362e-03 8.90492625e+00] [-7.47759613e-03 9.99972033e-01 -1.38193664e-04 5.51557391e-01] [-1.63144141e-03 1.25997743e-04 9.99998661e-01 -3.51252473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629072329 meters 0.09499234777118638 Centerline is valid? [True, True] Translation: X:8.94, Y:0.55, Z:-0.35 [[ 9.99983773e-01 5.60356828e-03 1.02611248e-03 8.93588789e+00] [-5.60348197e-03 9.99984297e-01 -8.69710376e-05 5.54094370e-01] [-1.02658371e-03 8.12198236e-05 9.99999470e-01 -3.51313477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659072329 meters 0.09368559192620816 Centerline is valid? [True, True] Translation: X:8.97, Y:0.55, Z:-0.35 [[ 9.99998789e-01 1.27615158e-03 -8.90851348e-04 8.96597374e+00] [-1.27608481e-03 9.99999183e-01 7.55146824e-05 5.48283763e-01] [ 8.90946989e-04 -7.43777890e-05 9.99999600e-01 -3.52273492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689072329 meters 0.0964214870008173 Centerline is valid? [True, True] Translation: X:8.99, Y:0.54, Z:-0.35 [[ 9.99999281e-01 -1.17062441e-03 -2.58393374e-04 8.99478166e+00] [ 1.17063008e-03 9.99999315e-01 2.17873699e-05 5.37159457e-01] [ 2.58367692e-04 -2.20898373e-05 9.99999966e-01 -3.52608764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719072329 meters 0.0964214870008173 Centerline is valid? [True, True] Translation: X:9.02, Y:0.53, Z:-0.35 [[ 9.99999281e-01 -1.17062508e-03 -2.58384189e-04 9.02478470e+00] [ 1.17063078e-03 9.99999315e-01 2.18957666e-05 5.34616904e-01] [ 2.58358380e-04 -2.21982233e-05 9.99999966e-01 -3.52793834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749072329 meters 0.09852912338035932 Centerline is valid? [True, True] Translation: X:9.05, Y:0.52, Z:-0.35 [[ 9.99997114e-01 -2.29606473e-03 -7.06976781e-04 9.05408567e+00] [ 2.29610774e-03 9.99997362e-01 6.00291871e-05 5.23880481e-01] [ 7.06837085e-04 -6.16523087e-05 9.99999748e-01 -3.54092190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779072328999998 meters 0.10143437986735786 Centerline is valid? [True, False] Translation: X:9.06, Y:0.52, Z:-0.36 [[ 9.99986726e-01 -5.06283049e-03 -9.56959628e-04 9.05626628e+00] [ 5.06127547e-03 9.99985879e-01 -1.62045801e-03 5.18128549e-01] [ 9.65150219e-04 1.61559306e-03 9.99998229e-01 -3.56783039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809072329 meters 0.09891658355014255 Centerline is valid? [False, True] Translation: X:9.06, Y:0.52, Z:-0.36 [[ 9.99989607e-01 -4.45372874e-03 -9.75288968e-04 9.05687966e+00] [ 4.45330123e-03 9.99989987e-01 -4.40077295e-04 5.15270068e-01] [ 9.77239187e-04 4.35729465e-04 9.99999428e-01 -3.57849197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839072329 meters 0.10226439845417794 Centerline is valid? [True, False] Translation: X:9.06, Y:0.51, Z:-0.36 [[ 9.99992021e-01 -3.87595579e-03 -9.66551068e-04 9.05730216e+00] [ 3.87667236e-03 9.99992211e-01 7.40594324e-04 5.12219947e-01] [ 9.63673029e-04 -7.44335417e-04 9.99999259e-01 -3.58725520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869072328999998 meters 0.10301569352414773 Centerline is valid? [False, False] Translation: X:9.06, Y:0.50, Z:-0.36 [[ 9.99996628e-01 -2.37246303e-03 -1.05606862e-03 9.05863582e+00] [ 2.37654526e-03 9.99989644e-01 3.88117656e-03 5.04506942e-01] [ 1.04684974e-03 -3.88367327e-03 9.99991911e-01 -3.61046260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899072329 meters 0.10496177905397888 Centerline is valid? [False, False] Translation: X:9.06, Y:0.50, Z:-0.36 [[ 9.99997794e-01 -1.84247479e-03 -1.00894605e-03 9.05872271e+00] [ 1.84752983e-03 9.99985631e-01 5.03241704e-03 5.01281556e-01] [ 9.99659446e-04 -5.03426999e-03 9.99986828e-01 -3.61481684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929072329 meters 0.10645105028077899 Centerline is valid? [False, False] Translation: X:9.06, Y:0.50, Z:-0.36 [[ 9.99998668e-01 -1.32010454e-03 -9.60054195e-04 9.05882519e+00] [ 1.32598138e-03 9.99980230e-01 6.14671347e-03 4.98166779e-01] [ 9.51920910e-04 -6.14797830e-03 9.99980648e-01 -3.61938596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959072328999998 meters 0.10427147680756359 Centerline is valid? [False, False] Translation: X:9.06, Y:0.50, Z:-0.36 [[ 9.99986331e-01 -5.02922777e-03 -1.43015887e-03 9.06033879e+00] [ 5.03307928e-03 9.99983683e-01 2.70233551e-03 4.96533677e-01] [ 1.41654487e-03 -2.70949667e-03 9.99995326e-01 -3.62781033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989072329 meters 0.10567551901138464 Centerline is valid? [False, False] Translation: X:9.06, Y:0.49, Z:-0.36 [[ 9.99991399e-01 -3.82011424e-03 -1.61512686e-03 9.06116838e+00] [ 3.82807318e-03 9.99980403e-01 4.95371444e-03 4.90064390e-01] [ 1.59617145e-03 -4.95985466e-03 9.99986426e-01 -3.63719928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019072329 meters 0.10419726251832546 Centerline is valid? [False, False] Translation: X:9.06, Y:0.49, Z:-0.36 [[ 9.99992771e-01 -3.39018032e-03 -1.72202580e-03 9.06163884e+00] [ 3.40006669e-03 9.99977567e-01 5.77101981e-03 4.87910370e-01] [ 1.70242238e-03 -5.77683309e-03 9.99981865e-01 -3.64202433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049072328999998 meters 0.10628373551957294 Centerline is valid? [False, False] Translation: X:9.06, Y:0.49, Z:-0.36 [[ 9.99993605e-01 -3.05155054e-03 -1.86512309e-03 9.06224082e+00] [ 3.06333635e-03 9.99975151e-01 6.34920580e-03 4.86613034e-01] [ 1.84570182e-03 -6.35487869e-03 9.99978104e-01 -3.64709419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079072329 meters 0.10319924526742666 Centerline is valid? [False, False] Translation: X:9.06, Y:0.49, Z:-0.36 [[ 9.99993487e-01 -3.00947018e-03 -1.99206420e-03 9.06241783e+00] [ 3.02225419e-03 9.99974658e-01 6.44587226e-03 4.86282955e-01] [ 1.97261506e-03 -6.45185080e-03 9.99977241e-01 -3.64592442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109072329 meters 0.1013663738239541 Centerline is valid? [False, False] Translation: X:9.06, Y:0.49, Z:-0.36 [[ 9.99993181e-01 -2.79200532e-03 -2.41725835e-03 9.06325787e+00] [ 2.80823251e-03 9.99973370e-01 6.73589233e-03 4.85671250e-01] [ 2.39838733e-03 -6.74263462e-03 9.99974392e-01 -3.64614258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139072328999998 meters 0.10133068509086199 Centerline is valid? [False, False] Translation: X:9.06, Y:0.49, Z:-0.37 [[ 9.99993032e-01 -2.62838799e-03 -2.65080366e-03 9.06401125e+00] [ 2.64672944e-03 9.99972418e-01 6.93959620e-03 4.85413293e-01] [ 2.63249059e-03 -6.94656381e-03 9.99972407e-01 -3.65093047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169072329 meters 0.09605248379648958 Centerline is valid? [False, True] Translation: X:9.06, Y:0.49, Z:-0.37 [[ 9.99992886e-01 -2.43952156e-03 -2.87701014e-03 9.06481850e+00] [ 2.46015727e-03 9.99971118e-01 7.19103028e-03 4.85077929e-01] [ 2.85938437e-03 -7.19805701e-03 9.99970005e-01 -3.65682643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199072329 meters 0.09894586379297349 Centerline is valid? [True, True] Translation: X:9.09, Y:0.48, Z:-0.37 [[ 9.99980213e-01 2.10355018e-03 -5.92864766e-03 9.09345051e+00] [-2.10082051e-03 9.99997684e-01 4.66610402e-04 4.81149357e-01] [ 5.92961547e-03 -4.54146144e-04 9.99982317e-01 -3.70768199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229072328999997 meters 0.09485494556929418 Centerline is valid? [True, True] Translation: X:9.12, Y:0.49, Z:-0.37 [[ 9.99978684e-01 3.07690162e-03 -5.75878309e-03 9.12301725e+00] [-3.07435149e-03 9.99995172e-01 4.51623804e-04 4.86653276e-01] [ 5.76014489e-03 -4.33909654e-04 9.99983316e-01 -3.68634803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259072329 meters 0.09355233367423188 Centerline is valid? [True, True] Translation: X:9.15, Y:0.49, Z:-0.37 [[ 9.99977837e-01 4.72799545e-03 -4.68734393e-03 9.15340886e+00] [-4.72632364e-03 9.99988763e-01 3.67676570e-04 4.87271031e-01] [ 4.68902964e-03 -3.45514517e-04 9.99988947e-01 -3.67832438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289072329 meters 0.09374951890580997 Centerline is valid? [True, True] Translation: X:9.18, Y:0.49, Z:-0.37 [[ 9.99976256e-01 5.91321272e-03 -3.53843322e-03 9.18199747e+00] [-5.91226809e-03 9.99982484e-01 2.77363077e-04 4.85205546e-01] [ 3.54001135e-03 -2.56436325e-04 9.99993701e-01 -3.68063750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319072328999997 meters 0.0930859562934846 Centerline is valid? [True, True] Translation: X:9.21, Y:0.49, Z:-0.37 [[ 9.99967114e-01 7.91864615e-03 -1.75074807e-03 9.21180637e+00] [-7.91841877e-03 9.99968639e-01 1.36767443e-04 4.87465089e-01] [ 1.75177617e-03 -1.22899789e-04 9.99998458e-01 -3.67840258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349072329 meters 0.09920579693909062 Centerline is valid? [True, True] Translation: X:9.24, Y:0.48, Z:-0.37 [[ 9.99962117e-01 8.26190406e-03 -2.73974219e-03 9.23907016e+00] [-8.26135129e-03 9.99965852e-01 2.13016580e-04 4.77058828e-01] [ 2.74140856e-03 -1.90374537e-04 9.99996224e-01 -3.72254892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379072329 meters 0.09354194842384705 Centerline is valid? [True, True] Translation: X:9.27, Y:0.49, Z:-0.37 [[ 9.99958063e-01 8.18366923e-03 -4.11092494e-03 9.26882034e+00] [-8.18241917e-03 9.99966472e-01 3.20809277e-04 4.89264917e-01] [ 4.11341251e-03 -2.87158512e-04 9.99991499e-01 -3.69581431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409072329 meters 0.09880891182086486 Centerline is valid? [True, True] Translation: X:9.30, Y:0.48, Z:-0.38 [[ 9.99962588e-01 5.53455922e-03 -6.64767822e-03 9.29762708e+00] [-5.53121832e-03 9.99984567e-01 5.20846463e-04 4.84441623e-01] [ 6.65045828e-03 -4.84057217e-04 9.99977768e-01 -3.75666258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439072329 meters 0.10077059958114024 Centerline is valid? [True, False] Translation: X:9.30, Y:0.49, Z:-0.38 [[ 9.99963095e-01 3.78943354e-03 -7.71024772e-03 9.30265054e+00] [-3.79982072e-03 9.99991892e-01 -1.33298814e-03 4.86495341e-01] [ 7.70513394e-03 1.36223651e-03 9.99969387e-01 -3.79671691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469072329 meters 0.10145727449711554 Centerline is valid? [False, False] Translation: X:9.30, Y:0.49, Z:-0.38 [[ 9.99965008e-01 3.38585083e-03 -7.64981698e-03 9.30233131e+00] [-3.40195354e-03 9.99992023e-01 -2.09294994e-03 4.88422743e-01] [ 7.64266954e-03 2.11890102e-03 9.99968549e-01 -3.79310638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499072329 meters 0.10444239798834086 Centerline is valid? [False, False] Translation: X:9.30, Y:0.49, Z:-0.38 [[ 9.99970419e-01 2.21779145e-03 -7.36493745e-03 9.30137383e+00] [-2.24877067e-03 9.99988649e-01 -4.20069730e-03 4.94030740e-01] [ 7.35553757e-03 4.21713509e-03 9.99964055e-01 -3.78480163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529072328999998 meters 0.0999554098281282 Centerline is valid? [False, True] Translation: X:9.30, Y:0.50, Z:-0.38 [[ 9.99972832e-01 1.51044609e-03 -7.21477212e-03 9.30105310e+00] [-1.55074755e-03 9.99983209e-01 -5.58363937e-03 4.98060357e-01] [ 7.20621719e-03 5.59467597e-03 9.99958384e-01 -3.78211842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559072329 meters 0.10346721661273406 Centerline is valid? [True, False] Translation: X:9.31, Y:0.50, Z:-0.38 [[ 9.99996423e-01 -2.66383428e-03 -2.38916465e-04 9.31017847e+00] [ 2.66408999e-03 9.99995872e-01 1.07642776e-03 5.01018949e-01] [ 2.36048054e-04 -1.07706041e-03 9.99999392e-01 -3.81465304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589072329 meters 0.10145840793287765 Centerline is valid? [False, False] Translation: X:9.31, Y:0.51, Z:-0.38 [[ 9.99993188e-01 -3.68810914e-03 -1.48139847e-04 9.30976703e+00] [ 3.68797556e-03 9.99992801e-01 -8.92068502e-04 5.06574870e-01] [ 1.51428827e-04 8.91516090e-04 9.99999591e-01 -3.80850256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619072328999998 meters 0.10585802362697183 Centerline is valid? [False, False] Translation: X:9.31, Y:0.52, Z:-0.38 [[ 9.99999119e-01 -1.25859460e-03 4.22095774e-04 9.30885711e+00] [ 1.25856082e-03 9.99999205e-01 8.02789243e-05 5.15823777e-01] [-4.22196477e-04 -7.97476204e-05 9.99999908e-01 -3.80897310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649072329 meters 0.10449071654321818 Centerline is valid? [False, False] Translation: X:9.31, Y:0.52, Z:-0.38 [[ 9.99997868e-01 -2.05211503e-03 2.31948054e-04 9.30957334e+00] [ 2.05252675e-03 9.99996293e-01 -1.78896444e-03 5.21692900e-01] [-2.28276033e-04 1.78943670e-03 9.99998373e-01 -3.81141509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679072329 meters 0.1031483861767536 Centerline is valid? [False, False] Translation: X:9.31, Y:0.53, Z:-0.38 [[ 9.99998900e-01 1.43363875e-03 3.79258306e-04 9.30926240e+00] [-1.43395313e-03 9.99998627e-01 8.29971706e-04 5.26411402e-01] [-3.78067906e-04 -8.30514632e-04 9.99999584e-01 -3.80911668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709072328999998 meters 0.10201968638120495 Centerline is valid? [False, False] Translation: X:9.31, Y:0.53, Z:-0.38 [[ 9.99999906e-01 4.34011938e-04 2.43173515e-05 9.30995973e+00] [-4.33971240e-04 9.99998546e-01 -1.64934737e-03 5.34373355e-01] [-2.50331526e-05 1.64933666e-03 9.99998640e-01 -3.80491607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739072329 meters 0.10311596344645675 Centerline is valid? [False, False] Translation: X:9.31, Y:0.56, Z:-0.38 [[ 9.99995107e-01 2.82479961e-03 -1.34369527e-03 9.31281399e+00] [-2.83137442e-03 9.99983905e-01 -4.91661198e-03 5.55144365e-01] [ 1.32978520e-03 4.92039243e-03 9.99987011e-01 -3.76724765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769072329 meters 0.09892839485829096 Centerline is valid? [False, True] Translation: X:9.31, Y:0.56, Z:-0.38 [[ 9.99984326e-01 5.42416992e-03 -1.38766777e-03 9.31244378e+00] [-5.42997980e-03 9.99976362e-01 -4.21786106e-03 5.64983452e-01] [ 1.36475657e-03 4.22532995e-03 9.99990142e-01 -3.75277842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799072328999998 meters 0.10261277186271948 Centerline is valid? [True, False] Translation: X:9.31, Y:0.58, Z:-0.37 [[ 9.99966046e-01 8.09051063e-03 -1.56515173e-03 9.31255433e+00] [-8.09598883e-03 9.99961010e-01 -3.52602293e-03 5.75032194e-01] [ 1.53656338e-03 3.53857466e-03 9.99992559e-01 -3.74218482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829072329 meters 0.09543403322864073 Centerline is valid? [False, True] Translation: X:9.32, Y:0.60, Z:-0.37 [[ 9.99884106e-01 1.47566537e-02 -3.74383281e-03 9.31782060e+00] [-1.47697372e-02 9.99884826e-01 -3.49142771e-03 5.96008026e-01] [ 3.69187983e-03 3.54631850e-03 9.99986897e-01 -3.73030896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859072329 meters 0.09484662725492833 Centerline is valid? [True, True] Translation: X:9.35, Y:0.60, Z:-0.38 [[ 9.99841198e-01 1.74486406e-02 -3.62260240e-03 9.34749228e+00] [-1.74475705e-02 9.99847726e-01 3.26774258e-04 6.02243428e-01] [ 3.62775253e-03 -2.63516754e-04 9.99993385e-01 -3.76288970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889072328999998 meters 0.09033675263905955 Centerline is valid? [True, True] Translation: X:9.38, Y:0.62, Z:-0.38 [[ 9.99803065e-01 1.94840728e-02 -3.76867780e-03 9.37928139e+00] [-1.94829280e-02 9.99810132e-01 3.40248356e-04 6.18609639e-01] [ 3.77459167e-03 -2.66756471e-04 9.99992841e-01 -3.75429582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919072329 meters 0.08797838302336657 Centerline is valid? [True, True] Translation: X:9.41, Y:0.63, Z:-0.37 [[ 9.99768423e-01 2.12717541e-02 -3.25777442e-03 9.41067782e+00] [-2.12709085e-02 9.99773705e-01 2.94004704e-04 6.31939678e-01] [ 3.26329120e-03 -2.24640797e-04 9.99994650e-01 -3.74243254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949072329 meters 0.08618512280683847 Centerline is valid? [True, True] Translation: X:9.44, Y:0.66, Z:-0.37 [[ 9.99692504e-01 2.47663460e-02 -1.23495064e-03 9.44325098e+00] [-2.47662271e-02 9.99693264e-01 1.11516166e-04 6.57132884e-01] [ 1.23733368e-03 -8.08968070e-05 9.99999231e-01 -3.72341952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979072328999997 meters 0.08518657398540766 Centerline is valid? [True, True] Translation: X:9.47, Y:0.67, Z:-0.37 [[ 9.99648279e-01 2.65179667e-02 3.40284724e-04 9.47445922e+00] [-2.65179576e-02 9.99648337e-01 -3.11138335e-05 6.68511912e-01] [-3.40990134e-04 2.20792342e-05 9.99999942e-01 -3.71672991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009072329 meters 0.08537888144863538 Centerline is valid? [True, True] Translation: X:9.50, Y:0.68, Z:-0.37 [[ 9.99608833e-01 2.79413494e-02 1.20952353e-03 9.50311163e+00] [-2.79412355e-02 9.99609561e-01 -1.11004782e-04 6.77205311e-01] [-1.21215291e-03 7.71657785e-05 9.99999262e-01 -3.72012423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039072329 meters 0.08331731612114088 Centerline is valid? [True, True] Translation: X:9.53, Y:0.70, Z:-0.37 [[ 9.99538607e-01 3.03578755e-02 -9.86045634e-04 9.53432957e+00] [-3.03578040e-02 9.99539092e-01 8.74303385e-05 7.02062469e-01] [ 9.88245357e-04 -5.74558187e-05 9.99999510e-01 -3.74436345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069072328999997 meters 0.08414785307229766 Centerline is valid? [True, True] Translation: X:9.56, Y:0.71, Z:-0.38 [[ 9.99521624e-01 3.08188210e-02 -2.59289582e-03 9.56243815e+00] [-3.08183254e-02 9.99524976e-01 2.30902522e-04 7.09844102e-01] [ 2.59878028e-03 -1.50883357e-04 9.99996612e-01 -3.78056449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099072329 meters 0.08401823345416272 Centerline is valid? [True, True] Translation: X:9.59, Y:0.72, Z:-0.38 [[ 9.99476634e-01 3.22301265e-02 -2.77059871e-03 9.59253695e+00] [-3.22295629e-02 9.99480462e-01 2.47855814e-04 7.20729920e-01] [ 2.77714770e-03 -1.58430909e-04 9.99996131e-01 -3.81027920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129072329 meters 0.08202119231681887 Centerline is valid? [True, True] Translation: X:9.62, Y:0.74, Z:-0.38 [[ 9.99473413e-01 3.24357983e-02 -9.03333596e-04 9.62329905e+00] [-3.24357395e-02 9.99473820e-01 7.97244864e-05 7.37641016e-01] [ 9.05444207e-04 -5.03822114e-05 9.99999589e-01 -3.81364036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159072329 meters 0.0804461678870891 Centerline is valid? [True, True] Translation: X:9.66, Y:0.77, Z:-0.38 [[ 9.99363885e-01 3.55167649e-02 3.22267815e-03 9.65606903e+00] [-3.55160140e-02 9.99369065e-01 -2.89950843e-04 7.66640480e-01] [-3.23094297e-03 1.75309718e-04 9.99994765e-01 -3.80752738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189072329 meters 0.08039697936516121 Centerline is valid? [True, True] Translation: X:9.69, Y:0.78, Z:-0.38 [[ 9.99266710e-01 3.78674642e-02 5.66539853e-03 9.68743968e+00] [-3.78651798e-02 9.99282727e-01 -5.09975327e-04 7.77411422e-01] [-5.68064636e-03 2.95080034e-04 9.99983821e-01 -3.80924730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219072329 meters 0.08087403229008241 Centerline is valid? [True, True] Translation: X:9.72, Y:0.79, Z:-0.38 [[ 9.99180221e-01 3.98716468e-02 7.00978262e-03 9.71664946e+00] [-3.98682018e-02 9.99204748e-01 -6.30573379e-04 7.86017469e-01] [-7.02935008e-03 3.50589021e-04 9.99975232e-01 -3.82111440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249072329 meters 0.07947170949713533 Centerline is valid? [True, True] Translation: X:9.75, Y:0.81, Z:-0.38 [[ 9.99013545e-01 4.39100081e-02 6.62183053e-03 9.74847902e+00] [-4.39070259e-02 9.99035444e-01 -5.95127788e-04 8.11037235e-01] [-6.64157547e-03 3.03795836e-04 9.99977898e-01 -3.82634827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279072328999998 meters 0.07927524241469242 Centerline is valid? [True, True] Translation: X:9.78, Y:0.82, Z:-0.39 [[ 9.98959214e-01 4.52479098e-02 5.75454242e-03 9.77807586e+00] [-4.52456623e-02 9.98975755e-01 -5.20224236e-04 8.21563062e-01] [-5.77218742e-03 2.59314711e-04 9.99983307e-01 -3.85447955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309072329 meters 0.07969243095897624 Centerline is valid? [True, True] Translation: X:9.81, Y:0.83, Z:-0.39 [[ 9.98924530e-01 4.62544436e-02 3.21077303e-03 9.80710898e+00] [-4.62537512e-02 9.98929681e-01 -2.89617579e-04 8.30445064e-01] [-3.22073257e-03 1.40795808e-04 9.99994804e-01 -3.87991249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339072329 meters 0.07988647910823482 Centerline is valid? [True, True] Translation: X:9.84, Y:0.84, Z:-0.39 [[ 9.98907320e-01 4.66706362e-02 2.45321029e-03 9.83651134e+00] [-4.66702273e-02 9.98910326e-01 -2.23682236e-04 8.39547518e-01] [-2.46097648e-03 1.08945941e-04 9.99996966e-01 -3.89736590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369072328999998 meters 0.0802374603065804 Centerline is valid? [True, True] Translation: X:9.87, Y:0.86, Z:-0.39 [[ 9.98839262e-01 4.79394415e-02 4.68387001e-03 9.86698497e+00] [-4.79380045e-02 9.98850225e-01 -4.18645386e-04 8.58586324e-01] [-4.69855424e-03 1.93624067e-04 9.99988943e-01 -3.89685151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399072329 meters 0.08042033014645049 Centerline is valid? [True, True] Translation: X:9.90, Y:0.87, Z:-0.39 [[ 9.98859141e-01 4.74118246e-02 5.70397065e-03 9.89564675e+00] [-4.74096713e-02 9.98875398e-01 -5.12191486e-04 8.66277977e-01] [-5.72183988e-03 2.41183774e-04 9.99983601e-01 -3.91024168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429072329 meters 0.08031808279008701 Centerline is valid? [True, True] Translation: X:9.93, Y:0.88, Z:-0.39 [[ 9.98735132e-01 4.97160866e-02 7.51311819e-03 9.92653919e+00] [-4.97124688e-02 9.98763348e-01 -6.67637534e-04 8.84794230e-01] [-7.53701940e-03 2.93297407e-04 9.99971553e-01 -3.92700463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459072328999998 meters 0.07914061520708601 Centerline is valid? [True, True] Translation: X:9.96, Y:0.90, Z:-0.39 [[ 9.98706890e-01 5.02175579e-02 7.92118910e-03 9.95637323e+00] [-5.02135333e-02 9.98738255e-01 -7.06258901e-04 8.97327922e-01] [-7.94666117e-03 3.07594738e-04 9.99968377e-01 -3.92496813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489072329 meters 0.07965833536707026 Centerline is valid? [True, True] Translation: X:9.98, Y:0.90, Z:-0.39 [[ 9.98645879e-01 5.13084454e-02 8.59375972e-03 9.98455026e+00] [-5.13037827e-02 9.98682803e-01 -7.62290559e-04 9.04190965e-01] [-8.62155199e-03 3.20365944e-04 9.99962782e-01 -3.93633768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519072329 meters 0.07980213559449864 Centerline is valid? [True, True] Translation: X:10.01, Y:0.91, Z:-0.39 [[ 9.98617111e-01 5.17543556e-02 9.23858203e-03 1.00132038e+01] [-5.17490033e-02 9.98659788e-01 -8.17617029e-04 9.11914415e-01] [-9.26851561e-03 3.38398943e-04 9.99956989e-01 -3.94038342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549072328999998 meters 0.07987748888222906 Centerline is valid? [True, True] Translation: X:10.04, Y:0.92, Z:-0.39 [[ 9.98597842e-01 5.19525249e-02 1.01628973e-02 1.00415732e+01] [-5.19460687e-02 9.98649487e-01 -8.98392772e-04 9.19046395e-01] [-1.01958459e-02 3.69210524e-04 9.99947953e-01 -3.92975303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579072329 meters 0.07955276024000696 Centerline is valid? [True, True] Translation: X:10.07, Y:0.94, Z:-0.39 [[ 9.98519421e-01 5.22040027e-02 1.52875117e-02 1.00717228e+01] [-5.21894428e-02 9.98636290e-01 -1.35008106e-03 9.37410017e-01] [-1.53371436e-02 5.50235443e-04 9.99882228e-01 -3.88090994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609072329 meters 0.0797200994782296 Centerline is valid? [True, True] Translation: X:10.10, Y:0.94, Z:-0.39 [[ 9.98525207e-01 5.17267002e-02 1.64851054e-02 1.01002185e+01] [-5.17097718e-02 9.98661100e-01 -1.45177172e-03 9.44344188e-01] [-1.65381288e-02 5.97189623e-04 9.99863057e-01 -3.87419707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639072328999998 meters 0.0797200994782296 Centerline is valid? [True, True] Translation: X:10.13, Y:0.94, Z:-0.39 [[ 9.98538724e-01 5.14649852e-02 1.64854846e-02 1.01274240e+01] [-5.14480925e-02 9.98674621e-01 -1.44745146e-03 9.42160758e-01] [-1.65381281e-02 5.97189598e-04 9.99863057e-01 -3.87988060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669072329 meters 0.08061531925054363 Centerline is valid? [True, True] Translation: X:10.16, Y:0.95, Z:-0.39 [[ 9.98591914e-01 5.03018946e-02 1.68496198e-02 1.01561531e+01] [-5.02841707e-02 9.98733863e-01 -1.47417209e-03 9.47515286e-01] [-1.69024395e-02 6.24827171e-04 9.99856948e-01 -3.88341665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699072329 meters 0.08179370999812023 Centerline is valid? [True, True] Translation: X:10.19, Y:0.96, Z:-0.39 [[ 9.98679930e-01 4.85209263e-02 1.68557475e-02 1.01852822e+01] [-4.85029596e-02 9.98821952e-01 -1.47332454e-03 9.61415697e-01] [-1.69073777e-02 6.53826008e-04 9.99856846e-01 -3.90587769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729072328999997 meters 0.0828563748256238 Centerline is valid? [True, True] Translation: X:10.21, Y:0.97, Z:-0.39 [[ 9.98723750e-01 4.71179779e-02 1.81869882e-02 1.02131340e+01] [-4.70968576e-02 9.98889065e-01 -1.58808896e-03 9.65157423e-01] [-1.82416112e-02 7.29512164e-04 9.99833342e-01 -3.92096788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759072329 meters 0.08354717398264368 Centerline is valid? [True, True] Translation: X:10.24, Y:0.97, Z:-0.39 [[ 9.98785283e-01 4.60718210e-02 1.74741412e-02 1.02411726e+01] [-4.60521876e-02 9.98937872e-01 -1.52451309e-03 9.70581619e-01] [-1.75258185e-02 7.17938806e-04 9.99846153e-01 -3.93594103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789072329 meters 0.07549941833291324 Centerline is valid? [True, True] Translation: X:10.28, Y:1.02, Z:-0.39 [[ 9.97781168e-01 6.39699888e-02 1.84548358e-02 1.02756095e+01] [-6.39511761e-02 9.97951732e-01 -1.60835724e-03 1.01666661e+00] [-1.85199219e-02 4.24580118e-04 9.99828401e-01 -3.90274060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819072328999997 meters 0.07333548340220176 Centerline is valid? [True, True] Translation: X:10.31, Y:1.04, Z:-0.39 [[ 9.97171907e-01 7.30679784e-02 1.75857305e-02 1.03074570e+01] [-7.30523063e-02 9.97326933e-01 -1.53278390e-03 1.03608164e+00] [-1.76507201e-02 2.43770874e-04 9.99844184e-01 -3.89785445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849072329 meters 0.07267964111180698 Centerline is valid? [True, True] Translation: X:10.34, Y:1.04, Z:-0.39 [[ 9.96911677e-01 7.65182545e-02 1.76653392e-02 1.03369213e+01] [-7.65029756e-02 9.97068164e-01 -1.54006158e-03 1.04309712e+00] [-1.77313901e-02 1.83854359e-04 9.99842770e-01 -3.91168577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879072329 meters 0.07312063003978367 Centerline is valid? [True, True] Translation: X:10.36, Y:1.04, Z:-0.39 [[ 9.97098076e-01 7.38574659e-02 1.84526603e-02 1.03645303e+01] [-7.38404291e-02 9.97268780e-01 -1.60383578e-03 1.03697034e+00] [-1.85207173e-02 2.36629219e-04 9.99828449e-01 -3.87327043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909072329 meters 0.07321745461154121 Centerline is valid? [True, True] Translation: X:10.39, Y:1.03, Z:-0.39 [[ 9.97188194e-01 7.20333701e-02 2.06615300e-02 1.03928594e+01] [-7.20116585e-02 9.97402177e-01 -1.79388823e-03 1.02972734e+00] [-2.07370749e-02 3.00973116e-04 9.99784918e-01 -3.89309550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939072329 meters 0.07351749092035524 Centerline is valid? [True, True] Translation: X:10.42, Y:1.02, Z:-0.39 [[ 9.97070020e-01 7.33476039e-02 2.17141683e-02 1.04198797e+01] [-7.33240477e-02 9.97306397e-01 -1.88010088e-03 1.02254991e+00] [-2.17935798e-02 2.82421507e-04 9.99762452e-01 -3.94135113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969072329 meters 0.07365991705188309 Centerline is valid? [True, True] Translation: X:10.45, Y:1.02, Z:-0.40 [[ 9.96940044e-01 7.48135792e-02 2.26600472e-02 1.04482870e+01] [-7.47883558e-02 9.97197504e-01 -1.95973370e-03 1.01669351e+00] [-2.27431572e-02 2.59029323e-04 9.99741307e-01 -3.99896816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999072329 meters 0.07371632730372679 Centerline is valid? [True, True] Translation: X:10.48, Y:1.01, Z:-0.40 [[ 9.96996797e-01 7.39452704e-02 2.30105299e-02 1.04761603e+01] [-7.39191542e-02 9.97262262e-01 -1.98464560e-03 1.01044277e+00] [-2.30942883e-02 2.77766396e-04 9.99733253e-01 -4.01769183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029072328999995 meters 0.07373028571329417 Centerline is valid? [True, True] Translation: X:10.50, Y:1.01, Z:-0.40 [[ 9.96976750e-01 7.38686606e-02 2.40994046e-02 1.05036700e+01] [-7.38401207e-02 9.97267937e-01 -2.07321307e-03 1.00790213e+00] [-2.41867090e-02 2.87442288e-04 9.99707417e-01 -3.98349036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059072328999996 meters 0.07338856302684255 Centerline is valid? [True, True] Translation: X:10.53, Y:1.01, Z:-0.39 [[ 9.97012333e-01 7.31892890e-02 2.46928280e-02 1.05329494e+01] [-7.31591840e-02 9.97318020e-01 -2.12158908e-03 1.01057734e+00] [-2.47818799e-02 3.08743329e-04 9.99692834e-01 -3.94898470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089072329 meters 0.07260476716915673 Centerline is valid? [True, True] Translation: X:10.56, Y:1.02, Z:-0.39 [[ 9.96827185e-01 7.52547229e-02 2.59285423e-02 1.05628493e+01] [-7.52223866e-02 9.97164308e-01 -2.22163712e-03 1.01853558e+00] [-2.60222056e-02 2.64181447e-04 9.99661330e-01 -3.89800801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119072329 meters 0.07245687545513842 Centerline is valid? [True, True] Translation: X:10.59, Y:1.02, Z:-0.39 [[ 9.96723248e-01 7.65778323e-02 2.60499957e-02 1.05910105e+01] [-7.65458052e-02 9.97063581e-01 -2.22587888e-03 1.01818378e+00] [-2.61439550e-02 2.24567333e-04 9.99658163e-01 -3.90246983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14907232899999 meters 0.07247017396187252 Centerline is valid? [True, True] Translation: X:10.62, Y:1.01, Z:-0.39 [[ 9.96708186e-01 7.65625193e-02 2.66640688e-02 1.06178503e+01] [-7.65291097e-02 9.97064757e-01 -2.27270704e-03 1.01450169e+00] [-2.67598075e-02 2.24648263e-04 9.99641867e-01 -3.91741638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17907232899999 meters 0.07277825093785015 Centerline is valid? [True, True] Translation: X:10.65, Y:1.01, Z:-0.39 [[ 9.96589711e-01 7.71635642e-02 2.92358023e-02 1.06456884e+01] [-7.71237911e-02 9.97018422e-01 -2.48730464e-03 1.00846871e+00] [-2.93405628e-02 2.24046304e-04 9.99569448e-01 -3.94401226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209072328999994 meters 0.07282285704639094 Centerline is valid? [True, True] Translation: X:10.67, Y:1.01, Z:-0.39 [[ 9.96516909e-01 7.73548223e-02 3.11493395e-02 1.06739035e+01] [-7.73099993e-02 9.97003601e-01 -2.64258715e-03 1.00510186e+00] [-3.12604205e-02 2.25227366e-04 9.99511248e-01 -3.94206835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239072328999995 meters 0.07290985241467886 Centerline is valid? [True, True] Translation: X:10.70, Y:1.00, Z:-0.39 [[ 9.96450187e-01 7.73036719e-02 3.33341840e-02 1.07019755e+01] [-7.72525794e-02 9.97007566e-01 -2.81988578e-03 1.00191113e+00] [-3.34524212e-02 2.34724017e-04 9.99440284e-01 -3.93408776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269072329 meters 0.07281178709018465 Centerline is valid? [True, True] Translation: X:10.73, Y:1.00, Z:-0.39 [[ 9.96344025e-01 7.78863679e-02 3.51041066e-02 1.07308556e+01] [-7.78303612e-02 9.96962219e-01 -2.96121506e-03 1.00002192e+00] [-3.52281063e-02 2.18223632e-04 9.99379274e-01 -3.93135080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299072329 meters 0.07271050580152709 Centerline is valid? [True, True] Translation: X:10.76, Y:1.00, Z:-0.39 [[ 9.96282446e-01 7.78753145e-02 3.68337189e-02 1.07593710e+01] [-7.78139704e-02 9.96963082e-01 -3.09826747e-03 9.98730137e-01] [-3.69631365e-02 2.20571585e-04 9.99316605e-01 -3.91421145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329072329 meters 0.07272911835611386 Centerline is valid? [True, True] Translation: X:10.79, Y:1.00, Z:-0.39 [[ 9.96222893e-01 7.78673950e-02 3.84267722e-02 1.07885010e+01] [-7.78009788e-02 9.96963700e-01 -3.22301691e-03 9.98199730e-01] [-3.85610650e-02 2.21202735e-04 9.99256221e-01 -3.88935463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35907232899999 meters 0.07276836855717395 Centerline is valid? [True, True] Translation: X:10.82, Y:1.00, Z:-0.39 [[ 9.96061153e-01 7.94078515e-02 3.94534337e-02 1.08171043e+01] [-7.93394190e-02 9.96842198e-01 -3.29969048e-03 9.98098123e-01] [-3.95908689e-02 1.56480995e-04 9.99215962e-01 -3.89301550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389072328999994 meters 0.0731517933184973 Centerline is valid? [True, True] Translation: X:10.84, Y:1.00, Z:-0.39 [[ 9.95865204e-01 8.11093674e-02 4.09116899e-02 1.08445397e+01] [-8.10374912e-02 9.96705204e-01 -3.41493718e-03 9.95809127e-01] [-4.10538776e-02 8.54364011e-05 9.99156931e-01 -3.88961821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419072328999995 meters 0.07317550462633704 Centerline is valid? [True, True] Translation: X:10.87, Y:0.99, Z:-0.39 [[ 9.95682936e-01 8.22055966e-02 4.31013985e-02 1.08733675e+01] [-8.21271496e-02 9.96615392e-01 -3.59063517e-03 9.94494240e-01] [-4.32506875e-02 3.53391644e-05 9.99064251e-01 -3.89772660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449072328999996 meters 0.07343714379227137 Centerline is valid? [True, True] Translation: X:10.90, Y:0.99, Z:-0.39 [[ 9.95532593e-01 8.31611859e-02 4.47109935e-02 1.09015861e+01] [-8.30780450e-02 9.96536109e-01 -3.71772238e-03 9.93392968e-01] [-4.48652898e-02 -1.33881361e-05 9.98993046e-01 -3.88615125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479072329 meters 0.07340811336746525 Centerline is valid? [True, True] Translation: X:10.93, Y:0.99, Z:-0.39 [[ 9.95445535e-01 8.33771476e-02 4.62216184e-02 1.09304795e+01] [-8.32888854e-02 9.96518063e-01 -3.83553461e-03 9.91489811e-01] [-4.63804736e-02 -3.16812723e-05 9.98923846e-01 -3.88760042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509072329 meters 0.07333409101724822 Centerline is valid? [True, True] Translation: X:10.96, Y:0.99, Z:-0.39 [[ 9.95407231e-01 8.31193576e-02 4.74933353e-02 1.09587635e+01] [-8.30264213e-02 9.96539599e-01 -3.92962844e-03 9.88395758e-01] [-4.76556175e-02 -3.16210985e-05 9.98863825e-01 -3.90561489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53907232899999 meters 0.07376675548201475 Centerline is valid? [True, True] Translation: X:10.99, Y:0.99, Z:-0.39 [[ 9.95343131e-01 8.34079738e-02 4.83235044e-02 1.09868057e+01] [-8.33124567e-02 9.96515483e-01 -3.99093088e-03 9.86238913e-01] [-4.84879958e-02 -5.36042315e-05 9.98823764e-01 -3.89017474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569072328999994 meters 0.0740618164147447 Centerline is valid? [True, True] Translation: X:11.01, Y:0.98, Z:-0.39 [[ 9.95174399e-01 8.46814266e-02 4.95678562e-02 1.10148034e+01] [-8.45827094e-02 9.96408069e-01 -4.08954275e-03 9.84892732e-01] [-4.97361202e-02 -1.22775331e-04 9.98762386e-01 -3.88413057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599072328999995 meters 0.07384443083655255 Centerline is valid? [True, True] Translation: X:11.04, Y:0.98, Z:-0.39 [[ 9.95158915e-01 8.44360635e-02 5.02920010e-02 1.10432766e+01] [-8.43345756e-02 9.96428892e-01 -4.14038829e-03 9.81960928e-01] [-5.04620009e-02 -1.21010245e-04 9.98725974e-01 -3.92718831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629072328999996 meters 0.0746416342255258 Centerline is valid? [True, True] Translation: X:11.07, Y:0.98, Z:-0.39 [[ 9.95106953e-01 8.41114640e-02 5.18402764e-02 1.10708472e+01] [-8.40035944e-02 9.96456345e-01 -4.26003159e-03 9.78657488e-01] [-5.20148899e-02 -1.15582501e-04 9.98646303e-01 -3.88473475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659072329 meters 0.0744814503246774 Centerline is valid? [True, True] Translation: X:11.10, Y:0.98, Z:-0.39 [[ 9.95082883e-01 8.43388893e-02 5.19327295e-02 1.10982932e+01] [-8.42314810e-02 9.96437119e-01 -4.25733507e-03 9.77472784e-01] [-5.21067583e-02 -1.37969461e-04 9.98641511e-01 -3.90412619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689072329 meters 0.07449080935099965 Centerline is valid? [True, True] Translation: X:11.13, Y:0.98, Z:-0.39 [[ 9.95069954e-01 8.42675399e-02 5.22950217e-02 1.11265337e+01] [-8.41589660e-02 9.96443155e-01 -4.27870409e-03 9.76215453e-01] [-5.24695723e-02 -1.43485078e-04 9.98622513e-01 -3.90671545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71907232899999 meters 0.07499484478165064 Centerline is valid? [True, True] Translation: X:11.15, Y:0.98, Z:-0.39 [[ 9.94996232e-01 8.54549678e-02 5.17682031e-02 1.11540954e+01] [-8.53504042e-02 9.96342012e-01 -4.23124618e-03 9.75278493e-01] [-5.19404167e-02 -2.08363051e-04 9.98650164e-01 -3.91131153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.74907232899999 meters 0.07515869736710555 Centerline is valid? [True, True] Translation: X:11.18, Y:0.97, Z:-0.40 [[ 9.94983338e-01 8.58983633e-02 5.12798977e-02 1.11820151e+01] [-8.57968139e-02 9.96303877e-01 -4.18238067e-03 9.71078855e-01] [-5.14496205e-02 -2.38252756e-04 9.98675563e-01 -3.96522639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779072328999995 meters 0.07546017060443146 Centerline is valid? [True, True] Translation: X:11.21, Y:0.97, Z:-0.40 [[ 9.94967688e-01 8.58385782e-02 5.16820962e-02 1.12101371e+01] [-8.57359868e-02 9.96309027e-01 -4.20288230e-03 9.65670566e-01] [-5.18521084e-02 -2.49283428e-04 9.98654743e-01 -4.00209181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809072328999996 meters 0.07564996449944222 Centerline is valid? [True, True] Translation: X:11.24, Y:0.96, Z:-0.40 [[ 9.95045434e-01 8.54798220e-02 5.07718898e-02 1.12378027e+01] [-8.53807859e-02 9.96339874e-01 -4.12027112e-03 9.60532009e-01] [-5.09382584e-02 -2.35086896e-04 9.98701777e-01 -4.02948129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839072329 meters 0.0758630680553627 Centerline is valid? [True, True] Translation: X:11.27, Y:0.96, Z:-0.40 [[ 9.95054837e-01 8.52414528e-02 5.09878977e-02 1.12653217e+01] [-8.51415212e-02 9.96360297e-01 -4.13268108e-03 9.56805743e-01] [-5.11545926e-02 -2.28942869e-04 9.98690721e-01 -4.03618849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869072329 meters 0.07544743733272355 Centerline is valid? [True, True] Translation: X:11.29, Y:0.96, Z:-0.40 [[ 9.95116796e-01 8.45880648e-02 5.08666955e-02 1.12926764e+01] [-8.44882649e-02 9.96415986e-01 -4.11287674e-03 9.55795830e-01] [-5.10322888e-02 -2.04846120e-04 9.98696983e-01 -4.04375285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89907232899999 meters 0.07550586733965789 Centerline is valid? [True, True] Translation: X:11.32, Y:0.96, Z:-0.40 [[ 9.95096535e-01 8.49668294e-02 5.06312618e-02 1.13206145e+01] [-8.48691419e-02 9.96383752e-01 -4.08007318e-03 9.56247855e-01] [-5.07948375e-02 -2.36965057e-04 9.98709081e-01 -4.03269681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92907232899999 meters 0.0758824505062333 Centerline is valid? [True, True] Translation: X:11.35, Y:0.95, Z:-0.41 [[ 9.95155732e-01 8.48037352e-02 4.97332375e-02 1.13482150e+01] [-8.47096781e-02 9.96397648e-01 -3.99975068e-03 9.54136247e-01] [-4.98932747e-02 -2.32511730e-04 9.98754528e-01 -4.05226213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959072328999994 meters 0.07623738241059315 Centerline is valid? [True, True] Translation: X:11.38, Y:0.95, Z:-0.41 [[ 9.95200844e-01 8.46768090e-02 4.90420085e-02 1.13754335e+01] [-8.45853963e-02 9.96408444e-01 -3.94008414e-03 9.49746014e-01] [-4.91995051e-02 -2.27062664e-04 9.98788945e-01 -4.09243373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989072328999995 meters 0.07641407412257983 Centerline is valid? [True, True] Translation: X:11.40, Y:0.94, Z:-0.41 [[ 9.95268840e-01 8.41158148e-02 4.86257713e-02 1.14037506e+01] [-8.40256804e-02 9.96455964e-01 -3.89842282e-03 9.44875841e-01] [-4.87813588e-02 -2.05834761e-04 9.98809460e-01 -4.12625515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019072329 meters 0.07642960573953529 Centerline is valid? [True, True] Translation: X:11.43, Y:0.94, Z:-0.42 [[ 9.95410271e-01 8.28875935e-02 4.78334469e-02 1.14321701e+01] [-8.27994884e-02 9.96558891e-01 -3.82383214e-03 9.40352592e-01] [-4.79857950e-02 -1.54303141e-04 9.98848006e-01 -4.15807882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049072329 meters 0.0767240390276167 Centerline is valid? [True, True] Translation: X:11.46, Y:0.94, Z:-0.41 [[ 9.95493941e-01 8.18847654e-02 4.78194288e-02 1.14592814e+01] [-8.17959375e-02 9.96641797e-01 -3.81475863e-03 9.36429603e-01] [-4.79712120e-02 -1.13865896e-04 9.98848712e-01 -4.14979716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079072329 meters 0.07630898095471071 Centerline is valid? [True, True] Translation: X:11.49, Y:0.93, Z:-0.42 [[ 9.95600646e-01 8.12583889e-02 4.66521923e-02 1.14878266e+01] [-8.11735618e-02 9.96693065e-01 -3.71305517e-03 9.33332241e-01] [-4.67996334e-02 -9.02044878e-05 9.98904293e-01 -4.19704449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10907232899999 meters 0.0765947705651403 Centerline is valid? [True, True] Translation: X:11.52, Y:0.93, Z:-0.42 [[ 9.95761708e-01 8.05909972e-02 4.43137853e-02 1.15152676e+01] [-8.05141031e-02 9.96747253e-01 -3.52021891e-03 9.30931564e-01] [-4.44533418e-02 -6.25854845e-05 9.99011460e-01 -4.17353900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139072328999994 meters 0.07624623069033364 Centerline is valid? [True, True] Translation: X:11.54, Y:0.92, Z:-0.43 [[ 9.96205889e-01 7.83179406e-02 3.79490153e-02 1.15448859e+01] [-7.82599754e-02 9.96928432e-01 -3.01281654e-03 9.23819475e-01] [-3.80684100e-02 3.14965712e-05 9.99275135e-01 -4.28336227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169072328999995 meters 0.0765868238916765 Centerline is valid? [True, True] Translation: X:11.57, Y:0.92, Z:-0.43 [[ 9.96401211e-01 7.72776656e-02 3.48251280e-02 1.15724897e+01] [-7.72282712e-02 9.97009608e-01 -2.76329562e-03 9.18416760e-01] [-3.49345283e-02 6.38666669e-05 9.99389601e-01 -4.30221514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199072328999996 meters 0.07663961937611358 Centerline is valid? [True, True] Translation: X:11.60, Y:0.91, Z:-0.44 [[ 9.96605940e-01 7.58979529e-02 3.18763435e-02 1.16005331e+01] [-7.58560009e-02 9.97115586e-01 -2.52509069e-03 9.13253408e-01] [-3.19760481e-02 9.85084479e-05 9.99488631e-01 -4.38462629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229072329 meters 0.07694108415042497 Centerline is valid? [True, True] Translation: X:11.63, Y:0.91, Z:-0.44 [[ 9.96793024e-01 7.45451834e-02 2.90978309e-02 1.16287039e+01] [-7.45098385e-02 9.97217629e-01 -2.29858682e-03 9.07046460e-01] [-2.91882185e-02 1.23140625e-04 9.99573926e-01 -4.43873942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259072329 meters 0.07744393645979503 Centerline is valid? [True, True] Translation: X:11.66, Y:0.90, Z:-0.45 [[ 9.96948044e-01 7.40522164e-02 2.47157359e-02 1.16561524e+01] [-7.40266917e-02 9.97254359e-01 -1.94734767e-03 8.97886615e-01] [-2.47920807e-02 1.11780289e-04 9.99692623e-01 -4.54108823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28907232899999 meters 0.0776320834206447 Centerline is valid? [True, True] Translation: X:11.68, Y:0.89, Z:-0.46 [[ 9.96975736e-01 7.41865521e-02 2.31460049e-02 1.16839932e+01] [-7.41643251e-02 9.97244376e-01 -1.81842437e-03 8.93472493e-01] [-2.32171259e-02 9.63171459e-05 9.99730442e-01 -4.57356600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319072328999994 meters 0.07758925227169951 Centerline is valid? [True, True] Translation: X:11.71, Y:0.89, Z:-0.46 [[ 9.96974563e-01 7.48529757e-02 2.09464342e-02 1.17108383e+01] [-7.48350296e-02 9.97194579e-01 -1.64040530e-03 8.89327819e-01] [-2.10104598e-02 6.79153343e-05 9.99779254e-01 -4.60112527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349072328999995 meters 0.07750706598729473 Centerline is valid? [True, True] Translation: X:11.74, Y:0.88, Z:-0.46 [[ 9.96939519e-01 7.53659709e-02 2.07741512e-02 1.17372244e+01] [-7.53485105e-02 9.97155939e-01 -1.62305755e-03 8.84906930e-01] [-2.08373915e-02 5.27888695e-05 9.99782877e-01 -4.61148045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379072328999996 meters 0.07739504424799082 Centerline is valid? [True, True] Translation: X:11.76, Y:0.88, Z:-0.46 [[ 9.96853378e-01 7.67782451e-02 1.97089791e-02 1.17638830e+01] [-7.67628494e-02 9.97048194e-01 -1.53761943e-03 8.75437580e-01] [-1.97688577e-02 1.98637302e-05 9.99804577e-01 -4.64969220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409072329 meters 0.0774331694326328 Centerline is valid? [True, True] Translation: X:11.79, Y:0.87, Z:-0.47 [[ 9.96842622e-01 7.73965234e-02 1.77359915e-02 1.17909488e+01] [-7.73841786e-02 9.97000390e-01 -1.38230864e-03 8.68187538e-01] [-1.77897764e-02 5.45903662e-06 9.99841749e-01 -4.68144245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439072329 meters 0.07757768451181095 Centerline is valid? [True, True] Translation: X:11.82, Y:0.86, Z:-0.47 [[ 9.96813943e-01 7.79872338e-02 1.67318121e-02 1.18179244e+01] [-7.79764124e-02 9.96954358e-01 -1.29917204e-03 8.60439667e-01] [-1.67821719e-02 -9.65387964e-06 9.99859169e-01 -4.71899600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46907232899999 meters 0.07775250414462728 Centerline is valid? [True, True] Translation: X:11.84, Y:0.85, Z:-0.48 [[ 9.96933866e-01 7.67735813e-02 1.51223220e-02 1.18442845e+01] [-7.67646029e-02 9.97048553e-01 -1.17414350e-03 8.45544994e-01] [-1.51678325e-02 9.68437068e-06 9.99884962e-01 -4.75005685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49907232899999 meters 0.07780021981486236 Centerline is valid? [True, True] Translation: X:11.87, Y:0.84, Z:-0.48 [[ 9.97020429e-01 7.59429369e-02 1.35253263e-02 1.18716255e+01] [-7.59357381e-02 9.97112165e-01 -1.04575290e-03 8.36846006e-01] [-1.35656850e-02 1.55813690e-05 9.99907982e-01 -4.76758994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529072328999995 meters 0.07780021981486236 Centerline is valid? [True, True] Translation: X:11.90, Y:0.83, Z:-0.48 [[ 9.97040584e-01 7.56778735e-02 1.35253138e-02 1.18988258e+01] [-7.56706480e-02 9.97132318e-01 -1.04591866e-03 8.34963788e-01] [-1.35656804e-02 1.93540937e-05 9.99907982e-01 -4.77323962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559072328999996 meters 0.07800987794838327 Centerline is valid? [True, True] Translation: X:11.93, Y:0.83, Z:-0.48 [[ 9.97171821e-01 7.41842065e-02 1.20442215e-02 1.19265595e+01] [-7.41784031e-02 9.97244555e-01 -9.28470333e-04 8.25503859e-01] [-1.20799121e-02 3.24233357e-05 9.99927035e-01 -4.79080465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589072329 meters 0.07863920908248967 Centerline is valid? [True, True] Translation: X:11.95, Y:0.81, Z:-0.48 [[ 9.97491272e-01 7.03312082e-02 8.04256116e-03 1.19525741e+01] [-7.03285128e-02 9.97523693e-01 -6.17821521e-04 8.06193977e-01] [-8.06609744e-03 5.06502095e-05 9.99967467e-01 -4.84054141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619072329 meters 0.07905700731082466 Centerline is valid? [True, True] Translation: X:11.98, Y:0.80, Z:-0.49 [[ 9.97667265e-01 6.80011469e-02 5.98931707e-03 1.19801737e+01] [-6.79996100e-02 9.97685242e-01 -4.60110969e-04 7.95642820e-01] [-6.00674132e-03 5.17664270e-05 9.99981958e-01 -4.85397613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64907232899999 meters 0.0795396534875512 Centerline is valid? [True, True] Translation: X:12.01, Y:0.78, Z:-0.49 [[ 9.97864963e-01 6.52519795e-02 2.77377696e-03 1.20077900e+01] [-6.52516294e-02 9.97868818e-01 -2.16620516e-04 7.84643128e-01] [-2.78200045e-03 3.51645571e-05 9.99996130e-01 -4.89441852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67907232899999 meters 0.0801352840322074 Centerline is valid? [True, True] Translation: X:12.04, Y:0.77, Z:-0.49 [[ 9.97980646e-01 6.35187093e-02 6.07917731e-05 1.20350324e+01] [-6.35187090e-02 9.97980648e-01 -6.41874270e-06 7.74324543e-01] [-6.10767233e-05 2.54436604e-06 9.99999998e-01 -4.93253889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709072328999994 meters 0.08078363634928751 Centerline is valid? [True, True] Translation: X:12.06, Y:0.76, Z:-0.50 [[ 9.98029871e-01 6.27126477e-02 -1.87079819e-03 1.20617862e+01] [-6.27124961e-02 9.98031624e-01 1.39629678e-04 7.63092959e-01] [ 1.87587230e-03 -2.20321654e-05 9.99998240e-01 -4.99229586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739072328999995 meters 0.08095494392542525 Centerline is valid? [True, True] Translation: X:12.09, Y:0.75, Z:-0.50 [[ 9.97981666e-01 6.33295362e-02 -4.68664817e-03 1.20889114e+01] [-6.33285701e-02 9.97992669e-01 3.54415169e-04 7.48709693e-01] [ 4.69968546e-03 -5.69011144e-05 9.99988955e-01 -5.04092842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769072329 meters 0.08032443874247638 Centerline is valid? [True, True] Translation: X:12.12, Y:0.75, Z:-0.50 [[ 9.97941913e-01 6.39214966e-02 -5.09701787e-03 1.21165656e+01] [-6.39203888e-02 9.97954929e-01 3.80119369e-04 7.45703653e-01] [ 5.11089190e-03 -5.35336865e-05 9.99986938e-01 -5.00878587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799072329 meters 0.07945921204285976 Centerline is valid? [True, True] Translation: X:12.14, Y:0.74, Z:-0.50 [[ 9.97666903e-01 6.81039043e-02 -4.75495100e-03 1.21445430e+01] [-6.81029726e-02 9.97678233e-01 3.57768541e-04 7.44110266e-01] [ 4.76827655e-03 -3.31075345e-05 9.99988631e-01 -4.99293265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829072329 meters 0.07880973177910072 Centerline is valid? [True, True] Translation: X:12.17, Y:0.74, Z:-0.49 [[ 9.97559431e-01 6.96889613e-02 -4.31637537e-03 1.21732465e+01] [-6.96882277e-02 9.97568769e-01 3.20306934e-04 7.44486503e-01] [ 4.32820312e-03 -1.87246530e-05 9.99990633e-01 -4.93610918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85907232899999 meters 0.07854432529386868 Centerline is valid? [True, True] Translation: X:12.20, Y:0.74, Z:-0.49 [[ 9.97464045e-01 7.11217945e-02 -2.67748895e-03 1.22008798e+01] [-7.11215144e-02 9.97467639e-01 1.99797150e-04 7.42306447e-01] [ 2.68491851e-03 -8.86340491e-06 9.99996396e-01 -4.92604988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889072328999994 meters 0.07822329829608551 Centerline is valid? [True, True] Translation: X:12.23, Y:0.74, Z:-0.49 [[ 9.97368105e-01 7.24870023e-02 -1.58042739e-03 1.22291163e+01] [-7.24869134e-02 9.97369357e-01 1.13550011e-04 7.38919199e-01] [ 1.58450075e-03 1.30914385e-06 9.99998745e-01 -4.89957384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919072328999995 meters 0.07867437180328117 Centerline is valid? [True, True] Translation: X:12.26, Y:0.73, Z:-0.50 [[ 9.97261902e-01 7.38857729e-02 -3.09708348e-03 1.22554057e+01] [-7.38854151e-02 9.97266711e-01 2.29936502e-04 7.26406401e-01] [ 3.10560729e-03 -4.77614638e-07 9.99995178e-01 -4.95789868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949072328999996 meters 0.07893865305874874 Centerline is valid? [True, True] Translation: X:12.28, Y:0.72, Z:-0.50 [[ 9.97324432e-01 7.28428889e-02 -6.15549677e-03 1.22838336e+01] [-7.28414690e-02 9.97343428e-01 4.54853611e-04 7.18446035e-01] [ 6.17227710e-03 -5.26119240e-06 9.99980951e-01 -4.98996807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979072329 meters 0.07895584183518939 Centerline is valid? [True, True] Translation: X:12.31, Y:0.71, Z:-0.50 [[ 9.97385367e-01 7.18123391e-02 -8.08815479e-03 1.23118884e+01] [-7.18098585e-02 9.97418161e-01 5.97072095e-04 7.13177799e-01] [ 8.11014962e-03 -1.47017199e-05 9.99967112e-01 -4.98908271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009072329 meters 0.07923412900677614 Centerline is valid? [True, True] Translation: X:12.34, Y:0.71, Z:-0.50 [[ 9.97437640e-01 7.09108541e-02 -9.47651663e-03 1.23398655e+01] [-7.09073764e-02 9.97482656e-01 7.02889959e-04 7.10344119e-01] [ 9.50250350e-03 -2.91339709e-05 9.99954850e-01 -5.00504414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03907232899999 meters 0.07966176922089838 Centerline is valid? [True, True] Translation: X:12.37, Y:0.70, Z:-0.50 [[ 9.97527685e-01 6.90049741e-02 -1.32978187e-02 1.23689633e+01] [-6.89979388e-02 9.97616313e-01 9.87667349e-04 7.03417810e-01] [ 1.33342748e-02 -6.77034463e-05 9.99911092e-01 -4.99887026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069072328999994 meters 0.080023727904749 Centerline is valid? [True, True] Translation: X:12.40, Y:0.70, Z:-0.50 [[ 9.97559833e-01 6.82656702e-02 -1.46348267e-02 1.23974166e+01] [-6.82571834e-02 9.97667175e-01 1.07919809e-03 6.97171632e-01] [ 1.46743584e-02 -7.76326137e-05 9.99892323e-01 -5.02326632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099072328999995 meters 0.0801851179589346 Centerline is valid? [True, True] Translation: X:12.43, Y:0.69, Z:-0.50 [[ 9.97585924e-01 6.78229485e-02 -1.49121429e-02 1.24259745e+01] [-6.78141396e-02 9.97697369e-01 1.09616814e-03 6.91534619e-01] [ 1.49521511e-02 -8.22677659e-05 9.99888207e-01 -5.04827913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129072328999996 meters 0.08055690367433366 Centerline is valid? [True, True] Translation: X:12.45, Y:0.69, Z:-0.51 [[ 9.97546184e-01 6.81876388e-02 -1.58763101e-02 1.24545994e+01] [-6.81777549e-02 9.97672511e-01 1.16359551e-03 6.85644851e-01] [ 1.59187010e-02 -7.83290856e-05 9.99873286e-01 -5.08791740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159072329 meters 0.08069031174439852 Centerline is valid? [True, True] Translation: X:12.48, Y:0.68, Z:-0.51 [[ 9.97479300e-01 6.90263673e-02 -1.64440671e-02 1.24822541e+01] [-6.90158453e-02 9.97614833e-01 1.20717725e-03 6.84146151e-01] [ 1.64881723e-02 -6.92331346e-05 9.99864058e-01 -5.11036135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189072329 meters 0.08060938166114422 Centerline is valid? [True, True] Translation: X:12.51, Y:0.68, Z:-0.51 [[ 9.97444556e-01 6.94829954e-02 -1.66274002e-02 1.25106261e+01] [-6.94724406e-02 9.97583135e-01 1.21225631e-03 6.84478744e-01] [ 1.66714452e-02 -5.40123848e-05 9.99861020e-01 -5.11808583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21907232899999 meters 0.08056063571502554 Centerline is valid? [True, True] Translation: X:12.54, Y:0.69, Z:-0.51 [[ 9.97403877e-01 7.01046224e-02 -1.64574351e-02 1.25383535e+01] [-7.00944406e-02 9.97539644e-01 1.19539870e-03 6.85317093e-01] [ 1.65007469e-02 -3.87205874e-05 9.99863853e-01 -5.12438167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.24907232899999 meters 0.08078426674553735 Centerline is valid? [True, True] Translation: X:12.57, Y:0.69, Z:-0.51 [[ 9.97353793e-01 7.08373006e-02 -1.63550777e-02 1.25665215e+01] [-7.08273035e-02 9.97487883e-01 1.19040709e-03 6.87182303e-01] [ 1.63983171e-02 -2.88709724e-05 9.99865538e-01 -5.14199667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279072328999995 meters 0.08049128376448776 Centerline is valid? [True, True] Translation: X:12.60, Y:0.69, Z:-0.51 [[ 9.97291493e-01 7.19235986e-02 -1.53841846e-02 1.25958542e+01] [-7.19149802e-02 9.97410144e-01 1.11340804e-03 6.88063946e-01] [ 1.54244221e-02 -4.03903229e-06 9.99881037e-01 -5.13492396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309072328999996 meters 0.08054382856093296 Centerline is valid? [True, True] Translation: X:12.62, Y:0.69, Z:-0.51 [[ 9.97270532e-01 7.23957900e-02 -1.45029500e-02 1.26235560e+01] [-7.23881612e-02 9.97375982e-01 1.05096398e-03 6.89474641e-01] [ 1.45409794e-02 1.74648090e-06 9.99894274e-01 -5.14583617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339072329 meters 0.08043599143213029 Centerline is valid? [True, True] Translation: X:12.65, Y:0.69, Z:-0.51 [[ 9.97332213e-01 7.17306400e-02 -1.35341271e-02 1.26516194e+01] [-7.17239513e-02 9.97424040e-01 9.79573842e-04 6.93442070e-01] [ 1.35695292e-02 -6.23947123e-06 9.99907930e-01 -5.12660738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369072329 meters 0.08014920496917383 Centerline is valid? [True, True] Translation: X:12.68, Y:0.69, Z:-0.51 [[ 9.97398732e-01 7.08996706e-02 -1.30002086e-02 1.26809347e+01] [-7.08935062e-02 9.97483452e-01 9.34982533e-04 6.93365384e-01] [ 1.30337829e-02 -1.09200242e-05 9.99915057e-01 -5.09112280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39907232899999 meters 0.08007891988900717 Centerline is valid? [True, True] Translation: X:12.71, Y:0.69, Z:-0.51 [[ 9.97515709e-01 6.92063636e-02 -1.31487605e-02 1.27087319e+01] [-6.91999745e-02 9.97602365e-01 9.40802066e-04 6.92282075e-01] [ 1.31823440e-02 -2.85709510e-05 9.99913109e-01 -5.08176515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42907232899999 meters 0.0805471869258743 Centerline is valid? [True, True] Translation: X:12.74, Y:0.69, Z:-0.51 [[ 9.97674731e-01 6.67011757e-02 -1.40030354e-02 1.27369141e+01] [-6.66936381e-02 9.97772994e-01 1.00509436e-03 6.91162849e-01] [ 1.40388915e-02 -6.88438728e-05 9.99901448e-01 -5.11033854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459072328999994 meters 0.0808584270931626 Centerline is valid? [True, True] Translation: X:12.76, Y:0.69, Z:-0.51 [[ 9.97755925e-01 6.54599252e-02 -1.40752399e-02 1.27642897e+01] [-6.54522032e-02 9.97855195e-01 1.00906998e-03 6.90011903e-01] [ 1.41111049e-02 -8.55500870e-05 9.99900430e-01 -5.14626420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489072328999995 meters 0.08102853768038384 Centerline is valid? [True, True] Translation: X:12.79, Y:0.69, Z:-0.51 [[ 9.97812674e-01 6.44130575e-02 -1.48601735e-02 1.27929597e+01] [-6.44044287e-02 9.97923318e-01 1.05899166e-03 6.91286761e-01] [ 1.48975265e-02 -9.96143175e-05 9.99889021e-01 -5.14939397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519072329 meters 0.0809446557371038 Centerline is valid? [True, True] Translation: X:12.82, Y:0.69, Z:-0.51 [[ 9.97858122e-01 6.34113658e-02 -1.60676071e-02 1.28220675e+01] [-6.34012086e-02 9.97987467e-01 1.14126670e-03 6.93703069e-01] [ 1.61076398e-02 -1.20116535e-04 9.99870256e-01 -5.12828233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549072329 meters 0.08159401381373019 Centerline is valid? [True, True] Translation: X:12.85, Y:0.70, Z:-0.52 [[ 9.97985189e-01 6.10902456e-02 -1.71331367e-02 1.28511752e+01] [-6.10784209e-02 9.98132233e-01 1.21307782e-03 6.95830242e-01] [ 1.71752432e-02 -1.64168765e-04 9.99852481e-01 -5.15373249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579072329 meters 0.08200243667496293 Centerline is valid? [True, True] Translation: X:12.88, Y:0.69, Z:-0.52 [[ 9.98107829e-01 5.89944712e-02 -1.73324756e-02 1.28799107e+01] [-5.89821267e-02 9.98258290e-01 1.22298913e-03 6.94006882e-01] [ 1.73744370e-02 -1.98368750e-04 9.99849033e-01 -5.17693578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60907232899999 meters 0.08250452706201304 Centerline is valid? [True, True] Translation: X:12.91, Y:0.69, Z:-0.52 [[ 9.98255800e-01 5.63603984e-02 -1.75745300e-02 1.29073624e+01] [-5.63472667e-02 9.98410458e-01 1.24187852e-03 6.90731123e-01] [ 1.76165874e-02 -2.49435700e-04 9.99844785e-01 -5.21567793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639072328999994 meters 0.0835026829274894 Centerline is valid? [True, True] Translation: X:12.93, Y:0.69, Z:-0.52 [[ 9.98571906e-01 5.11257692e-02 -1.55017430e-02 1.29344385e+01] [-5.11149452e-02 9.98692178e-01 1.09391398e-03 6.86791366e-01] [ 1.55373967e-02 -2.99981026e-04 9.99879242e-01 -5.24135096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669072328999995 meters 0.08355063961960157 Centerline is valid? [True, True] Translation: X:12.96, Y:0.69, Z:-0.52 [[ 9.98765420e-01 4.77409672e-02 -1.37271666e-02 1.29618782e+01] [-4.77322651e-02 9.98859703e-01 9.61050216e-04 6.85662042e-01] [ 1.37573950e-02 -3.04634968e-04 9.99905316e-01 -5.20210576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699072328999996 meters 0.08398343582497647 Centerline is valid? [True, True] Translation: X:12.99, Y:0.68, Z:-0.52 [[ 9.98977049e-01 4.36559497e-02 -1.17903867e-02 1.29901886e+01] [-4.36492794e-02 9.99046577e-01 8.22600074e-04 6.83070602e-01] [ 1.18150569e-02 -3.07116711e-04 9.99930153e-01 -5.16939599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729072329 meters 0.0852315538872498 Centerline is valid? [True, True] Translation: X:13.02, Y:0.68, Z:-0.52 [[ 9.99172982e-01 3.94688743e-02 -9.77549697e-03 1.30176127e+01] [-3.94640742e-02 9.99220756e-01 6.83513060e-04 6.77578008e-01] [ 9.79485696e-03 -2.97166844e-04 9.99951985e-01 -5.15898402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759072329 meters 0.08619586168966481 Centerline is valid? [True, True] Translation: X:13.05, Y:0.67, Z:-0.51 [[ 9.99349904e-01 3.46134093e-02 -1.00836930e-02 1.30480388e+01] [-3.46080371e-02 9.99400713e-01 7.06821243e-04 6.72252926e-01] [ 1.01021155e-02 -3.57384918e-04 9.99948908e-01 -5.14647841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78907232899999 meters 0.09203595133382746 Centerline is valid? [True, True] Translation: X:13.08, Y:0.65, Z:-0.52 [[ 9.99686089e-01 2.21530342e-02 -1.17032905e-02 1.30764609e+01] [-2.21449467e-02 9.99754434e-01 8.20197858e-04 6.53357300e-01] [ 1.17185864e-02 -5.60771645e-04 9.99931178e-01 -5.18837298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819072328999994 meters 0.09465137731973257 Centerline is valid? [True, True] Translation: X:13.11, Y:0.64, Z:-0.52 [[ 9.99786454e-01 1.59267764e-02 -1.31675750e-02 1.31061235e+01] [-1.59160050e-02 9.99872907e-01 9.22418193e-04 6.44418045e-01] [ 1.31805926e-02 -7.12646024e-04 9.99912878e-01 -5.20715027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.849072328999995 meters 0.09588275322356948 Centerline is valid? [True, True] Translation: X:13.14, Y:0.64, Z:-0.52 [[ 9.99838202e-01 1.00409520e-02 -1.49247845e-02 1.31365643e+01] [-1.00264539e-02 9.99949187e-01 1.04592462e-03 6.39384129e-01] [ 1.49345282e-02 -8.96112725e-04 9.99888072e-01 -5.20134778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879072328999996 meters 0.0981449721939078 Centerline is valid? [True, True] Translation: X:13.17, Y:0.63, Z:-0.52 [[ 9.99843826e-01 3.56058972e-03 -1.73102683e-02 1.31665346e+01] [-3.54012490e-03 9.99992998e-01 1.21273485e-03 6.34838197e-01] [ 1.73144652e-02 -1.15126494e-03 9.99849431e-01 -5.19588764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909072329 meters 0.10084037562771794 Centerline is valid? [True, False] Translation: X:13.16, Y:0.64, Z:-0.53 [[ 9.99993526e-01 3.59713445e-03 -9.73720373e-05 1.31625198e+01] [-3.59680164e-03 9.99988328e-01 3.22592988e-03 6.35127476e-01] [ 1.08975004e-04 -3.22555877e-03 9.99994792e-01 -5.27114566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939072329 meters 0.10120611205413813 Centerline is valid? [False, False] Translation: X:13.16, Y:0.64, Z:-0.53 [[ 9.99994364e-01 3.34558761e-03 -2.82493634e-04 1.31627246e+01] [-3.34487256e-03 9.99991294e-01 2.49482104e-03 6.37601677e-01] [ 2.90837817e-04 -2.49386208e-03 9.99996848e-01 -5.26554688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96907232899999 meters 0.09724671855517664 Centerline is valid? [False, True] Translation: X:13.16, Y:0.64, Z:-0.52 [[ 9.99994555e-01 3.07586077e-03 -1.19537525e-03 1.31639361e+01] [-3.07537222e-03 9.99995187e-01 4.10326509e-04 6.43882598e-01] [ 1.19663161e-03 -4.06648051e-04 9.99999201e-01 -5.23940926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99907232899999 meters 0.09573012511915421 Centerline is valid? [True, True] Translation: X:13.19, Y:0.65, Z:-0.52 [[ 9.99974758e-01 6.89886832e-03 1.69971860e-03 1.31931460e+01] [-6.89868944e-03 9.99976198e-01 -1.11080800e-04 6.48106866e-01] [-1.70044448e-03 9.93521656e-05 9.99998549e-01 -5.21360250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029072328999995 meters 0.09390564760105996 Centerline is valid? [True, True] Translation: X:13.22, Y:0.65, Z:-0.52 [[ 9.99932166e-01 1.07093777e-02 4.57962309e-03 1.32233950e+01] [-1.07081340e-02 9.99942622e-01 -2.96005608e-04 6.53883362e-01] [-4.58253036e-03 2.46946311e-04 9.99989470e-01 -5.17824755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059072328999996 meters 0.09101293633350928 Centerline is valid? [True, True] Translation: X:13.25, Y:0.66, Z:-0.51 [[ 9.99837589e-01 1.61517484e-02 7.99478799e-03 1.32543936e+01] [-1.61481383e-02 9.99869477e-01 -5.15904956e-04 6.62485513e-01] [-8.00207726e-03 3.86720225e-04 9.99967908e-01 -5.14137451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089072329 meters 0.08742928506373418 Centerline is valid? [True, True] Translation: X:13.29, Y:0.67, Z:-0.51 [[ 9.99752249e-01 2.04666167e-02 8.74972467e-03 1.32856790e+01] [-2.04624591e-02 9.99790463e-01 -5.64431537e-04 6.73914617e-01] [-8.75944328e-03 3.85250815e-04 9.99961561e-01 -5.10294248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119072329 meters 0.08495839763972823 Centerline is valid? [True, True] Translation: X:13.32, Y:0.69, Z:-0.51 [[ 9.99554550e-01 2.87067011e-02 8.16252865e-03 1.33171806e+01] [-2.87033589e-02 9.99587835e-01 -5.26331401e-04 6.87143338e-01] [-8.17427358e-03 2.91804957e-04 9.99966547e-01 -5.13739809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14907232899999 meters 0.08549299310646763 Centerline is valid? [True, True] Translation: X:13.34, Y:0.69, Z:-0.52 [[ 9.99480340e-01 3.16811482e-02 5.94606002e-03 1.33444989e+01] [-3.16794133e-02 9.99498007e-01 -3.85757386e-04 6.86369753e-01] [-5.95529638e-03 1.97189230e-04 9.99982248e-01 -5.21607912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17907232899999 meters 0.08451872009713894 Centerline is valid? [True, True] Translation: X:13.37, Y:0.69, Z:-0.52 [[ 9.99460330e-01 3.25876434e-02 4.13441791e-03 1.33729883e+01] [-3.25868048e-02 9.99468873e-01 -2.70066574e-04 6.90596078e-01] [-4.14102284e-03 1.35193358e-04 9.99991417e-01 -5.23236015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209072328999994 meters 0.08509447700315688 Centerline is valid? [True, True] Translation: X:13.40, Y:0.70, Z:-0.53 [[ 9.99483535e-01 3.20685684e-02 2.06657864e-03 1.34013429e+01] [-3.20683578e-02 9.99485669e-01 -1.34994066e-04 6.96033134e-01] [-2.06984480e-03 6.86525625e-05 9.99997856e-01 -5.25326918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239072328999995 meters 0.08546836204247273 Centerline is valid? [True, True] Translation: X:13.43, Y:0.70, Z:-0.53 [[ 9.99530553e-01 3.05920701e-02 1.67311856e-03 1.34302359e+01] [-3.05919202e-02 9.99531951e-01 -1.15124962e-04 6.98249295e-01] [-1.67585737e-03 6.38870078e-05 9.99998594e-01 -5.25344930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269072329 meters 0.08743106391582688 Centerline is valid? [True, True] Translation: X:13.46, Y:0.70, Z:-0.53 [[ 9.99594273e-01 2.84658291e-02 9.92742729e-04 1.34589042e+01] [-2.84657784e-02 9.99594765e-01 -6.51644872e-05 6.98819009e-01] [-9.94195397e-04 3.68788537e-05 9.99999505e-01 -5.28715834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299072329 meters 0.08761282687395845 Centerline is valid? [True, True] Translation: X:13.49, Y:0.70, Z:-0.53 [[ 9.99671956e-01 2.55794799e-02 1.29218895e-03 1.34882288e+01] [-2.55793924e-02 9.99672790e-01 -8.42264396e-05 6.99438100e-01] [-1.29392060e-03 5.11454016e-05 9.99999162e-01 -5.28338195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32907232899999 meters 0.08909568268969477 Centerline is valid? [True, True] Translation: X:13.52, Y:0.70, Z:-0.53 [[ 9.99748355e-01 2.23754255e-02 1.60224671e-03 1.35162816e+01] [-2.23752867e-02 9.99749636e-01 -1.04474343e-04 6.95902392e-01] [-1.60418322e-03 6.85973231e-05 9.99998711e-01 -5.30533425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35907232899999 meters 0.09062397616068985 Centerline is valid? [True, True] Translation: X:13.55, Y:0.69, Z:-0.53 [[ 9.99833981e-01 1.80596079e-02 2.42115373e-03 1.35463905e+01] [-1.80592855e-02 9.99836906e-01 -1.54974407e-04 6.92535907e-01] [-2.42355763e-03 1.11224372e-04 9.99997057e-01 -5.31027464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389072328999994 meters 0.09621959904202466 Centerline is valid? [True, True] Translation: X:13.57, Y:0.68, Z:-0.53 [[ 9.99960616e-01 7.38279104e-03 4.92556118e-03 1.35746580e+01] [-7.38132938e-03 9.99972708e-01 -3.14862151e-04 6.80809128e-01] [-4.92775131e-03 2.78492561e-04 9.99987820e-01 -5.31931066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419072328999995 meters 0.09537261646133476 Centerline is valid? [True, True] Translation: X:13.60, Y:0.68, Z:-0.53 [[ 9.99953036e-01 7.74210586e-03 5.82973240e-03 1.36033244e+01] [-7.74005950e-03 9.99969976e-01 -3.73501095e-04 6.81608800e-01] [-5.83244905e-03 3.28361078e-04 9.99982937e-01 -5.32015085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449072328999996 meters 0.09537261646133476 Centerline is valid? [True, True] Translation: X:13.63, Y:0.68, Z:-0.53 [[ 9.99953534e-01 7.67752168e-03 5.82975644e-03 1.36315920e+01] [-7.67547641e-03 9.99970473e-01 -3.73124570e-04 6.79901044e-01] [-5.83244898e-03 3.28361074e-04 9.99982937e-01 -5.32999315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479072329 meters 0.09401373762989934 Centerline is valid? [True, True] Translation: X:13.66, Y:0.68, Z:-0.53 [[ 9.99913870e-01 1.13963072e-02 6.50971114e-03 1.36611319e+01] [-1.13938481e-02 9.99935002e-01 -4.14716777e-04 6.82272136e-01] [-6.51401426e-03 3.40510397e-04 9.99978726e-01 -5.34964305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509072329 meters 0.09234402971273774 Centerline is valid? [True, True] Translation: X:13.69, Y:0.69, Z:-0.53 [[ 9.99873109e-01 1.30049979e-02 9.19977971e-03 1.36909371e+01] [-1.30001560e-02 9.99915323e-01 -5.85912879e-04 6.86142789e-01] [-9.20662049e-03 4.66239961e-04 9.99957509e-01 -5.33805439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53907232899999 meters 0.09256370132792462 Centerline is valid? [True, True] Translation: X:13.72, Y:0.68, Z:-0.53 [[ 9.99860961e-01 1.35605300e-02 9.70416824e-03 1.37190008e+01] [-1.35551608e-02 9.99907933e-01 -6.18849451e-04 6.84596761e-01] [-9.71166673e-03 4.87221846e-04 9.99952722e-01 -5.34441943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569072328999994 meters 0.09246102664147747 Centerline is valid? [True, True] Translation: X:13.75, Y:0.68, Z:-0.54 [[ 9.99847574e-01 1.42930160e-02 1.00269180e-02 1.37471918e+01] [-1.42873335e-02 9.99897727e-01 -6.38124386e-04 6.83530519e-01] [-1.00350133e-02 4.94769197e-04 9.99949526e-01 -5.35699671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599072328999995 meters 0.09022035652217615 Centerline is valid? [True, True] Translation: X:13.78, Y:0.69, Z:-0.53 [[ 9.99846305e-01 1.43709896e-02 1.00419512e-02 1.37761713e+01] [-1.43652998e-02 9.99896610e-01 -6.38505118e-04 6.88116829e-01] [-1.00500889e-02 4.94151344e-04 9.99949374e-01 -5.31908412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629072328999996 meters 0.091675265193116 Centerline is valid? [True, True] Translation: X:13.80, Y:0.68, Z:-0.53 [[ 9.99869680e-01 1.32840659e-02 9.17369604e-03 1.38031311e+01] [-1.32792684e-02 9.99911656e-01 -5.83681698e-04 6.83829518e-01] [-9.18063927e-03 4.61785661e-04 9.99957750e-01 -5.33843404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659072329 meters 0.09232056771858996 Centerline is valid? [True, True] Translation: X:13.83, Y:0.68, Z:-0.54 [[ 9.99888082e-01 1.25883503e-02 8.08440872e-03 1.38321063e+01] [-1.25846121e-02 9.99920679e-01 -5.13106030e-04 6.80921391e-01] [-8.09022662e-03 4.11309457e-04 9.99967189e-01 -5.35825262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689072329 meters 0.09200519080194748 Centerline is valid? [True, True] Translation: X:13.86, Y:0.68, Z:-0.54 [[ 9.99913734e-01 1.09824800e-02 7.20487386e-03 1.38611901e+01] [-1.09794739e-02 9.99939619e-01 -4.56657952e-04 6.77962823e-01] [-7.20945407e-03 3.77512833e-04 9.99973940e-01 -5.37730751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71907232899999 meters 0.09576621469308626 Centerline is valid? [True, True] Translation: X:13.89, Y:0.67, Z:-0.54 [[ 9.99907161e-01 1.12864486e-02 7.63447814e-03 1.38877146e+01] [-1.12830791e-02 9.99936227e-01 -4.84280796e-04 6.66296324e-01] [-7.63945708e-03 3.98095414e-04 9.99970740e-01 -5.43258903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.74907232899999 meters 0.09269054216916313 Centerline is valid? [True, True] Translation: X:13.92, Y:0.67, Z:-0.54 [[ 9.99892783e-01 1.12534032e-02 9.36927350e-03 1.39167779e+01] [-1.12483442e-02 9.99936560e-01 -5.92484059e-04 6.70119453e-01] [-9.37534657e-03 4.87031721e-04 9.99955932e-01 -5.39923844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779072328999995 meters 0.09115583822119108 Centerline is valid? [True, True] Translation: X:13.95, Y:0.67, Z:-0.54 [[ 9.99873584e-01 1.21274685e-02 1.02830000e-02 1.39458879e+01] [-1.21214293e-02 9.99926322e-01 -6.49417291e-04 6.70797477e-01] [-1.02901182e-02 5.24690536e-04 9.99946918e-01 -5.38129467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809072328999996 meters 0.09039736993847562 Centerline is valid? [True, True] Translation: X:13.97, Y:0.67, Z:-0.54 [[ 9.99843374e-01 1.30880845e-02 1.19133970e-02 1.39747503e+01] [-1.30800600e-02 9.99914170e-01 -7.51240146e-04 6.70690405e-01] [-1.19222067e-02 5.95294535e-04 9.99928751e-01 -5.35391575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839072329 meters 0.09063792765256197 Centerline is valid? [True, True] Translation: X:14.00, Y:0.67, Z:-0.54 [[ 9.99820115e-01 1.45927207e-02 1.21156573e-02 1.40031742e+01] [-1.45845464e-02 9.99893349e-01 -7.62773838e-04 6.68780859e-01] [-1.21254961e-02 5.85935261e-04 9.99926312e-01 -5.36013100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869072329 meters 0.08957727550999095 Centerline is valid? [True, True] Translation: X:14.03, Y:0.67, Z:-0.53 [[ 9.99812402e-01 1.51829570e-02 1.20265582e-02 1.40317733e+01] [-1.51749476e-02 9.99884567e-01 -7.56954653e-04 6.70290327e-01] [-1.20366628e-02 5.74310259e-04 9.99927392e-01 -5.34693250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89907232899999 meters 0.08900032148056554 Centerline is valid? [True, True] Translation: X:14.06, Y:0.67, Z:-0.53 [[ 9.99797605e-01 1.58504329e-02 1.23900186e-02 1.40608348e+01] [-1.58419940e-02 9.99874204e-01 -7.78960734e-04 6.69604440e-01] [-1.24008068e-02 5.82520476e-04 9.99922937e-01 -5.34248550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92907232899999 meters 0.08783893740872988 Centerline is valid? [True, True] Translation: X:14.09, Y:0.67, Z:-0.54 [[ 9.99800461e-01 1.58674559e-02 1.21351616e-02 1.40898783e+01] [-1.58593706e-02 9.99873942e-01 -7.62223702e-04 6.69579453e-01] [-1.21457264e-02 5.69615584e-04 9.99926076e-01 -5.35412979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959072328999994 meters 0.08949705366156624 Centerline is valid? [True, True] Translation: X:14.12, Y:0.66, Z:-0.54 [[ 9.99808355e-01 1.57173351e-02 1.16712805e-02 1.41169661e+01] [-1.57098497e-02 9.99876324e-01 -7.32757144e-04 6.62796936e-01] [-1.16813540e-02 5.49262653e-04 9.99931620e-01 -5.38927334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989072328999995 meters 0.09126705741078933 Centerline is valid? [True, True] Translation: X:14.14, Y:0.66, Z:-0.54 [[ 9.99814261e-01 1.51227001e-02 1.19476842e-02 1.41442275e+01] [-1.51148274e-02 9.99885484e-01 -7.48958135e-04 6.56723634e-01] [-1.19576423e-02 5.68231839e-04 9.99928343e-01 -5.42027024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019072329 meters 0.08988571083078307 Centerline is valid? [True, True] Translation: X:14.17, Y:0.66, Z:-0.54 [[ 9.99832596e-01 1.46956287e-02 1.09003464e-02 1.41732087e+01] [-1.46890614e-02 9.99891877e-01 -6.82304464e-04 6.56495940e-01] [-1.09091947e-02 5.22074387e-04 9.99940357e-01 -5.44010032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049072329 meters 0.0909505573005551 Centerline is valid? [True, True] Translation: X:14.20, Y:0.65, Z:-0.55 [[ 9.99865521e-01 1.36936356e-02 9.02355560e-03 1.42014357e+01] [-1.36891002e-02 9.99906141e-01 -5.64196148e-04 6.51016764e-01] [-9.03043455e-03 4.40595918e-04 9.99959128e-01 -5.48008375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07907232899999 meters 0.09220841816696473 Centerline is valid? [True, True] Translation: X:14.23, Y:0.64, Z:-0.55 [[ 9.99897504e-01 1.20994679e-02 7.65400564e-03 1.42291542e+01] [-1.20961606e-02 9.99926724e-01 -4.78246527e-04 6.44898867e-01] [-7.65923132e-03 3.85613427e-04 9.99970593e-01 -5.51455914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10907232899999 meters 0.09323917127376888 Centerline is valid? [True, True] Translation: X:14.26, Y:0.64, Z:-0.55 [[ 9.99922467e-01 1.03433336e-02 6.93371395e-03 1.42580878e+01] [-1.03405772e-02 9.99946441e-01 -4.33275683e-04 6.38992721e-01] [-6.93782410e-03 3.61543486e-04 9.99975868e-01 -5.53576492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139072328999994 meters 0.09364968959767422 Centerline is valid? [True, True] Translation: X:14.29, Y:0.63, Z:-0.55 [[ 9.99931847e-01 8.03824956e-03 8.46684286e-03 1.42869760e+01] [-8.03406344e-03 9.99967587e-01 -5.28309796e-04 6.33732487e-01] [-8.47081511e-03 4.60250638e-04 9.99964016e-01 -5.50930124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169072328999995 meters 0.09287797026936494 Centerline is valid? [True, True] Translation: X:14.32, Y:0.63, Z:-0.55 [[ 9.99913003e-01 8.45580294e-03 1.01234969e-02 1.43165131e+01] [-8.44985194e-03 9.99964101e-01 -6.30468846e-04 6.32769166e-01] [-1.01284646e-02 5.44871948e-04 9.99948557e-01 -5.48413126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199072328999996 meters 0.09043437517594062 Centerline is valid? [True, True] Translation: X:14.35, Y:0.63, Z:-0.54 [[ 9.99866637e-01 1.03602969e-02 1.26242590e-02 1.43473411e+01] [-1.03512114e-02 9.99946117e-01 -7.84814463e-04 6.33646719e-01] [-1.26317097e-02 6.54033424e-04 9.99920003e-01 -5.44872710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229072329 meters 0.09024003595196117 Centerline is valid? [True, True] Translation: X:14.38, Y:0.63, Z:-0.55 [[ 9.99841531e-01 1.08056725e-02 1.41474551e-02 1.43778283e+01] [-1.07943066e-02 9.99941353e-01 -8.79507257e-04 6.30254671e-01] [-1.41561291e-02 7.26655914e-04 9.99899533e-01 -5.45200758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259072329 meters 0.0908649976090063 Centerline is valid? [True, True] Translation: X:14.41, Y:0.63, Z:-0.55 [[ 9.99845334e-01 1.05969389e-02 1.40361398e-02 1.44084148e+01] [-1.05857528e-02 9.99943590e-01 -8.71004835e-04 6.25363700e-01] [-1.40445780e-02 7.22287014e-04 9.99901109e-01 -5.46412311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28907232899999 meters 0.09020162092919262 Centerline is valid? [True, True] Translation: X:14.44, Y:0.62, Z:-0.55 [[ 9.99843779e-01 1.06026450e-02 1.41421998e-02 1.44383553e+01] [-1.05912519e-02 9.99943524e-01 -8.80268735e-04 6.22993503e-01] [-1.41507343e-02 7.30347619e-04 9.99899607e-01 -5.46400609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319072328999994 meters 0.09168394575189585 Centerline is valid? [True, True] Translation: X:14.47, Y:0.61, Z:-0.55 [[ 9.99867095e-01 8.87917235e-03 1.36730439e-02 1.44678761e+01] [-8.86836668e-03 9.99960313e-01 -8.50719696e-04 6.13476199e-01] [-1.36800550e-02 7.29349064e-04 9.99906158e-01 -5.48950770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.349072328999995 meters 0.09215144177140579 Centerline is valid? [True, True] Translation: X:14.50, Y:0.61, Z:-0.55 [[ 9.99879331e-01 8.52178720e-03 1.29885631e-02 1.45000884e+01] [-8.51206366e-03 9.99963449e-01 -8.03721938e-04 6.08647251e-01] [-1.29949375e-02 6.93065478e-04 9.99915322e-01 -5.49989826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379072328999996 meters 0.09273288088732248 Centerline is valid? [True, True] Translation: X:14.53, Y:0.60, Z:-0.55 [[ 9.99892500e-01 7.70639818e-03 1.24740015e-02 1.45311496e+01] [-7.69728051e-03 9.99970072e-01 -7.78779296e-04 6.04820666e-01] [-1.24796297e-02 6.82679688e-04 9.99921893e-01 -5.50987461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409072329 meters 0.092862602263975 Centerline is valid? [True, True] Translation: X:14.56, Y:0.60, Z:-0.55 [[ 9.99888627e-01 7.97017579e-03 1.26178626e-02 1.45632825e+01] [-7.96091630e-03 9.99968004e-01 -7.83897587e-04 6.02124536e-01] [-1.26237067e-02 6.83360533e-04 9.99920084e-01 -5.50785008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439072329 meters 0.0915826362126474 Centerline is valid? [True, True] Translation: X:14.59, Y:0.60, Z:-0.55 [[ 9.99833067e-01 1.11643418e-02 1.44635686e-02 1.45928061e+01] [-1.11523729e-02 9.99937398e-01 -9.07916976e-04 6.02149040e-01] [-1.44727995e-02 7.46462304e-04 9.99894985e-01 -5.50333305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46907232899999 meters 0.09157611610176349 Centerline is valid? [True, True] Translation: X:14.62, Y:0.60, Z:-0.55 [[ 9.99813058e-01 1.19948886e-02 1.51648436e-02 1.46229793e+01] [-1.19818349e-02 9.99927763e-01 -9.51352435e-04 6.00169268e-01] [-1.51751595e-02 7.69471935e-04 9.99884555e-01 -5.51179712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49907232899999 meters 0.09146218816264161 Centerline is valid? [True, True] Translation: X:14.65, Y:0.60, Z:-0.55 [[ 9.99779824e-01 1.25661353e-02 1.68046105e-02 1.46530827e+01] [-1.25501909e-02 9.99920688e-01 -1.05393769e-03 5.98248973e-01] [-1.68165216e-02 8.42804564e-04 9.99858237e-01 -5.52016656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.529072328999995 meters 0.09268875767102752 Centerline is valid? [True, True] Translation: X:14.68, Y:0.59, Z:-0.55 [[ 9.99780003e-01 1.18267759e-02 1.73225926e-02 1.46830138e+01] [-1.18097174e-02 9.99929672e-01 -1.08672030e-03 5.94081256e-01] [-1.73342268e-02 8.81906297e-04 9.99849362e-01 -5.53553973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559072328999996 meters 0.09285505502227427 Centerline is valid? [True, True] Translation: X:14.71, Y:0.59, Z:-0.55 [[ 9.99767050e-01 1.15940114e-02 1.82050718e-02 1.47148149e+01] [-1.15751869e-02 9.99932357e-01 -1.13905968e-03 5.90551707e-01] [-1.82170467e-02 9.28067229e-04 9.99833625e-01 -5.54947780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589072329 meters 0.09387801343498317 Centerline is valid? [True, True] Translation: X:14.75, Y:0.58, Z:-0.56 [[ 9.99775120e-01 1.05753280e-02 1.83813087e-02 1.47464385e+01] [-1.05558851e-02 9.99943619e-01 -1.15446072e-03 5.84844230e-01] [-1.83924812e-02 9.60170126e-04 9.99830383e-01 -5.57271442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619072329 meters 0.09567330765486287 Centerline is valid? [True, True] Translation: X:14.78, Y:0.58, Z:-0.56 [[ 9.99771938e-01 9.67116727e-03 1.90404769e-02 1.47772167e+01] [-9.65006232e-03 9.99952717e-01 -1.19999506e-03 5.77558912e-01] [-1.90511820e-02 1.01597960e-03 9.99817994e-01 -5.59107556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64907232899999 meters 0.09852366868559713 Centerline is valid? [True, True] Translation: X:14.81, Y:0.57, Z:-0.56 [[ 9.99829559e-01 6.14749621e-03 1.74086556e-02 1.48060396e+01] [-6.12920707e-03 9.99980607e-01 -1.10373724e-03 5.70611079e-01] [-1.74151032e-02 9.96847860e-04 9.99847849e-01 -5.61720792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67907232899999 meters 0.0993116956380661 Centerline is valid? [True, True] Translation: X:14.84, Y:0.57, Z:-0.56 [[ 9.99851785e-01 5.01309617e-03 1.64705004e-02 1.48381621e+01] [-4.99659658e-03 9.99986973e-01 -1.04276489e-03 5.68541984e-01] [-1.64755133e-02 9.60313886e-04 9.99863808e-01 -5.63082467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709072328999994 meters 0.10061609583080616 Centerline is valid? [True, False] Translation: X:14.84, Y:0.57, Z:-0.56 [[ 9.99852867e-01 5.28870216e-03 1.63178864e-02 1.48390964e+01] [-5.27794792e-03 9.99985825e-01 -7.02041503e-04 5.68392117e-01] [-1.63213680e-02 6.15813255e-04 9.99866608e-01 -5.63996464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739072328999995 meters 0.09457382758337766 Centerline is valid? [False, True] Translation: X:14.84, Y:0.57, Z:-0.57 [[ 9.99850601e-01 5.69144145e-03 1.63212700e-02 1.48398649e+01] [-5.69301983e-03 9.99983793e-01 5.02466246e-05 5.66985198e-01] [-1.63207195e-02 -1.43156432e-04 9.99866798e-01 -5.65392869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769072329 meters 0.0977078914062289 Centerline is valid? [True, True] Translation: X:14.87, Y:0.55, Z:-0.57 [[ 9.99814328e-01 2.79372994e-03 1.90658193e-02 1.48694915e+01] [-2.77017669e-03 9.99995367e-01 -1.26166408e-03 5.53912700e-01] [-1.90692557e-02 1.20861414e-03 9.99817435e-01 -5.68281689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799072329 meters 0.09859762077501273 Centerline is valid? [True, True] Translation: X:14.90, Y:0.55, Z:-0.57 [[ 9.99790983e-01 2.73715272e-04 2.04429931e-02 1.49006040e+01] [-2.46108498e-04 9.99999055e-01 -1.35293085e-03 5.48426139e-01] [-2.04433441e-02 1.34761687e-03 9.99790105e-01 -5.67817399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82907232899999 meters 0.09882263984316714 Centerline is valid? [True, True] Translation: X:14.93, Y:0.55, Z:-0.57 [[ 9.99756211e-01 -1.28364394e-03 2.20424682e-02 1.49322484e+01] [ 1.31607988e-03 9.99998072e-01 -1.45707668e-03 5.45032035e-01] [-2.20405554e-02 1.48573111e-03 9.99755973e-01 -5.66406258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85907232899999 meters 0.10250191342219607 Centerline is valid? [True, False] Translation: X:14.93, Y:0.55, Z:-0.56 [[ 9.99924509e-01 -8.67506975e-03 8.70172965e-03 1.49349261e+01] [ 8.61927647e-03 9.99942187e-01 6.42888626e-03 5.45002255e-01] [-8.75699762e-03 -6.35339832e-03 9.99941473e-01 -5.61762405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889072328999994 meters 0.09994434908237138 Centerline is valid? [False, True] Translation: X:14.94, Y:0.54, Z:-0.56 [[ 9.99927926e-01 -8.36641387e-03 8.61074476e-03 1.49354588e+01] [ 8.30666904e-03 9.99941340e-01 6.95093724e-03 5.43587954e-01] [-8.66839407e-03 -6.87890965e-03 9.99938768e-01 -5.62273080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919072328999995 meters 0.10067164136471653 Centerline is valid? [True, False] Translation: X:14.94, Y:0.54, Z:-0.56 [[ 9.99934311e-01 -7.67303713e-03 8.51464375e-03 1.49366142e+01] [ 7.60311247e-03 9.99937355e-01 8.21448669e-03 5.40155927e-01] [-8.57714042e-03 -8.14920929e-03 9.99930009e-01 -5.63916565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949072328999996 meters 0.10270023127285183 Centerline is valid? [False, False] Translation: X:14.94, Y:0.54, Z:-0.56 [[ 9.99936940e-01 -7.49157921e-03 8.36613167e-03 1.49370876e+01] [ 7.42119331e-03 9.99937073e-01 8.41278504e-03 5.39512476e-01] [-8.42863026e-03 -8.35016785e-03 9.99929614e-01 -5.64064742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979072329 meters 0.09919696069161754 Centerline is valid? [False, True] Translation: X:14.93, Y:0.54, Z:-0.56 [[ 9.99985903e-01 -4.82215833e-03 2.22262871e-03 1.49267841e+01] [ 4.82751205e-03 9.99985444e-01 -2.40969357e-03 5.43987052e-01] [-2.21097643e-03 2.42038937e-03 9.99994627e-01 -5.58062643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009072329 meters 0.09898592039938801 Centerline is valid? [True, True] Translation: X:14.96, Y:0.54, Z:-0.56 [[ 9.99993525e-01 3.63455817e-04 3.58033029e-03 1.49566939e+01] [-3.62620370e-04 9.99999907e-01 -2.33989834e-04 5.44139828e-01] [-3.58041500e-03 2.32690018e-04 9.99993563e-01 -5.57568425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03907232899999 meters 0.09733859548159775 Centerline is valid? [True, True] Translation: X:14.99, Y:0.55, Z:-0.56 [[ 9.99987371e-01 3.73001531e-03 3.36809064e-03 1.49882411e+01] [-3.72929596e-03 9.99993022e-01 -2.19831052e-04 5.46557007e-01] [-3.36888711e-03 2.07267669e-04 9.99994304e-01 -5.58947294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069072328999994 meters 0.0954027983819723 Centerline is valid? [True, True] Translation: X:15.02, Y:0.55, Z:-0.56 [[ 9.99972710e-01 7.03674347e-03 2.25019989e-03 1.50184866e+01] [-7.03642971e-03 9.99975233e-01 -1.47322412e-04 5.49418190e-01] [-2.25118083e-03 1.31485018e-04 9.99997457e-01 -5.61414987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099072328999995 meters 0.09409836497847128 Centerline is valid? [True, True] Translation: X:15.05, Y:0.55, Z:-0.57 [[ 9.99923125e-01 1.23606703e-02 9.78601498e-04 1.50477299e+01] [-1.23606134e-02 9.99923603e-01 -6.42455758e-05 5.51342867e-01] [-9.79320853e-04 5.21445221e-05 9.99999519e-01 -5.66163593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129072328999996 meters 0.09274247115231064 Centerline is valid? [True, True] Translation: X:15.08, Y:0.55, Z:-0.57 [[ 9.99900456e-01 1.40521861e-02 1.27086076e-03 1.50774156e+01] [-1.40520909e-02 9.99901261e-01 -8.37619501e-05 5.54421633e-01] [-1.27191231e-03 6.58953611e-05 9.99999189e-01 -5.66480868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159072329 meters 0.09176423368621317 Centerline is valid? [True, True] Translation: X:15.11, Y:0.56, Z:-0.57 [[ 9.99876928e-01 1.56293086e-02 1.36134848e-03 1.51065074e+01] [-1.56292007e-02 9.99877853e-01 -8.98427403e-05 5.57656386e-01] [-1.36258637e-03 6.85548946e-05 9.99999069e-01 -5.65804459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189072329 meters 0.09143561349001461 Centerline is valid? [True, True] Translation: X:15.13, Y:0.56, Z:-0.57 [[ 9.99861407e-01 1.66125716e-02 1.09049282e-03 1.51341805e+01] [-1.66125025e-02 9.99862000e-01 -7.23444538e-05 5.60908869e-01] [-1.09154416e-03 5.42186127e-05 9.99999403e-01 -5.65026223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21907232899999 meters 0.08857106698146947 Centerline is valid? [True, True] Translation: X:15.16, Y:0.57, Z:-0.56 [[ 9.99852982e-01 1.71304020e-02 7.51150548e-04 1.51633658e+01] [-1.71303693e-02 9.99853263e-01 -4.99936118e-05 5.72736921e-01] [-7.51896737e-04 3.71187756e-05 9.99999717e-01 -5.63453248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.24907232899999 meters 0.0883771318492845 Centerline is valid? [True, True] Translation: X:15.19, Y:0.57, Z:-0.57 [[ 9.99870229e-01 1.61091065e-02 1.50318255e-04 1.51922045e+01] [-1.61091051e-02 9.99870240e-01 -1.09013077e-05 5.72526016e-01] [-1.50474360e-04 8.47840044e-06 9.99999989e-01 -5.65586067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279072328999995 meters 0.09093281923630961 Centerline is valid? [True, True] Translation: X:15.22, Y:0.56, Z:-0.57 [[ 9.99893745e-01 1.45629851e-02 6.46409928e-04 1.52195824e+01] [-1.45629601e-02 9.99893954e-01 -4.33698179e-05 5.64860347e-01] [-6.46972973e-04 3.39515677e-05 9.99999790e-01 -5.69036793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309072328999996 meters 0.09074097800183423 Centerline is valid? [True, True] Translation: X:15.25, Y:0.56, Z:-0.57 [[ 9.99922440e-01 1.23120811e-02 1.87784749e-03 1.52485912e+01] [-1.23118724e-02 9.99924199e-01 -1.22672131e-04 5.63577889e-01] [-1.87921549e-03 9.95427983e-05 9.99998229e-01 -5.68706074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339072329 meters 0.09074097800183423 Centerline is valid? [True, True] Translation: X:15.28, Y:0.56, Z:-0.57 [[ 9.99923661e-01 1.22125644e-02 1.87780574e-03 1.52759984e+01] [-1.22123543e-02 9.99925419e-01 -1.23316777e-04 5.61936105e-01] [-1.87917170e-03 1.00374934e-04 9.99998229e-01 -5.69167710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369072329 meters 0.09324744120559682 Centerline is valid? [True, True] Translation: X:15.31, Y:0.56, Z:-0.57 [[ 9.99977385e-01 6.60546474e-03 1.26397379e-03 1.53064077e+01] [-6.60536639e-03 9.99978181e-01 -8.19677893e-05 5.57322051e-01] [-1.26448765e-03 7.36169256e-05 9.99999198e-01 -5.71424702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39907232899999 meters 0.09616058422400521 Centerline is valid? [True, True] Translation: X:15.33, Y:0.55, Z:-0.57 [[ 9.99988938e-01 4.09840476e-03 2.30784839e-03 1.53342548e+01] [-4.09806844e-03 9.99991592e-01 -1.50440205e-04 5.51267805e-01] [-2.30844554e-03 1.40980820e-04 9.99997326e-01 -5.71218891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42907232899999 meters 0.09685225564468779 Centerline is valid? [True, True] Translation: X:15.36, Y:0.55, Z:-0.57 [[ 9.99992905e-01 1.38107836e-03 3.50451043e-03 1.53642846e+01] [-1.38029134e-03 9.99999022e-01 -2.26983009e-04 5.49700135e-01] [-3.50482048e-03 2.22144153e-04 9.99993833e-01 -5.70427986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459072328999994 meters 0.09618200600481437 Centerline is valid? [True, True] Translation: X:15.40, Y:0.55, Z:-0.57 [[ 9.99985035e-01 3.23628546e-03 4.41102020e-03 1.53954624e+01] [-3.23505987e-03 9.99994727e-01 -2.84953160e-04 5.52564943e-01] [-4.41191913e-03 2.70678981e-04 9.99990231e-01 -5.67335514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489072328999995 meters 0.09668443339190866 Centerline is valid? [True, True] Translation: X:15.43, Y:0.55, Z:-0.57 [[ 9.99982634e-01 3.62391422e-03 4.64744911e-03 1.54261585e+01] [-3.62255614e-03 9.99993393e-01 -3.00605182e-04 5.50866739e-01] [-4.64850777e-03 2.83764316e-04 9.99989155e-01 -5.67605160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519072329 meters 0.09705090546853139 Centerline is valid? [True, True] Translation: X:15.46, Y:0.55, Z:-0.57 [[ 9.99984929e-01 3.86349639e-03 3.90053726e-03 1.54569977e+01] [-3.86254070e-03 9.99992508e-01 -2.52518499e-04 5.49276056e-01] [-3.90148364e-03 2.37448709e-04 9.99992361e-01 -5.69187347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549072329 meters 0.09715007634560806 Centerline is valid? [True, True] Translation: X:15.49, Y:0.55, Z:-0.57 [[ 9.99984077e-01 4.62410308e-03 3.23475184e-03 1.54867714e+01] [-4.62344907e-03 9.99989290e-01 -2.09628734e-04 5.47543023e-01] [-3.23568654e-03 1.94669686e-04 9.99994746e-01 -5.71974196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57907232899999 meters 0.09335111686629068 Centerline is valid? [True, True] Translation: X:15.52, Y:0.55, Z:-0.58 [[ 9.99974526e-01 6.73713767e-03 2.35760016e-03 1.55168518e+01] [-6.73679544e-03 9.99977296e-01 -1.53071932e-04 5.54606902e-01] [-2.35857790e-03 1.37185362e-04 9.99997209e-01 -5.75119648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60907232899999 meters 0.09411464061932077 Centerline is valid? [True, True] Translation: X:15.54, Y:0.55, Z:-0.58 [[ 9.99977405e-01 6.58712075e-03 1.34151941e-03 1.55446941e+01] [-6.58700852e-03 9.99978302e-01 -8.80599926e-05 5.51356452e-01] [-1.34207036e-03 7.92214031e-05 9.99999096e-01 -5.76884203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639072328999994 meters 0.09495332480534421 Centerline is valid? [True, True] Translation: X:15.57, Y:0.55, Z:-0.58 [[ 9.99976568e-01 6.74117918e-03 1.19131896e-03 1.55723521e+01] [-6.74109074e-03 9.99977276e-01 -7.82406752e-05 5.48792624e-01] [-1.19181933e-03 7.02080526e-05 9.99999287e-01 -5.78515977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669072328999995 meters 0.09529135248188554 Centerline is valid? [True, True] Translation: X:15.60, Y:0.55, Z:-0.58 [[ 9.99973620e-01 7.17433364e-03 1.13506291e-03 1.56000958e+01] [-7.17425369e-03 9.99974262e-01 -7.44954238e-05 5.47128897e-01] [-1.13556815e-03 6.63502293e-05 9.99999353e-01 -5.79639001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699072328999996 meters 0.09826596050168322 Centerline is valid? [True, True] Translation: X:15.63, Y:0.54, Z:-0.58 [[ 9.99971250e-01 7.50580544e-03 1.07830838e-03 1.56279040e+01] [-7.50573377e-03 9.99971829e-01 -7.04915967e-05 5.40153521e-01] [-1.07880710e-03 6.23960744e-05 9.99999416e-01 -5.81826324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729072329 meters 0.09456677665099468 Centerline is valid? [True, True] Translation: X:15.66, Y:0.55, Z:-0.58 [[ 9.99971643e-01 7.42602293e-03 1.25188204e-03 1.56571506e+01] [-7.42592657e-03 9.99972424e-01 -8.16004543e-05 5.46185741e-01] [-1.25245348e-03 7.23017563e-05 9.99999213e-01 -5.80162450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759072329 meters 0.09418881491568129 Centerline is valid? [True, True] Translation: X:15.69, Y:0.55, Z:-0.58 [[ 9.99960599e-01 8.73469706e-03 1.58283371e-03 1.56862664e+01] [-8.73454567e-03 9.99961848e-01 -1.02532942e-04 5.45375714e-01] [-1.58366891e-03 8.87035686e-05 9.99998742e-01 -5.81732003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78907232899999 meters 0.0921219678420162 Centerline is valid? [True, True] Translation: X:15.71, Y:0.55, Z:-0.58 [[ 9.99956609e-01 9.07726771e-03 2.09357276e-03 1.57149103e+01] [-9.07700380e-03 9.99958794e-01 -1.35527008e-04 5.48420138e-01] [-2.09471671e-03 1.16517760e-04 9.99997799e-01 -5.81293364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819072328999994 meters 0.09230066381873385 Centerline is valid? [True, True] Translation: X:15.74, Y:0.55, Z:-0.58 [[ 9.99954915e-01 9.19785713e-03 2.35947944e-03 1.57427407e+01] [-9.19752242e-03 9.99957690e-01 -1.52672313e-04 5.46462938e-01] [-2.36078387e-03 1.30964065e-04 9.99997205e-01 -5.81336183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849072328999995 meters 0.09209939947118104 Centerline is valid? [True, True] Translation: X:15.77, Y:0.55, Z:-0.58 [[ 9.99951397e-01 9.37675431e-03 3.04635234e-03 1.57713405e+01] [-9.37619987e-03 9.99956023e-01 -1.96233793e-04 5.46080996e-01] [-3.04805841e-03 1.67661047e-04 9.99995341e-01 -5.80102677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879072328999996 meters 0.0925200989487121 Centerline is valid? [True, True] Translation: X:15.80, Y:0.55, Z:-0.58 [[ 9.99952298e-01 9.54353024e-03 2.07918271e-03 1.57997514e+01] [-9.54327140e-03 9.99954453e-01 -1.34378535e-04 5.47344785e-01] [-2.08037045e-03 1.14529920e-04 9.99997829e-01 -5.78249274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909072329 meters 0.09279890501776797 Centerline is valid? [True, True] Translation: X:15.83, Y:0.55, Z:-0.58 [[ 9.99955572e-01 9.32593434e-03 1.37116469e-03 1.58282431e+01] [-9.32582142e-03 9.99956510e-01 -8.87187599e-05 5.45816071e-01] [-1.37193244e-03 7.59275813e-05 9.99999056e-01 -5.80102935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939072329 meters 0.09292400816383466 Centerline is valid? [True, True] Translation: X:15.86, Y:0.54, Z:-0.58 [[ 9.99951828e-01 9.81504046e-03 8.53543716e-05 1.58565920e+01] [-9.81503994e-03 9.99951831e-01 -6.54142515e-06 5.43389531e-01] [-8.54144645e-05 5.70335347e-06 9.99999996e-01 -5.83680244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96907232899999 meters 0.09333816124247166 Centerline is valid? [True, True] Translation: X:15.89, Y:0.54, Z:-0.59 [[ 9.99946611e-01 1.01849207e-02 -1.74454481e-03 1.58852421e+01] [-1.01847439e-02 9.99948128e-01 1.10175866e-04 5.39363112e-01] [ 1.74557645e-03 -9.24022417e-05 9.99998472e-01 -5.88546568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99907232899999 meters 0.09278230981934087 Centerline is valid? [True, True] Translation: X:15.91, Y:0.54, Z:-0.59 [[ 9.99940842e-01 1.02693154e-02 -3.58532470e-03 1.59136337e+01] [-1.02685661e-02 9.99947251e-01 2.27322517e-04 5.38643322e-01] [ 3.58747002e-03 -1.90492925e-04 9.99993547e-01 -5.90575787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029072328999995 meters 0.09181553114128635 Centerline is valid? [True, True] Translation: X:15.94, Y:0.54, Z:-0.59 [[ 9.99938994e-01 1.07624584e-02 -2.48549841e-03 1.59429765e+01] [-1.07621011e-02 9.99942075e-01 1.57077138e-04 5.40311968e-01] [ 2.48704498e-03 -1.30318370e-04 9.99996899e-01 -5.88667413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059072328999996 meters 0.09246356279746933 Centerline is valid? [True, True] Translation: X:15.97, Y:0.54, Z:-0.59 [[ 9.99940427e-01 1.08538977e-02 -1.15528432e-03 1.59712296e+01] [-1.08538213e-02 9.99941093e-01 7.23485611e-05 5.39088814e-01] [ 1.15600153e-03 -5.98050015e-05 9.99999330e-01 -5.85736564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089072329 meters 0.0914255285278822 Centerline is valid? [True, True] Translation: X:16.00, Y:0.54, Z:-0.58 [[ 9.99947253e-01 1.01067276e-02 1.82876190e-03 1.60000518e+01] [-1.01065300e-02 9.99948921e-01 -1.17265048e-04 5.41446493e-01] [-1.82985365e-03 9.87764254e-05 9.99998321e-01 -5.79844093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119072329 meters 0.09321742312213958 Centerline is valid? [True, True] Translation: X:16.03, Y:0.54, Z:-0.58 [[ 9.99945008e-01 1.02493670e-02 2.22052806e-03 1.60271974e+01] [-1.02490763e-02 9.99947467e-01 -1.42231030e-04 5.35169970e-01] [-2.22186919e-03 1.19464846e-04 9.99997525e-01 -5.81936441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14907232899999 meters 0.09185686085546106 Centerline is valid? [True, True] Translation: X:16.06, Y:0.54, Z:-0.58 [[ 9.99944539e-01 1.03648571e-02 1.86782938e-03 1.60563848e+01] [-1.03646520e-02 9.99946278e-01 -1.19459624e-04 5.35081071e-01] [-1.86896722e-03 1.00093597e-04 9.99998248e-01 -5.84060777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17907232899999 meters 0.09344855508914046 Centerline is valid? [True, True] Translation: X:16.08, Y:0.53, Z:-0.59 [[ 9.99946027e-01 1.03487395e-02 9.19832596e-04 1.60834305e+01] [-1.03486890e-02 9.99946449e-01 -5.95796202e-05 5.27240753e-01] [-9.20399913e-04 5.00573430e-05 9.99999575e-01 -5.89802706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.209072328999994 meters 0.09314411562335094 Centerline is valid? [True, True] Translation: X:16.11, Y:0.53, Z:-0.59 [[ 9.99956679e-01 9.29689556e-03 -4.55469320e-04 1.61127417e+01] [-9.29688365e-03 9.99956783e-01 2.82601433e-05 5.26020219e-01] [ 4.55712368e-04 -2.40244737e-05 9.99999896e-01 -5.91112130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239072328999995 meters 0.09517629092337197 Centerline is valid? [True, True] Translation: X:16.14, Y:0.52, Z:-0.59 [[ 9.99975809e-01 6.62922296e-03 -2.10603331e-03 1.61420035e+01] [-6.62895772e-03 9.99978019e-01 1.32898267e-04 5.20146060e-01] [ 2.10686803e-03 -1.18934246e-04 9.99997773e-01 -5.90891379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269072329 meters 0.09545894468093154 Centerline is valid? [True, True] Translation: X:16.17, Y:0.52, Z:-0.59 [[ 9.99979604e-01 5.79821901e-03 -2.67826165e-03 1.61701839e+01] [-5.79779130e-03 9.99983179e-01 1.67433898e-04 5.17815478e-01] [ 2.67918741e-03 -1.51902480e-04 9.99996399e-01 -5.91039534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299072329 meters 0.09577074984632326 Centerline is valid? [True, True] Translation: X:16.20, Y:0.52, Z:-0.59 [[ 9.99983314e-01 5.58828387e-03 -1.46412705e-03 1.61983932e+01] [-5.58815621e-03 9.99984382e-01 9.12669460e-05 5.15121461e-01] [ 1.46461421e-03 -8.30836525e-05 9.99998924e-01 -5.90583206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32907232899999 meters 0.09768658660187367 Centerline is valid? [True, True] Translation: X:16.23, Y:0.51, Z:-0.59 [[ 9.99982726e-01 5.84101068e-03 -6.55709165e-04 1.62260954e+01] [-5.84098572e-03 9.99982940e-01 3.99689516e-05 5.09613409e-01] [ 6.55931438e-04 -3.61382733e-05 9.99999784e-01 -5.90954388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35907232899999 meters 0.09761756974304335 Centerline is valid? [True, True] Translation: X:16.26, Y:0.51, Z:-0.59 [[ 9.99973842e-01 6.87225307e-03 2.25575987e-03 1.62550101e+01] [-6.87194896e-03 9.99976378e-01 -1.42535937e-04 5.08445948e-01] [-2.25668613e-03 1.27030742e-04 9.99997446e-01 -5.87733439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389072328999994 meters 0.09399972747244414 Centerline is valid? [True, True] Translation: X:16.28, Y:0.51, Z:-0.59 [[ 9.99972658e-01 6.67100752e-03 3.19084814e-03 1.62843064e+01] [-6.67039750e-03 9.99977732e-01 -2.01780648e-04 5.13541274e-01] [-3.19212317e-03 1.80490906e-04 9.99994889e-01 -5.86513983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419072328999995 meters 0.09839375910348425 Centerline is valid? [True, True] Translation: X:16.31, Y:0.50, Z:-0.59 [[ 9.99973888e-01 6.18370306e-03 3.73975959e-03 1.63115402e+01] [-6.18286257e-03 9.99980858e-01 -2.36264322e-04 5.01173034e-01] [-3.74114899e-03 2.13135733e-04 9.99992979e-01 -5.90323692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449072328999996 meters 0.09353646872835483 Centerline is valid? [True, True] Translation: X:16.34, Y:0.51, Z:-0.59 [[ 9.99984192e-01 3.79324427e-03 4.15054518e-03 1.63412819e+01] [-3.79219174e-03 9.99992775e-01 -2.61429665e-04 5.07507601e-01] [-4.15150686e-03 2.45685870e-04 9.99991352e-01 -5.87553059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479072329 meters 0.09664373020527536 Centerline is valid? [True, True] Translation: X:16.37, Y:0.50, Z:-0.59 [[ 9.99990580e-01 3.00271002e-03 3.13423868e-03 1.63704417e+01] [-3.00210752e-03 9.99995474e-01 -1.96918938e-04 4.98816896e-01] [-3.13481578e-03 1.87507762e-04 9.99995069e-01 -5.89533993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509072329 meters 0.10236201237653564 Centerline is valid? [True, False] Translation: X:16.37, Y:0.50, Z:-0.59 [[ 9.99990776e-01 2.95784580e-03 3.11428901e-03 1.63702008e+01] [-2.95713893e-03 9.99995601e-01 -2.31557596e-04 4.98374291e-01] [-3.11496022e-03 2.22346075e-04 9.99995124e-01 -5.89056627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53907232899999 meters 0.09691663981786279 Centerline is valid? [False, True] Translation: X:16.37, Y:0.50, Z:-0.59 [[ 9.99989744e-01 2.91861829e-03 3.46307267e-03 1.63691280e+01] [-2.91941087e-03 9.99995713e-01 2.23834240e-04 4.95889622e-01] [-3.46240454e-03 -2.33942076e-04 9.99993978e-01 -5.88866601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569072328999994 meters 0.09833621188746997 Centerline is valid? [True, True] Translation: X:16.40, Y:0.49, Z:-0.59 [[ 9.99992346e-01 1.48055737e-03 3.62160224e-03 1.63980356e+01] [-1.47971033e-03 9.99998877e-01 -2.36555573e-04 4.89803507e-01] [-3.62194841e-03 2.31194840e-04 9.99993414e-01 -5.89990543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599072328999995 meters 0.0967117645762141 Centerline is valid? [True, True] Translation: X:16.43, Y:0.49, Z:-0.59 [[ 9.99994469e-01 -1.63032274e-04 3.32208172e-03 1.64287138e+01] [ 1.63752314e-04 9.99999963e-01 -2.16472578e-04 4.89013258e-01] [-3.32204630e-03 2.17015379e-04 9.99994458e-01 -5.90571562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629072328999996 meters 0.0995446089463957 Centerline is valid? [True, True] Translation: X:16.46, Y:0.48, Z:-0.59 [[ 9.99997086e-01 -2.28160457e-03 7.89168519e-04 1.64584431e+01] [ 2.28164568e-03 9.99997396e-01 -5.12074371e-05 4.78727080e-01] [-7.89049629e-04 5.30078908e-05 9.99999687e-01 -5.94606914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659072329 meters 0.09911041045507013 Centerline is valid? [True, True] Translation: X:16.49, Y:0.48, Z:-0.60 [[ 9.99997987e-01 -1.86586025e-03 7.38608696e-04 1.64910072e+01] [ 1.86589552e-03 9.99998258e-01 -4.70611053e-05 4.76913433e-01] [-7.38519600e-04 4.84391772e-05 9.99999726e-01 -5.95690829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689072329 meters 0.09660485609088988 Centerline is valid? [True, True] Translation: X:16.52, Y:0.48, Z:-0.59 [[ 9.99998879e-01 -1.45098079e-03 3.70456731e-04 1.65237710e+01] [ 1.45098941e-03 9.99998947e-01 -2.29910537e-05 4.79373514e-01] [-3.70422982e-04 2.35285567e-05 9.99999931e-01 -5.93939005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71907232899999 meters 0.09881891995334356 Centerline is valid? [True, True] Translation: X:16.55, Y:0.47, Z:-0.59 [[ 9.99994411e-01 -6.45231765e-04 3.28038593e-03 1.65538720e+01] [ 6.45938194e-04 9.99999768e-01 -2.14294585e-04 4.71213958e-01] [-3.28024690e-03 2.16412314e-04 9.99994597e-01 -5.92464307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.74907232899999 meters 0.09798200505569633 Centerline is valid? [True, True] Translation: X:16.59, Y:0.47, Z:-0.59 [[ 9.99990244e-01 -3.10984786e-04 4.40617767e-03 1.65863184e+01] [ 3.12253899e-04 9.99999910e-01 -2.87345442e-04 4.69824103e-01] [-4.40608792e-03 2.88718485e-04 9.99990251e-01 -5.91653994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779072328999995 meters 0.09734564345995035 Centerline is valid? [True, True] Translation: X:16.62, Y:0.47, Z:-0.59 [[ 9.99991463e-01 3.06970948e-04 4.12056624e-03 1.66191069e+01] [-3.05866428e-04 9.99999917e-01 -2.68677987e-04 4.68404193e-01] [-4.12064838e-03 2.67415350e-04 9.99991474e-01 -5.90647223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809072328999996 meters 0.0996071279866181 Centerline is valid? [True, True] Translation: X:16.65, Y:0.46, Z:-0.59 [[ 9.99996738e-01 1.61764121e-03 1.97676034e-03 1.66502821e+01] [-1.61738972e-03 9.99998684e-01 -1.28812067e-04 4.64013074e-01] [-1.97696611e-03 1.25614455e-04 9.99998038e-01 -5.91934506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839072329 meters 0.09830470085445404 Centerline is valid? [True, True] Translation: X:16.68, Y:0.47, Z:-0.59 [[ 9.99996003e-01 2.18367775e-03 1.79613280e-03 1.66808750e+01] [-2.18346956e-03 9.99997609e-01 -1.17860891e-04 4.65349838e-01] [-1.79638587e-03 1.13938618e-04 9.99998380e-01 -5.92987707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869072329 meters 0.09799741133741316 Centerline is valid? [True, True] Translation: X:16.71, Y:0.46, Z:-0.60 [[ 9.99998665e-01 1.60937570e-03 2.84338494e-04 1.67110716e+01] [-1.60937046e-03 9.99998705e-01 -1.86580793e-05 4.64168512e-01] [-2.84368154e-04 1.82004485e-05 9.99999959e-01 -5.95553596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89907232899999 meters 0.10001829427272821 Centerline is valid? [True, False] Translation: X:16.71, Y:0.46, Z:-0.60 [[ 9.99998107e-01 1.90479405e-03 3.96145384e-04 1.67112224e+01] [-1.90505290e-03 9.99997971e-01 6.54070069e-04 4.61921386e-01] [-3.94898712e-04 -6.54823509e-04 9.99999708e-01 -5.96326415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92907232899999 meters 0.1015477073166229 Centerline is valid? [False, False] Translation: X:16.71, Y:0.46, Z:-0.60 [[ 9.99997837e-01 -2.04991537e-03 3.50634971e-04 1.67115277e+01] [ 2.05097649e-03 9.99993236e-01 -3.05319753e-03 4.59367115e-01] [-3.44373803e-04 3.05391008e-03 9.99995278e-01 -5.96601271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959072328999994 meters 0.10217223030167792 Centerline is valid? [False, False] Translation: X:16.71, Y:0.46, Z:-0.60 [[ 9.99998445e-01 -1.72189658e-03 3.80050684e-04 1.67118963e+01] [ 1.72278613e-03 9.99995748e-01 -2.35281262e-03 4.57518074e-01] [-3.75997768e-04 2.35346371e-03 9.99997160e-01 -5.97411270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989072328999995 meters 0.10350104844214683 Centerline is valid? [False, False] Translation: X:16.71, Y:0.46, Z:-0.60 [[ 9.99998804e-01 -1.52393660e-03 2.62811868e-04 1.67123448e+01] [ 1.52447135e-03 9.99996744e-01 -2.04665274e-03 4.56704323e-01] [-2.59692043e-04 2.04705094e-03 9.99997871e-01 -5.97660473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019072329 meters 0.10324092378015917 Centerline is valid? [False, False] Translation: X:16.71, Y:0.46, Z:-0.60 [[ 9.99998977e-01 -1.42955430e-03 4.65868760e-05 1.67128378e+01] [ 1.42964547e-03 9.99996939e-01 -2.01957103e-03 4.56759467e-01] [-4.36996469e-05 2.01963556e-03 9.99997960e-01 -5.97518804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049072329 meters 0.0988640757711697 Centerline is valid? [False, True] Translation: X:16.71, Y:0.46, Z:-0.60 [[ 9.99998938e-01 -1.45676748e-03 -4.70900512e-05 1.67126618e+01] [ 1.45666970e-03 9.99996912e-01 -2.01367177e-03 4.56279540e-01] [ 5.00233573e-05 2.01360104e-03 9.99997971e-01 -5.96843654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07907232899999 meters 0.10032804750899928 Centerline is valid? [True, False] Translation: X:16.71, Y:0.45, Z:-0.60 [[ 9.99999446e-01 -1.03777905e-03 -1.77681735e-04 1.67134535e+01] [ 1.03753987e-03 9.99998563e-01 -1.34096008e-03 4.54498004e-01] [ 1.79073100e-04 1.34077499e-03 9.99999085e-01 -5.97616632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10907232899999 meters 0.10137221968192905 Centerline is valid? [False, False] Translation: X:16.71, Y:0.45, Z:-0.60 [[ 9.99999851e-01 -5.16856037e-04 -1.76924186e-04 1.67141702e+01] [ 5.16785840e-04 9.99999788e-01 -3.96580141e-04 4.51919239e-01] [ 1.77129123e-04 3.96488649e-04 9.99999906e-01 -5.98861218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139072328999994 meters 0.10871612447076066 Centerline is valid? [False, False] Translation: X:16.71, Y:0.45, Z:-0.60 [[ 9.99999846e-01 -1.08238242e-04 5.43671486e-04 1.67133714e+01] [ 1.07669901e-04 9.99999448e-01 1.04529543e-03 4.46153561e-01] [-5.43784327e-04 -1.04523674e-03 9.99999306e-01 -6.00613429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169072328999995 meters 0.10447516056203962 Centerline is valid? [False, False] Translation: X:16.71, Y:0.44, Z:-0.60 [[ 9.99999631e-01 5.83710224e-05 8.57115988e-04 1.67128199e+01] [-5.98466090e-05 9.99998516e-01 1.72164694e-03 4.43401598e-01] [-8.57014222e-04 -1.72169760e-03 9.99998151e-01 -6.01135035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199072328999996 meters 0.10463896981735771 Centerline is valid? [False, False] Translation: X:16.72, Y:0.44, Z:-0.60 [[ 9.99993394e-01 -3.63365251e-03 8.96717441e-05 1.67150867e+01] [ 3.63384792e-03 9.99990788e-01 -2.28467552e-03 4.43085171e-01] [-8.13692011e-05 2.28498628e-03 9.99997386e-01 -6.01437191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229072329 meters 0.10582298413276893 Centerline is valid? [False, False] Translation: X:16.72, Y:0.44, Z:-0.60 [[ 9.99994947e-01 -3.17883302e-03 3.21622260e-05 1.67152647e+01] [ 3.17887464e-03 9.99993982e-01 -1.38973198e-03 4.39593758e-01] [-2.77443066e-05 1.38982720e-03 9.99999034e-01 -6.01488605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259072329 meters 0.10582298413276893 Centerline is valid? [False, False] Translation: X:16.72, Y:0.44, Z:-0.60 [[ 9.99994947e-01 -3.17883302e-03 3.21622260e-05 1.67152647e+01] [ 3.17887464e-03 9.99993982e-01 -1.38973198e-03 4.39593758e-01] [-2.77443066e-05 1.38982720e-03 9.99999034e-01 -6.01488605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28907232899999 meters 0.10534631153716156 Centerline is valid? [False, False] Translation: X:16.72, Y:0.44, Z:-0.60 [[ 9.99995146e-01 -3.10820152e-03 -2.15372472e-04 1.67156464e+01] [ 3.10788867e-03 9.99994137e-01 -1.43803006e-03 4.39574940e-01] [ 2.19840896e-04 1.43735373e-03 9.99998943e-01 -6.00994663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319072328999994 meters 0.10234295778593197 Centerline is valid? [False, False] Translation: X:16.72, Y:0.44, Z:-0.60 [[ 9.99995395e-01 -2.99249341e-03 -5.05797872e-04 1.67161846e+01] [ 2.99175558e-03 9.99994469e-01 -1.45326207e-03 4.39585943e-01] [ 5.10143952e-04 1.45174215e-03 9.99998816e-01 -6.00584731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.349072328999995 meters 0.10602067171562714 Centerline is valid? [False, False] Translation: X:16.72, Y:0.44, Z:-0.60 [[ 9.99996141e-01 -2.66852226e-03 -7.72643101e-04 1.67171016e+01] [ 2.66766931e-03 9.99995834e-01 -1.10287548e-03 4.38856612e-01] [ 7.75582930e-04 1.10081007e-03 9.99999093e-01 -6.00924477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379072328999996 meters 0.10273653277886394 Centerline is valid? [False, False] Translation: X:16.72, Y:0.44, Z:-0.60 [[ 9.99997514e-01 -1.97944755e-03 -1.02631116e-03 1.67185733e+01] [ 1.97934800e-03 9.99998036e-01 -9.80061062e-05 4.36502785e-01] [ 1.02650314e-03 9.59744356e-05 9.99999469e-01 -6.02293310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409072329 meters 0.10220308375304654 Centerline is valid? [False, False] Translation: X:16.72, Y:0.43, Z:-0.60 [[ 9.99999226e-01 -9.35504079e-04 -8.20095539e-04 1.67192287e+01] [ 9.36888971e-04 9.99998133e-01 1.68994043e-03 4.29007935e-01] [ 8.18513062e-04 -1.69070746e-03 9.99998236e-01 -6.03824148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439072329 meters 0.10288996509614655 Centerline is valid? [False, False] Translation: X:16.72, Y:0.43, Z:-0.60 [[ 9.99999514e-01 -4.58051074e-04 -8.72964155e-04 1.67197325e+01] [ 4.60222557e-04 9.99996797e-01 2.48890629e-03 4.26114249e-01] [ 8.71821312e-04 -2.48930684e-03 9.99996522e-01 -6.04451797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46907232899999 meters 0.09902019935596128 Centerline is valid? [False, True] Translation: X:16.72, Y:0.43, Z:-0.60 [[ 9.99998997e-01 -1.96571734e-04 -1.40288605e-03 1.67206175e+01] [ 2.00094187e-04 9.99996827e-01 2.51116294e-03 4.25249409e-01] [ 1.40238798e-03 -2.51144113e-03 9.99995863e-01 -6.03572237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49907232899999 meters 0.10263131812769477 Centerline is valid? [True, False] Translation: X:16.72, Y:0.43, Z:-0.60 [[ 9.99998177e-01 -2.31874084e-04 -1.89544301e-03 1.67212484e+01] [ 2.35715407e-04 9.99997919e-01 2.02663721e-03 4.26461040e-01] [ 1.89496914e-03 -2.02708030e-03 9.99996150e-01 -6.02461574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.529072328999995 meters 0.09627533250064749 Centerline is valid? [False, True] Translation: X:16.72, Y:0.43, Z:-0.60 [[ 9.99997097e-01 -3.61117287e-04 -2.38218923e-03 1.67216343e+01] [ 3.64476695e-04 9.99998940e-01 1.40993543e-03 4.27674334e-01] [ 2.38167756e-03 -1.41079959e-03 9.99996169e-01 -6.00990326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559072328999996 meters 0.09465815263491612 Centerline is valid? [True, True] Translation: X:16.75, Y:0.43, Z:-0.60 [[ 9.99992493e-01 2.85799029e-03 -2.61640295e-03 1.67518797e+01] [-2.85758131e-03 9.99995904e-01 1.60037185e-04 4.29289476e-01] [ 2.61684962e-03 -1.52559399e-04 9.99996564e-01 -5.99251799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589072329 meters 0.09122488009641828 Centerline is valid? [True, True] Translation: X:16.78, Y:0.43, Z:-0.60 [[ 9.99942652e-01 9.99593610e-03 -3.84360697e-03 1.67824716e+01] [-9.99510720e-03 9.99950020e-01 2.34805102e-04 4.31070647e-01] [ 3.84576196e-03 -1.96374373e-04 9.99992586e-01 -6.00626924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619072329 meters 0.0893433959163675 Centerline is valid? [True, True] Translation: X:16.81, Y:0.43, Z:-0.60 [[ 9.99893870e-01 1.38318501e-02 -4.57477316e-03 1.68126694e+01] [-1.38307143e-02 9.99904312e-01 2.79816636e-04 4.32609728e-01] [ 4.57820579e-03 -2.16514559e-04 9.99989497e-01 -6.02548821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64907232899999 meters 0.08836587227456942 Centerline is valid? [True, True] Translation: X:16.84, Y:0.43, Z:-0.61 [[ 9.99813120e-01 1.82296550e-02 -6.43466389e-03 1.68415608e+01] [-1.82275013e-02 9.99833788e-01 3.93202789e-04 4.32710685e-01] [ 6.44076232e-03 -2.75841463e-04 9.99979220e-01 -6.06953585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67907232899999 meters 0.08475889781231816 Centerline is valid? [True, True] Translation: X:16.87, Y:0.44, Z:-0.61 [[ 9.99594495e-01 2.74117302e-02 -7.70987606e-03 1.68717020e+01] [-2.74089103e-02 9.99624194e-01 4.71194926e-04 4.40170115e-01] [ 7.71989491e-03 -2.59684553e-04 9.99970167e-01 -6.11747075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.709072328999994 meters 0.08333199862406859 Centerline is valid? [True, True] Translation: X:16.90, Y:0.44, Z:-0.61 [[ 9.99455934e-01 3.19270252e-02 -8.27659304e-03 1.69013372e+01] [-3.19239331e-02 9.99490174e-01 5.05477800e-04 4.42107484e-01] [ 8.28851182e-03 -2.40981384e-04 9.99965621e-01 -6.14392861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739072328999995 meters 0.08076868103781276 Centerline is valid? [True, True] Translation: X:16.93, Y:0.45, Z:-0.62 [[ 9.99138469e-01 4.08035676e-02 -7.57546824e-03 1.69313421e+01] [-4.08012321e-02 9.99167176e-01 4.62648784e-04 4.46354379e-01] [ 7.58803693e-03 -1.53161760e-04 9.99971199e-01 -6.16474469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769072329 meters 0.0793593166079378 Centerline is valid? [True, True] Translation: X:16.96, Y:0.45, Z:-0.61 [[ 9.98956999e-01 4.51248556e-02 -6.97583456e-03 1.69606032e+01] [-4.51230132e-02 9.98981349e-01 4.21352658e-04 4.49947218e-01] [ 6.98774210e-03 -1.06142512e-04 9.99975580e-01 -6.14158497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799072329 meters 0.07753091357428746 Centerline is valid? [True, True] Translation: X:16.99, Y:0.46, Z:-0.61 [[ 9.98791947e-01 4.88471270e-02 -5.34827346e-03 1.69903803e+01] [-4.88461104e-02 9.98806265e-01 3.20613586e-04 4.57492124e-01] [ 5.35755009e-03 -5.89839119e-05 9.99985646e-01 -6.05384011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82907232899999 meters 0.07678016669434487 Centerline is valid? [True, True] Translation: X:17.02, Y:0.46, Z:-0.60 [[ 9.98635708e-01 5.19716755e-02 -5.06635622e-03 1.70198886e+01] [-5.19708105e-02 9.98648559e-01 3.02307383e-04 4.61429014e-01] [ 5.07522075e-03 -3.85923085e-05 9.99987120e-01 -6.01533800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85907232899999 meters 0.0765178820651616 Centerline is valid? [True, True] Translation: X:17.05, Y:0.47, Z:-0.60 [[ 9.98276850e-01 5.83599125e-02 -6.11967319e-03 1.70475822e+01] [-5.83587812e-02 9.98295608e-01 3.63418388e-04 4.67222679e-01] [ 6.13045193e-03 -5.65549522e-06 9.99981209e-01 -6.00868537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889072328999994 meters 0.07672131614816528 Centerline is valid? [True, True] Translation: X:17.08, Y:0.47, Z:-0.60 [[ 9.98074817e-01 6.16372241e-02 -6.89293666e-03 1.70760905e+01] [-6.16358691e-02 9.98098619e-01 4.09026927e-04 4.67563218e-01] [ 6.90504184e-03 1.66126669e-05 9.99976160e-01 -6.03094564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919072328999995 meters 0.07723311331899975 Centerline is valid? [True, True] Translation: X:17.10, Y:0.46, Z:-0.61 [[ 9.97904685e-01 6.39422532e-02 -9.88072286e-03 1.71047505e+01] [-6.39395401e-02 9.97953599e-01 5.90559872e-04 4.62979815e-01] [ 9.89826467e-03 4.24464123e-05 9.99951010e-01 -6.09983690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949072328999996 meters 0.07770534330952447 Centerline is valid? [True, True] Translation: X:17.13, Y:0.46, Z:-0.61 [[ 9.97884253e-01 6.42034575e-02 -1.02437242e-02 1.71321721e+01] [-6.42005662e-02 9.97936829e-01 6.11175756e-04 4.58705756e-01] [ 1.02618292e-02 4.77702297e-05 9.99947345e-01 -6.12628147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979072329 meters 0.07744959586410421 Centerline is valid? [True, True] Translation: X:17.16, Y:0.45, Z:-0.61 [[ 9.97916704e-01 6.37044970e-02 -1.01974981e-02 1.71599822e+01] [-6.37016703e-02 9.97968804e-01 6.02099438e-04 4.54765752e-01] [ 1.02151414e-02 4.87525729e-05 9.99947823e-01 -6.11465910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009072329 meters 0.07752934785261621 Centerline is valid? [True, True] Translation: X:17.19, Y:0.45, Z:-0.61 [[ 9.97949590e-01 6.32337416e-02 -9.90499221e-03 1.71877677e+01] [-6.32310392e-02 9.97998744e-01 5.86067244e-04 4.52476697e-01] [ 9.92222900e-03 4.14373848e-05 9.99950773e-01 -6.13204173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03907232899999 meters 0.07669122809797059 Centerline is valid? [True, True] Translation: X:17.22, Y:0.45, Z:-0.61 [[ 9.98190219e-01 5.93649508e-02 -9.59636769e-03 1.72164010e+01] [-5.93622778e-02 9.98236346e-01 5.63388043e-04 4.48129263e-01] [ 9.61288852e-03 7.29381096e-06 9.99953795e-01 -6.05999213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069072328999994 meters 0.07661486696285404 Centerline is valid? [True, True] Translation: X:17.24, Y:0.44, Z:-0.61 [[ 9.98311863e-01 5.73885847e-02 -8.94284648e-03 1.72446375e+01] [-5.73862067e-02 9.98351917e-01 5.22503161e-04 4.44095038e-01] [ 8.95809364e-03 -8.42506807e-06 9.99959875e-01 -6.05288129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099072328999995 meters 0.07671618831371542 Centerline is valid? [True, True] Translation: X:17.27, Y:0.43, Z:-0.61 [[ 9.98577865e-01 5.25219640e-02 -9.14830719e-03 1.72726326e+01] [-5.25192913e-02 9.98619768e-01 5.32309057e-04 4.30296044e-01] [ 9.16363832e-03 -5.10894314e-05 9.99958012e-01 -6.06772353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129072328999996 meters 0.07671618831371542 Centerline is valid? [True, True] Translation: X:17.30, Y:0.43, Z:-0.61 [[ 9.98592584e-01 5.22413240e-02 -9.14849480e-03 1.72998766e+01] [-5.22386690e-02 9.98634488e-01 5.29093140e-04 4.28901889e-01] [ 9.16364295e-03 -5.04432950e-05 9.99958012e-01 -6.07270355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159072329 meters 0.07743361031683293 Centerline is valid? [True, True] Translation: X:17.33, Y:0.41, Z:-0.61 [[ 9.98887097e-01 4.62970631e-02 -9.00830727e-03 1.73270272e+01] [-4.62942231e-02 9.98927710e-01 5.23644693e-04 4.14628908e-01] [ 9.02289097e-03 -1.06029341e-04 9.99959287e-01 -6.10183310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189072329 meters 0.07821201743061458 Centerline is valid? [True, True] Translation: X:17.35, Y:0.41, Z:-0.61 [[ 9.99031209e-01 4.30373019e-02 -9.18877106e-03 1.73544696e+01] [-4.30342158e-02 9.99073457e-01 5.33412191e-04 4.06985923e-01] [ 9.20321389e-03 -1.37463870e-04 9.99957640e-01 -6.12878581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21907232899999 meters 0.07864932118519984 Centerline is valid? [True, True] Translation: X:17.38, Y:0.40, Z:-0.61 [[ 9.99159406e-01 3.98228646e-02 -9.72736090e-03 1.73826203e+01] [-3.98192999e-02 9.99206740e-01 5.59943385e-04 4.00293973e-01] [ 9.74194313e-03 -1.72135999e-04 9.99952531e-01 -6.13095053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24907232899999 meters 0.07914992228169614 Centerline is valid? [True, True] Translation: X:17.41, Y:0.39, Z:-0.61 [[ 9.99409433e-01 3.30773555e-02 -9.30991125e-03 1.74112550e+01] [-3.30737740e-02 9.99452768e-01 5.38441298e-04 3.89134448e-01] [ 9.32262678e-03 -2.30209411e-04 9.99956517e-01 -6.09703555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279072328999995 meters 0.07938186707905545 Centerline is valid? [True, True] Translation: X:17.44, Y:0.38, Z:-0.61 [[ 9.99509326e-01 3.00428684e-02 -8.86189416e-03 1.74394581e+01] [-3.00395554e-02 9.99548582e-01 5.06743573e-04 3.81505490e-01] [ 8.87311778e-03 -2.40287567e-04 9.99960604e-01 -6.09045025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309072328999996 meters 0.08096683234571077 Centerline is valid? [True, True] Translation: X:17.47, Y:0.37, Z:-0.61 [[ 9.99602841e-01 2.69416677e-02 -8.26477825e-03 1.74662687e+01] [-2.69386648e-02 9.99636976e-01 4.74474374e-04 3.69614514e-01] [ 8.27456107e-03 -2.51643841e-04 9.99965734e-01 -6.12151321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339072329 meters 0.08170389760527201 Centerline is valid? [True, True] Translation: X:17.50, Y:0.36, Z:-0.61 [[ 9.99757129e-01 2.02322235e-02 -8.73730642e-03 1.74956091e+01] [-2.02285991e-02 9.99795254e-01 5.02995746e-04 3.58474952e-01] [ 8.74569421e-03 -3.26130114e-04 9.99961703e-01 -6.09176760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369072329 meters 0.08247317428204966 Centerline is valid? [True, True] Translation: X:17.52, Y:0.35, Z:-0.61 [[ 9.99811862e-01 1.69271306e-02 -9.47167259e-03 1.75248284e+01] [-1.69227303e-02 9.99856652e-01 5.44523967e-04 3.51852081e-01] [ 9.47953207e-03 -3.84134961e-04 9.99954994e-01 -6.09121224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39907232899999 meters 0.08363130110227228 Centerline is valid? [True, True] Translation: X:17.55, Y:0.34, Z:-0.61 [[ 9.99847318e-01 1.43794121e-02 -9.92842643e-03 1.75529145e+01] [-1.43744658e-02 9.99896520e-01 5.69382097e-04 3.44008061e-01] [ 9.93558641e-03 -4.26579337e-04 9.99950550e-01 -6.10489994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42907232899999 meters 0.08490840264206398 Centerline is valid? [True, True] Translation: X:17.58, Y:0.33, Z:-0.61 [[ 9.99887123e-01 9.87929319e-03 -1.13199030e-02 1.75820766e+01] [-9.87256234e-03 9.99951054e-01 6.50329587e-04 3.32437002e-01] [ 1.13257738e-02 -5.38499731e-04 9.99935716e-01 -6.12113881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459072328999994 meters 0.08509181867797679 Centerline is valid? [True, True] Translation: X:17.61, Y:0.33, Z:-0.61 [[ 9.99908601e-01 7.99487533e-03 -1.09028074e-02 1.76100590e+01] [-7.98855891e-03 9.99967897e-01 6.22766435e-04 3.26126230e-01] [ 1.09074363e-02 -5.35611796e-04 9.99940369e-01 -6.12288496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489072328999995 meters 0.08646205305720155 Centerline is valid? [True, True] Translation: X:17.64, Y:0.32, Z:-0.61 [[ 9.99922725e-01 6.10395813e-03 -1.08298551e-02 1.76381076e+01] [-6.09760593e-03 9.99981218e-01 6.19467511e-04 3.16903639e-01] [ 1.08334329e-02 -5.53383453e-04 9.99941164e-01 -6.13917045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519072329 meters 0.08785778035431713 Centerline is valid? [True, True] Translation: X:17.67, Y:0.30, Z:-0.61 [[ 9.99955593e-01 2.55001669e-03 -9.07240943e-03 1.76658370e+01] [-2.54542268e-03 9.99996626e-01 5.17882333e-04 3.04844916e-01] [ 9.07369944e-03 -4.94766218e-04 9.99958711e-01 -6.13118267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549072329 meters 0.08901618272230911 Centerline is valid? [True, True] Translation: X:17.69, Y:0.30, Z:-0.61 [[ 9.99952993e-01 1.43684333e-03 -9.58888025e-03 1.76932946e+01] [-1.43167016e-03 9.99998826e-01 5.46339174e-04 2.97533066e-01] [ 9.58965399e-03 -5.32585379e-04 9.99953876e-01 -6.14470334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57907232899999 meters 0.08843679600779784 Centerline is valid? [True, True] Translation: X:17.72, Y:0.29, Z:-0.61 [[ 9.99946878e-01 1.48879329e-03 -1.01992341e-02 1.77215805e+01] [-1.48294614e-03 9.99998732e-01 5.80832294e-04 2.93926791e-01] [ 1.02000859e-02 -5.65676525e-04 9.99947818e-01 -6.14480694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60907232899999 meters 0.08698283109927428 Centerline is valid? [True, True] Translation: X:17.75, Y:0.29, Z:-0.61 [[ 9.99943930e-01 2.31422218e-03 -1.03334783e-02 1.77503637e+01] [-2.30827137e-03 9.99997163e-01 5.87766164e-04 2.90162120e-01] [ 1.03348093e-02 -5.63880735e-04 9.99946435e-01 -6.14432934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639072328999994 meters 0.0873216482807109 Centerline is valid? [True, True] Translation: X:17.78, Y:0.29, Z:-0.62 [[ 9.99940025e-01 3.24693144e-03 -1.04596760e-02 1.77781681e+01] [-3.24089743e-03 9.99994572e-01 5.93781537e-04 2.85360311e-01] [ 1.04615472e-02 -5.59847187e-04 9.99945120e-01 -6.15231211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669072328999995 meters 0.08815922837484365 Centerline is valid? [True, True] Translation: X:17.81, Y:0.28, Z:-0.62 [[ 9.99917995e-01 4.93232049e-03 -1.18184312e-02 1.78061413e+01] [-4.92473739e-03 9.99987649e-01 6.70650069e-04 2.79404442e-01] [ 1.18215931e-02 -6.12392402e-04 9.99929935e-01 -6.18855248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699072328999996 meters 0.0851938235693175 Centerline is valid? [True, True] Translation: X:17.84, Y:0.28, Z:-0.62 [[ 9.99903262e-01 5.19026052e-03 -1.29045794e-02 1.78356295e+01] [-5.18125177e-03 9.99986310e-01 7.31439577e-04 2.82039138e-01] [ 1.29081991e-02 -6.64506944e-04 9.99916465e-01 -6.17018266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729072329 meters 0.08465132256771317 Centerline is valid? [True, True] Translation: X:17.86, Y:0.28, Z:-0.62 [[ 9.99905939e-01 7.07194832e-03 -1.17516571e-02 1.78642964e+01] [-7.06460572e-03 9.99974823e-01 6.66209553e-04 2.75126769e-01] [ 1.17560726e-02 -5.83126064e-04 9.99930725e-01 -6.17444401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759072329 meters 0.08456707716245786 Centerline is valid? [True, True] Translation: X:17.89, Y:0.27, Z:-0.62 [[ 9.99916644e-01 7.20345416e-03 -1.07152318e-02 1.78926821e+01] [-7.19737231e-03 9.99973915e-01 6.06043170e-04 2.71488715e-01] [ 1.07193179e-02 -5.28871140e-04 9.99942407e-01 -6.17193477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78907232899999 meters 0.08483406738141723 Centerline is valid? [True, True] Translation: X:17.92, Y:0.27, Z:-0.62 [[ 9.99921650e-01 8.23794905e-03 -9.42499150e-03 1.79204905e+01] [-8.23331048e-03 9.99965965e-01 5.30852064e-04 2.67022345e-01] [ 9.42904385e-03 -4.53211590e-04 9.99955443e-01 -6.17344459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819072328999994 meters 0.0836600362331728 Centerline is valid? [True, True] Translation: X:17.95, Y:0.26, Z:-0.62 [[ 9.99923929e-01 9.33754788e-03 -8.05894635e-03 1.79494582e+01] [-9.33419145e-03 9.99956332e-01 4.53997510e-04 2.64343161e-01] [ 8.06283365e-03 -3.78739226e-04 9.99967423e-01 -6.15773399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849072328999995 meters 0.0829142408815298 Centerline is valid? [True, True] Translation: X:17.98, Y:0.26, Z:-0.62 [[ 9.99921545e-01 1.04180106e-02 -6.95471661e-03 1.79779689e+01] [-1.04155415e-02 9.99945680e-01 3.91145699e-04 2.62096989e-01] [ 6.95841380e-03 -3.18677872e-04 9.99975739e-01 -6.15457177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879072328999996 meters 0.08227165632967971 Centerline is valid? [True, True] Translation: X:18.01, Y:0.26, Z:-0.62 [[ 9.99915204e-01 1.15129525e-02 -6.08584692e-03 1.80071334e+01] [-1.15110830e-02 9.99933687e-01 3.42120201e-04 2.60609941e-01] [ 6.08938216e-03 -2.72036502e-04 9.99981423e-01 -6.15265429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909072329 meters 0.08211248223320457 Centerline is valid? [True, True] Translation: X:18.04, Y:0.26, Z:-0.62 [[ 9.99899187e-01 1.26013293e-02 -6.54389329e-03 1.80364290e+01] [-1.25991928e-02 9.99920559e-01 3.67612262e-04 2.59460115e-01] [ 6.54800584e-03 -2.85127428e-04 9.99978521e-01 -6.16114178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939072329 meters 0.08102664722426227 Centerline is valid? [True, True] Translation: X:18.07, Y:0.26, Z:-0.61 [[ 9.99852799e-01 1.61265828e-02 -5.85782669e-03 1.80666786e+01] [-1.61249287e-02 9.99869931e-01 3.29491018e-04 2.62937552e-01] [ 5.86237833e-03 -2.34985478e-04 9.99982789e-01 -6.14905560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96907232899999 meters 0.07934061319479278 Centerline is valid? [True, True] Translation: X:18.10, Y:0.27, Z:-0.61 [[ 9.99821613e-01 1.79798609e-02 -5.78513242e-03 1.80958560e+01] [-1.79782865e-02 9.99838325e-01 3.24021865e-04 2.67241788e-01] [ 5.79002298e-03 -2.19957295e-04 9.99983213e-01 -6.12805359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99907232899999 meters 0.07812923890392699 Centerline is valid? [True, True] Translation: X:18.13, Y:0.27, Z:-0.61 [[ 9.99777853e-01 2.06437114e-02 -4.25216879e-03 1.81254505e+01] [-2.06428844e-02 9.99786885e-01 2.38295443e-04 2.69900869e-01] [ 4.25618189e-03 -1.50465478e-04 9.99990931e-01 -6.12531758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.029072328999995 meters 0.07800255484090964 Centerline is valid? [True, True] Translation: X:18.15, Y:0.27, Z:-0.61 [[ 9.99737889e-01 2.24155555e-02 -4.65797769e-03 1.81533521e+01] [-2.24145884e-02 9.99748728e-01 2.59716588e-04 2.69950676e-01] [ 4.66262897e-03 -1.55241861e-04 9.99989118e-01 -6.14774385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059072328999996 meters 0.07754399182827583 Centerline is valid? [True, True] Translation: X:18.18, Y:0.27, Z:-0.62 [[ 9.99697711e-01 2.41613501e-02 -4.55147976e-03 1.81818709e+01] [-2.41604632e-02 9.99708062e-01 2.49735194e-04 2.72578471e-01] [ 4.55618495e-03 -1.39693843e-04 9.99989611e-01 -6.16040160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089072329 meters 0.07715439248781956 Centerline is valid? [True, True] Translation: X:18.21, Y:0.28, Z:-0.62 [[ 9.99658461e-01 2.56909807e-02 -4.78894807e-03 1.82111484e+01] [-2.56900015e-02 9.99669922e-01 2.65877214e-04 2.76797296e-01] [ 4.79419799e-03 -1.42758324e-04 9.99988498e-01 -6.16586825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119072329 meters 0.07667822879467726 Centerline is valid? [True, True] Translation: X:18.24, Y:0.29, Z:-0.61 [[ 9.99591993e-01 2.83335170e-02 -3.61363661e-03 1.82397301e+01] [-2.83329801e-02 9.99598521e-01 1.99688088e-04 2.86611145e-01] [ 3.61784367e-03 -9.72215201e-05 9.99993451e-01 -6.14766738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14907232899999 meters 0.07667822879467726 Centerline is valid? [True, True] Translation: X:18.27, Y:0.29, Z:-0.62 [[ 9.99599822e-01 2.80559381e-02 -3.61388368e-03 1.82670120e+01] [-2.80554155e-02 9.99606350e-01 1.95237063e-04 2.85292905e-01] [ 3.61793864e-03 -9.37699253e-05 9.99993451e-01 -6.15263062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17907232899999 meters 0.07680915073668788 Centerline is valid? [True, True] Translation: X:18.30, Y:0.29, Z:-0.62 [[ 9.99600407e-01 2.80413057e-02 -3.56521794e-03 1.82950410e+01] [-2.80408007e-02 9.99606761e-01 1.91578679e-04 2.87314752e-01] [ 3.56918808e-03 -9.15305600e-05 9.99993626e-01 -6.15933774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.209072328999994 meters 0.07665636007271726 Centerline is valid? [True, True] Translation: X:18.32, Y:0.29, Z:-0.62 [[ 9.99619438e-01 2.74115768e-02 -3.09578456e-03 1.83231727e+01] [-2.74111981e-02 9.99624229e-01 1.64693799e-04 2.89089135e-01] [ 3.09913577e-03 -7.97719590e-05 9.99995194e-01 -6.16292229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239072328999995 meters 0.07754282990910251 Centerline is valid? [True, True] Translation: X:18.35, Y:0.29, Z:-0.62 [[ 9.99695731e-01 2.44796833e-02 -3.03145369e-03 1.83508924e+01] [-2.44792970e-02 9.99700324e-01 1.64458852e-04 2.89354014e-01] [ 3.03457114e-03 -9.02009568e-05 9.99995392e-01 -6.18146186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269072329 meters 0.07789230390060753 Centerline is valid? [True, True] Translation: X:18.38, Y:0.29, Z:-0.62 [[ 9.99755526e-01 2.19006475e-02 -3.04150838e-03 1.83798746e+01] [-2.19002464e-02 9.99760147e-01 1.65115966e-04 2.91474737e-01] [ 3.04439501e-03 -9.84658168e-05 9.99995361e-01 -6.17940229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299072329 meters 0.07848700290357914 Centerline is valid? [True, True] Translation: X:18.41, Y:0.29, Z:-0.62 [[ 9.99808124e-01 1.95048337e-02 -1.81010500e-03 1.84088868e+01] [-1.95046889e-02 9.99809761e-01 9.76237057e-05 2.92877570e-01] [ 1.81166478e-03 -6.22994392e-05 9.99998357e-01 -6.17158287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32907232899999 meters 0.08152194621765194 Centerline is valid? [True, True] Translation: X:18.44, Y:0.29, Z:-0.62 [[ 9.99929205e-01 1.16697839e-02 -2.32418189e-03 1.84378715e+01] [-1.16695211e-02 9.99931901e-01 1.26619342e-04 2.88953466e-01] [ 2.32550124e-03 -9.94882880e-05 9.99997291e-01 -6.20713270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35907232899999 meters 0.08357566337119209 Centerline is valid? [True, True] Translation: X:18.47, Y:0.28, Z:-0.62 [[ 9.99970659e-01 7.44262935e-03 -1.81316958e-03 1.84677864e+01] [-7.44246262e-03 9.99972300e-01 9.86845122e-05 2.82527970e-01] [ 1.81385383e-03 -8.51871699e-05 9.99998351e-01 -6.24240327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.389072328999994 meters 0.08526309980337683 Centerline is valid? [True, True] Translation: X:18.50, Y:0.28, Z:-0.63 [[ 9.99989592e-01 4.21822035e-03 -1.73870833e-03 1.84964721e+01] [-4.21806340e-03 9.99991100e-01 9.39282025e-05 2.77541169e-01] [ 1.73908907e-03 -8.65932429e-05 9.99998484e-01 -6.26952704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419072328999995 meters 0.08849096906752364 Centerline is valid? [True, True] Translation: X:18.53, Y:0.28, Z:-0.63 [[ 9.99997820e-01 -1.99458231e-03 -6.17891022e-04 1.85260468e+01] [ 1.99460332e-03 9.99998010e-01 3.33890421e-05 2.76450614e-01] [ 6.17823195e-04 -3.46214168e-05 9.99999809e-01 -6.26290325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449072328999996 meters 0.0899992331856877 Centerline is valid? [True, True] Translation: X:18.56, Y:0.28, Z:-0.62 [[ 9.99992946e-01 -3.68737125e-03 7.15089902e-04 1.85567949e+01] [ 3.68739931e-03 9.99993201e-01 -3.79231936e-05 2.77761412e-01] [-7.14945203e-04 4.05597481e-05 9.99999744e-01 -6.23847559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479072329 meters 0.09160868110385763 Centerline is valid? [True, True] Translation: X:18.59, Y:0.28, Z:-0.62 [[ 9.99979538e-01 -6.31103524e-03 1.04658008e-03 1.85879637e+01] [ 6.31109819e-03 9.99980083e-01 -5.68571189e-05 2.79059930e-01] [-1.04620041e-03 6.34610251e-05 9.99999451e-01 -6.22353312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509072329 meters 0.09566167521956065 Centerline is valid? [True, True] Translation: X:18.62, Y:0.27, Z:-0.63 [[ 9.99933980e-01 -1.14705189e-02 6.80520676e-04 1.86180254e+01] [ 1.14705464e-02 9.99934210e-01 -3.65225634e-05 2.73174703e-01] [-6.80056972e-04 4.43260962e-05 9.99999768e-01 -6.25483392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53907232899999 meters 0.09902086110459005 Centerline is valid? [True, True] Translation: X:18.65, Y:0.26, Z:-0.63 [[ 9.99884730e-01 -1.51823671e-02 -1.48229174e-04 1.86468245e+01] [ 1.51823685e-02 9.99884741e-01 8.28639654e-06 2.64666802e-01] [ 1.48086283e-04 -1.05359113e-05 9.99999989e-01 -6.30196008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569072328999994 meters 0.09998124404560882 Centerline is valid? [True, True] Translation: X:18.68, Y:0.26, Z:-0.63 [[ 9.99836840e-01 -1.80270530e-02 1.14822176e-03 1.86775552e+01] [ 1.80271366e-02 9.99837496e-01 -6.24841399e-05 2.61128825e-01] [-1.14690876e-03 8.31730954e-05 9.99999339e-01 -6.30432381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599072328999995 meters 0.10130628429939854 Centerline is valid? [True, False] Translation: X:18.67, Y:0.27, Z:-0.63 [[ 9.99882711e-01 -1.51903814e-02 1.95358488e-03 1.86743159e+01] [ 1.51855183e-02 9.99881617e-01 2.48051516e-03 2.66226024e-01] [-1.99103358e-03 -2.45055803e-03 9.99995015e-01 -6.28690133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629072328999996 meters 0.0975255771813393 Centerline is valid? [False, True] Translation: X:18.67, Y:0.27, Z:-0.63 [[ 9.99925616e-01 -1.19635513e-02 2.37387970e-03 1.86721453e+01] [ 1.19509861e-02 9.99914862e-01 5.23850712e-03 2.70303053e-01] [-2.43634874e-03 -5.20974726e-03 9.99983461e-01 -6.27060239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659072329 meters 0.09555553368107025 Centerline is valid? [True, True] Translation: X:18.70, Y:0.28, Z:-0.62 [[ 9.99949107e-01 -9.94355555e-03 1.70545652e-03 1.87048542e+01] [ 9.94375098e-03 9.99950554e-01 -1.06150336e-04 2.80988756e-01] [-1.70431668e-03 1.23103569e-04 9.99998540e-01 -6.23302726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689072329 meters 0.10111591970484035 Centerline is valid? [True, False] Translation: X:18.71, Y:0.28, Z:-0.63 [[ 9.99982702e-01 -5.49528271e-03 2.09706568e-03 1.87099589e+01] [ 5.48724032e-03 9.99977642e-01 3.82174312e-03 2.83446281e-01] [-2.11802035e-03 -3.81016990e-03 9.99990498e-01 -6.30480407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71907232899999 meters 0.09797662577045756 Centerline is valid? [False, True] Translation: X:18.71, Y:0.28, Z:-0.63 [[ 9.99987449e-01 -4.69106596e-03 1.75938786e-03 1.87125488e+01] [ 4.68262508e-03 9.99977653e-01 4.77144439e-03 2.83020387e-01] [-1.78173170e-03 -4.76314595e-03 9.99987069e-01 -6.33385775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.74907232899999 meters 0.09414421866685474 Centerline is valid? [True, True] Translation: X:18.75, Y:0.29, Z:-0.63 [[ 9.99992295e-01 -3.60115849e-03 1.56229423e-03 1.87452654e+01] [ 3.60131644e-03 9.99993510e-01 -9.82997797e-05 2.91640421e-01] [-1.56193010e-03 1.03925338e-04 9.99998775e-01 -6.32016046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779072328999995 meters 0.0946369811006342 Centerline is valid? [True, True] Translation: X:18.78, Y:0.30, Z:-0.63 [[ 9.99988482e-01 -2.66693993e-03 3.99035808e-03 1.87762103e+01] [ 2.66797474e-03 9.99996409e-01 -2.54026236e-04 2.97051146e-01] [-3.98966628e-03 2.64669485e-04 9.99992006e-01 -6.29452945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809072328999996 meters 0.09212153297924135 Centerline is valid? [True, True] Translation: X:18.81, Y:0.31, Z:-0.62 [[ 9.99986700e-01 -5.28889554e-04 5.13039413e-03 1.88074599e+01] [ 5.30574172e-04 9.99999806e-01 -3.27004879e-04 3.07622662e-01] [-5.13022019e-03 3.29722584e-04 9.99986786e-01 -6.24416042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839072329 meters 0.09056158553282401 Centerline is valid? [True, True] Translation: X:18.84, Y:0.32, Z:-0.62 [[ 9.99988686e-01 1.87342112e-03 4.37250841e-03 1.88401330e+01] [-1.87222349e-03 9.99998209e-01 -2.77978724e-04 3.15499780e-01] [-4.37302135e-03 2.69789266e-04 9.99990402e-01 -6.23215426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869072329 meters 0.09154828912551223 Centerline is valid? [True, True] Translation: X:18.87, Y:0.32, Z:-0.63 [[ 9.99985987e-01 4.25883366e-03 3.14456265e-03 1.88708154e+01] [-4.25822549e-03 9.99990914e-01 -2.00072525e-04 3.15421070e-01] [-3.14538615e-03 1.86679464e-04 9.99995036e-01 -6.26063262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89907232899999 meters 0.09024797069451838 Centerline is valid? [True, True] Translation: X:18.90, Y:0.32, Z:-0.63 [[ 9.99979475e-01 6.29934501e-03 1.16918243e-03 1.89002889e+01] [-6.29926138e-03 9.99980157e-01 -7.51994026e-05 3.17875442e-01] [-1.16963294e-03 6.78328735e-05 9.99999314e-01 -6.34694470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92907232899999 meters 0.09134363485474273 Centerline is valid? [True, True] Translation: X:18.93, Y:0.31, Z:-0.64 [[ 9.99975616e-01 6.60087046e-03 2.27952775e-03 1.89275370e+01] [-6.60055301e-03 9.99978205e-01 -1.46754637e-04 3.14366643e-01] [-2.28044677e-03 1.31704915e-04 9.99997391e-01 -6.36548376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959072328999994 meters 0.09106608262736224 Centerline is valid? [True, True] Translation: X:18.96, Y:0.31, Z:-0.64 [[ 9.99968547e-01 6.68478835e-03 4.26823227e-03 1.89564399e+01] [-6.68368442e-03 9.99977627e-01 -2.72850295e-04 3.14684223e-01] [-4.26996072e-03 2.44314196e-04 9.99990854e-01 -6.36589796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989072328999995 meters 0.08988300470108683 Centerline is valid? [True, True] Translation: X:18.99, Y:0.32, Z:-0.63 [[ 9.99953804e-01 7.53655082e-03 5.96577352e-03 1.89855654e+01] [-7.53441444e-03 9.99971544e-01 -3.80500401e-04 3.21678804e-01] [-5.96847141e-03 3.35534213e-04 9.99982132e-01 -6.33298171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019072329 meters 0.09104937466954752 Centerline is valid? [True, True] Translation: X:19.01, Y:0.32, Z:-0.63 [[ 9.99948237e-01 8.46522227e-03 5.64474580e-03 1.90139817e+01] [-8.46332734e-03 9.99964121e-01 -3.59499330e-04 3.21869895e-01] [-5.64758651e-03 3.11707390e-04 9.99984004e-01 -6.33080156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049072329 meters 0.09067852523084051 Centerline is valid? [True, True] Translation: X:19.04, Y:0.33, Z:-0.63 [[ 9.99930039e-01 9.75664994e-03 6.68764265e-03 1.90432912e+01] [-9.75402112e-03 9.99952338e-01 -4.25590061e-04 3.25534931e-01] [-6.69147623e-03 3.60328879e-04 9.99977547e-01 -6.31214606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07907232899999 meters 0.09006955721153248 Centerline is valid? [True, True] Translation: X:19.07, Y:0.33, Z:-0.63 [[ 9.99909204e-01 1.10666395e-02 7.68854449e-03 1.90729292e+01] [-1.10632087e-02 9.99938681e-01 -4.88617592e-04 3.34177224e-01] [-7.69348040e-03 4.03513255e-04 9.99970323e-01 -6.30012360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10907232899999 meters 0.08880777539031286 Centerline is valid? [True, True] Translation: X:19.10, Y:0.34, Z:-0.63 [[ 9.99895748e-01 1.21647340e-02 7.77898983e-03 1.91016445e+01] [-1.21612590e-02 9.99925927e-01 -4.93865768e-04 3.38448960e-01] [-7.78442136e-03 3.99211971e-04 9.99969621e-01 -6.30361751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139072328999994 meters 0.08947774176249851 Centerline is valid? [True, True] Translation: X:19.13, Y:0.34, Z:-0.64 [[ 9.99876898e-01 1.40985692e-02 6.88621779e-03 1.91297037e+01] [-1.40958927e-02 9.99900552e-01 -4.37058526e-04 3.41247654e-01] [-6.89169488e-03 3.39937336e-04 9.99976194e-01 -6.35735693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169072328999995 meters 0.08937561112028827 Centerline is valid? [True, True] Translation: X:19.16, Y:0.34, Z:-0.64 [[ 9.99865240e-01 1.49755040e-02 6.72584716e-03 1.91584091e+01] [-1.49729753e-02 9.99887808e-01 -4.26165440e-04 3.42735190e-01] [-6.73147462e-03 3.25402066e-04 9.99977290e-01 -6.38695952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199072328999996 meters 0.08891498393077078 Centerline is valid? [True, True] Translation: X:19.19, Y:0.35, Z:-0.64 [[ 9.99860584e-01 1.56399620e-02 5.84839970e-03 1.91873255e+01] [-1.56380626e-02 9.99877649e-01 -3.70354070e-04 3.45619835e-01] [-5.85347647e-03 2.78844796e-04 9.99982829e-01 -6.41324924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229072329 meters 0.08609102946091338 Centerline is valid? [True, True] Translation: X:19.22, Y:0.36, Z:-0.64 [[ 9.99828168e-01 1.79879822e-02 4.47956684e-03 1.92168696e+01] [-1.79868913e-02 9.99838183e-01 -2.83702576e-04 3.55548597e-01] [-4.48394521e-03 2.03080346e-04 9.99989926e-01 -6.41258072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25907232899999 meters 0.08321690210595475 Centerline is valid? [True, True] Translation: X:19.25, Y:0.37, Z:-0.64 [[ 9.99654081e-01 2.61000419e-02 3.24118582e-03 1.92477990e+01] [-2.60995160e-02 9.99659329e-01 -2.04448983e-04 3.72351663e-01] [-3.24541776e-03 1.19784880e-04 9.99994726e-01 -6.42091070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28907232899999 meters 0.08151767933674131 Centerline is valid? [True, True] Translation: X:19.28, Y:0.38, Z:-0.64 [[ 9.99540033e-01 3.00831713e-02 3.83747014e-03 1.92782114e+01] [-3.00824619e-02 9.99547391e-01 -2.42465706e-04 3.81486358e-01] [-3.84302741e-03 1.26913630e-04 9.99992607e-01 -6.40503332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319072328999994 meters 0.08072177880433153 Centerline is valid? [True, True] Translation: X:19.31, Y:0.39, Z:-0.64 [[ 9.99357378e-01 3.53374020e-02 6.00827976e-03 1.93071889e+01] [-3.53357598e-02 9.99375425e-01 -3.79284573e-04 3.87568900e-01] [-6.01793007e-03 1.66733706e-04 9.99981878e-01 -6.39491885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.349072328999995 meters 0.07742708975443842 Centerline is valid? [True, True] Translation: X:19.34, Y:0.41, Z:-0.64 [[ 9.98982183e-01 4.43405729e-02 8.27715335e-03 1.93391579e+01] [-4.43377741e-02 9.99016461e-01 -5.21412451e-04 4.08616265e-01] [-8.29213218e-03 1.53891193e-04 9.99965608e-01 -6.37627741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379072328999996 meters 0.07702497757253295 Centerline is valid? [True, True] Translation: X:19.37, Y:0.41, Z:-0.64 [[ 9.98809242e-01 4.78360648e-02 9.58171649e-03 1.93671011e+01] [-4.78324710e-02 9.98855190e-01 -6.04022015e-04 4.12025270e-01] [-9.59964128e-03 1.44985595e-04 9.99953912e-01 -6.39832814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409072329 meters 0.07684754895524287 Centerline is valid? [True, True] Translation: X:19.39, Y:0.41, Z:-0.64 [[ 9.98645135e-01 5.11343728e-02 9.65246981e-03 1.93946163e+01] [-5.11308880e-02 9.98691776e-01 -6.07623462e-04 4.14653589e-01] [-9.67091266e-03 1.13260862e-04 9.99953229e-01 -6.43115493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439072329 meters 0.07646104922981278 Centerline is valid? [True, True] Translation: X:19.42, Y:0.42, Z:-0.64 [[ 9.98558226e-01 5.29713192e-02 8.68957559e-03 1.94233602e+01] [-5.29685571e-02 9.98596030e-01 -5.47854273e-04 4.19073670e-01] [-8.70639625e-03 8.67901099e-05 9.99962095e-01 -6.43791441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46907232899999 meters 0.07695233101181005 Centerline is valid? [True, True] Translation: X:19.45, Y:0.42, Z:-0.65 [[ 9.98704106e-01 5.05086881e-02 6.24355500e-03 1.94520487e+01] [-5.05072152e-02 9.98723619e-01 -3.93447461e-04 4.15421670e-01] [-6.25545835e-03 7.75930189e-05 9.99980431e-01 -6.46485672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49907232899999 meters 0.07701921893759792 Centerline is valid? [True, True] Translation: X:19.48, Y:0.41, Z:-0.65 [[ 9.98739739e-01 4.99868242e-02 4.50023388e-03 1.94803755e+01] [-4.99860527e-02 9.98749876e-01 -2.83815191e-04 4.14068616e-01] [-4.50879505e-03 5.85085824e-05 9.99989834e-01 -6.48485021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.529072328999995 meters 0.07790860206534746 Centerline is valid? [True, True] Translation: X:19.51, Y:0.41, Z:-0.66 [[ 9.98749710e-01 4.98852255e-02 3.23750114e-03 1.95077636e+01] [-4.98848317e-02 9.98754956e-01 -2.02320403e-04 4.07332823e-01] [-3.24356311e-03 4.05652442e-05 9.99994739e-01 -6.55193974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559072328999996 meters 0.07796502130499133 Centerline is valid? [True, True] Translation: X:19.54, Y:0.40, Z:-0.66 [[ 9.98796158e-01 4.89224316e-02 3.58184108e-03 1.95354237e+01] [-4.89219353e-02 9.98802580e-01 -2.26094032e-04 4.03622278e-01] [-3.58861318e-03 5.05912524e-05 9.99993560e-01 -6.55499182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589072329 meters 0.07843462976857568 Centerline is valid? [True, True] Translation: X:19.56, Y:0.39, Z:-0.66 [[ 9.98948720e-01 4.55778122e-02 4.91103404e-03 1.95626132e+01] [-4.55768638e-02 9.98960788e-01 -3.04924852e-04 3.91642340e-01] [-4.91982824e-03 8.07747609e-05 9.99987894e-01 -6.57461237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619072329 meters 0.07845071387985587 Centerline is valid? [True, True] Translation: X:19.59, Y:0.39, Z:-0.65 [[ 9.99048483e-01 4.32216252e-02 5.83259206e-03 1.95909315e+01] [-4.32202461e-02 9.99065503e-01 -3.62346686e-04 3.87754218e-01] [-5.84280273e-03 1.09915843e-04 9.99982925e-01 -6.54150512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64907232899999 meters 0.07854738493287745 Centerline is valid? [True, True] Translation: X:19.62, Y:0.39, Z:-0.65 [[ 9.99126536e-01 4.11049683e-02 7.51972572e-03 1.96191160e+01] [-4.11026471e-02 9.99154822e-01 -4.63031513e-04 3.85151531e-01] [-7.53240311e-03 1.53546439e-04 9.99971619e-01 -6.50682502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67907232899999 meters 0.07945880055252455 Centerline is valid? [True, True] Translation: X:19.65, Y:0.38, Z:-0.65 [[ 9.99293959e-01 3.65699071e-02 8.61542784e-03 1.96482623e+01] [-3.65667112e-02 9.99331075e-01 -5.28234675e-04 3.75719687e-01] [-8.62898225e-03 2.12823858e-04 9.99962747e-01 -6.46006765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.709072328999994 meters 0.08052865063803682 Centerline is valid? [True, True] Translation: X:19.68, Y:0.37, Z:-0.65 [[ 9.99385824e-01 3.38372257e-02 9.11132107e-03 1.96760517e+01] [-3.38335367e-02 9.99427326e-01 -5.58759775e-04 3.66476808e-01] [-9.12501013e-03 2.50148383e-04 9.99958335e-01 -6.47346217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739072328999995 meters 0.08148555687465046 Centerline is valid? [True, True] Translation: X:19.70, Y:0.36, Z:-0.65 [[ 9.99465884e-01 3.16303143e-02 8.21406617e-03 1.97038610e+01] [-3.16272459e-02 9.99499607e-01 -5.03216150e-04 3.58285286e-01] [-8.22587279e-03 2.43159083e-04 9.99966137e-01 -6.50064772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769072329 meters 0.0840587170216966 Centerline is valid? [True, True] Translation: X:19.73, Y:0.34, Z:-0.65 [[ 9.99650781e-01 2.59306704e-02 5.09085649e-03 1.97319892e+01] [-2.59294221e-02 9.99663728e-01 -3.11061251e-04 3.43084709e-01] [-5.09721061e-03 1.78949656e-04 9.99986993e-01 -6.54958607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799072329 meters 0.0855256386601223 Centerline is valid? [True, True] Translation: X:19.76, Y:0.34, Z:-0.66 [[ 9.99728618e-01 2.29516603e-02 3.98886026e-03 1.97607235e+01] [-2.29508680e-02 9.99736564e-01 -2.44303181e-04 3.35097298e-01] [-3.99341662e-03 1.52689076e-04 9.99992015e-01 -6.57121439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82907232899999 meters 0.089569180223434 Centerline is valid? [True, True] Translation: X:19.79, Y:0.32, Z:-0.66 [[ 9.99867489e-01 1.61768513e-02 1.82029170e-03 1.97889139e+01] [-1.61766757e-02 9.99869143e-01 -1.11170330e-04 3.16801832e-01] [-1.82185189e-03 8.17093301e-05 9.99998337e-01 -6.60597937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85907232899999 meters 0.09062938470836746 Centerline is valid? [True, True] Translation: X:19.82, Y:0.31, Z:-0.66 [[ 9.99908482e-01 1.32913212e-02 2.52371201e-03 1.98181513e+01] [-1.32909735e-02 9.99911659e-01 -1.54496537e-04 3.08922503e-01] [-2.52554253e-03 1.20939808e-04 9.99996803e-01 -6.59477482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.889072328999994 meters 0.09183956817320214 Centerline is valid? [True, True] Translation: X:19.85, Y:0.30, Z:-0.66 [[ 9.99922657e-01 1.15420742e-02 4.63255549e-03 1.98451956e+01] [-1.15408838e-02 9.99933362e-01 -2.83607925e-04 3.01021937e-01] [-4.63552021e-03 2.30122205e-04 9.99989229e-01 -6.57132999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919072328999995 meters 0.09333495424394386 Centerline is valid? [True, True] Translation: X:19.87, Y:0.29, Z:-0.65 [[ 9.99923962e-01 9.24654709e-03 8.15914936e-03 1.98734206e+01] [-9.24279358e-03 9.99957161e-01 -4.97625013e-04 2.91634195e-01] [-8.16340114e-03 4.22173842e-04 9.99966590e-01 -6.51984648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949072328999996 meters 0.09386334957269729 Centerline is valid? [True, True] Translation: X:19.90, Y:0.29, Z:-0.65 [[ 9.99931126e-01 9.15172328e-03 7.34772004e-03 1.99008950e+01] [-9.14867789e-03 9.99958050e-01 -4.47973640e-04 2.86909300e-01] [-7.35151153e-03 3.80720862e-04 9.99972905e-01 -6.53870042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979072329 meters 0.0895382863294606 Centerline is valid? [True, True] Translation: X:19.93, Y:0.29, Z:-0.66 [[ 9.99946741e-01 8.85516322e-03 5.30104708e-03 1.99299733e+01] [-8.85357465e-03 9.99960754e-01 -3.23063400e-04 2.92053006e-01] [-5.30369982e-03 2.76112978e-04 9.99985897e-01 -6.55856486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00907232899999 meters 0.09503268577958299 Centerline is valid? [True, True] Translation: X:19.96, Y:0.28, Z:-0.66 [[ 9.99961055e-01 8.52257657e-03 2.29210685e-03 1.99571569e+01] [-8.52227808e-03 9.99963675e-01 -1.39957020e-04 2.75247920e-01] [-2.29321639e-03 1.20417597e-04 9.99997363e-01 -6.63477793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03907232899999 meters 0.09020645241756402 Centerline is valid? [True, True] Translation: X:19.99, Y:0.28, Z:-0.66 [[ 9.99961736e-01 8.51072877e-03 -2.02327283e-03 1.99862419e+01] [-8.51050054e-03 9.99963778e-01 1.21389302e-04 2.81143459e-01] [ 2.02423266e-03 -1.04165593e-04 9.99997946e-01 -6.64730235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.069072328999994 meters 0.09020645241756402 Centerline is valid? [True, True] Translation: X:20.01, Y:0.28, Z:-0.67 [[ 9.99962579e-01 8.41115453e-03 -2.02332300e-03 2.00136573e+01] [-8.41092776e-03 9.99964620e-01 1.20559661e-04 2.79619008e-01] [ 2.02426546e-03 -1.03537126e-04 9.99997946e-01 -6.65239363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099072328999995 meters 0.08859855896968696 Centerline is valid? [True, True] Translation: X:20.04, Y:0.28, Z:-0.66 [[ 9.99947129e-01 1.00753592e-02 -2.05590736e-03 2.00423038e+01] [-1.00751276e-02 9.99949237e-01 1.22977934e-04 2.79720323e-01] [ 2.05704204e-03 -1.02257903e-04 9.99997879e-01 -6.64925397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129072328999996 meters 0.08741254316673895 Centerline is valid? [True, True] Translation: X:20.07, Y:0.28, Z:-0.66 [[ 9.99867156e-01 1.62782428e-02 8.30154375e-04 2.00714986e+01] [-1.62782063e-02 9.99867500e-01 -5.06232655e-05 2.77782391e-01] [-8.30868437e-04 3.71031163e-05 9.99999654e-01 -6.63661382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159072329 meters 0.08617351787141461 Centerline is valid? [True, True] Translation: X:20.10, Y:0.28, Z:-0.66 [[ 9.99794159e-01 2.02263221e-02 1.59225476e-03 2.01009000e+01] [-2.02261937e-02 9.99795425e-01 -9.67245678e-05 2.79231038e-01] [-1.59388541e-03 6.44994048e-05 9.99998728e-01 -6.62213380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189072329 meters 0.08404699319968048 Centerline is valid? [True, True] Translation: X:20.13, Y:0.28, Z:-0.66 [[ 9.99700108e-01 2.44277759e-02 1.72554293e-03 2.01312279e+01] [-2.44276314e-02 9.99701595e-01 -1.04803580e-04 2.83791058e-01] [-1.72758814e-03 6.26212237e-05 9.99998506e-01 -6.60511066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21907232899999 meters 0.08138968178908129 Centerline is valid? [True, True] Translation: X:20.16, Y:0.29, Z:-0.66 [[ 9.99435795e-01 3.34489786e-02 3.04252058e-03 2.01609849e+01] [-3.34485736e-02 9.99440423e-01 -1.83897356e-04 2.90476437e-01] [-3.04696923e-03 8.20256266e-05 9.99995355e-01 -6.59545041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.24907232899999 meters 0.08064185216334231 Centerline is valid? [True, True] Translation: X:20.19, Y:0.29, Z:-0.66 [[ 9.99303091e-01 3.71776757e-02 3.33944693e-03 2.01887638e+01] [-3.71772045e-02 9.99308668e-01 -2.03113317e-04 2.91757033e-01] [-3.34468955e-03 7.88204647e-05 9.99994403e-01 -6.61233465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279072328999995 meters 0.07972400208742386 Centerline is valid? [True, True] Translation: X:20.22, Y:0.29, Z:-0.66 [[ 9.99184455e-01 4.03290105e-02 1.99912926e-03 2.02179337e+01] [-4.03288430e-02 9.99186454e-01 -1.24059978e-04 2.94148235e-01] [-2.00250609e-03 4.33362319e-05 9.99997994e-01 -6.63384880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309072328999996 meters 0.0794681802785843 Centerline is valid? [True, True] Translation: X:20.25, Y:0.30, Z:-0.67 [[ 9.98980749e-01 4.51174761e-02 -1.37000937e-03 2.02461785e+01] [-4.51174081e-02 9.98981688e-01 8.05803264e-05 2.97031087e-01] [ 1.37224985e-03 -1.86869231e-05 9.99999058e-01 -6.70506953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339072329 meters 0.07895827516670821 Centerline is valid? [True, True] Translation: X:20.28, Y:0.30, Z:-0.67 [[ 9.98911284e-01 4.66270290e-02 -1.47186178e-03 2.02750603e+01] [-4.66269566e-02 9.98912369e-01 8.34667753e-05 2.98707075e-01] [ 1.47415274e-03 -1.47474684e-05 9.99998913e-01 -6.68195904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369072329 meters 0.07895827516670821 Centerline is valid? [True, True] Translation: X:20.30, Y:0.30, Z:-0.67 [[ 9.98923748e-01 4.63592403e-02 -1.47192187e-03 2.03022988e+01] [-4.63591691e-02 9.98924832e-01 8.24473719e-05 2.97296350e-01] [ 1.47416151e-03 -1.41215627e-05 9.99998913e-01 -6.68704156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39907232899999 meters 0.07880348387073599 Centerline is valid? [True, True] Translation: X:20.33, Y:0.30, Z:-0.67 [[ 9.98892997e-01 4.70380636e-02 -4.47424142e-04 2.03307359e+01] [-4.70380584e-02 9.98893098e-01 2.21193611e-05 2.95829267e-01] [ 4.47969339e-04 -1.04891205e-06 9.99999900e-01 -6.68135091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42907232899999 meters 0.07864589403496412 Centerline is valid? [True, True] Translation: X:20.36, Y:0.30, Z:-0.67 [[ 9.98841691e-01 4.80932524e-02 1.52171699e-03 2.03589628e+01] [-4.80931650e-02 9.98842850e-01 -9.39711627e-05 2.95756056e-01] [-1.52447551e-03 2.06781288e-05 9.99998838e-01 -6.65960890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459072328999994 meters 0.07857435867561335 Centerline is valid? [True, True] Translation: X:20.39, Y:0.29, Z:-0.66 [[ 9.98874644e-01 4.73800726e-02 2.13894340e-03 2.03863855e+01] [-4.73799021e-02 9.98876933e-01 -1.30372253e-04 2.94367228e-01] [-2.14271827e-03 2.88826084e-05 9.99997704e-01 -6.64976277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489072328999995 meters 0.0788979350483857 Centerline is valid? [True, True] Translation: X:20.41, Y:0.29, Z:-0.67 [[ 9.98936678e-01 4.60375373e-02 2.46143595e-03 2.04137505e+01] [-4.60373180e-02 9.98939710e-01 -1.45694169e-04 2.90791272e-01] [-2.46553351e-03 3.22213397e-05 9.99996960e-01 -6.65366596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519072329 meters 0.08054215740379717 Centerline is valid? [True, True] Translation: X:20.44, Y:0.28, Z:-0.67 [[ 9.99189061e-01 4.02642239e-02 1.15783288e-04 2.04416156e+01] [-4.02642233e-02 9.99189067e-01 -8.06893595e-06 2.79203862e-01] [-1.16014285e-04 3.40046839e-06 9.99999993e-01 -6.70379551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549072329 meters 0.0814918840267957 Centerline is valid? [True, True] Translation: X:20.47, Y:0.27, Z:-0.67 [[ 9.99336086e-01 3.63699029e-02 -2.14878462e-03 2.04708230e+01] [-3.63697181e-02 9.99338395e-01 1.25041816e-04 2.72893446e-01] [ 2.15191073e-03 -4.68081080e-05 9.99997684e-01 -6.72344680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57907232899999 meters 0.0836791153112597 Centerline is valid? [True, True] Translation: X:20.50, Y:0.27, Z:-0.67 [[ 9.99560923e-01 2.94299504e-02 -3.44092708e-03 2.04998155e+01] [-2.94294345e-02 9.99566840e-01 2.00488225e-04 2.66196971e-01] [ 3.44533697e-03 -9.91356576e-05 9.99994060e-01 -6.71958675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60907232899999 meters 0.08475430709681518 Centerline is valid? [True, True] Translation: X:20.53, Y:0.26, Z:-0.67 [[ 9.99653965e-01 2.62011750e-02 -2.33436344e-03 2.05281790e+01] [-2.62009387e-02 9.99656688e-01 1.31734650e-04 2.61457093e-01] [ 2.33701362e-03 -7.05265521e-05 9.99997267e-01 -6.72515019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639072328999994 meters 0.08698304870944983 Centerline is valid? [True, True] Translation: X:20.56, Y:0.25, Z:-0.67 [[ 9.99753445e-01 2.21824819e-02 -9.93114934e-04 2.05560272e+01] [-2.21824363e-02 9.99753938e-01 5.68822287e-05 2.51204831e-01] [ 9.94132355e-04 -3.48384953e-05 9.99999505e-01 -6.74494091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669072328999995 meters 0.0896646912124887 Centerline is valid? [True, True] Translation: X:20.59, Y:0.24, Z:-0.67 [[ 9.99874083e-01 1.57259373e-02 2.12457285e-03 2.05855102e+01] [-1.57257094e-02 9.99876336e-01 -1.23925817e-04 2.38488458e-01] [-2.12625896e-03 9.04997977e-05 9.99997735e-01 -6.74070011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699072328999996 meters 0.09062311820952955 Centerline is valid? [True, True] Translation: X:20.61, Y:0.24, Z:-0.67 [[ 9.99897802e-01 1.40330170e-02 2.73137590e-03 2.06129487e+01] [-1.40326321e-02 9.99901525e-01 -1.60034083e-04 2.35287040e-01] [-2.73335269e-03 1.21689334e-04 9.99996257e-01 -6.73244901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729072329 meters 0.0886059712897136 Centerline is valid? [True, True] Translation: X:20.64, Y:0.24, Z:-0.67 [[ 9.99915230e-01 1.27651701e-02 2.56565885e-03 2.06415941e+01] [-1.27648264e-02 9.99918515e-01 -1.50296075e-04 2.41099501e-01] [-2.56736834e-03 1.17533145e-04 9.99996697e-01 -6.70657981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75907232899999 meters 0.08971331437934807 Centerline is valid? [True, True] Translation: X:20.67, Y:0.24, Z:-0.67 [[ 9.99949389e-01 1.00312387e-02 7.70989510e-04 2.06717182e+01] [-1.00312069e-02 9.99949685e-01 -4.49992030e-05 2.39832348e-01] [-7.71402115e-04 3.72629702e-05 9.99999702e-01 -6.72255652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78907232899999 meters 0.09085075743569972 Centerline is valid? [True, True] Translation: X:20.70, Y:0.24, Z:-0.68 [[ 9.99954851e-01 9.43985777e-03 -1.08869662e-03 2.06990644e+01] [-9.43979641e-03 9.99955442e-01 6.14898399e-05 2.35506633e-01] [ 1.08922856e-03 -5.12099893e-05 9.99999405e-01 -6.75359356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819072328999994 meters 0.09444693693646188 Centerline is valid? [True, True] Translation: X:20.73, Y:0.23, Z:-0.68 [[ 9.99963358e-01 8.43318861e-03 -1.47104611e-03 2.07261871e+01] [-8.43307482e-03 9.99964438e-01 8.35344859e-05 2.27051613e-01] [ 1.47169826e-03 -7.11259831e-05 9.99998915e-01 -6.78850805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.849072328999995 meters 0.09036710154856725 Centerline is valid? [True, True] Translation: X:20.76, Y:0.24, Z:-0.67 [[ 9.99958132e-01 9.00555063e-03 -1.62311046e-03 2.07562024e+01] [-9.00541179e-03 9.99959446e-01 9.28232867e-05 2.36521893e-01] [ 1.62388056e-03 -7.82026222e-05 9.99998678e-01 -6.74133696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879072328999996 meters 0.09432731034507641 Centerline is valid? [True, True] Translation: X:20.78, Y:0.23, Z:-0.68 [[ 9.99960240e-01 8.89400638e-03 -6.44962232e-04 2.07836008e+01] [-8.89398522e-03 9.99960447e-01 3.56791089e-05 2.29768336e-01] [ 6.45254052e-04 -2.99414057e-05 9.99999791e-01 -6.75592016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909072329 meters 0.09160442540358409 Centerline is valid? [True, True] Translation: X:20.81, Y:0.24, Z:-0.67 [[ 9.99955622e-01 9.35751348e-03 1.09101564e-03 2.08130944e+01] [-9.35744916e-03 9.99956216e-01 -6.40383912e-05 2.36942266e-01] [-1.09156711e-03 5.38264260e-05 9.99999403e-01 -6.74572941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939072329 meters 0.09138894499704642 Centerline is valid? [True, True] Translation: X:20.84, Y:0.24, Z:-0.68 [[ 9.99951558e-01 9.81932551e-03 6.80522285e-04 2.08420404e+01] [-9.81930032e-03 9.99951789e-01 -4.03535845e-05 2.35049216e-01] [-6.80885721e-04 3.36693770e-05 9.99999768e-01 -6.77430005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96907232899999 meters 0.09082272127527895 Centerline is valid? [True, True] Translation: X:20.87, Y:0.24, Z:-0.68 [[ 9.99927550e-01 1.20366013e-02 1.24908262e-04 2.08711285e+01] [-1.20366003e-02 9.99927557e-01 -8.36765354e-06 2.37924002e-01] [-1.24999931e-04 6.86357648e-06 9.99999992e-01 -6.81708373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99907232899999 meters 0.09082272127527895 Centerline is valid? [True, True] Translation: X:20.90, Y:0.24, Z:-0.68 [[ 9.99928705e-01 1.19402810e-02 1.24874825e-04 2.08985403e+01] [-1.19402800e-02 9.99928712e-01 -8.95086545e-06 2.36489185e-01] [-1.24972799e-04 7.45918692e-06 9.99999992e-01 -6.82217332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.029072328999995 meters 0.08993562650610669 Centerline is valid? [True, True] Translation: X:20.93, Y:0.25, Z:-0.68 [[ 9.99892309e-01 1.45836626e-02 -1.63925011e-03 2.09266652e+01] [-1.45835306e-02 9.99893650e-01 9.24527920e-05 2.45126254e-01] [ 1.64042407e-03 -6.85367815e-05 9.99998652e-01 -6.82274807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059072328999996 meters 0.08994271241096405 Centerline is valid? [True, True] Translation: X:20.96, Y:0.25, Z:-0.68 [[ 9.99890918e-01 1.46785402e-02 -1.64082423e-03 2.09561374e+01] [-1.46784072e-02 9.99892262e-01 9.30628010e-05 2.47221888e-01] [ 1.64201348e-03 -6.89679633e-05 9.99998650e-01 -6.82037708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089072329 meters 0.08959839948504361 Centerline is valid? [True, True] Translation: X:20.98, Y:0.25, Z:-0.68 [[ 9.99876080e-01 1.56773657e-02 -1.42981150e-03 2.09846280e+01] [-1.56772664e-02 9.99877101e-01 8.06051125e-05 2.48905260e-01] [ 1.43089945e-03 -5.81795881e-05 9.99998975e-01 -6.82648444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119072329 meters 0.0899613322951754 Centerline is valid? [True, True] Translation: X:21.01, Y:0.25, Z:-0.68 [[ 9.99871482e-01 1.60095461e-02 -8.44804545e-04 2.10125377e+01] [-1.60095123e-02 9.99871838e-01 4.68036888e-05 2.50171552e-01] [ 8.45445580e-04 -3.32727649e-05 9.99999642e-01 -6.84904498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14907232899999 meters 0.09019664433865775 Centerline is valid? [True, True] Translation: X:21.04, Y:0.25, Z:-0.69 [[ 9.99866190e-01 1.63129846e-02 -1.22047908e-03 2.10410902e+01] [-1.63129131e-02 9.99866933e-01 6.84891839e-05 2.49839697e-01] [ 1.22143394e-03 -4.85704501e-05 9.99999253e-01 -6.86215696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17907232899999 meters 0.09080495293876248 Centerline is valid? [True, True] Translation: X:21.07, Y:0.25, Z:-0.69 [[ 9.99875879e-01 1.57073622e-02 -1.22716439e-03 2.10700828e+01] [-1.57072896e-02 9.99876631e-01 6.87987226e-05 2.48769346e-01] [ 1.22809365e-03 -4.95147567e-05 9.99999245e-01 -6.88758050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.209072328999994 meters 0.09236496719931112 Centerline is valid? [True, True] Translation: X:21.10, Y:0.25, Z:-0.69 [[ 9.99897046e-01 1.42500771e-02 -1.68289221e-03 2.10972852e+01] [-1.42499389e-02 9.99898460e-01 9.40597492e-05 2.46167762e-01] [ 1.68406169e-03 -7.00689541e-05 9.99998580e-01 -6.92989863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239072328999995 meters 0.09171529067928876 Centerline is valid? [True, True] Translation: X:21.13, Y:0.25, Z:-0.69 [[ 9.99887293e-01 1.50072516e-02 -4.27844773e-04 2.11264450e+01] [-1.50072431e-02 9.99887385e-01 2.32009952e-05 2.47431357e-01] [ 4.28144775e-04 -1.67776098e-05 9.99999908e-01 -6.90671315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269072329 meters 0.08903819451909423 Centerline is valid? [True, True] Translation: X:21.16, Y:0.26, Z:-0.68 [[ 9.99804196e-01 1.96414510e-02 2.40467149e-03 2.11572936e+01] [-1.96411783e-02 9.99807084e-01 -1.36958979e-04 2.60655801e-01] [-2.40689766e-03 8.97015807e-05 9.99997099e-01 -6.81743051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299072329 meters 0.08794112276780203 Centerline is valid? [True, True] Translation: X:21.19, Y:0.27, Z:-0.68 [[ 9.99764705e-01 2.15404915e-02 2.55754995e-03 2.11867450e+01] [-2.15401877e-02 9.99767973e-01 -1.46266864e-04 2.67132123e-01] [-2.56010719e-03 9.11423427e-05 9.99996719e-01 -6.79471547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32907232899999 meters 0.08520798827646094 Centerline is valid? [True, True] Translation: X:21.22, Y:0.28, Z:-0.68 [[ 9.99703988e-01 2.41976602e-02 2.53162528e-03 2.12162275e+01] [-2.41973712e-02 9.99707190e-01 -1.44718038e-04 2.77508953e-01] [-2.53438584e-03 8.34165231e-05 9.99996785e-01 -6.76941592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35907232899999 meters 0.08505430931455944 Centerline is valid? [True, True] Translation: X:21.24, Y:0.28, Z:-0.69 [[ 9.99614919e-01 2.77487706e-02 -1.42734943e-04 2.12444269e+01] [-2.77487699e-02 9.99614929e-01 6.89543854e-06 2.76698751e-01] [ 1.42871320e-04 -2.93206415e-06 9.99999990e-01 -6.87711294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.389072328999994 meters 0.08690566156127447 Centerline is valid? [True, True] Translation: X:21.27, Y:0.27, Z:-0.70 [[ 9.99587787e-01 2.87062664e-02 -4.53337034e-04 2.12719253e+01] [-2.87062596e-02 9.99587890e-01 2.14240631e-05 2.67437616e-01] [ 4.53765215e-04 -8.40162127e-06 9.99999897e-01 -6.96149725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419072328999995 meters 0.08709066141891979 Centerline is valid? [True, True] Translation: X:21.30, Y:0.26, Z:-0.70 [[ 9.99573832e-01 2.91657316e-02 -1.23084046e-03 2.12984598e+01] [-2.91656707e-02 9.99574589e-01 6.74151500e-05 2.64959685e-01] [ 1.23228306e-03 -3.14881322e-05 9.99999240e-01 -6.99559042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449072328999996 meters 0.08463019712776126 Centerline is valid? [True, True] Translation: X:21.33, Y:0.27, Z:-0.69 [[ 9.99570596e-01 2.92379708e-02 -1.94044138e-03 2.13272645e+01] [-2.92378244e-02 9.99572478e-01 1.03805458e-04 2.72862104e-01] [ 1.94264686e-03 -4.70265995e-05 9.99998112e-01 -6.94129174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479072329 meters 0.08530539290088412 Centerline is valid? [True, True] Translation: X:21.35, Y:0.27, Z:-0.70 [[ 9.99476001e-01 3.22917361e-02 -2.22864288e-03 2.13549458e+01] [-3.22915431e-02 9.99478485e-01 1.22548996e-04 2.74573304e-01] [ 2.23143793e-03 -5.05184626e-05 9.99997509e-01 -6.95988855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50907232899999 meters 0.08501286894980167 Centerline is valid? [True, True] Translation: X:21.38, Y:0.28, Z:-0.70 [[ 9.99459783e-01 3.28125587e-02 -1.86520693e-03 2.13833371e+01] [-3.28124287e-02 9.99461522e-01 1.00231232e-04 2.75650237e-01] [ 1.86749140e-03 -3.89751155e-05 9.99998255e-01 -6.95358001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53907232899999 meters 0.08352238270141339 Centerline is valid? [True, True] Translation: X:21.41, Y:0.28, Z:-0.69 [[ 9.99487544e-01 3.19973515e-02 9.05094708e-04 2.14119095e+01] [-3.19973153e-02 9.99487953e-01 -5.44682809e-05 2.76866266e-01] [-9.06374098e-04 2.54797675e-05 9.99999589e-01 -6.91677166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.569072328999994 meters 0.08644180946710747 Centerline is valid? [True, True] Translation: X:21.44, Y:0.26, Z:-0.70 [[ 9.99529175e-01 3.06640928e-02 1.06880905e-03 2.14390953e+01] [-3.06640454e-02 9.99529746e-01 -6.07269535e-05 2.63359584e-01] [-1.07016857e-03 2.79243526e-05 9.99999427e-01 -6.99077084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599072328999995 meters 0.08467125940487695 Centerline is valid? [True, True] Translation: X:21.47, Y:0.27, Z:-0.70 [[ 9.99568357e-01 2.93439312e-02 1.42618685e-03 2.14679861e+01] [-2.93438428e-02 9.99569373e-01 -8.28705516e-05 2.66364433e-01] [-1.42800444e-03 4.09849783e-05 9.99998980e-01 -6.95988263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629072328999996 meters 0.08462996064054315 Centerline is valid? [True, True] Translation: X:21.50, Y:0.27, Z:-0.70 [[ 9.99582597e-01 2.88327925e-02 1.81688885e-03 2.14961531e+01] [-2.88326500e-02 9.99584247e-01 -1.04590616e-04 2.65324945e-01] [-1.81914911e-03 5.21612393e-05 9.99998344e-01 -6.95134021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659072329 meters 0.08455390691872275 Centerline is valid? [True, True] Translation: X:21.52, Y:0.26, Z:-0.69 [[ 9.99596989e-01 2.83425237e-02 1.60009093e-03 2.15234576e+01] [-2.83424167e-02 9.99598269e-01 -8.95171614e-05 2.64470383e-01] [-1.60198527e-03 4.41306409e-05 9.99998716e-01 -6.93346098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689072329 meters 0.08465410492269089 Centerline is valid? [True, True] Translation: X:21.55, Y:0.26, Z:-0.69 [[ 9.99612721e-01 2.77746514e-02 1.72514238e-03 2.15513973e+01] [-2.77745221e-02 9.99614209e-01 -9.88666903e-05 2.62702449e-01] [-1.72722282e-03 5.09133962e-05 9.99998507e-01 -6.92531308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71907232899999 meters 0.08495297368343495 Centerline is valid? [True, True] Translation: X:21.58, Y:0.26, Z:-0.69 [[ 9.99629870e-01 2.70699186e-02 2.70979206e-03 2.15792727e+01] [-2.70696062e-02 9.99633540e-01 -1.51889682e-04 2.60268719e-01] [-2.71291067e-03 7.84804594e-05 9.99996317e-01 -6.92067386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74907232899999 meters 0.0854573171758641 Centerline is valid? [True, True] Translation: X:21.61, Y:0.26, Z:-0.69 [[ 9.99639831e-01 2.67383946e-02 2.29491020e-03 2.16070834e+01] [-2.67381759e-02 9.99642463e-01 -1.25935710e-04 2.56184274e-01] [-2.29745700e-03 6.45286390e-05 9.99997359e-01 -6.93431265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779072328999995 meters 0.08593891970113846 Centerline is valid? [True, True] Translation: X:21.63, Y:0.25, Z:-0.70 [[ 9.99632674e-01 2.70738388e-02 1.23466004e-03 2.16344381e+01] [-2.70737715e-02 9.99633436e-01 -7.12572216e-05 2.52860114e-01] [-1.23613666e-03 3.78041432e-05 9.99999235e-01 -6.96769051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809072328999996 meters 0.08617092927634627 Centerline is valid? [True, True] Translation: X:21.66, Y:0.25, Z:-0.70 [[ 9.99642435e-01 2.67374548e-02 3.33167414e-04 2.16633550e+01] [-2.67374489e-02 9.99642490e-01 -2.19407132e-05 2.49855623e-01] [-3.33634942e-04 1.30248212e-05 9.99999944e-01 -6.99320568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839072329 meters 0.08667202111122502 Centerline is valid? [True, True] Translation: X:21.69, Y:0.25, Z:-0.70 [[ 9.99682321e-01 2.52042101e-02 -6.80167612e-05 2.16914509e+01] [-2.52042102e-02 9.99682323e-01 -3.57506011e-07 2.45300101e-01] [ 6.79861432e-05 2.07170118e-06 9.99999998e-01 -7.00902736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869072329 meters 0.0885507551908468 Centerline is valid? [True, True] Translation: X:21.72, Y:0.23, Z:-0.70 [[ 9.99778778e-01 2.10330863e-02 -7.28169608e-05 2.17198075e+01] [-2.10330861e-02 9.99778780e-01 3.04674002e-06 2.34492741e-01] [ 7.28649346e-05 -1.51450060e-06 9.99999997e-01 -7.01166111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89907232899999 meters 0.08744191604376188 Centerline is valid? [True, True] Translation: X:21.75, Y:0.23, Z:-0.70 [[ 9.99817914e-01 1.90633709e-02 8.52669569e-04 2.17485762e+01] [-1.90633379e-02 9.99818277e-01 -4.67873950e-05 2.34815840e-01] [-8.53406545e-04 3.05241476e-05 9.99999635e-01 -6.98131626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92907232899999 meters 0.0877703375678185 Centerline is valid? [True, True] Translation: X:21.78, Y:0.23, Z:-0.70 [[ 9.99850382e-01 1.72921713e-02 4.41987976e-04 2.17769080e+01] [-1.72921621e-02 9.99850479e-01 -2.48069946e-05 2.31195279e-01] [-4.42350856e-04 1.71603553e-05 9.99999902e-01 -6.97559928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959072328999994 meters 0.0877703375678185 Centerline is valid? [True, True] Translation: X:21.80, Y:0.23, Z:-0.70 [[ 9.99852071e-01 1.71942225e-02 4.41958240e-04 2.18043099e+01] [-1.71942129e-02 9.99852168e-01 -2.53656382e-05 2.29872988e-01] [-4.42329047e-04 1.77627618e-05 9.99999902e-01 -6.98068665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989072328999995 meters 0.0905461212786726 Centerline is valid? [True, True] Translation: X:21.83, Y:0.22, Z:-0.70 [[ 9.99873510e-01 1.58891040e-02 7.08062028e-04 2.18311732e+01] [-1.58890803e-02 9.99873760e-01 -3.91745437e-05 2.19566368e-01] [-7.08595091e-04 2.79191342e-05 9.99999749e-01 -7.01467278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019072329 meters 0.09262410050864436 Centerline is valid? [True, True] Translation: X:21.86, Y:0.21, Z:-0.70 [[ 9.99919657e-01 1.26712157e-02 -3.46218921e-04 2.18599437e+01] [-1.26712102e-02 9.99919717e-01 1.78598166e-05 2.09317787e-01] [ 3.46417431e-04 -1.34713690e-05 9.99999940e-01 -7.03714492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049072329 meters 0.09057396060883419 Centerline is valid? [True, True] Translation: X:21.89, Y:0.21, Z:-0.70 [[ 9.99937062e-01 1.12184638e-02 1.33165367e-04 2.18887228e+01] [-1.12184628e-02 9.99937071e-01 -8.26392696e-06 2.10594024e-01] [-1.33249696e-04 6.76949614e-06 9.99999991e-01 -7.01322025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07907232899999 meters 0.09175632567252626 Centerline is valid? [True, True] Translation: X:21.92, Y:0.20, Z:-0.70 [[ 9.99961389e-01 8.67885517e-03 1.37794346e-03 2.19175496e+01] [-8.67876141e-03 9.99962336e-01 -7.40045692e-05 2.02678047e-01] [-1.37853383e-03 6.20428693e-05 9.99999048e-01 -7.01352596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10907232899999 meters 0.09256624408191476 Centerline is valid? [True, True] Translation: X:21.95, Y:0.20, Z:-0.70 [[ 9.99971763e-01 6.37175361e-03 3.98429093e-03 2.19455418e+01] [-6.37095708e-03 9.99979683e-01 -2.12576924e-04 1.96314527e-01] [-3.98556446e-03 1.87187175e-04 9.99992040e-01 -6.99693105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139072328999994 meters 0.09501721176442782 Centerline is valid? [True, True] Translation: X:21.97, Y:0.19, Z:-0.70 [[ 9.99978855e-01 3.03738815e-03 5.75004443e-03 2.19736739e+01] [-3.03568308e-03 9.99995346e-01 -3.05235702e-04 1.85809407e-01] [-5.75094478e-03 2.87773936e-04 9.99983422e-01 -6.98356949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169072328999995 meters 0.09612856149903609 Centerline is valid? [True, True] Translation: X:22.00, Y:0.18, Z:-0.70 [[ 9.99989615e-01 8.42759516e-04 4.47869145e-03 2.20042019e+01] [-8.41707076e-04 9.99999618e-01 -2.36867837e-04 1.80307757e-01] [-4.47888936e-03 2.33095631e-04 9.99989943e-01 -7.00801248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199072328999996 meters 0.09439279006444748 Centerline is valid? [True, True] Translation: X:22.04, Y:0.18, Z:-0.70 [[ 9.99994900e-01 -1.69658569e-03 2.70584262e-03 2.20357608e+01] [ 1.69697815e-03 9.99998550e-01 -1.42752011e-04 1.80312469e-01] [-2.70559651e-03 1.47343039e-04 9.99996329e-01 -7.02147167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229072329 meters 0.10175963473858314 Centerline is valid? [True, False] Translation: X:22.04, Y:0.18, Z:-0.70 [[ 9.99982481e-01 -5.32367546e-03 2.58761373e-03 2.20365853e+01] [ 5.33136735e-03 9.99981363e-01 -2.97482967e-03 1.75707809e-01] [-2.57172848e-03 2.98857308e-03 9.99992227e-01 -7.03241832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25907232899999 meters 0.09947628190768347 Centerline is valid? [False, True] Translation: X:22.04, Y:0.17, Z:-0.70 [[ 9.99983700e-01 -5.04987333e-03 2.66446655e-03 2.20365138e+01] [ 5.05592042e-03 9.99984647e-01 -2.26769542e-03 1.73230200e-01] [-2.65297407e-03 2.28112978e-03 9.99993879e-01 -7.03509191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28907232899999 meters 0.09965894272379529 Centerline is valid? [True, True] Translation: X:22.07, Y:0.17, Z:-0.70 [[ 9.99967103e-01 -6.88073905e-03 4.29510347e-03 2.20680205e+01] [ 6.88185129e-03 9.99976290e-01 -2.44229284e-04 1.68000170e-01] [-4.29332115e-03 2.73779513e-04 9.99990746e-01 -7.03116449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319072328999994 meters 0.10105370834938529 Centerline is valid? [True, False] Translation: X:22.07, Y:0.17, Z:-0.70 [[ 9.99968612e-01 -6.56539389e-03 4.43507621e-03 2.20679649e+01] [ 6.56266873e-03 9.99978268e-01 6.28731059e-04 1.65122103e-01] [-4.43910769e-03 -5.99605388e-04 9.99989967e-01 -7.03725620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.349072328999995 meters 0.1017859068744801 Centerline is valid? [False, False] Translation: X:22.07, Y:0.16, Z:-0.70 [[ 9.99969898e-01 -6.03852540e-03 4.87222672e-03 2.20675338e+01] [ 6.02767357e-03 9.99979327e-01 2.23890064e-03 1.58829396e-01] [-4.88564565e-03 -2.20946506e-03 9.99985624e-01 -7.04940136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379072328999996 meters 0.10769084755285492 Centerline is valid? [False, False] Translation: X:22.07, Y:0.16, Z:-0.71 [[ 9.99973286e-01 -5.42841706e-03 4.89477910e-03 2.20683114e+01] [ 5.41144821e-03 9.99979326e-01 3.47332981e-03 1.55495456e-01] [-4.91353259e-03 -3.44674918e-03 9.99981988e-01 -7.06512118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409072329 meters 0.10405023309506142 Centerline is valid? [False, False] Translation: X:22.07, Y:0.15, Z:-0.71 [[ 9.99974819e-01 -5.09971859e-03 4.93504367e-03 2.20685076e+01] [ 5.07899288e-03 9.99978268e-01 4.20315910e-03 1.53090270e-01] [-4.95637136e-03 -4.17798821e-03 9.99978989e-01 -7.07112178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439072329 meters 0.10556263562213283 Centerline is valid? [False, False] Translation: X:22.07, Y:0.15, Z:-0.71 [[ 9.99975617e-01 -4.89635816e-03 4.97898489e-03 2.20685592e+01] [ 4.87279446e-03 9.99976923e-01 4.73379859e-03 1.51364647e-01] [-5.00204836e-03 -4.70942160e-03 9.99976400e-01 -7.07480809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46907232899999 meters 0.10859393235674857 Centerline is valid? [False, False] Translation: X:22.07, Y:0.15, Z:-0.71 [[ 9.99971685e-01 -5.23966212e-03 5.40134357e-03 2.20665234e+01] [ 5.21271469e-03 9.99973958e-01 4.99108620e-03 1.48591613e-01] [-5.42735451e-03 -4.96278922e-03 9.99972957e-01 -7.05864126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49907232899999 meters 0.10979111312045939 Centerline is valid? [False, False] Translation: X:22.07, Y:0.15, Z:-0.70 [[ 9.99968861e-01 -5.42402810e-03 5.73217738e-03 2.20650968e+01] [ 5.39441772e-03 9.99972093e-01 5.16854058e-03 1.46585864e-01] [-5.76005172e-03 -5.13745787e-03 9.99970214e-01 -7.04885937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.529072328999995 meters 0.11366667941903194 Centerline is valid? [False, False] Translation: X:22.07, Y:0.14, Z:-0.71 [[ 9.99942582e-01 -9.04863569e-03 5.74055573e-03 2.20654173e+01] [ 9.03607434e-03 9.99956731e-01 2.21035347e-03 1.41514911e-01] [-5.76030802e-03 -2.15835447e-03 9.99981080e-01 -7.05356197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559072328999996 meters 0.11565070827324168 Centerline is valid? [False, False] Translation: X:22.07, Y:0.14, Z:-0.71 [[ 9.99947867e-01 -8.36203588e-03 5.86008133e-03 2.20659397e+01] [ 8.34043621e-03 9.99958370e-01 3.70069413e-03 1.36901482e-01] [-5.89078272e-03 -3.65162557e-03 9.99975982e-01 -7.06886954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589072329 meters 0.11584806281037452 Centerline is valid? [False, False] Translation: X:22.07, Y:0.13, Z:-0.71 [[ 9.99953345e-01 -7.67400816e-03 5.86667862e-03 2.20666507e+01] [ 7.64414628e-03 9.99957800e-01 5.09567252e-03 1.32650088e-01] [-5.90553527e-03 -5.05058903e-03 9.99969808e-01 -7.08235042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619072329 meters 0.11750083995823042 Centerline is valid? [False, False] Translation: X:22.07, Y:0.13, Z:-0.71 [[ 9.99956452e-01 -7.18637542e-03 5.95403788e-03 2.20668970e+01] [ 7.14926626e-03 9.99955033e-01 6.23062096e-03 1.29020131e-01] [-5.99854572e-03 -6.18778263e-03 9.99962864e-01 -7.09161286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64907232899999 meters 0.1127695833725177 Centerline is valid? [False, False] Translation: X:22.06, Y:0.12, Z:-0.71 [[ 9.99952303e-01 -7.21389766e-03 6.58425044e-03 2.20648766e+01] [ 7.16467208e-03 9.99946436e-01 7.46947659e-03 1.22514453e-01] [-6.63778180e-03 -7.42194632e-03 9.99950426e-01 -7.08364164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67907232899999 meters 0.11474474264042045 Centerline is valid? [False, False] Translation: X:22.06, Y:0.12, Z:-0.71 [[ 9.99949171e-01 -7.30099578e-03 6.95353521e-03 2.20633434e+01] [ 7.24552426e-03 9.99941993e-01 7.96951343e-03 1.19047530e-01] [-7.01131724e-03 -7.91872634e-03 9.99944066e-01 -7.07369527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.709072328999994 meters 0.12028929091811792 Centerline is valid? [False, False] Translation: X:22.06, Y:0.11, Z:-0.71 [[ 9.99948323e-01 -7.07462992e-03 7.30068151e-03 2.20623836e+01] [ 7.00885541e-03 9.99934972e-01 8.99596198e-03 1.14386524e-01] [-7.36384986e-03 -8.94432768e-03 9.99932884e-01 -7.07127631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739072328999995 meters 0.12400074082887325 Centerline is valid? [False, False] Translation: X:22.05, Y:0.11, Z:-0.70 [[ 9.99962106e-01 -8.37784699e-03 2.36595144e-03 2.20488175e+01] [ 8.38783201e-03 9.99955822e-01 -4.24239226e-03 1.09301963e-01] [-2.33030480e-03 4.26207670e-03 9.99988202e-01 -6.99673485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769072329 meters 0.12646098403527203 Centerline is valid? [False, False] Translation: X:22.05, Y:0.10, Z:-0.70 [[ 9.99966572e-01 -7.72920846e-03 2.66728770e-03 2.20487761e+01] [ 7.73579909e-03 9.99967029e-01 -2.46950101e-03 1.03580027e-01] [-2.64811247e-03 2.49005206e-03 9.99993394e-01 -7.01032265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799072329 meters 0.11942553139638815 Centerline is valid? [False, False] Translation: X:22.05, Y:0.10, Z:-0.70 [[ 9.99971235e-01 -7.05917348e-03 2.77432195e-03 2.20489886e+01] [ 7.06187089e-03 9.99974600e-01 -9.63685094e-04 9.84714644e-02] [-2.76744866e-03 9.83249278e-04 9.99995687e-01 -7.01944531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82907232899999 meters 0.12152536953195454 Centerline is valid? [False, False] Translation: X:22.05, Y:0.09, Z:-0.70 [[ 9.99979933e-01 -5.63496784e-03 2.89482812e-03 2.20496994e+01] [ 5.62891438e-03 9.99981963e-01 2.09503559e-03 8.77635185e-02] [-2.90658136e-03 -2.07869881e-03 9.99993615e-01 -7.03904466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85907232899999 meters 0.11848646634414547 Centerline is valid? [False, False] Translation: X:22.05, Y:0.08, Z:-0.70 [[ 9.99983016e-01 -5.02844679e-03 2.94662105e-03 2.20499303e+01] [ 5.01831649e-03 9.99981507e-01 3.43530783e-03 8.30801233e-02] [-2.96384083e-03 -3.42046241e-03 9.99989758e-01 -7.04719416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.889072328999994 meters 0.12463762720655634 Centerline is valid? [False, False] Translation: X:22.05, Y:0.08, Z:-0.71 [[ 9.99987616e-01 -4.17335498e-03 2.71109141e-03 2.20511050e+01] [ 4.15989376e-03 9.99979086e-01 4.95204825e-03 7.86053168e-02] [-2.73170136e-03 -4.94070908e-03 9.99984063e-01 -7.05839488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919072328999995 meters 0.12232136508391912 Centerline is valid? [False, False] Translation: X:22.05, Y:0.07, Z:-0.70 [[ 9.99989330e-01 -3.80007028e-03 2.62662976e-03 2.20505289e+01] [ 3.78445845e-03 9.99975296e-01 5.92330508e-03 7.38209778e-02] [-2.64907385e-03 -5.91330150e-03 9.99979007e-01 -7.04703954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949072328999996 meters 0.11992211823020374 Centerline is valid? [False, False] Translation: X:22.05, Y:0.07, Z:-0.70 [[ 9.99990467e-01 -3.63624535e-03 2.41748240e-03 2.20505251e+01] [ 3.62121986e-03 9.99974279e-01 6.19093644e-03 7.20986514e-02] [-2.43993199e-03 -6.18212319e-03 9.99977914e-01 -7.03891825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979072329 meters 0.11946318547779325 Centerline is valid? [False, False] Translation: X:22.05, Y:0.07, Z:-0.70 [[ 9.99992536e-01 -3.18332265e-03 2.18943203e-03 2.20511004e+01] [ 3.16810617e-03 9.99971047e-01 6.91866937e-03 6.94973832e-02] [-2.21139300e-03 -6.91168138e-03 9.99973669e-01 -7.03970836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00907232899999 meters 0.11461308627173558 Centerline is valid? [False, False] Translation: X:22.05, Y:0.06, Z:-0.70 [[ 9.99985117e-01 6.72340598e-04 -5.41422770e-03 2.20473501e+01] [-6.88848294e-04 9.99995119e-01 -3.04766023e-03 6.43931289e-02] [ 5.41215221e-03 3.05134445e-03 9.99980699e-01 -7.00742865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03907232899999 meters 0.1166084824077842 Centerline is valid? [False, False] Translation: X:22.05, Y:0.06, Z:-0.70 [[ 9.99983365e-01 1.35134941e-03 -5.60739087e-03 2.20481845e+01] [-1.36252371e-03 9.99997093e-01 -1.98943898e-03 6.08142195e-02] [ 5.60468614e-03 1.99704609e-03 9.99982299e-01 -7.01409781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.069072328999994 meters 0.10996114419041764 Centerline is valid? [False, False] Translation: X:22.05, Y:0.06, Z:-0.70 [[ 9.99981563e-01 1.88052816e-03 -5.77382456e-03 2.20488626e+01] [-1.88704219e-03 9.99997589e-01 -1.12296000e-03 5.80539234e-02] [ 5.77169888e-03 1.13383474e-03 9.99982701e-01 -7.01965516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099072328999995 meters 0.10733356315372232 Centerline is valid? [False, False] Translation: X:22.05, Y:0.06, Z:-0.70 [[ 9.99980018e-01 2.03655575e-03 -5.98465670e-03 2.20491247e+01] [-2.04203659e-03 9.99997501e-01 -9.09848645e-04 5.70058617e-02] [ 5.98278879e-03 9.22051352e-04 9.99981678e-01 -7.01626064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129072328999996 meters 0.10561545280009237 Centerline is valid? [False, False] Translation: X:22.05, Y:0.06, Z:-0.70 [[ 9.99975171e-01 1.98477362e-03 -6.76156856e-03 2.20498758e+01] [-1.99461715e-03 9.99996960e-01 -1.44937344e-03 5.86948903e-02] [ 6.75867133e-03 1.46282419e-03 9.99976090e-01 -6.99878471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159072329 meters 0.10994526547057265 Centerline is valid? [False, False] Translation: X:22.05, Y:0.06, Z:-0.70 [[ 9.99971204e-01 2.29465549e-03 -7.23372116e-03 2.20510377e+01] [-2.30368775e-03 9.99996577e-01 -1.24054827e-03 5.85317644e-02] [ 7.23084976e-03 1.25717678e-03 9.99973067e-01 -6.99898214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189072329 meters 0.10240952039444538 Centerline is valid? [False, False] Translation: X:22.05, Y:0.06, Z:-0.70 [[ 9.99968217e-01 2.64649426e-03 -7.52069343e-03 2.20517914e+01] [-2.65223408e-03 9.99996199e-01 -7.53331670e-04 5.70547670e-02] [ 7.51867115e-03 7.73254367e-04 9.99971435e-01 -7.00093661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21907232899999 meters 0.10272686481885707 Centerline is valid? [False, False] Translation: X:22.05, Y:0.05, Z:-0.70 [[ 9.99965063e-01 3.20817750e-03 -7.71879507e-03 2.20526278e+01] [-3.20723863e-03 9.99994848e-01 1.34009958e-04 5.43041989e-02] [ 7.71918522e-03 -1.09249258e-04 9.99970201e-01 -7.00793937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24907232899999 meters 0.10038243733767273 Centerline is valid? [False, False] Translation: X:22.05, Y:0.05, Z:-0.70 [[ 9.99962333e-01 3.72406000e-03 -7.83987116e-03 2.20531491e+01] [-3.71565283e-03 9.99992507e-01 1.08665265e-03 5.10582882e-02] [ 7.84385917e-03 -1.05748147e-03 9.99968677e-01 -7.01307437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279072328999995 meters 0.10286446542317318 Centerline is valid? [False, False] Translation: X:22.05, Y:0.05, Z:-0.70 [[ 9.99963281e-01 3.52861223e-03 -7.80930389e-03 2.20525261e+01] [-3.52189405e-03 9.99993416e-01 8.73863357e-04 5.09451308e-02] [ 7.81233601e-03 -8.46327729e-04 9.99969125e-01 -7.00445085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309072328999996 meters 0.10280870012251819 Centerline is valid? [False, False] Translation: X:22.05, Y:0.05, Z:-0.70 [[ 9.99963580e-01 3.61694353e-03 -7.73018130e-03 2.20522687e+01] [-3.60807637e-03 9.99992817e-01 1.16072121e-03 4.98308349e-02] [ 7.73432404e-03 -1.13278785e-03 9.99969448e-01 -7.00336550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339072329 meters 0.10607640881356518 Centerline is valid? [False, False] Translation: X:22.05, Y:0.05, Z:-0.70 [[ 9.99968914e-01 -2.14530196e-04 -7.88189665e-03 2.20525186e+01] [ 1.97264409e-04 9.99997580e-01 -2.19127467e-03 4.59696832e-02] [ 7.88234767e-03 2.18965173e-03 9.99966536e-01 -7.00330933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369072329 meters 0.1076873795394422 Centerline is valid? [False, False] Translation: X:22.05, Y:0.04, Z:-0.70 [[ 9.99972147e-01 2.84527482e-04 -7.45822936e-03 2.20520050e+01] [-2.90533250e-04 9.99999634e-01 -8.04182798e-04 4.05852249e-02] [ 7.45799782e-03 8.06327263e-04 9.99971864e-01 -7.01332879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39907232899999 meters 0.10347645924344544 Centerline is valid? [False, False] Translation: X:22.05, Y:0.04, Z:-0.70 [[ 9.99975590e-01 2.72518349e-04 -6.98179513e-03 2.20505103e+01] [-2.73453188e-04 9.99999954e-01 -1.32942449e-04 3.63755704e-02] [ 6.98175858e-03 1.34848398e-04 9.99975618e-01 -7.00973985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42907232899999 meters 0.10540168019637995 Centerline is valid? [False, False] Translation: X:22.05, Y:0.03, Z:-0.70 [[ 9.99978623e-01 5.37382386e-05 -6.53836233e-03 2.20486874e+01] [-5.18491275e-05 9.99999957e-01 2.89096419e-04 3.34741438e-02] [ 6.53837759e-03 -2.88751230e-04 9.99978583e-01 -6.99656513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459072328999994 meters 0.10568209598384551 Centerline is valid? [False, False] Translation: X:22.05, Y:0.03, Z:-0.70 [[ 9.99979391e-01 -3.25929418e-04 -6.41186545e-03 2.20476222e+01] [ 3.24984095e-04 9.99999936e-01 -1.48474726e-04 3.39699444e-02] [ 6.41191344e-03 1.46387911e-04 9.99979433e-01 -6.98373436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489072328999995 meters 0.10603858858267574 Centerline is valid? [False, False] Translation: X:22.05, Y:0.03, Z:-0.70 [[ 9.99979074e-01 -1.91530485e-04 -6.46644188e-03 2.20477499e+01] [ 1.92449416e-04 9.99999971e-01 1.41485726e-04 3.31404813e-02] [ 6.46641459e-03 -1.42727228e-04 9.99979082e-01 -6.98344742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519072329 meters 0.1096274998301604 Centerline is valid? [False, False] Translation: X:22.05, Y:0.03, Z:-0.70 [[ 9.99971702e-01 -3.57141934e-03 -6.62112733e-03 2.20486803e+01] [ 3.55501649e-03 9.99990587e-01 -2.48746643e-03 2.74490268e-02] [ 6.62994879e-03 2.46385782e-03 9.99974986e-01 -6.99376681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549072329 meters 0.11386349514624869 Centerline is valid? [False, False] Translation: X:22.05, Y:0.02, Z:-0.70 [[ 9.99977030e-01 -2.79980481e-03 -6.17263312e-03 2.20485757e+01] [ 2.79657975e-03 9.99995949e-01 -5.31047924e-04 2.10082406e-02] [ 6.17409494e-03 5.13773465e-04 9.99980808e-01 -7.01130855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57907232899999 meters 0.11086617955028866 Centerline is valid? [False, False] Translation: X:22.05, Y:0.02, Z:-0.70 [[ 9.99981091e-01 -2.56142031e-03 -5.59069634e-03 2.20473865e+01] [ 2.56513419e-03 9.99996494e-01 6.57228408e-04 1.59164913e-02] [ 5.58899330e-03 -6.71556868e-04 9.99984156e-01 -7.01543813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60907232899999 meters 0.11313899414500232 Centerline is valid? [False, False] Translation: X:22.05, Y:0.01, Z:-0.70 [[ 9.99962692e-01 -6.63418859e-03 -5.53196959e-03 2.20472929e+01] [ 6.61826102e-03 9.99973916e-01 -2.89253863e-03 1.33776701e-02] [ 5.55101494e-03 2.85581870e-03 9.99980515e-01 -7.01528111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639072328999994 meters 0.11411808807372423 Centerline is valid? [False, False] Translation: X:22.04, Y:0.01, Z:-0.70 [[ 9.99984922e-01 -2.82468678e-03 -4.70913991e-03 2.20446295e+01] [ 2.83231867e-03 9.99994685e-01 1.61477507e-03 1.01353874e-02] [ 4.70455365e-03 -1.62808851e-03 9.99987608e-01 -7.00234913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669072328999995 meters 0.114964860219164 Centerline is valid? [False, False] Translation: X:22.04, Y:0.01, Z:-0.70 [[ 9.99986082e-01 -2.51519733e-03 -4.63780146e-03 2.20445878e+01] [ 2.52601871e-03 9.99994098e-01 2.32891979e-03 7.87176514e-03] [ 4.63191639e-03 -2.34060255e-03 9.99986533e-01 -7.00469710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699072328999996 meters 0.11597611512366403 Centerline is valid? [False, False] Translation: X:22.05, Y:0.00, Z:-0.70 [[ 9.99970732e-01 -5.74490843e-03 -5.05277319e-03 2.20465895e+01] [ 5.74373559e-03 9.99983474e-01 -2.46597694e-04 3.55297420e-03] [ 5.05410637e-03 2.17568683e-04 9.99987204e-01 -7.02162445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729072329 meters 0.11745711458153886 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.00, Z:-0.70 [[ 9.99975603e-01 -4.82387285e-03 -5.05208201e-03 2.20477386e+01] [ 4.83146357e-03 9.99987216e-01 1.49136755e-03 -7.60738728e-04] [ 5.04482326e-03 -1.51574011e-03 9.99986126e-01 -7.04251918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75907232899999 meters 0.12020122437635239 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.01, Z:-0.71 [[ 9.99979522e-01 -4.09095937e-03 -4.92134361e-03 2.20482642e+01] [ 4.10613058e-03 9.99986837e-01 3.07659370e-03 -5.12485360e-03] [ 4.90869261e-03 -3.09673838e-03 9.99983157e-01 -7.05810108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78907232899999 meters 0.12349443949977164 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.01, Z:-0.70 [[ 9.99980967e-01 -4.27647462e-03 -4.44715150e-03 2.20465862e+01] [ 4.29165023e-03 9.99984982e-01 3.40850791e-03 -7.82706369e-03] [ 4.43250831e-03 -3.42752865e-03 9.99984302e-01 -7.04987519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819072328999994 meters 0.12594039434706455 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.01, Z:-0.70 [[ 9.99981256e-01 -4.90074692e-03 -3.67022700e-03 2.20434533e+01] [ 4.91361622e-03 9.99981783e-01 3.50563478e-03 -1.11660572e-02] [ 3.65297991e-03 -3.52360316e-03 9.99987120e-01 -7.02702234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.849072328999995 meters 0.12068345796656892 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.01, Z:-0.70 [[ 9.99982208e-01 -4.70614424e-03 -3.66550860e-03 2.20433966e+01] [ 4.72066857e-03 9.99981001e-01 3.96391263e-03 -1.27452732e-02] [ 3.64678421e-03 -3.98114576e-03 9.99985426e-01 -7.02670385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879072328999996 meters 0.12068345796656892 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.01, Z:-0.70 [[ 9.99982208e-01 -4.70614424e-03 -3.66550860e-03 2.20433966e+01] [ 4.72066857e-03 9.99981001e-01 3.96391263e-03 -1.27452732e-02] [ 3.64678421e-03 -3.98114576e-03 9.99985426e-01 -7.02670385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909072329 meters 0.12296721534745259 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.02, Z:-0.70 [[ 9.99984494e-01 -4.13681552e-03 -3.72809881e-03 2.20436832e+01] [ 4.15593990e-03 9.99978171e-01 5.13673065e-03 -1.65394136e-02] [ 3.70676773e-03 -5.15214476e-03 9.99979857e-01 -7.02980873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939072329 meters 0.12479940460320721 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.02, Z:-0.70 [[ 9.99985704e-01 -3.92453290e-03 -3.63178690e-03 2.20433938e+01] [ 3.94517532e-03 9.99976005e-01 5.69422061e-03 -1.86887924e-02] [ 3.60935260e-03 -5.70846724e-03 9.99977193e-01 -7.02983387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96907232899999 meters 0.12239078931747954 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.02, Z:-0.70 [[ 9.99986842e-01 -3.62185569e-03 -3.63296387e-03 2.20434320e+01] [ 3.64478586e-03 9.99973354e-01 6.32506196e-03 -2.08513762e-02] [ 3.60995860e-03 -6.33822011e-03 9.99973397e-01 -7.03147645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99907232899999 meters 0.11643161067339804 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.02, Z:-0.70 [[ 9.99987619e-01 -3.45698464e-03 -3.57939750e-03 2.20431902e+01] [ 3.48109194e-03 9.99971154e-01 6.75083390e-03 -2.25810260e-02] [ 3.55595672e-03 -6.76321053e-03 9.99970807e-01 -7.03060187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.029072328999995 meters 0.11863055595468197 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.02, Z:-0.70 [[ 9.99964045e-01 -7.47499334e-03 -4.00404507e-03 2.20442435e+01] [ 7.48588979e-03 9.99968299e-01 2.71331964e-03 -2.30665665e-02] [ 3.98363610e-03 -2.74319593e-03 9.99988303e-01 -7.03124504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059072328999996 meters 0.1182401107420619 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.03, Z:-0.70 [[ 9.99967542e-01 -7.29084030e-03 -3.42904880e-03 2.20426526e+01] [ 7.30423636e-03 9.99965678e-01 3.91047796e-03 -2.91622234e-02] [ 3.40042044e-03 -3.93539762e-03 9.99986475e-01 -7.02878375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089072329 meters 0.12089943535894436 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.03, Z:-0.70 [[ 9.99970760e-01 -6.87646622e-03 -3.34563036e-03 2.20427081e+01] [ 6.89281892e-03 9.99964234e-01 4.90105099e-03 -3.22970374e-02] [ 3.31180879e-03 -4.92396851e-03 9.99982393e-01 -7.03435403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119072329 meters 0.12269444257648447 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.03, Z:-0.70 [[ 9.99973398e-01 -6.42622341e-03 -3.45073688e-03 2.20432069e+01] [ 6.44604412e-03 9.99962613e-01 5.76383764e-03 -3.47036480e-02] [ 3.41356815e-03 -5.78592791e-03 9.99977435e-01 -7.03930359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14907232899999 meters 0.12222687141825171 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.04, Z:-0.70 [[ 9.99970954e-01 -6.75217968e-03 -3.53533744e-03 2.20420920e+01] [ 6.77123959e-03 9.99962455e-01 5.40733343e-03 -3.51876079e-02] [ 3.49869342e-03 -5.43111499e-03 9.99979131e-01 -7.01863734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17907232899999 meters 0.1221195616322311 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.04, Z:-0.70 [[ 9.99970752e-01 -6.72770582e-03 -3.63781928e-03 2.20418582e+01] [ 6.74770505e-03 9.99962034e-01 5.51354895e-03 -3.60968812e-02] [ 3.60058763e-03 -5.53793462e-03 9.99978183e-01 -7.01167254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.209072328999994 meters 0.12047686790581479 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.04, Z:-0.71 [[ 9.99989825e-01 -3.32129676e-03 3.05260444e-03 2.20325734e+01] [ 3.31762635e-03 9.99993769e-01 1.20666208e-03 -4.14995472e-02] [-3.05659310e-03 -1.19652240e-03 9.99994613e-01 -7.06498764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239072328999995 meters 0.11758299357227764 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.04, Z:-0.71 [[ 9.99991036e-01 -2.85846061e-03 3.12358163e-03 2.20327036e+01] [ 2.85160147e-03 9.99993518e-01 2.19817135e-03 -4.46136941e-02] [-3.12984477e-03 -2.18924444e-03 9.99992706e-01 -7.07140500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269072329 meters 0.11902638242219132 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.05, Z:-0.71 [[ 9.99992030e-01 -2.44309990e-03 3.15776385e-03 2.20328711e+01] [ 2.43338327e-03 9.99992305e-01 3.07724930e-03 -4.72158004e-02] [-3.16525758e-03 -3.06954073e-03 9.99990279e-01 -7.07688778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299072329 meters 0.11152784992159598 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.05, Z:-0.71 [[ 9.99992287e-01 -2.06080893e-03 3.34336171e-03 2.20324500e+01] [ 2.04696756e-03 9.99989343e-01 4.13810955e-03 -5.09529373e-02] [-3.35185393e-03 -4.13123388e-03 9.99985849e-01 -7.07905588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32907232899999 meters 0.12064548857253266 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.05, Z:-0.71 [[ 9.99992853e-01 -1.94822191e-03 3.24022051e-03 2.20325235e+01] [ 1.93387839e-03 9.99988344e-01 4.42396623e-03 -5.20274937e-02] [-3.24880161e-03 -4.41766842e-03 9.99984965e-01 -7.07717593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35907232899999 meters 0.11950955939098173 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.05, Z:-0.71 [[ 9.99993111e-01 -1.98287825e-03 3.13772865e-03 2.20325242e+01] [ 1.96909089e-03 9.99988421e-01 4.39106322e-03 -5.21464060e-02] [-3.14639926e-03 -4.38485450e-03 9.99985437e-01 -7.07354651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.389072328999994 meters 0.11972615326645239 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.05, Z:-0.71 [[ 9.99993954e-01 -1.90565430e-03 2.90870109e-03 2.20327930e+01] [ 1.89256624e-03 9.99988103e-01 4.49576432e-03 -5.27057819e-02] [-2.91723386e-03 -4.49023223e-03 9.99985664e-01 -7.07041508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419072328999995 meters 0.11842133972128105 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.05, Z:-0.71 [[ 9.99984237e-01 -5.17992899e-03 2.16653426e-03 2.20356049e+01] [ 5.17698049e-03 9.99985669e-01 1.36433437e-03 -5.42043866e-02] [-2.17357036e-03 -1.35309676e-03 9.99996722e-01 -7.09056892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449072328999996 meters 0.11834976630830552 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.06, Z:-0.71 [[ 9.99988043e-01 -4.44110667e-03 2.04727345e-03 2.20364510e+01] [ 4.43560339e-03 9.99986558e-01 2.68485106e-03 -5.80279155e-02] [-2.05916964e-03 -2.67573807e-03 9.99994300e-01 -7.10155921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479072329 meters 0.10738839271662882 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.06, Z:-0.71 [[ 9.99990337e-01 -3.92964448e-03 1.97089107e-03 2.20371538e+01] [ 3.92252586e-03 9.99985817e-01 3.60282992e-03 -6.02690461e-02] [-1.98502096e-03 -3.59506424e-03 9.99991568e-01 -7.11125542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50907232899999 meters 0.10623522487006408 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.05, Z:-0.71 [[ 9.99989288e-01 -4.43268000e-03 1.33211088e-03 2.20377304e+01] [ 4.42999447e-03 9.99988163e-01 2.01223038e-03 -5.38868742e-02] [-1.34101469e-03 -2.00630758e-03 9.99997088e-01 -7.09623220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53907232899999 meters 0.10581591449068947 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.05, Z:-0.71 [[ 9.99990834e-01 -4.24135866e-03 5.85062154e-04 2.20397759e+01] [ 4.24046437e-03 9.99989852e-01 1.52139613e-03 -4.97826939e-02] [-5.91509003e-04 -1.51890125e-03 9.99998672e-01 -7.10018485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.569072328999994 meters 0.10404641994156436 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.05, Z:-0.71 [[ 9.99991639e-01 -4.08838193e-03 8.17790870e-05 2.20411236e+01] [ 4.08827032e-03 9.99990770e-01 1.32123571e-03 -4.81670217e-02] [-8.71800484e-05 -1.32089032e-03 9.99999124e-01 -7.10306944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599072328999995 meters 0.10478161434281202 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.05, Z:-0.71 [[ 9.99993959e-01 -3.46829030e-03 -2.29650020e-04 2.20425019e+01] [ 3.46879313e-03 9.99991505e-01 2.22658786e-03 -5.01535121e-02] [ 2.21925616e-04 -2.22737102e-03 9.99997495e-01 -7.11530231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629072328999996 meters 0.10193795718675545 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.06, Z:-0.72 [[ 9.99985453e-01 -5.21454201e-03 -1.37893690e-03 2.20483829e+01] [ 5.21557504e-03 9.99986120e-01 7.46616121e-04 -5.60067838e-02] [ 1.37502450e-03 -7.53797209e-04 9.99998771e-01 -7.15960496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659072329 meters 0.10281695680285242 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.06, Z:-0.72 [[ 9.99985919e-01 -5.08966710e-03 -1.50249707e-03 2.20489716e+01] [ 5.09096037e-03 9.99986673e-01 8.58178643e-04 -5.58889955e-02] [ 1.49810920e-03 -8.65815712e-04 9.99998503e-01 -7.16474946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689072329 meters 0.10083293294427068 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.05, Z:-0.72 [[ 9.99986601e-01 -4.81793729e-03 -1.89357810e-03 2.20506762e+01] [ 4.81946279e-03 9.99988065e-01 8.01883580e-04 -5.36172627e-02] [ 1.88969207e-03 -8.10998864e-04 9.99997886e-01 -7.17559710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71907232899999 meters 0.10124164218986158 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.05, Z:-0.72 [[ 9.99996815e-01 -1.24600600e-03 -2.19493352e-03 2.20506691e+01] [ 1.25354529e-03 9.99993308e-01 3.43684023e-03 -4.75088380e-02] [ 2.19063651e-03 -3.43958073e-03 9.99991685e-01 -7.16259689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74907232899999 meters 0.10069309336710179 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.05, Z:-0.72 [[ 9.99996055e-01 -1.53517517e-03 -2.35223615e-03 2.20506149e+01] [ 1.54168548e-03 9.99994980e-01 2.76840303e-03 -4.56940252e-02] [ 2.34797436e-03 -2.77201852e-03 9.99993401e-01 -7.15491955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779072328999995 meters 0.09933601732494969 Centerline is valid? [False, True] Translation: X:22.05, Y:-0.05, Z:-0.72 [[ 9.99996923e-01 -8.09303943e-04 -2.34504720e-03 2.20511811e+01] [ 8.18762937e-04 9.99991522e-01 4.03545637e-03 -4.96843315e-02] [ 2.34176141e-03 -4.03736399e-03 9.99989108e-01 -7.16528664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809072328999996 meters 0.09976871985916659 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.05, Z:-0.72 [[ 9.99993395e-01 4.30880664e-04 -3.60891753e-03 2.20801863e+01] [-4.29893744e-04 9.99999870e-01 2.74238514e-04 -5.27451138e-02] [ 3.60903523e-03 -2.72685252e-04 9.99993450e-01 -7.16736810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839072329 meters 0.10034054937169588 Centerline is valid? [True, False] Translation: X:22.08, Y:-0.05, Z:-0.72 [[ 9.99992603e-01 5.75293982e-04 -3.80297796e-03 2.20811584e+01] [-5.74075444e-04 9.99999784e-01 3.21500657e-04 -5.19731781e-02] [ 3.80316209e-03 -3.19315083e-04 9.99992717e-01 -7.17569411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869072329 meters 0.1013260009740603 Centerline is valid? [False, False] Translation: X:22.08, Y:-0.05, Z:-0.72 [[ 9.99990790e-01 4.25336931e-04 -4.27080646e-03 2.20830044e+01] [-4.27743411e-04 9.99999750e-01 -5.62574575e-04 -4.57789158e-02] [ 4.27056611e-03 5.64396203e-04 9.99990722e-01 -7.18535696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89907232899999 meters 0.10239679280371523 Centerline is valid? [False, False] Translation: X:22.08, Y:-0.04, Z:-0.72 [[ 9.99990569e-01 2.96597951e-04 -4.33294376e-03 2.20832216e+01] [-3.00554744e-04 9.99999538e-01 -9.12565507e-04 -4.43760261e-02] [ 4.33267110e-03 9.13859187e-04 9.99990196e-01 -7.18514282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92907232899999 meters 0.09804159469767164 Centerline is valid? [False, True] Translation: X:22.08, Y:-0.05, Z:-0.72 [[ 9.99990254e-01 5.87506090e-04 -4.37563019e-03 2.20837510e+01] [-5.89434963e-04 9.99999730e-01 -4.39545317e-04 -4.52935230e-02] [ 4.37537077e-03 4.42120183e-04 9.99990330e-01 -7.19229441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959072328999994 meters 0.1009898358537033 Centerline is valid? [True, False] Translation: X:22.09, Y:-0.05, Z:-0.72 [[ 9.99985542e-01 -2.90489381e-03 -4.52524135e-03 2.20852496e+01] [ 2.88933142e-03 9.99989903e-01 -3.44176887e-03 -4.81737702e-02] [ 4.53519364e-03 3.42864418e-03 9.99983838e-01 -7.21164595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989072328999995 meters 0.10074347914070055 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.72 [[ 9.99986505e-01 -2.73968252e-03 -4.41399622e-03 2.20852155e+01] [ 2.72619162e-03 9.99991604e-01 -3.05951447e-03 -4.92495238e-02] [ 4.42234126e-03 3.04743978e-03 9.99985578e-01 -7.21561369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019072329 meters 0.10334095697912944 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.72 [[ 9.99986209e-01 -2.92500347e-03 -4.36187703e-03 2.20850663e+01] [ 2.91011131e-03 9.99989929e-01 -3.41660990e-03 -4.81404053e-02] [ 4.37182670e-03 3.40386923e-03 9.99984650e-01 -7.21405923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049072329 meters 0.10448165710863876 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.72 [[ 9.99990191e-01 8.20710957e-04 -4.35249941e-03 2.20850194e+01] [-8.22054311e-04 9.99999615e-01 -3.06859528e-04 -4.37465773e-02] [ 4.35224589e-03 3.10434508e-04 9.99990481e-01 -7.21091604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07907232899999 meters 0.10254950709303248 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.72 [[ 9.99988478e-01 1.05568624e-03 -4.68287806e-03 2.20865636e+01] [-1.05738345e-03 9.99999376e-01 -3.59968787e-04 -4.19372808e-02] [ 4.68249512e-03 3.64916237e-04 9.99988970e-01 -7.22153363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10907232899999 meters 0.1041652454630972 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.72 [[ 9.99988023e-01 1.02978521e-03 -4.78465258e-03 2.20870867e+01] [-1.03293987e-03 9.99999251e-01 -6.56903891e-04 -4.04844650e-02] [ 4.78397253e-03 6.61838282e-04 9.99988338e-01 -7.22571500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139072328999994 meters 0.10265361088218919 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.72 [[ 9.99987849e-01 1.10286733e-03 -4.80477068e-03 2.20873904e+01] [-1.10583891e-03 9.99999199e-01 -6.15850633e-04 -4.02553264e-02] [ 4.80408763e-03 6.21156452e-04 9.99988267e-01 -7.22982030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169072328999995 meters 0.10206538498564081 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.72 [[ 9.99987615e-01 1.01566277e-03 -4.87226636e-03 2.20877770e+01] [-1.02036545e-03 9.99999016e-01 -9.62805134e-04 -3.86980085e-02] [ 4.87128368e-03 9.67764701e-04 9.99987667e-01 -7.23257211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199072328999996 meters 0.10229392548388067 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.72 [[ 9.99984862e-01 9.71519747e-04 -5.41582034e-03 2.20895690e+01] [-9.81633934e-04 9.99997779e-01 -1.86518089e-03 -3.27568320e-02] [ 5.41399625e-03 1.87046901e-03 9.99983595e-01 -7.23847277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229072329 meters 0.10280114235582276 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.72 [[ 9.99984147e-01 7.40974057e-04 -5.58186291e-03 2.20898219e+01] [-7.54975434e-04 9.99996573e-01 -2.50668068e-03 -3.04744381e-02] [ 5.57998640e-03 2.51085511e-03 9.99981280e-01 -7.23481462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25907232899999 meters 0.10338844189578987 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.72 [[ 9.99983611e-01 7.10384450e-04 -5.68095485e-03 2.20901176e+01] [-7.25774991e-04 9.99996071e-01 -2.70754443e-03 -2.95636200e-02] [ 5.67900914e-03 2.71162315e-03 9.99980198e-01 -7.23516194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28907232899999 meters 0.10526525903568673 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.72 [[ 9.99983180e-01 9.31477257e-04 -5.72465003e-03 2.20906895e+01] [-9.45276070e-04 9.99996654e-01 -2.40818745e-03 -2.98831097e-02] [ 5.72238770e-03 2.41355832e-03 9.99980714e-01 -7.24279542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319072328999994 meters 0.10461688217967575 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.73 [[ 9.99982944e-01 1.25791706e-03 -5.70352518e-03 2.20912529e+01] [-1.26849322e-03 9.99997482e-01 -1.85108045e-03 -3.09446564e-02] [ 5.70118231e-03 1.85828376e-03 9.99982021e-01 -7.25319725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.349072328999995 meters 0.10560795352697668 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.73 [[ 9.99983354e-01 1.77030534e-03 -5.49152584e-03 2.20919128e+01] [-1.77466941e-03 9.99998113e-01 -7.89920917e-04 -3.29634722e-02] [ 5.49011708e-03 7.99653411e-04 9.99984609e-01 -7.27340276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379072328999996 meters 0.10929271285468874 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.73 [[ 9.99984403e-01 1.73494313e-03 -5.30892843e-03 2.20914825e+01] [-1.73873171e-03 9.99998237e-01 -7.09093283e-04 -3.33443455e-02] [ 5.30768883e-03 7.18313025e-04 9.99985656e-01 -7.27285714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409072329 meters 0.10838977937694413 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.03, Z:-0.73 [[ 9.99986714e-01 1.32647334e-03 -4.98123410e-03 2.20899528e+01] [-1.33179153e-03 9.99998547e-01 -1.06447947e-03 -3.34979754e-02] [ 4.97981486e-03 1.07109929e-03 9.99987027e-01 -7.26028293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439072329 meters 0.11599792980632806 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.73 [[ 9.99988951e-01 1.15846267e-03 -4.55577426e-03 2.20885559e+01] [-1.16228490e-03 9.99998975e-01 -8.36427716e-04 -3.51257217e-02] [ 4.55480062e-03 8.41713582e-04 9.99989273e-01 -7.25211285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46907232899999 meters 0.11708616381694203 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.73 [[ 9.99989543e-01 1.36043008e-03 -4.36614316e-03 2.20882744e+01] [-1.36159059e-03 9.99999038e-01 -2.62834720e-04 -3.70236288e-02] [ 4.36578140e-03 2.68776871e-04 9.99990434e-01 -7.25516842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49907232899999 meters 0.11374969916484964 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.73 [[ 9.99989435e-01 1.79891853e-03 -4.23011306e-03 2.20884008e+01] [-1.79590649e-03 9.99998131e-01 7.15738831e-04 -3.98447530e-02] [ 4.23139271e-03 -7.08134382e-04 9.99990797e-01 -7.26366335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.529072328999995 meters 0.11903577009312996 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.73 [[ 9.99992778e-01 1.66692216e-03 -3.41538960e-03 2.20862861e+01] [-1.66166169e-03 9.99997430e-01 1.54248523e-03 -4.48615641e-02] [ 3.41795203e-03 -1.53679887e-03 9.99992978e-01 -7.26198235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559072328999996 meters 0.10958754886100952 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.73 [[ 9.99992785e-01 1.80550494e-03 -3.34227050e-03 2.20863344e+01] [-1.79898721e-03 9.99996477e-01 1.95207119e-03 -4.60216864e-02] [ 3.34578319e-03 -1.94604440e-03 9.99992509e-01 -7.26638966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589072329 meters 0.11850055009635228 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.73 [[ 9.99992903e-01 1.79656456e-03 -3.31156856e-03 2.20863449e+01] [-1.78998404e-03 9.99996420e-01 1.98902443e-03 -4.60675050e-02] [ 3.31513011e-03 -1.98308266e-03 9.99992539e-01 -7.26762637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619072329 meters 0.1117500558789798 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.73 [[ 9.99993201e-01 1.69100392e-03 -3.27702073e-03 2.20861031e+01] [-1.68489149e-03 9.99996838e-01 1.86710228e-03 -4.59240286e-02] [ 3.28016765e-03 -1.86156817e-03 9.99992888e-01 -7.26483612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64907232899999 meters 0.11225497746136016 Centerline is valid? [False, False] Translation: X:22.08, Y:-0.05, Z:-0.72 [[ 9.99994858e-01 1.29964757e-03 -2.93180204e-03 2.20842127e+01] [-1.29483425e-03 9.99997812e-01 1.64306185e-03 -4.71873641e-02] [ 2.93393102e-03 -1.63925720e-03 9.99994352e-01 -7.24792510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67907232899999 meters 0.11382605605412427 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.73 [[ 9.99990691e-01 -2.39789510e-03 -3.58713157e-03 2.20863540e+01] [ 2.39028595e-03 9.99994888e-01 -2.12401816e-03 -4.72020558e-02] [ 3.59220640e-03 2.11542412e-03 9.99991310e-01 -7.25805363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.709072328999994 meters 0.11398739502700904 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.73 [[ 9.99990108e-01 -1.91203230e-03 -4.01600056e-03 2.20881380e+01] [ 1.90526781e-03 9.99996761e-01 -1.68753546e-03 -4.70661796e-02] [ 4.01921418e-03 1.67986721e-03 9.99990512e-01 -7.27062156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739072328999995 meters 0.11387395836032076 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.73 [[ 9.99988813e-01 -1.62454653e-03 -4.44242713e-03 2.20898695e+01] [ 1.61717400e-03 9.99997310e-01 -1.66266189e-03 -4.55011042e-02] [ 4.44511625e-03 1.65545911e-03 9.99988750e-01 -7.28144046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769072329 meters 0.11387395836032076 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.05, Z:-0.73 [[ 9.99988813e-01 -1.62454653e-03 -4.44242713e-03 2.20898695e+01] [ 1.61717400e-03 9.99997310e-01 -1.66266189e-03 -4.55011042e-02] [ 4.44511625e-03 1.65545911e-03 9.99988750e-01 -7.28144046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799072329 meters 0.1134249345932206 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.73 [[ 9.99986817e-01 -1.17123109e-03 -4.99938520e-03 2.20921647e+01] [ 1.16364180e-03 9.99998167e-01 -1.52068232e-03 -4.37224692e-02] [ 5.00115710e-03 1.51484478e-03 9.99986347e-01 -7.29654760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82907232899999 meters 0.11353713240670497 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.04, Z:-0.73 [[ 9.99984209e-01 -6.49066438e-04 -5.58209381e-03 2.20944804e+01] [ 6.41928373e-04 9.99998974e-01 -1.28043986e-03 -4.23809298e-02] [ 5.58291918e-03 1.27683633e-03 9.99983600e-01 -7.31115605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85907232899999 meters 0.11043725441857023 Centerline is valid? [False, False] Translation: X:22.10, Y:-0.04, Z:-0.73 [[ 9.99977727e-01 2.39089764e-04 -6.66991651e-03 2.20981654e+01] [-2.47292282e-04 9.99999214e-01 -1.22898053e-03 -3.92306340e-02] [ 6.66961743e-03 1.23060257e-03 9.99977001e-01 -7.33211728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.889072328999994 meters 0.10795249917370744 Centerline is valid? [False, False] Translation: X:22.10, Y:-0.04, Z:-0.73 [[ 9.99974104e-01 2.61556384e-04 -7.19187563e-03 2.20994057e+01] [-2.75031654e-04 9.99998209e-01 -1.87275440e-03 -3.65020756e-02] [ 7.19137291e-03 1.87468390e-03 9.99972384e-01 -7.33380757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919072328999995 meters 0.10227964053047535 Centerline is valid? [False, False] Translation: X:22.10, Y:-0.03, Z:-0.73 [[ 9.99954380e-01 4.90606867e-03 -8.19558491e-03 2.21021404e+01] [-4.89691795e-03 9.99987365e-01 1.13623670e-03 -3.03680683e-02] [ 8.20105581e-03 -1.09605175e-03 9.99965770e-01 -7.34200987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949072328999996 meters 0.09956541745913867 Centerline is valid? [False, True] Translation: X:22.11, Y:-0.03, Z:-0.74 [[ 9.99942193e-01 5.60779816e-03 -9.17410586e-03 2.21053961e+01] [-5.59963568e-03 9.99983903e-01 9.15175112e-04 -2.62915321e-02] [ 9.17909030e-03 -8.63750557e-04 9.99957498e-01 -7.35948089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979072329 meters 0.09384150768527788 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.01, Z:-0.73 [[ 9.99880263e-01 1.17617041e-02 -1.00559251e-02 2.21364125e+01] [-1.17549827e-02 9.99930643e-01 7.27247269e-04 -1.13251197e-02] [ 1.00637813e-02 -6.08952965e-04 9.99949173e-01 -7.33246901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00907232899999 meters 0.09238019216370968 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.00, Z:-0.73 [[ 9.99782975e-01 1.81555212e-02 -1.02166236e-02 2.21664414e+01] [-1.81489198e-02 9.99835022e-01 7.38488008e-04 -4.58628686e-03] [ 1.02283457e-02 -5.52907055e-04 9.99947536e-01 -7.34124195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03907232899999 meters 0.08696506344644993 Centerline is valid? [True, True] Translation: X:22.20, Y:0.02, Z:-0.73 [[ 9.99443580e-01 3.22396734e-02 -8.55182227e-03 2.21985198e+01] [-3.22355610e-02 9.99480108e-01 6.18328313e-04 2.03566475e-02] [ 8.56731095e-03 -3.42311475e-04 9.99963241e-01 -7.30952922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.069072328999994 meters 0.0865210751919257 Centerline is valid? [True, True] Translation: X:22.23, Y:0.03, Z:-0.74 [[ 9.99205172e-01 3.89175355e-02 -8.62847034e-03 2.22281704e+01] [-3.89136012e-02 9.99242384e-01 6.23450609e-04 2.51024600e-02] [ 8.64619643e-03 -2.87190219e-04 9.99962580e-01 -7.36031097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099072328999995 meters 0.0835992772037609 Centerline is valid? [True, True] Translation: X:22.26, Y:0.04, Z:-0.73 [[ 9.98967759e-01 4.45490919e-02 -8.87668041e-03 2.22586867e+01] [-4.45451544e-02 9.99007166e-01 6.40895665e-04 3.70263354e-02] [ 8.89641866e-03 -2.44821007e-04 9.99960396e-01 -7.34401523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129072328999996 meters 0.0828792309953595 Centerline is valid? [True, True] Translation: X:22.29, Y:0.04, Z:-0.74 [[ 9.98786573e-01 4.85603866e-02 -8.20185121e-03 2.22880381e+01] [-4.85571629e-02 9.98820230e-01 5.91845536e-04 4.07777234e-02] [ 8.22091516e-03 -1.92868749e-04 9.99966189e-01 -7.37746752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159072329 meters 0.08213165557132221 Centerline is valid? [True, True] Translation: X:22.32, Y:0.05, Z:-0.74 [[ 9.98460992e-01 5.47169864e-02 -9.03875563e-03 2.23168006e+01] [-5.47133334e-02 9.98501891e-01 6.51113201e-04 5.04717201e-02] [ 9.06084155e-03 -1.55570682e-04 9.99958938e-01 -7.42087593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189072329 meters 0.08165311089837789 Centerline is valid? [True, True] Translation: X:22.35, Y:0.06, Z:-0.74 [[ 9.98315231e-01 5.70754371e-02 -1.04447613e-02 2.23452709e+01] [-5.70707559e-02 9.98369858e-01 7.45934278e-04 5.62717374e-02] [ 1.04703094e-02 -1.48587127e-04 9.99945174e-01 -7.41556951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21907232899999 meters 0.081404394023193 Centerline is valid? [True, True] Translation: X:22.37, Y:0.06, Z:-0.74 [[ 9.98172350e-01 5.94180429e-02 -1.10206913e-02 2.23747839e+01] [-5.94129951e-02 9.98233179e-01 7.85146983e-04 6.21393143e-02] [ 1.10478716e-02 -1.28939732e-04 9.99938962e-01 -7.41083994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24907232899999 meters 0.08127635505678966 Centerline is valid? [True, True] Translation: X:22.40, Y:0.07, Z:-0.74 [[ 9.97888336e-01 6.37388644e-02 -1.24990262e-02 2.24029133e+01] [-6.37326966e-02 9.97966607e-01 8.91569067e-04 7.40600760e-02] [ 1.25304383e-02 -9.30897308e-05 9.99921487e-01 -7.38915578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279072328999995 meters 0.0811728856727454 Centerline is valid? [True, True] Translation: X:22.43, Y:0.08, Z:-0.74 [[ 9.97780615e-01 6.57010228e-02 -1.08268443e-02 2.24320529e+01] [-6.56965636e-02 9.97839352e-01 7.67386277e-04 7.68163516e-02] [ 1.08538693e-02 -5.43966882e-05 9.99941094e-01 -7.38921504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309072328999996 meters 0.08187270406878012 Centerline is valid? [True, True] Translation: X:22.46, Y:0.08, Z:-0.75 [[ 9.97644782e-01 6.76604371e-02 -1.12673532e-02 2.24601208e+01] [-6.76557123e-02 9.97708406e-01 8.00411766e-04 7.68671072e-02] [ 1.12956892e-02 -3.62258172e-05 9.99936201e-01 -7.47641473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339072329 meters 0.08120447870442109 Centerline is valid? [True, True] Translation: X:22.49, Y:0.08, Z:-0.74 [[ 9.97597673e-01 6.86352956e-02 -9.38503462e-03 2.24892689e+01] [-6.86321086e-02 9.97641817e-01 6.61601169e-04 7.79421562e-02] [ 9.40831219e-03 -1.58970712e-05 9.99955741e-01 -7.41289947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369072329 meters 0.08115071017941054 Centerline is valid? [True, True] Translation: X:22.52, Y:0.08, Z:-0.74 [[ 9.97568954e-01 6.91996193e-02 -8.22156078e-03 2.25181356e+01] [-6.91972152e-02 9.97602833e-01 5.76853797e-04 8.10825220e-02] [ 8.24177039e-03 -6.54232792e-06 9.99966036e-01 -7.39982681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39907232899999 meters 0.08140739695549212 Centerline is valid? [True, True] Translation: X:22.55, Y:0.08, Z:-0.74 [[ 9.97575625e-01 6.91475738e-02 -7.84126035e-03 2.25459524e+01] [-6.91453799e-02 9.97606442e-01 5.50866164e-04 8.14987237e-02] [ 7.86058290e-03 -7.34373194e-06 9.99969105e-01 -7.42328757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42907232899999 meters 0.08186519624963193 Centerline is valid? [True, True] Translation: X:22.57, Y:0.08, Z:-0.75 [[ 9.97578609e-01 6.89243315e-02 -9.29276446e-03 2.25737178e+01] [-6.89212361e-02 9.97621891e-01 6.53307649e-04 8.19558127e-02] [ 9.31569404e-03 -1.12569224e-05 9.99956608e-01 -7.47956600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459072328999994 meters 0.08267043421013524 Centerline is valid? [True, True] Translation: X:22.60, Y:0.08, Z:-0.75 [[ 9.97466534e-01 7.01217957e-02 -1.19769127e-02 2.26019039e+01] [-7.01167454e-02 9.97538437e-01 8.41571904e-04 8.37847833e-02] [ 1.20064433e-02 3.42327637e-07 9.99927920e-01 -7.54265997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489072328999995 meters 0.08201304146595678 Centerline is valid? [True, True] Translation: X:22.63, Y:0.08, Z:-0.75 [[ 9.97424843e-01 7.07156786e-02 -1.19572231e-02 2.26297300e+01] [-7.07107718e-02 9.97496513e-01 8.33163078e-04 8.34255655e-02] [ 1.19862061e-02 1.44869239e-05 9.99928163e-01 -7.46106831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519072329 meters 0.08181860345579815 Centerline is valid? [True, True] Translation: X:22.66, Y:0.08, Z:-0.75 [[ 9.97295328e-01 7.27359324e-02 -1.05599747e-02 2.26577667e+01] [-7.27322119e-02 9.97351234e-01 7.36444046e-04 8.42929733e-02] [ 1.05855697e-02 3.35981109e-05 9.99943971e-01 -7.47055399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549072329 meters 0.08162722199463508 Centerline is valid? [True, True] Translation: X:22.69, Y:0.09, Z:-0.75 [[ 9.97195342e-01 7.42648098e-02 -9.28376756e-03 2.26862659e+01] [-7.42620412e-02 9.97238555e-01 6.43056838e-04 8.56832078e-02] [ 9.30588744e-03 4.81782463e-05 9.99956698e-01 -7.45681166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57907232899999 meters 0.08149808146990517 Centerline is valid? [True, True] Translation: X:22.72, Y:0.09, Z:-0.74 [[ 9.96990722e-01 7.71370293e-02 -7.70582991e-03 2.27157579e+01] [-7.71352248e-02 9.97020499e-01 5.31539976e-04 8.91671507e-02] [ 7.72387179e-03 6.44504986e-05 9.99970168e-01 -7.42944282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60907232899999 meters 0.08197385073367085 Centerline is valid? [True, True] Translation: X:22.74, Y:0.10, Z:-0.74 [[ 9.96404151e-01 8.44719531e-02 -6.57706779e-03 2.27444160e+01] [-8.44707902e-02 9.96425852e-01 4.54901665e-04 1.02029168e-01] [ 6.59198680e-03 1.02304206e-04 9.99978267e-01 -7.39896672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639072328999994 meters 0.082594843236759 Centerline is valid? [True, True] Translation: X:22.77, Y:0.10, Z:-0.74 [[ 9.96064304e-01 8.84208632e-02 -6.13623987e-03 2.27728112e+01] [-8.84199358e-02 9.96083197e-01 4.22788066e-04 1.03020669e-01] [ 6.14958871e-03 1.21441835e-04 9.99981084e-01 -7.39982277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669072328999995 meters 0.08294386498401045 Centerline is valid? [True, True] Translation: X:22.80, Y:0.10, Z:-0.74 [[ 9.95862713e-01 9.05834587e-02 -7.21760829e-03 2.28010402e+01] [-9.05822566e-02 9.95888855e-01 4.93952059e-04 1.00968376e-01] [ 7.23267954e-03 1.61878808e-04 9.99973831e-01 -7.42575060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699072328999996 meters 0.08339379234998809 Centerline is valid? [True, True] Translation: X:22.83, Y:0.10, Z:-0.74 [[ 9.95610136e-01 9.34148632e-02 -5.84134179e-03 2.28296240e+01] [-9.34141378e-02 9.95627260e-01 3.97497714e-04 9.86818603e-02] [ 5.85293131e-03 1.49911154e-04 9.99982860e-01 -7.43082065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729072329 meters 0.08468655758834308 Centerline is valid? [True, True] Translation: X:22.86, Y:0.10, Z:-0.75 [[ 9.95182643e-01 9.77910198e-02 -6.95874636e-03 2.28582370e+01] [-9.77900753e-02 9.95206950e-01 4.76656927e-04 9.90271909e-02] [ 6.97200551e-03 2.06135630e-04 9.99975674e-01 -7.46901158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75907232899999 meters 0.08487164252212 Centerline is valid? [True, True] Translation: X:22.89, Y:0.10, Z:-0.75 [[ 9.94978325e-01 9.95618012e-02 -1.02752612e-02 2.28878888e+01] [-9.95598268e-02 9.95031328e-01 7.04763268e-04 9.62712715e-02] [ 1.02943743e-02 3.21779047e-04 9.99946960e-01 -7.48056291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78907232899999 meters 0.08565525000788073 Centerline is valid? [True, True] Translation: X:22.92, Y:0.10, Z:-0.75 [[ 9.94799159e-01 1.01303896e-01 -1.05902719e-02 2.29151363e+01] [-1.01301921e-01 9.94855465e-01 7.24140978e-04 9.65227103e-02] [ 1.06091482e-02 3.52440049e-04 9.99943659e-01 -7.49659715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819072328999994 meters 0.08629133002299558 Centerline is valid? [True, True] Translation: X:22.94, Y:0.10, Z:-0.75 [[ 9.94536097e-01 1.03806535e-01 -1.10523836e-02 2.29442395e+01] [-1.03804534e-01 9.94597430e-01 7.56114364e-04 9.84624397e-02] [ 1.10711619e-02 3.95304501e-04 9.99938635e-01 -7.48554635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.849072328999995 meters 0.08677363227436738 Centerline is valid? [True, True] Translation: X:22.97, Y:0.10, Z:-0.75 [[ 9.94456712e-01 1.04588989e-01 -1.08162896e-02 2.29726017e+01] [-1.04587180e-01 9.94515451e-01 7.34264121e-04 9.52341999e-02] [ 1.08337631e-02 4.01051348e-04 9.99941233e-01 -7.48820777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879072328999996 meters 0.08756314011686052 Centerline is valid? [True, True] Translation: X:23.00, Y:0.09, Z:-0.75 [[ 9.94288749e-01 1.06202571e-01 -1.05307670e-02 2.29999711e+01] [-1.06200930e-01 9.94344432e-01 7.16437830e-04 9.01009696e-02] [ 1.05472971e-02 4.06031179e-04 9.99944293e-01 -7.51069287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909072329 meters 0.0872942614344107 Centerline is valid? [True, True] Translation: X:23.03, Y:0.08, Z:-0.75 [[ 9.94066810e-01 1.08288418e-01 -1.02369870e-02 2.30278719e+01] [-1.08287031e-01 9.94119430e-01 6.91249026e-04 7.91301639e-02] [ 1.02516420e-02 4.21385218e-04 9.99947362e-01 -7.51228634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939072329 meters 0.08765104510172807 Centerline is valid? [True, True] Translation: X:23.06, Y:0.08, Z:-0.75 [[ 9.93968535e-01 1.09104355e-01 -1.10811035e-02 2.30565526e+01] [-1.09102808e-01 9.94030191e-01 7.45850300e-04 7.64400381e-02] [ 1.10963269e-02 4.67627768e-04 9.99938325e-01 -7.50678346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96907232899999 meters 0.08856874789306088 Centerline is valid? [True, True] Translation: X:23.08, Y:0.08, Z:-0.75 [[ 9.93854079e-01 1.10022079e-01 -1.22152403e-02 2.30847032e+01] [-1.10020260e-01 9.93929004e-01 8.22897652e-04 7.65606073e-02] [ 1.22316185e-02 5.26083721e-04 9.99925053e-01 -7.51331632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99907232899999 meters 0.08882588866614449 Centerline is valid? [True, True] Translation: X:23.11, Y:0.07, Z:-0.75 [[ 9.93778223e-01 1.10669200e-01 -1.25368074e-02 2.31136364e+01] [-1.10667396e-01 9.93857144e-01 8.39737101e-04 7.42613827e-02] [ 1.25527286e-02 5.52903379e-04 9.99921059e-01 -7.50504417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.029072328999995 meters 0.08769503080690497 Centerline is valid? [True, True] Translation: X:23.14, Y:0.06, Z:-0.75 [[ 9.93677163e-01 1.11385377e-01 -1.41065436e-02 2.31413549e+01] [-1.11383211e-01 9.93777085e-01 9.41533319e-04 6.13974899e-02] [ 1.41236328e-02 6.35651962e-04 9.99900054e-01 -7.48296282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059072328999996 meters 0.0907990678029762 Centerline is valid? [True, True] Translation: X:23.17, Y:0.06, Z:-0.76 [[ 9.93675747e-01 1.11261188e-01 -1.51478350e-02 2.31687892e+01] [-1.11258651e-01 9.93790967e-01 1.01270663e-03 6.08449461e-02] [ 1.51664565e-02 6.79025677e-04 9.99884752e-01 -7.55436353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089072329 meters 0.08769606294739689 Centerline is valid? [True, True] Translation: X:23.20, Y:0.05, Z:-0.75 [[ 9.93761621e-01 1.10481100e-01 -1.52238836e-02 2.31962860e+01] [-1.10478548e-01 9.93877995e-01 1.01111909e-03 4.53705055e-02] [ 1.52423924e-02 6.77101206e-04 9.99883599e-01 -7.51829685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119072329 meters 0.08951599089741032 Centerline is valid? [True, True] Translation: X:23.22, Y:0.04, Z:-0.76 [[ 9.94007017e-01 1.08104186e-01 -1.62337715e-02 2.32236122e+01] [-1.08100943e-01 9.94139336e-01 1.07974223e-03 4.29946115e-02] [ 1.62553555e-02 6.81614649e-04 9.99867641e-01 -7.56570080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14907232899999 meters 0.0893210574174681 Centerline is valid? [True, True] Translation: X:23.25, Y:0.04, Z:-0.75 [[ 9.94175016e-01 1.06571883e-01 -1.60770436e-02 2.32517381e+01] [-1.06568602e-01 9.94304784e-01 1.06308413e-03 4.00582182e-02] [ 1.60987762e-02 6.56416376e-04 9.99870191e-01 -7.54771448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17907232899999 meters 0.08747094164912535 Centerline is valid? [True, True] Translation: X:23.28, Y:0.03, Z:-0.75 [[ 9.94371832e-01 1.05052845e-01 -1.37317089e-02 2.32810042e+01] [-1.05050275e-01 9.94466496e-01 9.10284702e-04 3.30173192e-02] [ 1.37513524e-02 5.37358331e-04 9.99905301e-01 -7.50009602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.209072328999994 meters 0.0884137441745827 Centerline is valid? [True, True] Translation: X:23.31, Y:0.03, Z:-0.75 [[ 9.94637435e-01 1.02608727e-01 -1.29546321e-02 2.33084551e+01] [-1.02606259e-01 9.94721680e-01 8.56766598e-04 3.21972105e-02] [ 1.29741651e-02 4.77054201e-04 9.99915718e-01 -7.52624611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239072328999995 meters 0.08784900869888987 Centerline is valid? [True, True] Translation: X:23.34, Y:0.02, Z:-0.76 [[ 9.95102986e-01 9.77203782e-02 -1.48585029e-02 2.33363597e+01] [-9.77165779e-02 9.95213798e-01 9.83296362e-04 1.72089545e-02] [ 1.48834752e-02 4.73440907e-04 9.99889123e-01 -7.57085979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269072329 meters 0.08608601332463939 Centerline is valid? [True, True] Translation: X:23.36, Y:0.00, Z:-0.76 [[ 9.95326550e-01 9.49563840e-02 -1.75597107e-02 2.33645530e+01] [-9.49507835e-02 9.95481299e-01 1.15427567e-03 2.48411379e-03] [ 1.75899694e-02 5.18427066e-04 9.99845150e-01 -7.56499458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299072329 meters 0.08542995005588061 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.01, Z:-0.76 [[ 9.95573444e-01 9.18563274e-02 -1.98980591e-02 2.33921440e+01] [-9.18486361e-02 9.95772129e-01 1.30202249e-03 -7.39370105e-03] [ 1.99335317e-02 5.31350576e-04 9.99801166e-01 -7.58030532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32907232899999 meters 0.08603245588771316 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.01, Z:-0.76 [[ 9.95732250e-01 8.98103805e-02 -2.12457543e-02 2.34187975e+01] [-8.98011388e-02 9.95958745e-01 1.39057964e-03 -1.17571444e-02] [ 2.12847833e-02 5.23247939e-04 9.99773316e-01 -7.62826009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35907232899999 meters 0.08495060542778456 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.02, Z:-0.76 [[ 9.96141983e-01 8.56260355e-02 -1.92179891e-02 2.34478827e+01] [-8.56176826e-02 9.96327270e-01 1.25850879e-03 -1.85593582e-02] [ 1.92551678e-02 3.91746249e-04 9.99814525e-01 -7.58921069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.389072328999994 meters 0.08431543571407615 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.02, Z:-0.76 [[ 9.96353527e-01 8.33470028e-02 -1.82462927e-02 2.34766535e+01] [-8.33391253e-02 9.96520530e-01 1.19301372e-03 -2.32976945e-02] [ 1.82822394e-02 3.31966650e-04 9.99832811e-01 -7.55904493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419072328999995 meters 0.08392532789355438 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.03, Z:-0.75 [[ 9.96551401e-01 8.14868746e-02 -1.56587007e-02 2.35048521e+01] [-8.14808482e-02 9.96674382e-01 1.02351449e-03 -2.87794772e-02] [ 1.56900288e-02 2.55899412e-04 9.99876871e-01 -7.54992246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449072328999996 meters 0.0836173657193621 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.04, Z:-0.76 [[ 9.96943273e-01 7.65451708e-02 -1.56508028e-02 2.35326536e+01] [-7.65386466e-02 9.97066097e-01 1.01630372e-03 -4.41887586e-02] [ 1.56826781e-02 1.84694111e-04 9.99877002e-01 -7.57987653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479072329 meters 0.08362880885520793 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.05, Z:-0.76 [[ 9.97089983e-01 7.43472418e-02 -1.68538729e-02 2.35602884e+01] [-7.43393427e-02 9.97232401e-01 1.09556390e-03 -5.22387197e-02] [ 1.68886803e-02 1.60530045e-04 9.99857363e-01 -7.59995295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50907232899999 meters 0.08362021911722856 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.06, Z:-0.76 [[ 9.97287728e-01 7.14134084e-02 -1.78132481e-02 2.35882383e+01] [-7.14042274e-02 9.97446796e-01 1.15170380e-03 -5.87690198e-02] [ 1.78500143e-02 1.23361144e-04 9.99840668e-01 -7.61137579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53907232899999 meters 0.08356146148077329 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.06, Z:-0.76 [[ 9.97487257e-01 6.81532553e-02 -1.93470002e-02 2.36161804e+01] [-6.81417938e-02 9.97674861e-01 1.25179685e-03 -6.47935437e-02] [ 1.93873298e-02 6.96878970e-05 9.99812046e-01 -7.61795785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.569072328999994 meters 0.08299325398542422 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.08, Z:-0.76 [[ 9.97951531e-01 6.11882414e-02 -1.86746224e-02 2.36448153e+01] [-6.11764769e-02 9.98126242e-01 1.20113536e-03 -7.58614897e-02] [ 1.87131261e-02 -5.62272606e-05 9.99824893e-01 -7.56122972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599072328999995 meters 0.083592900953242 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.08, Z:-0.76 [[ 9.98155483e-01 5.76044807e-02 -1.91664963e-02 2.36718776e+01] [-5.75914428e-02 9.98339475e-01 1.23197183e-03 -8.42356807e-02] [ 1.92056369e-02 -1.25873259e-04 9.99815547e-01 -7.61307162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629072328999996 meters 0.08379148119794415 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.09, Z:-0.76 [[ 9.98412964e-01 5.32791023e-02 -1.82452978e-02 2.36996453e+01] [-5.32666979e-02 9.98579642e-01 1.16551326e-03 -9.32004766e-02] [ 1.82814805e-02 -1.91796782e-04 9.99832861e-01 -7.61714440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659072329 meters 0.08446080703564429 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.11, Z:-0.76 [[ 9.98816207e-01 4.49100216e-02 -1.86888912e-02 2.37280719e+01] [-4.48955060e-02 9.98990973e-01 1.19574692e-03 -1.09965032e-01] [ 1.87237346e-02 -3.55284174e-04 9.99824632e-01 -7.58852996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68907232899999 meters 0.08446080703564429 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.11, Z:-0.76 [[ 9.98828863e-01 4.46274342e-02 -1.86894477e-02 2.37553738e+01] [-4.46130320e-02 9.99003638e-01 1.18703714e-03 -1.11505411e-01] [ 1.87238006e-02 -3.51854032e-04 9.99824632e-01 -7.59307243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71907232899999 meters 0.08466821465600123 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.12, Z:-0.76 [[ 9.99008473e-01 4.04070630e-02 -1.86906564e-02 2.37842904e+01] [-4.03918686e-02 9.99183207e-01 1.18989436e-03 -1.18779478e-01] [ 1.87234702e-02 -4.33764006e-04 9.99824606e-01 -7.56937491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74907232899999 meters 0.08543079295324406 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.13, Z:-0.76 [[ 9.99160844e-01 3.65535432e-02 -1.84782870e-02 2.38126594e+01] [-3.65380520e-02 9.99331571e-01 1.17537694e-03 -1.26388420e-01] [ 1.85088997e-02 -4.99230001e-04 9.99828571e-01 -7.56785721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779072328999995 meters 0.08660101533879565 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.13, Z:-0.76 [[ 9.99283840e-01 3.29555642e-02 -1.85940248e-02 2.38411187e+01] [-3.29392739e-02 9.99456656e-01 1.18176929e-03 -1.34214048e-01] [ 1.86228677e-02 -5.68449278e-04 9.99826418e-01 -7.58267640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809072328999996 meters 0.08915205926139584 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.15, Z:-0.76 [[ 9.99490072e-01 2.58429916e-02 -1.87546372e-02 2.38698086e+01] [-2.58251684e-02 9.99665764e-01 1.19194637e-03 -1.46823334e-01] [ 1.87791722e-02 -7.06996897e-04 9.99823406e-01 -7.60023539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839072329 meters 0.08914433517586885 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.15, Z:-0.76 [[ 9.99578936e-01 2.28435302e-02 -1.78919831e-02 2.38984567e+01] [-2.28269711e-02 9.99738793e-01 1.12920895e-03 -1.49898526e-01] [ 1.79131047e-02 -7.20313699e-04 9.99839288e-01 -7.57480625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869072329 meters 0.08894661475638554 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.15, Z:-0.76 [[ 9.99627890e-01 2.05232339e-02 -1.79688183e-02 2.39281066e+01] [-2.05061079e-02 9.99789081e-01 1.13684738e-03 -1.52178491e-01] [ 1.79883601e-02 -7.67953820e-04 9.99837901e-01 -7.56375532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89907232899999 meters 0.09065769070283217 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.16, Z:-0.76 [[ 9.99712125e-01 1.65996147e-02 -1.73239548e-02 2.39556797e+01] [-1.65831396e-02 9.99861892e-01 1.09422926e-03 -1.60262936e-01] [ 1.73397260e-02 -8.06628700e-04 9.99849330e-01 -7.59208511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92907232899999 meters 0.09072895380933177 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.16, Z:-0.76 [[ 9.99745946e-01 1.53554646e-02 -1.65001130e-02 2.39839427e+01] [-1.53404029e-02 9.99881789e-01 1.03900956e-03 -1.61749748e-01] [ 1.65141170e-02 -7.85627218e-04 9.99863324e-01 -7.58674265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959072328999994 meters 0.09088767769440825 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.16, Z:-0.76 [[ 9.99795240e-01 1.38020074e-02 -1.47980425e-02 2.40119299e+01] [-1.37898236e-02 9.99904488e-01 9.25060690e-04 -1.62306898e-01] [ 1.48093968e-02 -7.20808879e-04 9.99890075e-01 -7.58780801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989072328999995 meters 0.0917787660771078 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.16, Z:-0.76 [[ 9.99851439e-01 1.17475814e-02 -1.26132553e-02 2.40390862e+01] [-1.17385553e-02 9.99930789e-01 7.89396056e-04 -1.64282306e-01] [ 1.26216558e-02 -6.41217388e-04 9.99920138e-01 -7.59082347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019072329 meters 0.09259957704169666 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.17, Z:-0.76 [[ 9.99867139e-01 9.93985649e-03 -1.29191552e-02 2.40669194e+01] [-9.93024036e-03 9.99950367e-01 8.08267184e-04 -1.67383694e-01] [ 1.29265481e-02 -6.79869480e-04 9.99916218e-01 -7.61398211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049072329 meters 0.09353101295475116 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.17, Z:-0.76 [[ 9.99872936e-01 8.41435897e-03 -1.35391939e-02 2.40965681e+01] [-8.40365579e-03 9.99964330e-01 8.47231969e-04 -1.70589471e-01] [ 1.35458398e-02 -7.33345591e-04 9.99907982e-01 -7.62997070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07907232899999 meters 0.09437478520652567 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.17, Z:-0.77 [[ 9.99878479e-01 6.93750887e-03 -1.39605956e-02 2.41260010e+01] [-6.92599171e-03 9.99975634e-01 8.73155775e-04 -1.74385920e-01] [ 1.39663130e-02 -7.76358698e-04 9.99902165e-01 -7.65555331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10907232899999 meters 0.09529975561492157 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.18, Z:-0.77 [[ 9.99883501e-01 5.45286252e-03 -1.42565939e-02 2.41550333e+01] [-5.44071516e-03 9.99984803e-01 8.90698601e-04 -1.78579358e-01] [ 1.42612341e-02 -8.13028769e-04 9.99897973e-01 -7.68208259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139072328999994 meters 0.0961949759107644 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.18, Z:-0.77 [[ 9.99881419e-01 2.89274795e-03 -1.51255054e-02 2.41852184e+01] [-2.87877739e-03 9.99995409e-01 9.45333348e-04 -1.82240793e-01] [ 1.51281706e-02 -9.01678286e-04 9.99885156e-01 -7.69446638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169072328999995 meters 0.09743429093437105 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.18, Z:-0.77 [[ 9.99902811e-01 1.78447315e-03 -1.38269515e-02 2.42123631e+01] [-1.77275033e-03 9.99998059e-01 8.60033563e-04 -1.84753306e-01] [ 1.38284594e-02 -8.35438244e-04 9.99904033e-01 -7.69677911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199072328999996 meters 0.09418770270112471 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.18, Z:-0.76 [[ 9.99914073e-01 9.72345472e-04 -1.30728793e-02 2.42421369e+01] [-9.61794698e-04 9.99999207e-01 8.13336220e-04 -1.77241852e-01] [ 1.30736597e-02 -8.00692907e-04 9.99914215e-01 -7.64297957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229072329 meters 0.09848300406515473 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.19, Z:-0.77 [[ 9.99950354e-01 -1.76854292e-04 -9.96279997e-03 2.42696593e+01] [ 1.83024701e-04 9.99999792e-01 6.18436545e-04 -1.87439248e-01] [ 9.96268853e-03 -6.20229281e-04 9.99950179e-01 -7.66221233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25907232899999 meters 0.09673317626131138 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.19, Z:-0.76 [[ 9.99961009e-01 -1.24194982e-03 -8.74285936e-03 2.42984143e+01] [ 1.24673829e-03 9.99999076e-01 5.42271975e-04 -1.86666938e-01] [ 8.74217781e-03 -5.53150889e-04 9.99961633e-01 -7.64459443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28907232899999 meters 0.09789520836192726 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99958820e-01 -2.99376433e-03 -8.56712984e-03 2.43271004e+01] [ 2.99842483e-03 9.99995364e-01 5.31205048e-04 -1.91912054e-01] [ 8.56549982e-03 -5.56871068e-04 9.99963160e-01 -7.65927726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319072328999994 meters 0.10277812497422423 Centerline is valid? [True, False] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99958996e-01 -2.91235307e-03 -8.57464476e-03 2.43274533e+01] [ 2.91804491e-03 9.99995530e-01 6.51363458e-04 -1.91800815e-01] [ 8.57270943e-03 -6.76357948e-04 9.99963025e-01 -7.66442482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.349072328999995 meters 0.10319189952587206 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99958064e-01 -2.87287338e-03 -8.69584232e-03 2.43281163e+01] [ 2.87788887e-03 9.99995700e-01 5.64310633e-04 -1.90828974e-01] [ 8.69418373e-03 -5.89312635e-04 9.99962031e-01 -7.66979657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379072328999996 meters 0.0997775001319282 Centerline is valid? [False, True] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99957563e-01 -3.01736390e-03 -8.70444157e-03 2.43281587e+01] [ 3.01992424e-03 9.99995401e-01 2.81013354e-04 -1.89877505e-01] [ 8.70355361e-03 -3.07288183e-04 9.99962076e-01 -7.66972616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409072329 meters 0.10544609480932361 Centerline is valid? [True, False] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99957545e-01 -2.76565086e-03 -8.78972805e-03 2.43288556e+01] [ 2.77111103e-03 9.99995975e-01 6.09080304e-04 -1.90190540e-01] [ 8.78800817e-03 -6.33411758e-04 9.99961184e-01 -7.67764901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43907232899999 meters 0.10718182294688473 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99958673e-01 -2.63185502e-03 -8.70199173e-03 2.43289252e+01] [ 2.63968488e-03 9.99996121e-01 8.88415518e-04 -1.90838236e-01] [ 8.69961980e-03 -9.11349319e-04 9.99961742e-01 -7.68193576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46907232899999 meters 0.11042798095170984 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99960557e-01 -2.66713202e-03 -8.47179801e-03 2.43284910e+01] [ 2.67556250e-03 9.99995937e-01 9.83945057e-04 -1.91253796e-01] [ 8.46913927e-03 -1.00657307e-03 9.99963630e-01 -7.68265636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49907232899999 meters 0.09924974112041964 Centerline is valid? [False, True] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99960757e-01 -2.63289296e-03 -8.45884048e-03 2.43287357e+01] [ 2.64133862e-03 9.99996024e-01 9.87424720e-04 -1.90866126e-01] [ 8.45620707e-03 -1.00972863e-03 9.99963736e-01 -7.68644268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.529072328999995 meters 0.10083493111931721 Centerline is valid? [True, False] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99960592e-01 -2.92269649e-03 -8.38283278e-03 2.43282982e+01] [ 2.92692290e-03 9.99995596e-01 4.91950650e-04 -1.89690758e-01] [ 8.38135803e-03 -5.16467169e-04 9.99964742e-01 -7.68163416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559072328999996 meters 0.09889283143304324 Centerline is valid? [False, True] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99958721e-01 -3.16801900e-03 -8.51592085e-03 2.43287172e+01] [ 3.16680866e-03 9.99994974e-01 -1.55607190e-04 -1.87021446e-01] [ 8.51637101e-03 1.28632475e-04 9.99963727e-01 -7.68217713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589072329 meters 0.10046441147497781 Centerline is valid? [True, False] Translation: X:24.33, Y:-0.19, Z:-0.77 [[ 9.99956919e-01 -3.25258104e-03 -8.69372555e-03 2.43293922e+01] [ 3.24787837e-03 9.99994572e-01 -5.54990126e-04 -1.85068453e-01] [ 8.69548350e-03 5.26730053e-04 9.99962055e-01 -7.68544190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619072329 meters 0.11737721286866158 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.18, Z:-0.77 [[ 9.99954963e-01 -3.39437107e-03 -8.86281428e-03 2.43298576e+01] [ 3.38543297e-03 9.99993746e-01 -1.02330245e-03 -1.83154558e-01] [ 8.86623232e-03 9.93251900e-04 9.99960201e-01 -7.68575573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64907232899999 meters 0.10014932407105573 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.18, Z:-0.77 [[ 9.99953032e-01 -3.29277007e-03 -9.11548357e-03 2.43312824e+01] [ 3.28097155e-03 9.99993761e-01 -1.30899006e-03 -1.80655301e-01] [ 9.11973690e-03 1.27902093e-03 9.99957596e-01 -7.69785801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67907232899999 meters 0.12075623040173024 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.18, Z:-0.77 [[ 9.99952492e-01 -3.15435701e-03 -9.22304418e-03 2.43320586e+01] [ 3.14284555e-03 9.99994264e-01 -1.26234663e-03 -1.80001808e-01] [ 9.22697318e-03 1.23330005e-03 9.99956670e-01 -7.70583792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.709072328999994 meters 0.10472596800814485 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.18, Z:-0.77 [[ 9.99951922e-01 -3.06019026e-03 -9.31603820e-03 2.43327683e+01] [ 3.04843639e-03 9.99994540e-01 -1.27561952e-03 -1.79168767e-01] [ 9.31989098e-03 1.24715884e-03 9.99955791e-01 -7.71341248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739072328999995 meters 0.10394250625664389 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.18, Z:-0.77 [[ 9.99951344e-01 -3.06272469e-03 -9.37702046e-03 2.43332973e+01] [ 3.04916873e-03 9.99994286e-01 -1.45961268e-03 -1.77927234e-01] [ 9.38143727e-03 1.43094954e-03 9.99954969e-01 -7.71882747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769072329 meters 0.10417931336462595 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.18, Z:-0.78 [[ 9.99989775e-01 -9.90124035e-04 4.41252456e-03 2.43370719e+01] [ 9.92102709e-04 9.99999408e-01 -4.46255806e-04 -1.76321360e-01] [-4.41208010e-03 4.50628920e-04 9.99990165e-01 -7.82350319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799072329 meters 0.10520343929471503 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.18, Z:-0.78 [[ 9.99989922e-01 -1.08157728e-03 4.35730794e-03 2.43372866e+01] [ 1.08483932e-03 9.99999133e-01 -7.46343213e-04 -1.75061839e-01] [-4.35649693e-03 7.51062670e-04 9.99990228e-01 -7.82405218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82907232899999 meters 0.10664209984148544 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.78 [[ 9.99990604e-01 -1.02145189e-03 4.21293254e-03 2.43378530e+01] [ 1.02477050e-03 9.99999166e-01 -7.85635404e-04 -1.74424850e-01] [-4.21212654e-03 7.89945311e-04 9.99990817e-01 -7.82727532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85907232899999 meters 0.10853239519924135 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.78 [[ 9.99991766e-01 -7.41886678e-04 3.98962686e-03 2.43392098e+01] [ 7.44175114e-04 9.99999559e-01 -5.72142711e-04 -1.73658667e-01] [-3.98920064e-03 5.75106981e-04 9.99991878e-01 -7.84037379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.889072328999994 meters 0.10815617299266 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.78 [[ 9.99992210e-01 -9.60702747e-04 3.82836666e-03 2.43393704e+01] [ 9.64964418e-04 9.99998917e-01 -1.11149117e-03 -1.71995604e-01] [-3.82729470e-03 1.11517675e-03 9.99992054e-01 -7.83635243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919072328999995 meters 0.10860360936515386 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.78 [[ 9.99993030e-01 -1.04062656e-03 3.58557278e-03 2.43400446e+01] [ 1.04613836e-03 9.99998274e-01 -1.53568420e-03 -1.69905631e-01] [-3.58396852e-03 1.53942450e-03 9.99992393e-01 -7.83715309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949072328999996 meters 0.10834048846661865 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.78 [[ 9.99993566e-01 -1.21339573e-03 3.37569834e-03 2.43405049e+01] [ 1.22054140e-03 9.99997017e-01 -2.11554349e-03 -1.67546986e-01] [-3.37312128e-03 2.11965006e-03 9.99992065e-01 -7.83542992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979072329 meters 0.10707188850787815 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.78 [[ 9.99994649e-01 -1.04483096e-03 3.10014664e-03 2.43419099e+01] [ 1.05177770e-03 9.99996938e-01 -2.23999486e-03 -1.65582496e-01] [-3.09779673e-03 2.24324354e-03 9.99992686e-01 -7.84666260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00907232899999 meters 0.11038307551876896 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.79 [[ 9.99995691e-01 -5.72876240e-04 2.87907340e-03 2.43433981e+01] [ 5.77663273e-04 9.99998452e-01 -1.66214271e-03 -1.65958908e-01] [-2.87811674e-03 1.66379868e-03 9.99994474e-01 -7.86233723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03907232899999 meters 0.10637794102951317 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.17, Z:-0.79 [[ 9.99996415e-01 -1.48975156e-04 2.67370009e-03 2.43447265e+01] [ 1.52055116e-04 9.99999325e-01 -1.15178052e-03 -1.66366449e-01] [-2.67352670e-03 1.15218294e-03 9.99995762e-01 -7.87598686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.069072328999994 meters 0.10774647681864444 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.17, Z:-0.79 [[ 9.99996748e-01 1.29735112e-04 2.54718539e-03 2.43458109e+01] [-1.27576698e-04 9.99999633e-01 -8.47516457e-04 -1.66158737e-01] [-2.54729441e-03 8.47188739e-04 9.99996397e-01 -7.88864600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099072328999995 meters 0.10957785459590007 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.16, Z:-0.79 [[ 9.99996988e-01 3.60607089e-05 2.45404723e-03 2.43460967e+01] [-3.33193888e-05 9.99999375e-01 -1.11709257e-03 -1.64958048e-01] [-2.45408598e-03 1.11700743e-03 9.99996365e-01 -7.88872786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129072328999996 meters 0.11192285683878164 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.16, Z:-0.79 [[ 9.99997308e-01 -2.32231151e-04 2.30863079e-03 2.43463068e+01] [ 2.36255103e-04 9.99998453e-01 -1.74288387e-03 -1.62562896e-01] [-2.30822247e-03 1.74342460e-03 9.99995816e-01 -7.88522381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159072329 meters 0.11060788063596981 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.16, Z:-0.79 [[ 9.99998004e-01 -4.77528103e-04 1.94021787e-03 2.43470153e+01] [ 4.82429449e-04 9.99996692e-01 -2.52650104e-03 -1.59304742e-01] [-1.93900497e-03 2.52743202e-03 9.99994926e-01 -7.88126459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18907232899999 meters 0.10998391348228342 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.15, Z:-0.79 [[ 9.99999236e-01 -4.28880782e-04 1.15932067e-03 2.43492689e+01] [ 4.32884941e-04 9.99993935e-01 -3.45584208e-03 -1.53670299e-01] [-1.15783150e-03 3.45634130e-03 9.99993357e-01 -7.88742911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21907232899999 meters 0.10771610912452469 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.15, Z:-0.79 [[ 9.99999596e-01 -5.81062859e-05 8.96595828e-04 2.43507097e+01] [ 6.08983883e-05 9.99995148e-01 -3.11440193e-03 -1.53435805e-01] [-8.96410512e-04 3.11445528e-03 9.99994748e-01 -7.90045161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24907232899999 meters 0.10984312143568883 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.15, Z:-0.79 [[ 9.99999610e-01 5.31512713e-04 7.05691032e-04 2.43523669e+01] [-5.29855192e-04 9.99997106e-01 -2.34690497e-03 -1.54188863e-01] [-7.06936399e-04 2.34653014e-03 9.99996997e-01 -7.92007702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279072328999995 meters 0.11228349686376825 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.15, Z:-0.79 [[ 9.99999467e-01 8.66805155e-04 5.60439066e-04 2.43536111e+01] [-8.65694339e-04 9.99997667e-01 -1.97926086e-03 -1.54063174e-01] [-5.62153392e-04 1.97877463e-03 9.99997884e-01 -7.93440955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309072328999996 meters 0.10614006140619872 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.79 [[ 9.99999656e-01 8.29259861e-04 -2.18935645e-05 2.43557627e+01] [-8.29318388e-04 9.99995668e-01 -2.82429433e-03 -1.48585004e-01] [ 1.95513957e-05 2.82431152e-03 9.99996011e-01 -7.94630209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339072329 meters 0.10446761128724236 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.80 [[ 9.99999581e-01 8.01569218e-04 -4.43100233e-04 2.43571675e+01] [-8.03054231e-04 9.99994028e-01 -3.36145942e-03 -1.45094139e-01] [ 4.40403145e-04 3.36181384e-03 9.99994252e-01 -7.95081267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369072329 meters 0.10673201458428007 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.79 [[ 9.99999271e-01 5.00546185e-04 -1.09864259e-03 2.43585226e+01] [-5.05619044e-04 9.99989191e-01 -4.62197735e-03 -1.38751539e-01] [ 1.09631720e-03 4.62252948e-03 9.99988715e-01 -7.94561351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39907232899999 meters 0.1069079059524719 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.79 [[ 9.99999174e-01 4.99582230e-04 -1.18429627e-03 2.43589535e+01] [-5.05246941e-04 9.99988411e-01 -4.78772324e-03 -1.37728332e-01] [ 1.18189069e-03 4.78831764e-03 9.99987838e-01 -7.94843913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42907232899999 meters 0.11065405492299696 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99998909e-01 8.56391812e-04 -1.20323314e-03 2.43597713e+01] [-8.61500047e-04 9.99990592e-01 -4.25133948e-03 -1.38372915e-01] [ 1.19958100e-03 4.25237143e-03 9.99990239e-01 -7.96092823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459072328999994 meters 0.10708715623352122 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99998774e-01 1.13709681e-03 -1.07645408e-03 2.43600982e+01] [-1.14106224e-03 9.99992540e-01 -3.69037271e-03 -1.39503071e-01] [ 1.07224973e-03 3.69159649e-03 9.99992611e-01 -7.97172031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489072328999995 meters 0.10915101873064248 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99998857e-01 1.25084589e-03 -8.48953385e-04 2.43599320e+01] [-1.25365746e-03 9.99993705e-01 -3.31939246e-03 -1.40406618e-01] [ 8.44795992e-04 3.32045297e-03 9.99994130e-01 -7.97817584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519072329 meters 0.11115019183779182 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99999119e-01 1.21566462e-03 -5.33196603e-04 2.43598459e+01] [-1.21733865e-03 9.99994296e-01 -3.15060763e-03 -1.40003390e-01] [ 5.29363479e-04 3.15125393e-03 9.99994895e-01 -7.98887240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549072329 meters 0.11382250070181964 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99998714e-01 1.47485464e-03 -6.30053061e-04 2.43608662e+01] [-1.47660065e-03 9.99995046e-01 -2.77979873e-03 -1.39867219e-01] [ 6.25950141e-04 2.78072549e-03 9.99995938e-01 -8.00155070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57907232899999 meters 0.11382250070181964 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99998714e-01 1.47485464e-03 -6.30053061e-04 2.43608662e+01] [-1.47660065e-03 9.99995046e-01 -2.77979873e-03 -1.39867219e-01] [ 6.25950141e-04 2.78072549e-03 9.99995938e-01 -8.00155070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60907232899999 meters 0.11338910526364321 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99998132e-01 1.80290886e-03 -6.97252923e-04 2.43618013e+01] [-1.80448679e-03 9.99995798e-01 -2.26908609e-03 -1.40327316e-01] [ 6.93159038e-04 2.27034003e-03 9.99997183e-01 -8.01420704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639072328999994 meters 0.11684122563627618 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99997446e-01 2.14929045e-03 -6.98577752e-04 2.43623901e+01] [-2.15043468e-03 9.99996341e-01 -1.64133323e-03 -1.41510454e-01] [ 6.95047494e-04 1.64283129e-03 9.99998409e-01 -8.02413466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669072328999995 meters 0.11864737493989667 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99997930e-01 2.00761158e-03 -3.30905681e-04 2.43614291e+01] [-2.00812075e-03 9.99996789e-01 -1.54564787e-03 -1.42199277e-01] [ 3.27801558e-04 1.54630917e-03 9.99998751e-01 -8.02204429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699072328999996 meters 0.11731046636076475 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99998120e-01 1.92991540e-03 -1.88338616e-04 2.43610234e+01] [-1.93021221e-03 9.99996875e-01 -1.58871760e-03 -1.42251293e-01] [ 1.85271937e-04 1.58907815e-03 9.99998720e-01 -8.02072257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729072329 meters 0.11673358424581934 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99997832e-01 2.08195177e-03 2.31778072e-05 2.43610457e+01] [-2.08192285e-03 9.99997131e-01 -1.18475246e-03 -1.42895360e-01] [-2.56443382e-05 1.18470164e-03 9.99999298e-01 -8.02956452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75907232899999 meters 0.12644411611897086 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99997617e-01 2.18002439e-03 1.18174838e-04 2.43612025e+01] [-2.17991162e-03 9.99997176e-01 -9.46142762e-04 -1.43171652e-01] [-1.20237119e-04 9.45882896e-04 9.99999545e-01 -8.03600583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78907232899999 meters 0.11876285018756169 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99997010e-01 2.44456874e-03 7.05348868e-05 2.43619096e+01] [-2.44453033e-03 9.99996866e-01 -5.39695223e-04 -1.43575259e-01] [-7.18539878e-05 5.39521185e-04 9.99999852e-01 -8.04557417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819072328999994 meters 0.12154346665913396 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99996689e-01 2.57236217e-03 6.32390111e-05 2.43621943e+01] [-2.57234105e-03 9.99996636e-01 -3.31841207e-04 -1.43796810e-01] [-6.40924141e-05 3.31677436e-04 9.99999943e-01 -8.04971222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.849072328999995 meters 0.12309400412755375 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.80 [[ 9.99997035e-01 2.40490271e-03 3.82209956e-04 2.43610279e+01] [-2.40480238e-03 9.99997074e-01 -2.62762247e-04 -1.45123674e-01] [-3.82840755e-04 2.61842329e-04 9.99999892e-01 -8.04396905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879072328999996 meters 0.12245352286179624 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.80 [[ 9.99996814e-01 2.49284938e-03 3.97720636e-04 2.43611056e+01] [-2.49281218e-03 9.99996889e-01 -9.40107936e-05 -1.45500269e-01] [-3.97953753e-04 9.30190512e-05 9.99999916e-01 -8.04568527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909072329 meters 0.1315159395839936 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99996900e-01 2.47057620e-03 3.10352346e-04 2.43613205e+01] [-2.47051898e-03 9.99996931e-01 -1.84602983e-04 -1.44979904e-01] [-3.10807470e-04 1.83835679e-04 9.99999935e-01 -8.04523572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93907232899999 meters 0.12614542036228638 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.14, Z:-0.80 [[ 9.99996764e-01 2.53024520e-03 2.63225813e-04 2.43617111e+01] [-2.53021008e-03 9.99996790e-01 -1.33656201e-04 -1.44584162e-01] [-2.63563151e-04 1.32989752e-04 9.99999956e-01 -8.04921061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96907232899999 meters 0.1311463460754559 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.81 [[ 9.99996231e-01 2.69832733e-03 5.07635195e-04 2.43616592e+01] [-2.69856611e-03 9.99996248e-01 4.70278304e-04 -1.46006611e-01] [-5.06364325e-04 -4.71646418e-04 9.99999761e-01 -8.05960065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99907232899999 meters 0.13594741789433623 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.81 [[ 9.99999307e-01 -1.17553079e-03 7.11365733e-05 2.43632435e+01] [ 1.17576517e-03 9.99993564e-01 -3.38958288e-03 -1.46442321e-01] [-6.71515564e-05 3.38966417e-03 9.99994253e-01 -8.06825883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.029072328999995 meters 0.12743320262577862 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.81 [[ 9.99999828e-01 -5.52463139e-04 1.94704985e-04 2.43637701e+01] [ 5.52876819e-04 9.99997577e-01 -2.13103542e-03 -1.49756634e-01] [-1.93527195e-04 2.13114270e-03 9.99997710e-01 -8.08306208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059072328999996 meters 0.1353690629884571 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.81 [[ 9.99999379e-01 -7.43802367e-04 8.29317813e-04 2.43617242e+01] [ 7.45164367e-04 9.99998372e-01 -1.64321561e-03 -1.53276192e-01] [-8.28094236e-04 1.64383256e-03 9.99998306e-01 -8.07481335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089072329 meters 0.12800240411020433 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.81 [[ 9.99999255e-01 -8.64403720e-04 8.61310721e-04 2.43612883e+01] [ 8.65949799e-04 9.99998012e-01 -1.79627803e-03 -1.53206507e-01] [-8.59756299e-04 1.79702255e-03 9.99998016e-01 -8.06831752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119072329 meters 0.12643664823300735 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.81 [[ 9.99999038e-01 -1.14588848e-03 7.81191908e-04 2.43608264e+01] [ 1.14767882e-03 9.99996707e-01 -2.29522023e-03 -1.52246302e-01] [-7.78559270e-04 2.29611458e-03 9.99997061e-01 -8.05696381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14907232899999 meters 0.12763645626185902 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.15, Z:-0.81 [[ 9.99999294e-01 -9.85157259e-04 6.64894831e-04 2.43612883e+01] [ 9.86546147e-04 9.99997326e-01 -2.09179787e-03 -1.52444125e-01] [-6.62832303e-04 2.09245234e-03 9.99997591e-01 -8.05935625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17907232899999 meters 0.13272547161267828 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.16, Z:-0.81 [[ 9.99999607e-01 -5.08552364e-04 7.26765314e-04 2.43616701e+01] [ 5.09363010e-04 9.99999248e-01 -1.11566663e-03 -1.55390180e-01] [-7.26197393e-04 1.11603638e-03 9.99999114e-01 -8.06929731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.209072328999994 meters 0.1327303611898378 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.16, Z:-0.81 [[ 9.99991948e-01 -4.01286225e-03 1.71543983e-05 2.43642676e+01] [ 4.01289866e-03 9.99981227e-01 -4.63066410e-03 -1.56217721e-01] [ 1.42814093e-06 4.63069565e-03 9.99989278e-01 -8.08413284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239072328999995 meters 0.1260588722897285 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.16, Z:-0.81 [[ 9.99999556e-01 -5.96310554e-05 9.40886058e-04 2.43617352e+01] [ 5.95799356e-05 9.99999997e-01 5.43595455e-05 -1.60207608e-01] [-9.40889297e-04 -5.43034634e-05 9.99999556e-01 -8.07968542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269072329 meters 0.1343311095087591 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.16, Z:-0.81 [[ 9.99999438e-01 4.62234004e-04 9.53864267e-04 2.43623070e+01] [-4.63195723e-04 9.99999384e-01 1.00825973e-03 -1.62642881e-01] [-9.53397628e-04 -1.00870099e-03 9.99999037e-01 -8.09015722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299072329 meters 0.13177043779416275 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.16, Z:-0.81 [[ 9.99999452e-01 6.00117163e-04 8.58258902e-04 2.43621137e+01] [-6.01246822e-04 9.99998953e-01 1.31656938e-03 -1.64349103e-01] [-8.57467908e-04 -1.31708468e-03 9.99998765e-01 -8.08324982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32907232899999 meters 0.1327184996925612 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.16, Z:-0.81 [[ 9.99999564e-01 7.84711563e-04 5.06081650e-04 2.43630456e+01] [-7.85417326e-04 9.99998717e-01 1.39587612e-03 -1.64093140e-01] [-5.04985640e-04 -1.39627300e-03 9.99998898e-01 -8.08385214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35907232899999 meters 0.1399589674264179 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.16, Z:-0.81 [[ 9.99999330e-01 1.15288435e-03 9.96701171e-05 2.43645415e+01] [-1.15305394e-03 9.99997859e-01 1.71843947e-03 -1.64030131e-01] [-9.76887417e-05 -1.71855325e-03 9.99998519e-01 -8.09157676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.389072328999994 meters 0.1279876182789345 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.17, Z:-0.81 [[ 9.99998243e-01 1.82483042e-03 -4.28931266e-04 2.43664315e+01] [-1.82376205e-03 9.99995266e-01 2.47810784e-03 -1.65637001e-01] [ 4.33451362e-04 -2.47732122e-03 9.99996837e-01 -8.10204379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419072328999995 meters 0.12513746308433657 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.17, Z:-0.81 [[ 9.99997965e-01 1.95020262e-03 -5.16829885e-04 2.43666449e+01] [-1.94881382e-03 9.99994525e-01 2.67415903e-03 -1.66349033e-01] [ 5.22042208e-04 -2.67314638e-03 9.99996291e-01 -8.10252468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449072328999996 meters 0.13268684279842582 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.17, Z:-0.81 [[ 9.99997863e-01 1.98354790e-03 -5.82679862e-04 2.43667358e+01] [-1.98196176e-03 9.99994363e-01 2.71023637e-03 -1.66594741e-01] [ 5.88052462e-04 -2.70907573e-03 9.99996158e-01 -8.10166187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479072329 meters 0.12906237309693866 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.17, Z:-0.81 [[ 9.99996590e-01 2.36594624e-03 -1.10597578e-03 2.43684100e+01] [-2.36269896e-03 9.99992921e-01 2.92826670e-03 -1.66514920e-01] [ 1.11289607e-03 -2.92564362e-03 9.99995101e-01 -8.10846178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50907232899999 meters 0.1156617192641722 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.16, Z:-0.81 [[ 9.99997009e-01 -1.14556796e-03 -2.16114012e-03 2.43717452e+01] [ 1.14333425e-03 9.99998811e-01 -1.03453140e-03 -1.64795575e-01] [ 2.16232268e-03 1.03205740e-03 9.99997130e-01 -8.12256407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53907232899999 meters 0.12000454635696593 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.16, Z:-0.81 [[ 9.99996686e-01 -8.96146214e-04 -2.41367143e-03 2.43726998e+01] [ 8.94187114e-04 9.99999270e-01 -8.12624833e-04 -1.64808152e-01] [ 2.41439790e-03 8.10463866e-04 9.99996757e-01 -8.12775134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.569072328999994 meters 0.11513437721675156 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.16, Z:-0.81 [[ 9.99996111e-01 -8.63390546e-04 -2.65189030e-03 2.43732597e+01] [ 8.60867642e-04 9.99999176e-01 -9.52354591e-04 -1.64122395e-01] [ 2.65271037e-03 9.50067961e-04 9.99996030e-01 -8.12700405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599072328999995 meters 0.1161748538145762 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.16, Z:-0.81 [[ 9.99995172e-01 -5.06750941e-04 -3.06567772e-03 2.43745836e+01] [ 5.04550371e-04 9.99999615e-01 -7.18539648e-04 -1.64098282e-01] [ 3.06604066e-03 7.16989390e-04 9.99995043e-01 -8.13168729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629072328999996 meters 0.11788955837387863 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.16, Z:-0.81 [[ 9.99994604e-01 -3.25026679e-04 -3.26886721e-03 2.43754089e+01] [ 3.23149419e-04 9.99999783e-01 -5.74796532e-04 -1.63893250e-01] [ 3.26905333e-03 5.73737098e-04 9.99994492e-01 -8.13660008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659072329 meters 0.11677990330523988 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.16, Z:-0.81 [[ 9.99994521e-01 -4.27735719e-04 -3.28261101e-03 2.43752252e+01] [ 4.25253064e-04 9.99999623e-01 -7.56965756e-04 -1.63628680e-01] [ 3.28293356e-03 7.55565668e-04 9.99994326e-01 -8.13300133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68907232899999 meters 0.12664648293188221 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.16, Z:-0.81 [[ 9.99994542e-01 -1.24991676e-04 -3.30160412e-03 2.43757168e+01] [ 1.24107957e-04 9.99999956e-01 -2.67867020e-04 -1.64597294e-01] [ 3.30163745e-03 2.67455803e-04 9.99994514e-01 -8.14022445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71907232899999 meters 0.11951405060783005 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.17, Z:-0.81 [[ 9.99994631e-01 3.90411876e-04 -3.25366344e-03 2.43761255e+01] [-3.88098628e-04 9.99999672e-01 7.11568108e-04 -1.67319039e-01] [ 3.25394018e-03 -7.10301545e-04 9.99994454e-01 -8.14885807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74907232899999 meters 0.12995484714076394 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.17, Z:-0.82 [[ 9.99994233e-01 8.40671551e-04 -3.29044597e-03 2.43768351e+01] [-8.35719029e-04 9.99998516e-01 1.50620739e-03 -1.69080776e-01] [ 3.29170731e-03 -1.50344881e-03 9.99993452e-01 -8.15937683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779072328999995 meters 0.12897432183811114 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.17, Z:-0.82 [[ 9.99994465e-01 8.42648291e-04 -3.21864264e-03 2.43765066e+01] [-8.37391511e-04 9.99998314e-01 1.63422756e-03 -1.69834324e-01] [ 3.22001429e-03 -1.63152325e-03 9.99993485e-01 -8.15739433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809072328999996 meters 0.1352881961867137 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.17, Z:-0.81 [[ 9.99995270e-01 4.29951880e-04 -3.04559357e-03 2.43752142e+01] [-4.26333380e-04 9.99999203e-01 1.18865953e-03 -1.69714937e-01] [ 3.04610221e-03 -1.18735547e-03 9.99994656e-01 -8.14336255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839072329 meters 0.13668428337363847 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.17, Z:-0.81 [[ 9.99995603e-01 3.73425493e-04 -2.94190077e-03 2.43747293e+01] [-3.69844546e-04 9.99999190e-01 1.21767236e-03 -1.70282967e-01] [ 2.94235310e-03 -1.21657896e-03 9.99994931e-01 -8.14004054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869072329 meters 0.12825210090805117 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.17, Z:-0.81 [[ 9.99995857e-01 7.09039803e-04 -2.78993357e-03 2.43747118e+01] [-7.03471676e-04 9.99997760e-01 1.99626727e-03 -1.72662399e-01] [ 2.79134275e-03 -1.99429636e-03 9.99994116e-01 -8.14661099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89907232899999 meters 0.13441909149209655 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.18, Z:-0.81 [[ 9.99999310e-01 -6.80300513e-04 -9.57721616e-04 2.43723180e+01] [ 6.80391376e-04 9.99999764e-01 9.45511696e-05 -1.75887369e-01] [ 9.57657067e-04 -9.52027298e-05 9.99999537e-01 -8.14852207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92907232899999 meters 0.13027296839490962 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.18, Z:-0.81 [[ 9.99999727e-01 -7.37384875e-04 -5.15863791e-05 2.43700445e+01] [ 7.37442976e-04 9.99999083e-01 1.13549672e-03 -1.81591737e-01] [ 5.07490337e-05 -1.13553445e-03 9.99999354e-01 -8.14702891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959072328999994 meters 0.15039210466868605 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.18, Z:-0.81 [[ 9.99999685e-01 -7.82942150e-04 1.32723637e-04 2.43693508e+01] [ 7.82767526e-04 9.99998835e-01 1.31068602e-03 -1.82764069e-01] [-1.33749674e-04 -1.31058172e-03 9.99999132e-01 -8.14312261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989072328999995 meters 0.12915574755275083 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.18, Z:-0.81 [[ 9.99999666e-01 -7.67966909e-04 2.81342208e-04 2.43687383e+01] [ 7.67518220e-04 9.99998439e-01 1.59146742e-03 -1.84273433e-01] [-2.82563963e-04 -1.59125095e-03 9.99998694e-01 -8.13921271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019072329 meters 0.1436386740859423 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.19, Z:-0.81 [[ 9.99999150e-01 -7.77259852e-04 1.04704870e-03 2.43666248e+01] [ 7.74429523e-04 9.99996053e-01 2.70084798e-03 -1.89855563e-01] [-1.04914383e-03 -2.70003481e-03 9.99995805e-01 -8.13537295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049072329 meters 0.13232726808638412 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.19, Z:-0.81 [[ 9.99989099e-01 -4.60590587e-03 7.67003066e-04 2.43677401e+01] [ 4.60658339e-03 9.99988999e-01 -8.83927846e-04 -1.91514323e-01] [-7.62923340e-04 8.87451473e-04 9.99999315e-01 -8.14265686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07907232899999 meters 0.13114780528303777 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.19, Z:-0.82 [[ 9.99991222e-01 -4.08641277e-03 9.26235254e-04 2.43678452e+01] [ 4.08614592e-03 9.99991610e-01 2.89805370e-04 -1.94969391e-01] [-9.27411747e-04 -2.86018093e-04 9.99999529e-01 -8.15199831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10907232899999 meters 0.15103721115875057 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.20, Z:-0.82 [[ 9.99992017e-01 -3.81699698e-03 1.18161741e-03 2.43672676e+01] [ 3.81571138e-03 9.99992128e-01 1.08835431e-03 -1.98062783e-01] [-1.18576235e-03 -1.08383691e-03 9.99998710e-01 -8.15292652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139072328999994 meters 0.14715038314716955 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.20, Z:-0.82 [[ 9.99992609e-01 -3.69910207e-03 1.04788849e-03 2.43676819e+01] [ 3.69782420e-03 9.99992420e-01 1.21879175e-03 -1.98212606e-01] [-1.05238898e-03 -1.21490784e-03 9.99998708e-01 -8.15447776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169072328999995 meters 0.149514927980705 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.20, Z:-0.82 [[ 9.99993657e-01 -3.47532346e-03 7.79359002e-04 2.43686740e+01] [ 3.47423712e-03 9.99992997e-01 1.39093473e-03 -1.98006343e-01] [-7.84187492e-04 -1.38821823e-03 9.99998729e-01 -8.15996043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199072328999996 meters 0.14988885967608132 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.20, Z:-0.82 [[ 9.99994125e-01 -3.39830079e-03 4.49817028e-04 2.43694747e+01] [ 3.39771287e-03 9.99993381e-01 1.30138608e-03 -1.97427692e-01] [-4.54236552e-04 -1.29985008e-03 9.99999052e-01 -8.16077907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229072329 meters 0.13048987792973116 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.20, Z:-0.82 [[ 9.99997032e-01 -2.35988934e-03 -6.05511151e-04 2.43730259e+01] [ 2.36107639e-03 9.99995278e-01 1.96724431e-03 -1.97255940e-01] [ 6.00865813e-04 -1.96866813e-03 9.99997882e-01 -8.18029947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25907232899999 meters 0.1255927630148509 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.20, Z:-0.82 [[ 9.99996941e-01 -2.25730414e-03 -1.01144903e-03 2.43741938e+01] [ 2.25908857e-03 9.99995888e-01 1.76657512e-03 -1.95883609e-01] [ 1.00745717e-03 -1.76885466e-03 9.99997928e-01 -8.18436521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28907232899999 meters 0.14149262369943136 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.19, Z:-0.82 [[ 9.99996691e-01 -1.94492198e-03 -1.68377439e-03 2.43762937e+01] [ 1.94762808e-03 9.99996812e-01 1.60701924e-03 -1.93611846e-01] [ 1.68064350e-03 -1.61029329e-03 9.99997291e-01 -8.19297043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319072328999994 meters 0.14193495082469176 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.19, Z:-0.82 [[ 9.99995834e-01 -1.49779636e-03 -2.46769065e-03 2.43787193e+01] [ 1.50160881e-03 9.99997681e-01 1.54381851e-03 -1.91304587e-01] [ 2.46537260e-03 -1.54751759e-03 9.99995764e-01 -8.20295307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.349072328999995 meters 0.12640522454763206 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.19, Z:-0.82 [[ 9.99994355e-01 -1.71082855e-03 -2.89184909e-03 2.43793433e+01] [ 1.71282505e-03 9.99998296e-01 6.88054532e-04 -1.88540228e-01] [ 2.89066702e-03 -6.93003880e-04 9.99995582e-01 -8.19654744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379072328999996 meters 0.10831006071726557 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.19, Z:-0.82 [[ 9.99991537e-01 -1.53922759e-03 -3.81537611e-03 2.43811868e+01] [ 1.53826980e-03 9.99998785e-01 -2.53957446e-04 -1.85057503e-01] [ 3.81576237e-03 2.48086219e-04 9.99992689e-01 -8.19167600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409072329 meters 0.10779794178506383 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.18, Z:-0.82 [[ 9.99988901e-01 -9.16061769e-04 -4.62157696e-03 2.43838606e+01] [ 9.15546530e-04 9.99999574e-01 -1.13600033e-04 -1.83463272e-01] [ 4.62167905e-03 1.09367503e-04 9.99989314e-01 -8.20615809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43907232899999 meters 0.10107307358948421 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.18, Z:-0.82 [[ 9.99976628e-01 3.79793573e-03 -5.68503507e-03 2.43866997e+01] [-3.77932387e-03 9.99987476e-01 3.28100481e-03 -1.78288272e-01] [ 5.69742491e-03 -3.25944254e-03 9.99978457e-01 -8.21524884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46907232899999 meters 0.09847526160625404 Centerline is valid? [False, True] Translation: X:24.39, Y:-0.17, Z:-0.82 [[ 9.99971733e-01 3.76045307e-03 -6.51092750e-03 2.43883993e+01] [-3.74615088e-03 9.99990547e-01 2.20744862e-03 -1.73494614e-01] [ 6.51916695e-03 -2.18299531e-03 9.99976367e-01 -8.21274628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49907232899999 meters 0.09847526160625404 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.17, Z:-0.82 [[ 9.99971132e-01 3.68909481e-03 -6.64274138e-03 2.44159391e+01] [-3.68575494e-03 9.99993075e-01 5.14956930e-04 -1.74481868e-01] [ 6.64459510e-03 -4.90458547e-04 9.99977804e-01 -8.20802376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.529072328999995 meters 0.09618707450447571 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.17, Z:-0.82 [[ 9.99937795e-01 9.16913062e-03 -6.35083039e-03 2.44467276e+01] [-9.16618213e-03 9.99957868e-01 4.93219919e-04 -1.69078632e-01] [ 6.35508522e-03 -4.34976370e-04 9.99979712e-01 -8.21142582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559072328999996 meters 0.09342682075327632 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.16, Z:-0.82 [[ 9.99866869e-01 1.40884476e-02 -8.23160806e-03 2.44773540e+01] [-1.40836540e-02 9.99900616e-01 6.40011293e-04 -1.64271830e-01] [ 8.23980673e-03 -5.23994967e-04 9.99965915e-01 -8.23345122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589072329 meters 0.0906573259695548 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.16, Z:-0.83 [[ 9.99689342e-01 2.30792101e-02 -9.41112940e-03 2.45069820e+01] [-2.30733458e-02 9.99733507e-01 7.31233098e-04 -1.58772761e-01] [ 9.42549769e-03 -5.13859691e-04 9.99955447e-01 -8.27131614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619072329 meters 0.08827564413817081 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.16, Z:-0.83 [[ 9.99576173e-01 2.76007235e-02 -9.25607423e-03 2.45378921e+01] [-2.75952435e-02 9.99618920e-01 7.19251864e-04 -1.55418854e-01] [ 9.27239880e-03 -4.63523403e-04 9.99956903e-01 -8.28199185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64907232899999 meters 0.08680495318661846 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.15, Z:-0.83 [[ 9.99480241e-01 3.11594213e-02 -8.26672136e-03 2.45679516e+01] [-3.11551778e-02 9.99514354e-01 6.41630189e-04 -1.53046711e-01] [ 8.28269948e-03 -3.83745522e-04 9.99965624e-01 -8.28327126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67907232899999 meters 0.08545787921231224 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.15, Z:-0.83 [[ 9.99366089e-01 3.50651014e-02 -6.15295169e-03 2.45975854e+01] [-3.50628253e-02 9.99384996e-01 4.77437362e-04 -1.50399604e-01] [ 6.16590899e-03 -2.61394840e-04 9.99980956e-01 -8.26718872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.709072328999994 meters 0.0833075810187542 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.14, Z:-0.83 [[ 9.99158515e-01 4.06277702e-02 -5.62551013e-03 2.46290945e+01] [-4.06259543e-02 9.99174330e-01 4.36735332e-04 -1.41815363e-01] [ 5.63860889e-03 -2.07826108e-04 9.99984081e-01 -8.25607018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739072328999995 meters 0.08283753446539617 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.14, Z:-0.83 [[ 9.99069956e-01 4.25730777e-02 -6.83776995e-03 2.46580265e+01] [-4.25704788e-02 9.99093328e-01 5.25236344e-04 -1.41463018e-01] [ 6.85393127e-03 -2.33660711e-04 9.99976484e-01 -8.27706554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769072329 meters 0.08272572602987766 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.14, Z:-0.83 [[ 9.99005801e-01 4.38475287e-02 -8.05005544e-03 2.46864848e+01] [-4.38439771e-02 9.99038200e-01 6.17218224e-04 -1.43704347e-01] [ 8.06937639e-03 -2.63658140e-04 9.99967407e-01 -8.31262144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799072329 meters 0.08332456498219332 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.15, Z:-0.83 [[ 9.99014885e-01 4.35950746e-02 -8.29026343e-03 2.47140835e+01] [-4.35912816e-02 9.99049245e-01 6.37751497e-04 -1.50802896e-01] [ 8.31018424e-03 -2.75740030e-04 9.99965432e-01 -8.34892263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82907232899999 meters 0.08376315243568178 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.16, Z:-0.83 [[ 9.99058369e-01 4.27851235e-02 -7.19777024e-03 2.47408271e+01] [-4.27822546e-02 9.99084268e-01 5.52142835e-04 -1.55122515e-01] [ 7.21480250e-03 -2.43686081e-04 9.99973943e-01 -8.34686390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85907232899999 meters 0.08230692777143246 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.15, Z:-0.83 [[ 9.99142411e-01 4.08468244e-02 -6.78075775e-03 2.47696947e+01] [-4.08442619e-02 9.99165392e-01 5.16011634e-04 -1.52424172e-01] [ 6.79617591e-03 -2.38614063e-04 9.99976877e-01 -8.29595675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.889072328999994 meters 0.0851944591545536 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.16, Z:-0.83 [[ 9.99203881e-01 3.94516531e-02 -5.93058634e-03 2.47965866e+01] [-3.94496579e-02 9.99221457e-01 4.53074749e-04 -1.61433287e-01] [ 5.94384367e-03 -2.18754445e-04 9.99982311e-01 -8.33110510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919072328999995 meters 0.08388591736067277 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.16, Z:-0.83 [[ 9.99307763e-01 3.68100866e-02 -5.38633531e-03 2.48266085e+01] [-3.68083992e-02 9.99322256e-01 4.12104575e-04 -1.59846904e-01] [ 5.39785436e-03 -2.13556921e-04 9.99985409e-01 -8.28311914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949072328999996 meters 0.0871883914876319 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.17, Z:-0.84 [[ 9.99343484e-01 3.58408173e-02 -5.29492243e-03 2.48531260e+01] [-3.58391803e-02 9.99357489e-01 4.03745224e-04 -1.72020096e-01] [ 5.30599094e-03 -2.13714479e-04 9.99985900e-01 -8.35281130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979072329 meters 0.08501676375037936 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.17, Z:-0.83 [[ 9.99388456e-01 3.45980737e-02 -5.06820644e-03 2.48819571e+01] [-3.45965782e-02 9.99401286e-01 3.82477734e-04 -1.70581704e-01] [ 5.07840502e-03 -2.06901231e-04 9.99987083e-01 -8.34242538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00907232899999 meters 0.08340198688472505 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.17, Z:-0.83 [[ 9.99428580e-01 3.31622275e-02 -6.54068034e-03 2.49104583e+01] [-3.31597110e-02 9.99449944e-01 4.92853646e-04 -1.70256594e-01] [ 6.55342672e-03 -2.75684950e-04 9.99978488e-01 -8.33721264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03907232899999 meters 0.08467415078389658 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.18, Z:-0.84 [[ 9.99510824e-01 3.03453020e-02 -7.56810191e-03 2.49386006e+01] [-3.03418228e-02 9.99539416e-01 5.74136206e-04 -1.78593051e-01] [ 7.58203850e-03 -3.44225345e-04 9.99971197e-01 -8.36874254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.069072328999994 meters 0.08541026175863725 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.18, Z:-0.84 [[ 9.99569521e-01 2.84213208e-02 -7.28014929e-03 2.49657422e+01] [-2.84180631e-02 9.99595974e-01 5.50561320e-04 -1.82729122e-01] [ 7.29285560e-03 -3.43436574e-04 9.99973348e-01 -8.38431308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099072328999995 meters 0.08557034146439986 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.19, Z:-0.84 [[ 9.99610926e-01 2.73122954e-02 -5.66004679e-03 2.49934540e+01] [-2.73103376e-02 9.99626914e-01 4.22918538e-04 -1.86183762e-01] [ 5.66948598e-03 -2.68176203e-04 9.99983892e-01 -8.38344469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129072328999996 meters 0.08658350629812082 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.20, Z:-0.84 [[ 9.99644284e-01 2.63250163e-02 -4.27765631e-03 2.50204224e+01] [-2.63238811e-02 9.99653415e-01 3.21478264e-04 -1.95575015e-01] [ 4.28463666e-03 -2.08759393e-04 9.99990799e-01 -8.37634508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159072329 meters 0.08680081540685379 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.20, Z:-0.84 [[ 9.99662555e-01 2.55663769e-02 -4.59748643e-03 2.50489831e+01] [-2.55650569e-02 9.99673101e-01 3.45647998e-04 -2.00684350e-01] [ 4.60482048e-03 -2.27996358e-04 9.99989372e-01 -8.38457712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18907232899999 meters 0.0867183946217435 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.20, Z:-0.84 [[ 9.99652044e-01 2.59183243e-02 -4.90223043e-03 2.50778755e+01] [-2.59168291e-02 9.99664035e-01 3.68304459e-04 -2.04563755e-01] [ 4.91012928e-03 -2.41126037e-04 9.99987916e-01 -8.39308729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21907232899999 meters 0.08726818152977071 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.21, Z:-0.84 [[ 9.99637819e-01 2.63226535e-02 -5.59905185e-03 2.51048216e+01] [-2.63207126e-02 9.99653462e-01 4.20056430e-04 -2.11773057e-01] [ 5.60816856e-03 -2.72533259e-04 9.99984237e-01 -8.41314336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24907232899999 meters 0.0870050047558258 Centerline is valid? [True, True] Translation: X:25.13, Y:-0.21, Z:-0.84 [[ 9.99655787e-01 2.55231889e-02 -6.07238039e-03 2.51329695e+01] [-2.55209160e-02 9.99674186e-01 4.51506223e-04 -2.14990360e-01] [ 6.08192581e-03 -2.96378099e-04 9.99981461e-01 -8.40804026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279072328999995 meters 0.08748855506786835 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.22, Z:-0.84 [[ 9.99644108e-01 2.58970464e-02 -6.40314626e-03 2.51603491e+01] [-2.58945177e-02 9.99664567e-01 4.77517711e-04 -2.20106959e-01] [ 6.41336473e-03 -3.11541382e-04 9.99979386e-01 -8.42172327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309072328999996 meters 0.08699751116917344 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.22, Z:-0.84 [[ 9.99625483e-01 2.65679595e-02 -6.56032273e-03 2.51890174e+01] [-2.65653152e-02 9.99646960e-01 4.89899737e-04 -2.22984606e-01] [ 6.57102231e-03 -3.15439220e-04 9.99978361e-01 -8.41535045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339072329 meters 0.08535693893219101 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.23, Z:-0.84 [[ 9.99581599e-01 2.83979584e-02 -5.49384202e-03 2.52177595e+01] [-2.83961348e-02 9.99596665e-01 4.09666642e-04 -2.27114300e-01] [ 5.50325986e-03 -2.53491359e-04 9.99984825e-01 -8.40807396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369072329 meters 0.08514386948705631 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.23, Z:-0.84 [[ 9.99542284e-01 2.99050599e-02 -4.57268722e-03 2.52452847e+01] [-2.99038164e-02 9.99552723e-01 3.40065323e-04 -2.32957173e-01] [ 4.58081164e-03 -2.03168870e-04 9.99989487e-01 -8.41602504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39907232899999 meters 0.08462775064560188 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.24, Z:-0.84 [[ 9.99506510e-01 3.11036154e-02 -4.39330226e-03 2.52743146e+01] [-3.11024944e-02 9.99516148e-01 3.23273927e-04 -2.36787666e-01] [ 4.40123154e-03 -1.86471736e-04 9.99990297e-01 -8.41452037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42907232899999 meters 0.08528563222392233 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.24, Z:-0.84 [[ 9.99446895e-01 3.29286761e-02 -4.64827136e-03 2.53019570e+01] [-3.29274303e-02 9.99457686e-01 3.44309503e-04 -2.42287018e-01] [ 4.65708820e-03 -1.91063432e-04 9.99989137e-01 -8.42434359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459072328999994 meters 0.08344499709326447 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.24, Z:-0.84 [[ 9.99356876e-01 3.53998910e-02 -5.71682703e-03 2.53307116e+01] [-3.53980454e-02 9.99373203e-01 4.23733185e-04 -2.40712332e-01] [ 5.72824385e-03 -2.21096169e-04 9.99983569e-01 -8.40581530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489072328999995 meters 0.08164247844091847 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.24, Z:-0.84 [[ 9.99339010e-01 3.57915693e-02 -6.36455803e-03 2.53590844e+01] [-3.57893258e-02 9.99359248e-01 4.66084559e-04 -2.38712431e-01] [ 6.37716183e-03 -2.37993241e-04 9.99979637e-01 -8.38388601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519072329 meters 0.08176129669237961 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.24, Z:-0.84 [[ 9.99295809e-01 3.66583295e-02 -8.00329480e-03 2.53867264e+01] [-3.66547764e-02 9.99327814e-01 5.90240710e-04 -2.44408017e-01] [ 8.01955233e-03 -2.96466086e-04 9.99967799e-01 -8.41187705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549072329 meters 0.08086650847953931 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.25, Z:-0.84 [[ 9.99188389e-01 3.94076652e-02 -8.34258062e-03 2.54151526e+01] [-3.94039019e-02 9.99223175e-01 6.15044527e-04 -2.48979744e-01] [ 8.36033736e-03 -2.85815122e-04 9.99965011e-01 -8.41505628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57907232899999 meters 0.0802179786682832 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.25, Z:-0.84 [[ 9.99136050e-01 4.09624137e-02 -7.01674614e-03 2.54438791e+01] [-4.09597950e-02 9.99160662e-01 5.16575215e-04 -2.50688609e-01] [ 7.03201689e-03 -2.28724436e-04 9.99975249e-01 -8.40592317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60907232899999 meters 0.08033309393494352 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.25, Z:-0.84 [[ 9.99094876e-01 4.19224229e-02 -7.20687299e-03 2.54715815e+01] [-4.19196919e-02 9.99120843e-01 5.29646703e-04 -2.53901239e-01] [ 7.22274109e-03 -2.27057412e-04 9.99973890e-01 -8.41544249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639072328999994 meters 0.08145783808444372 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.26, Z:-0.85 [[ 9.98924295e-01 4.53473933e-02 -9.68845080e-03 2.54993014e+01] [-4.53426634e-02 9.98971242e-01 7.07412524e-04 -2.58698700e-01] [ 9.71056304e-03 -2.67351393e-04 9.99952816e-01 -8.48172390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669072328999995 meters 0.07971288810872722 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.25, Z:-0.84 [[ 9.98868058e-01 4.63198594e-02 -1.08200396e-02 2.55273667e+01] [-4.63140520e-02 9.98926619e-01 7.86810854e-04 -2.53673443e-01] [ 1.08448706e-02 -2.84800351e-04 9.99941152e-01 -8.43869421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699072328999996 meters 0.07973360494850015 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.26, Z:-0.85 [[ 9.98807062e-01 4.73176988e-02 -1.20618562e-02 2.55550362e+01] [-4.73105184e-02 9.98879843e-01 8.80103751e-04 -2.56693807e-01] [ 1.20899896e-02 -3.08401169e-04 9.99926866e-01 -8.45601714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729072329 meters 0.0792541984581168 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.26, Z:-0.85 [[ 9.98781009e-01 4.78868248e-02 -1.19727908e-02 2.55836035e+01] [-4.78798645e-02 9.98852725e-01 8.67476983e-04 -2.60764309e-01] [ 1.20005954e-02 -2.93163935e-04 9.99927947e-01 -8.46558976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75907232899999 meters 0.07921815786610067 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.26, Z:-0.85 [[ 9.98808423e-01 4.74317641e-02 -1.14874759e-02 2.56113929e+01] [-4.74253748e-02 9.98874441e-01 8.28119404e-04 -2.64595714e-01] [ 1.15138252e-02 -2.82334785e-04 9.99933674e-01 -8.47712234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78907232899999 meters 0.07904861388412936 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.27, Z:-0.85 [[ 9.98841264e-01 4.69853555e-02 -1.04165673e-02 2.56404150e+01] [-4.69801035e-02 9.98895545e-01 7.48454863e-04 -2.66857207e-01] [ 1.04402291e-02 -2.58216190e-04 9.99945466e-01 -8.46924343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819072328999994 meters 0.07930529519946754 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.27, Z:-0.85 [[ 9.98927955e-01 4.54142957e-02 -8.97117955e-03 2.56677176e+01] [-4.54103493e-02 9.98968211e-01 6.43207877e-04 -2.68348792e-01] [ 8.99113402e-03 -2.35133932e-04 9.99959551e-01 -8.45852435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.849072328999995 meters 0.07928095231772819 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.27, Z:-0.84 [[ 9.99009911e-01 4.36217298e-02 -8.73743543e-03 2.56962940e+01] [-4.36179473e-02 9.99048090e-01 6.23090709e-04 -2.70802809e-01] [ 8.75629847e-03 -2.41364796e-04 9.99961634e-01 -8.44700434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879072328999996 meters 0.08040165165679153 Centerline is valid? [True, True] Translation: X:25.72, Y:-0.28, Z:-0.85 [[ 9.99114448e-01 4.11232283e-02 -8.89948782e-03 2.57230329e+01] [-4.11192018e-02 9.99154046e-01 6.35023244e-04 -2.79113591e-01] [ 8.91807347e-03 -2.68521062e-04 9.99960197e-01 -8.48828150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909072329 meters 0.0814287892332949 Centerline is valid? [True, True] Translation: X:25.75, Y:-0.29, Z:-0.85 [[ 9.99235676e-01 3.77841169e-02 -1.00211890e-02 2.57516294e+01] [-3.77788327e-02 9.99285868e-01 7.16149132e-04 -2.87964806e-01] [ 1.00410916e-02 -3.37012940e-04 9.99949530e-01 -8.52605611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93907232899999 meters 0.08330296501810869 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.30, Z:-0.85 [[ 9.99474428e-01 3.07586608e-02 -1.02358349e-02 2.57809342e+01] [-3.07527673e-02 9.99526753e-01 7.32706134e-04 -3.02958996e-01] [ 1.02535279e-02 -4.17540797e-04 9.99947344e-01 -8.53256178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96907232899999 meters 0.08435010557294435 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.31, Z:-0.85 [[ 9.99596124e-01 2.68015103e-02 -9.44816769e-03 2.58096231e+01] [-2.67963253e-02 9.99640686e-01 6.74970413e-04 -3.09396539e-01] [ 9.46286306e-03 -4.21521633e-04 9.99955137e-01 -8.51367058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99907232899999 meters 0.08822017392113696 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.32, Z:-0.85 [[ 9.99808565e-01 1.74802474e-02 -8.79057029e-03 2.58385975e+01] [-1.74753956e-02 9.99847096e-01 6.28443844e-04 -3.21126070e-01] [ 8.80021153e-03 -4.74704845e-04 9.99961165e-01 -8.48928492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.029072328999995 meters 0.08890919792327498 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.33, Z:-0.85 [[ 9.99874739e-01 1.27268767e-02 -9.40915450e-03 2.58684376e+01] [-1.27211058e-02 9.99918857e-01 6.72918078e-04 -3.25191906e-01] [ 9.41695516e-03 -5.53138938e-04 9.99955507e-01 -8.47785703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059072328999996 meters 0.0938716645393711 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.34, Z:-0.85 [[ 9.99918832e-01 8.14237602e-03 -9.79955060e-03 2.58969490e+01] [-8.13589620e-03 9.99966657e-01 7.00920514e-04 -3.40321280e-01] [ 9.80493102e-03 -6.21135495e-04 9.99951738e-01 -8.52342443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089072329 meters 0.09503541020571978 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.35, Z:-0.85 [[ 9.99931559e-01 2.93311220e-03 -1.13257760e-02 2.59267786e+01] [-2.92412397e-03 9.99995397e-01 8.10086190e-04 -3.47773811e-01] [ 1.13280999e-02 -7.76912774e-04 9.99935533e-01 -8.54285776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119072329 meters 0.10062299275215758 Centerline is valid? [True, False] Translation: X:25.93, Y:-0.35, Z:-0.86 [[ 9.99941134e-01 -9.80167879e-04 -1.08059120e-02 2.59263535e+01] [ 9.59576218e-04 9.99997714e-01 -1.91061223e-03 -3.52725222e-01] [ 1.08077600e-02 1.90013067e-03 9.99939789e-01 -8.55587139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14907232899999 meters 0.10333427793882435 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.35, Z:-0.85 [[ 9.99946964e-01 -1.31247743e-03 -1.02150258e-02 2.59245654e+01] [ 1.29393292e-03 9.99997503e-01 -1.82181151e-03 -3.54404971e-01] [ 1.02173914e-02 1.80849733e-03 9.99946166e-01 -8.54838767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17907232899999 meters 0.10489753518933276 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.85 [[ 9.99948930e-01 -1.17186491e-03 -1.00381253e-02 2.59242506e+01] [ 1.15804619e-03 9.99998374e-01 -1.38232597e-03 -3.55835827e-01] [ 1.00397289e-02 1.37063076e-03 9.99948661e-01 -8.54911798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.209072328999994 meters 0.101625252643484 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.85 [[ 9.99951387e-01 -1.77760849e-03 -9.69867488e-03 2.59223901e+01] [ 1.75840891e-03 9.99996478e-01 -1.98777688e-03 -3.55685487e-01] [ 9.70217421e-03 1.97062601e-03 9.99950991e-01 -8.53180252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239072328999995 meters 0.10593259196908962 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.85 [[ 9.99953445e-01 -1.73568881e-03 -9.49189855e-03 2.59219864e+01] [ 1.72058275e-03 9.99997241e-01 -1.59940234e-03 -3.56983325e-01] [ 9.49464842e-03 1.58299628e-03 9.99953672e-01 -8.53225797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269072329 meters 0.10803993372456092 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.85 [[ 9.99953777e-01 -1.24379415e-03 -9.53393622e-03 2.59227452e+01] [ 1.23698574e-03 9.99998976e-01 -7.19986634e-04 -3.58857955e-01] [ 9.53482197e-03 7.08160011e-04 9.99954292e-01 -8.54369737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299072329 meters 0.1095327894798102 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.86 [[ 9.99953471e-01 -5.74069239e-04 -9.62944402e-03 2.59238488e+01] [ 5.78147242e-04 9.99999744e-01 4.20714767e-04 -3.61268017e-01] [ 9.62920004e-03 -4.26262428e-04 9.99953547e-01 -8.55878861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32907232899999 meters 0.11107238873072166 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.86 [[ 9.99954072e-01 -3.20305359e-06 -9.58399867e-03 2.59244331e+01] [ 1.75970923e-05 9.99998872e-01 1.50179842e-03 -3.63977162e-01] [ 9.58398305e-03 -1.50189810e-03 9.99952945e-01 -8.57094852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35907232899999 meters 0.11671783201534489 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.86 [[ 9.99953220e-01 9.65369981e-05 -9.67207990e-03 2.59248367e+01] [-8.12454292e-05 9.99998746e-01 1.58138153e-03 -3.63857448e-01] [ 9.67222044e-03 -1.58052174e-03 9.99951974e-01 -8.57399676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.389072328999994 meters 0.11671783201534489 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.86 [[ 9.99953220e-01 9.65369981e-05 -9.67207990e-03 2.59248367e+01] [-8.12454292e-05 9.99998746e-01 1.58138153e-03 -3.63857448e-01] [ 9.67222044e-03 -1.58052174e-03 9.99951974e-01 -8.57399676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419072328999995 meters 0.10460497236065576 Centerline is valid? [False, False] Translation: X:25.92, Y:-0.36, Z:-0.86 [[ 9.99952170e-01 -2.17642715e-04 -9.77808989e-03 2.59246603e+01] [ 2.26879114e-04 9.99999529e-01 9.43502244e-04 -3.62240774e-01] [ 9.77787994e-03 -9.45675560e-04 9.99951748e-01 -8.56664908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449072328999996 meters 0.10388071870299344 Centerline is valid? [False, False] Translation: X:25.93, Y:-0.36, Z:-0.86 [[ 9.99949991e-01 -3.46702625e-04 -9.99481305e-03 2.59250457e+01] [ 3.51741395e-04 9.99999812e-01 5.02385069e-04 -3.60618441e-01] [ 9.99463700e-03 -5.05875534e-04 9.99949924e-01 -8.56407018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479072329 meters 0.10116581565976152 Centerline is valid? [False, False] Translation: X:25.93, Y:-0.36, Z:-0.86 [[ 9.99943181e-01 -6.32435581e-04 -1.06412302e-02 2.59259221e+01] [ 6.24252745e-04 9.99999507e-01 -7.72278553e-04 -3.56429784e-01] [ 1.06417133e-02 7.65591855e-04 9.99943082e-01 -8.55407179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50907232899999 meters 0.10170870600206999 Centerline is valid? [False, False] Translation: X:25.93, Y:-0.36, Z:-0.86 [[ 9.99937264e-01 -5.37174322e-05 -1.12010935e-02 2.59282073e+01] [ 4.94281264e-05 9.99999925e-01 -3.83212831e-04 -3.55680899e-01] [ 1.12011133e-02 3.82635141e-04 9.99937192e-01 -8.56990081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53907232899999 meters 0.10119539102660122 Centerline is valid? [False, False] Translation: X:25.93, Y:-0.36, Z:-0.86 [[ 9.99931362e-01 5.04592070e-04 -1.17054061e-02 2.59303377e+01] [-5.03939284e-04 9.99999871e-01 5.87173444e-05 -3.55298012e-01] [ 1.17054342e-02 -5.28145002e-05 9.99931488e-01 -8.58576073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.569072328999994 meters 0.09942618022030328 Centerline is valid? [False, True] Translation: X:25.93, Y:-0.35, Z:-0.86 [[ 9.99922854e-01 7.99226183e-04 -1.23954307e-02 2.59324281e+01] [-8.03813892e-04 9.99999610e-01 -3.65135379e-04 -3.52388090e-01] [ 1.23951341e-02 3.75070830e-04 9.99923107e-01 -8.59588224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599072328999995 meters 0.09760292430186417 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.35, Z:-0.86 [[ 9.99910163e-01 3.34550619e-03 -1.29797144e-02 2.59626164e+01] [-3.33306744e-03 9.99993965e-01 9.79836208e-04 -3.50102510e-01] [ 1.29829141e-02 -9.36485919e-04 9.99915280e-01 -8.59673573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629072328999996 meters 0.09631918897712868 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.35, Z:-0.86 [[ 9.99910782e-01 6.26333234e-03 -1.17982797e-02 2.59934484e+01] [-6.25325663e-03 9.99980052e-01 8.90695300e-04 -3.48349653e-01] [ 1.18036231e-02 -8.16838163e-04 9.99930001e-01 -8.59593109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659072329 meters 0.09072657583282603 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.34, Z:-0.85 [[ 9.99882865e-01 1.11990037e-02 -1.04325861e-02 2.60241699e+01] [-1.11914003e-02 9.99937065e-01 7.86910741e-04 -3.35864289e-01] [ 1.04407421e-02 -6.70063320e-04 9.99945269e-01 -8.54671538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68907232899999 meters 0.09014726764413157 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.34, Z:-0.85 [[ 9.99864881e-01 1.35124651e-02 -9.36127512e-03 2.60545050e+01] [-1.35064504e-02 9.99908535e-01 7.05429606e-04 -3.35337581e-01] [ 9.36995099e-03 -5.78896691e-04 9.99955933e-01 -8.54619222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71907232899999 meters 0.08868618154366371 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.33, Z:-0.85 [[ 9.99841573e-01 1.57856435e-02 -8.22451069e-03 2.60843563e+01] [-1.57810800e-02 9.99875279e-01 6.19470165e-04 -3.32850120e-01] [ 8.23326365e-03 -4.89580363e-04 9.99965986e-01 -8.54656770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74907232899999 meters 0.08811952667567352 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.33, Z:-0.86 [[ 9.99791500e-01 1.79136230e-02 -9.80096749e-03 2.61136386e+01] [-1.79073012e-02 9.99839383e-01 7.32401314e-04 -3.31758678e-01] [ 9.81251325e-03 -5.56739732e-04 9.99951701e-01 -8.56389705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779072328999995 meters 0.08577186949944417 Centerline is valid? [True, True] Translation: X:26.15, Y:-0.32, Z:-0.86 [[ 9.99661439e-01 2.39040458e-02 -1.02763947e-02 2.61452886e+01] [-2.38973676e-02 9.99714119e-01 7.72178943e-04 -3.22008810e-01] [ 1.02919151e-02 -5.26338731e-04 9.99946898e-01 -8.57802133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809072328999996 meters 0.08516423856003215 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.32, Z:-0.86 [[ 9.99596422e-01 2.67498241e-02 -9.56243224e-03 2.61745840e+01] [-2.67441796e-02 9.99642053e-01 7.17693187e-04 -3.18950945e-01] [ 9.57820756e-03 -4.61664137e-04 9.99954021e-01 -8.58676949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839072329 meters 0.08453479474189574 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.32, Z:-0.86 [[ 9.99540000e-01 2.91339279e-02 -8.42627027e-03 2.62040498e+01] [-2.91296326e-02 9.99575442e-01 6.32050302e-04 -3.16412692e-01] [ 8.44110695e-03 -3.86305402e-04 9.99964299e-01 -8.58519634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869072329 meters 0.08294683293570365 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.31, Z:-0.86 [[ 9.99473822e-01 3.18439906e-02 -6.16763595e-03 2.62341467e+01] [-3.18417435e-02 9.99492816e-01 4.62216825e-04 -3.10148333e-01] [ 6.17922665e-03 -2.65585335e-04 9.99980873e-01 -8.56475200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89907232899999 meters 0.08410656370168931 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.31, Z:-0.86 [[ 9.99468476e-01 3.17994759e-02 -7.18051519e-03 2.62613327e+01] [-3.17964399e-02 9.99494221e-01 5.36591676e-04 -3.14129048e-01] [ 7.19394678e-03 -3.07991644e-04 9.99974076e-01 -8.60118052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92907232899999 meters 0.08361296778313775 Centerline is valid? [True, True] Translation: X:26.29, Y:-0.31, Z:-0.86 [[ 9.99487987e-01 3.09197709e-02 -8.22990442e-03 2.62897497e+01] [-3.09157571e-02 9.99521805e-01 6.14506756e-04 -3.12640034e-01] [ 8.24496933e-03 -3.59758394e-04 9.99965945e-01 -8.60759705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959072328999994 meters 0.08555530886002741 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.32, Z:-0.86 [[ 9.99497737e-01 3.05652991e-02 -8.36881409e-03 2.63166915e+01] [-3.05611523e-02 9.99532705e-01 6.22961612e-04 -3.17896776e-01] [ 8.38394439e-03 -3.66888119e-04 9.99964787e-01 -8.64864117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989072328999995 meters 0.08535323206884957 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.31, Z:-0.86 [[ 9.99544674e-01 2.90198647e-02 -8.26392836e-03 2.63460501e+01] [-2.90158024e-02 9.99578766e-01 6.11063821e-04 -3.12458503e-01] [ 8.27818030e-03 -3.71001076e-04 9.99965666e-01 -8.61298117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019072329 meters 0.08554285479212292 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.31, Z:-0.86 [[ 9.99587102e-01 2.77604217e-02 -7.41509626e-03 2.63746097e+01] [-2.77571337e-02 9.99614547e-01 5.45984553e-04 -3.12523812e-01] [ 7.42739485e-03 -3.39937299e-04 9.99972359e-01 -8.61103722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049072329 meters 0.08624737046534708 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.32, Z:-0.86 [[ 9.99632179e-01 2.62534349e-02 -6.80182573e-03 2.64032491e+01] [-2.62506471e-02 9.99655268e-01 4.98822674e-04 -3.15167849e-01] [ 6.81257673e-03 -3.20086869e-04 9.99976743e-01 -8.61835341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07907232899999 meters 0.08513494934148941 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.31, Z:-0.86 [[ 9.99672173e-01 2.48358566e-02 -6.22315526e-03 2.64321695e+01] [-2.48335090e-02 9.99691498e-01 4.54244400e-04 -3.13417007e-01] [ 6.23251695e-03 -2.99552704e-04 9.99980533e-01 -8.60385337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10907232899999 meters 0.08825874455969959 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.32, Z:-0.86 [[ 9.99739630e-01 2.20635066e-02 -5.82004846e-03 2.64606113e+01] [-2.20613883e-02 9.99756526e-01 4.27920338e-04 -3.19187245e-01] [ 5.82807285e-03 -2.99410572e-04 9.99982972e-01 -8.63860185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139072328999994 meters 0.0895565079266633 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.32, Z:-0.87 [[ 9.99787222e-01 1.96641593e-02 -6.23146850e-03 2.64892717e+01] [-1.96616857e-02 9.99806585e-01 4.57975495e-04 -3.23014921e-01] [ 6.23926895e-03 -3.35356873e-04 9.99980479e-01 -8.66781923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169072328999995 meters 0.09094646979941846 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.33, Z:-0.87 [[ 9.99827740e-01 1.73449744e-02 -6.60623667e-03 2.65170733e+01] [-1.73421503e-02 9.99849496e-01 4.84536965e-04 -3.27691125e-01] [ 6.61364669e-03 -3.69887149e-04 9.99978061e-01 -8.69095320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199072328999996 meters 0.09184281898491911 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.33, Z:-0.87 [[ 9.99849244e-01 1.61680512e-02 -6.33116140e-03 2.65444078e+01] [-1.61654408e-02 9.99869223e-01 4.63278928e-04 -3.29092005e-01] [ 6.33782375e-03 -3.60863071e-04 9.99979851e-01 -8.69803495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229072329 meters 0.0910618463061041 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.33, Z:-0.87 [[ 9.99841034e-01 1.60009695e-02 -7.86611752e-03 2.65735220e+01] [-1.59969305e-02 9.99871875e-01 5.76125903e-04 -3.25627203e-01] [ 7.87432825e-03 -4.50200583e-04 9.99968896e-01 -8.69060094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25907232899999 meters 0.0899089687517261 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.32, Z:-0.87 [[ 9.99836016e-01 1.64202540e-02 -7.63646592e-03 2.66031040e+01] [-1.64164952e-02 9.99865086e-01 5.54644362e-04 -3.21762901e-01] [ 7.64454305e-03 -4.29189404e-04 9.99970688e-01 -8.68233650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28907232899999 meters 0.08967732344514256 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.32, Z:-0.87 [[ 9.99836223e-01 1.64462219e-02 -7.55314096e-03 2.66323360e+01] [-1.64425280e-02 9.99864661e-01 5.50903503e-04 -3.21240622e-01] [ 7.56117901e-03 -4.26620546e-04 9.99971323e-01 -8.68562312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319072328999994 meters 0.08880458568051472 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.32, Z:-0.87 [[ 9.99799188e-01 1.86602215e-02 -7.30615571e-03 2.66620768e+01] [-1.86568215e-02 9.99825804e-01 5.33237065e-04 -3.21203269e-01] [ 7.31483333e-03 -3.96820342e-04 9.99973168e-01 -8.71768603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.349072328999995 meters 0.09172705755342228 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.33, Z:-0.88 [[ 9.99777559e-01 2.00924610e-02 -6.41293879e-03 2.66898249e+01] [-2.00898784e-02 9.99798069e-01 4.66886541e-04 -3.29680164e-01] [ 6.42102472e-03 -3.37947525e-04 9.99979328e-01 -8.76583109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379072328999996 meters 0.08873212938150758 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.32, Z:-0.87 [[ 9.99757977e-01 2.08525836e-02 -7.01121489e-03 2.67193487e+01] [-2.08495175e-02 9.99782495e-01 5.10116194e-04 -3.22158743e-01] [ 7.02032715e-03 -3.63812286e-04 9.99975291e-01 -8.74485879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409072329 meters 0.08626383982208544 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.31, Z:-0.87 [[ 9.99670701e-01 2.44549079e-02 -7.77483003e-03 2.67501938e+01] [-2.44512390e-02 9.99700863e-01 5.66611876e-04 -3.11265994e-01] [ 7.78636074e-03 -3.76321063e-04 9.99969615e-01 -8.72610980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43907232899999 meters 0.08642132333926673 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.31, Z:-0.87 [[ 9.99646701e-01 2.53153284e-02 -8.09979423e-03 2.67777837e+01] [-2.53113905e-02 9.99679442e-01 5.88329655e-04 -3.10197254e-01] [ 8.11209154e-03 -3.83104744e-04 9.99967023e-01 -8.73286005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46907232899999 meters 0.0862586649616852 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.31, Z:-0.87 [[ 9.99625618e-01 2.62773329e-02 -7.62395442e-03 2.68058788e+01] [-2.62738776e-02 9.99654629e-01 5.53037797e-04 -3.09784355e-01] [ 7.63585368e-03 -3.52519905e-04 9.99970784e-01 -8.73759162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49907232899999 meters 0.08799902154815986 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.31, Z:-0.88 [[ 9.99633457e-01 2.60362725e-02 -7.42046860e-03 2.68327293e+01] [-2.60330039e-02 9.99660940e-01 5.36741024e-04 -3.13010128e-01] [ 7.43192735e-03 -3.43367198e-04 9.99972324e-01 -8.77008582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.529072328999995 meters 0.0870742829232398 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.31, Z:-0.88 [[ 9.99657156e-01 2.51897386e-02 -7.14478379e-03 2.68614433e+01] [-2.51867151e-02 9.99682633e-01 5.12847949e-04 -3.11364075e-01] [ 7.15543477e-03 -3.32718488e-04 9.99974344e-01 -8.75807488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559072328999996 meters 0.08771514652183486 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.31, Z:-0.88 [[ 9.99695634e-01 2.37106682e-02 -6.81498761e-03 2.68906537e+01] [-2.37078956e-02 9.99718810e-01 4.87350225e-04 -3.10593822e-01] [ 6.82462670e-03 -3.25632878e-04 9.99976659e-01 -8.76004134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589072329 meters 0.08671955301850776 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.31, Z:-0.87 [[ 9.99722394e-01 2.26775588e-02 -6.39243372e-03 2.69200823e+01] [-2.26751111e-02 9.99742783e-01 4.55129053e-04 -3.07072881e-01] [ 6.40111069e-03 -3.10053562e-04 9.99979465e-01 -8.74374932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61907232899999 meters 0.08929792438309307 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.31, Z:-0.88 [[ 9.99735982e-01 2.19030752e-02 -6.94417363e-03 2.69474683e+01] [-2.19001490e-02 9.99760039e-01 4.97156276e-04 -3.12693093e-01] [ 6.95339655e-03 -3.44946581e-04 9.99975765e-01 -8.77232201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64907232899999 meters 0.0898575940127584 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.31, Z:-0.88 [[ 9.99748224e-01 2.13332614e-02 -6.95558908e-03 2.69761861e+01] [-2.13303123e-02 9.99772359e-01 4.97910129e-04 -3.13544493e-01] [ 6.96462775e-03 -3.49419880e-04 9.99975686e-01 -8.77807239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67907232899999 meters 0.08970150324646219 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.31, Z:-0.88 [[ 9.99765646e-01 2.00046426e-02 -8.27449553e-03 2.70060580e+01] [-2.00004191e-02 9.99799796e-01 5.92872880e-04 -3.09914197e-01] [ 8.28469915e-03 -4.27240560e-04 9.99965590e-01 -8.77646136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.709072328999994 meters 0.09090148253980257 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.31, Z:-0.88 [[ 9.99785090e-01 1.87049009e-02 -8.93868473e-03 2.70348212e+01] [-1.86999266e-02 9.99824936e-01 6.39758896e-04 -3.12555592e-01] [ 8.94908652e-03 -4.72468657e-04 9.99959845e-01 -8.79988220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739072328999995 meters 0.0895246888686938 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.31, Z:-0.88 [[ 9.99824534e-01 1.71747527e-02 -7.47862020e-03 2.70636277e+01] [-1.71712358e-02 9.99852421e-01 5.34224986e-04 -3.09885236e-01] [ 7.48669170e-03 -4.05714097e-04 9.99971892e-01 -8.77421760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769072329 meters 0.0909949402133307 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.31, Z:-0.88 [[ 9.99871780e-01 1.47210260e-02 -6.30196386e-03 2.70921193e+01] [-1.47184814e-02 9.99891576e-01 4.49972714e-04 -3.12932220e-01] [ 6.30790464e-03 -3.57159680e-04 9.99980041e-01 -8.77638880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799072329 meters 0.09593569883629242 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.32, Z:-0.88 [[ 9.99890442e-01 1.36441353e-02 -5.73939711e-03 2.71187113e+01] [-1.36420163e-02 9.99906860e-01 4.08189119e-04 -3.23554018e-01] [ 5.74443193e-03 -3.29847450e-04 9.99983446e-01 -8.81297144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82907232899999 meters 0.09265988947075547 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.32, Z:-0.88 [[ 9.99910772e-01 1.24882641e-02 -4.74253679e-03 2.71476642e+01] [-1.24868106e-02 9.99921980e-01 3.35973290e-04 -3.15978126e-01] [ 4.74636250e-03 -2.76724153e-04 9.99988698e-01 -8.78160191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85907232899999 meters 0.09194904550552303 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.31, Z:-0.88 [[ 9.99919514e-01 1.13587714e-02 -5.65188224e-03 2.71775506e+01] [-1.13566782e-02 9.99935430e-01 4.02299279e-04 -3.13273156e-01] [ 5.65608692e-03 -3.38080292e-04 9.99983947e-01 -8.77233019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.889072328999994 meters 0.09496436645069681 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.32, Z:-0.88 [[ 9.99939158e-01 9.63496739e-03 -5.37098087e-03 2.72053634e+01] [-9.63305803e-03 9.99953528e-01 3.81252661e-04 -3.16164935e-01] [ 5.37440463e-03 -3.29490494e-04 9.99985504e-01 -8.78863621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919072328999995 meters 0.0949503552161336 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.32, Z:-0.88 [[ 9.99946365e-01 8.56141149e-03 -5.82836233e-03 2.72335974e+01] [-8.55914881e-03 9.99963285e-01 4.13051643e-04 -3.16476096e-01] [ 5.83168464e-03 -3.63143669e-04 9.99982930e-01 -8.80404120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949072328999996 meters 0.09486993094575506 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.32, Z:-0.88 [[ 9.99949633e-01 8.35359990e-03 -5.56317421e-03 2.72619430e+01] [-8.35154065e-03 9.99965048e-01 3.93285868e-04 -3.17935163e-01] [ 5.56626512e-03 -3.46804984e-04 9.99984448e-01 -8.81363601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979072329 meters 0.09275124822454568 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.31, Z:-0.88 [[ 9.99956723e-01 7.80274231e-03 -5.06651048e-03 2.72910914e+01] [-7.80102704e-03 9.99969507e-01 3.58225948e-04 -3.14842388e-01] [ 5.06915113e-03 -3.18686460e-04 9.99987101e-01 -8.80765004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00907232899999 meters 0.09344170286068018 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.31, Z:-0.88 [[ 9.99960724e-01 7.18276010e-03 -5.19217213e-03 2.73187233e+01] [-7.18095806e-03 9.99974150e-01 3.65626450e-04 -3.12721289e-01] [ 5.19466412e-03 -3.28327319e-04 9.99986454e-01 -8.81389047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03907232899999 meters 0.0952646809869066 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.31, Z:-0.88 [[ 9.99958418e-01 6.74972374e-03 -6.13212829e-03 2.73460715e+01] [-6.74720417e-03 9.99977144e-01 4.31474655e-04 -3.14377308e-01] [ 6.13490047e-03 -3.90081992e-04 9.99981105e-01 -8.81209413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.069072328999994 meters 0.09674994640072113 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.32, Z:-0.88 [[ 9.99952466e-01 6.59600673e-03 -7.18045753e-03 2.73738891e+01] [-6.59254505e-03 9.99978141e-01 5.05659994e-04 -3.15680486e-01] [ 7.18363591e-03 -4.58298468e-04 9.99974092e-01 -8.83358781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099072328999995 meters 0.0956081044040178 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.31, Z:-0.89 [[ 9.99943137e-01 6.64393870e-03 -8.34154058e-03 2.74026463e+01] [-6.63926865e-03 9.99977787e-01 5.87421135e-04 -3.10685037e-01] [ 8.34525808e-03 -5.32006004e-04 9.99965036e-01 -8.85254139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129072328999996 meters 0.09526506407818144 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.31, Z:-0.89 [[ 9.99945998e-01 7.18667378e-03 -7.50680747e-03 2.74311333e+01] [-7.18291173e-03 9.99974063e-01 5.27992111e-04 -3.11690460e-01] [ 7.51040728e-03 -4.74042863e-04 9.99971684e-01 -8.86925657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159072329 meters 0.09505347531858346 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.31, Z:-0.89 [[ 9.99948858e-01 7.48684787e-03 -6.79912818e-03 2.74603397e+01] [-7.48376963e-03 9.99971882e-01 4.78069667e-04 -3.12680972e-01] [ 6.80251624e-03 -4.27162109e-04 9.99976771e-01 -8.87498898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18907232899999 meters 0.09500301535610885 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.31, Z:-0.89 [[ 9.99944906e-01 9.00476787e-03 -5.39443553e-03 2.74899588e+01] [-9.00285248e-03 9.99959402e-01 3.79244978e-04 -3.07786089e-01] [ 5.39763154e-03 -3.30658776e-04 9.99985378e-01 -8.86592357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21907232899999 meters 0.09411195060000874 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.30, Z:-0.89 [[ 9.99938799e-01 9.77156337e-03 -5.18797163e-03 2.75188290e+01] [-9.76980736e-03 9.99952208e-01 3.63711491e-04 -3.03636994e-01] [ 5.19127772e-03 -3.13003748e-04 9.99986476e-01 -8.85454019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24907232899999 meters 0.0935650084754241 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.30, Z:-0.89 [[ 9.99935056e-01 1.02921512e-02 -4.89433597e-03 2.75482458e+01] [-1.02905967e-02 9.99946992e-01 3.42705723e-04 -3.01590266e-01] [ 4.89760371e-03 -2.92317830e-04 9.99987964e-01 -8.85010314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279072328999995 meters 0.09384770091786056 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.30, Z:-0.89 [[ 9.99923780e-01 1.14381433e-02 -4.64800599e-03 2.75757307e+01] [-1.14367572e-02 9.99934545e-01 3.24687616e-04 -3.02485201e-01] [ 4.65141558e-03 -2.71504752e-04 9.99989145e-01 -8.86082388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309072328999996 meters 0.09384770091786056 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.30, Z:-0.89 [[ 9.99924928e-01 1.13372372e-02 -4.64805967e-03 2.76031508e+01] [-1.13358535e-02 9.99935695e-01 3.23921214e-04 -3.04274587e-01] [ 4.65143315e-03 -2.71207173e-04 9.99989145e-01 -8.86597105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339072329 meters 0.09137309266307374 Centerline is valid? [True, True] Translation: X:27.63, Y:-0.30, Z:-0.88 [[ 9.99897893e-01 1.37442213e-02 -3.91155612e-03 2.76333885e+01] [-1.37432566e-02 9.99905520e-01 2.73403026e-04 -2.97059068e-01] [ 3.91494427e-03 -2.19617591e-04 9.99992312e-01 -8.84289348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36907232899999 meters 0.09226682140447405 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.30, Z:-0.89 [[ 9.99890390e-01 1.39623200e-02 -4.92569328e-03 2.76615657e+01] [-1.39607988e-02 9.99902484e-01 3.43074677e-04 -2.98617966e-01] [ 4.93000307e-03 -2.74270459e-04 9.99987810e-01 -8.86182620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39907232899999 meters 0.09208978934529283 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.30, Z:-0.89 [[ 9.99878988e-01 1.48482197e-02 -4.64109847e-03 2.76901374e+01] [-1.48468790e-02 9.99889727e-01 3.23185388e-04 -2.98581030e-01] [ 4.64538541e-03 -2.54240452e-04 9.99989178e-01 -8.87279486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42907232899999 meters 0.09261001278175646 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.30, Z:-0.89 [[ 9.99844984e-01 1.60376648e-02 -7.26641730e-03 2.77176037e+01] [-1.60344111e-02 9.99871313e-01 5.05801911e-04 -2.99509009e-01] [ 7.27359409e-03 -3.89210781e-04 9.99973471e-01 -8.92189329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459072328999994 meters 0.0914448279210029 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.30, Z:-0.89 [[ 9.99836310e-01 1.68420248e-02 -6.61051891e-03 2.77469082e+01] [-1.68393515e-02 9.99858102e-01 4.59850097e-04 -2.97864443e-01] [ 6.61732570e-03 -3.48457972e-04 9.99978045e-01 -8.92545129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489072328999995 meters 0.09085343249254654 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.30, Z:-0.89 [[ 9.99814087e-01 1.80619157e-02 -6.74974640e-03 2.77754837e+01] [-1.80591593e-02 9.99836810e-01 4.69103514e-04 -2.97823157e-01] [ 6.75711781e-03 -3.47121557e-04 9.99977110e-01 -8.93229106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519072329 meters 0.08991368815489577 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.30, Z:-0.89 [[ 9.99810358e-01 1.85861757e-02 -5.81393224e-03 2.78047812e+01] [-1.85841650e-02 9.99827220e-01 3.99678159e-04 -2.95960596e-01] [ 5.82035619e-03 -2.91555287e-04 9.99983019e-01 -8.91714607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549072329 meters 0.09000154779076883 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.29, Z:-0.89 [[ 9.99781252e-01 2.04260075e-02 -4.49739468e-03 2.78341912e+01] [-2.04248119e-02 9.99791343e-01 3.11612763e-04 -2.93801436e-01] [ 4.50282128e-03 -2.19686158e-04 9.99989838e-01 -8.88927446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57907232899999 meters 0.09085974090325176 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.30, Z:-0.89 [[ 9.99763789e-01 2.13822573e-02 -3.89437733e-03 2.78620332e+01] [-2.13813732e-02 9.99771356e-01 2.68515173e-04 -2.95670612e-01] [ 3.89922836e-03 -1.85184612e-04 9.99992381e-01 -8.88776637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60907232899999 meters 0.09048766700140555 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.30, Z:-0.89 [[ 9.99763914e-01 2.14049561e-02 -3.73421491e-03 2.78913456e+01] [-2.14041484e-02 9.99770872e-01 2.56146353e-04 -2.95285311e-01] [ 3.73884210e-03 -1.76158190e-04 9.99992995e-01 -8.89062123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639072328999994 meters 0.0892939835532123 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.29, Z:-0.89 [[ 9.99769183e-01 2.10877710e-02 -4.10924637e-03 2.79201524e+01] [-2.10867859e-02 9.99777609e-01 2.82907403e-04 -2.94302715e-01] [ 4.11429840e-03 -1.96191305e-04 9.99991517e-01 -8.89336314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669072328999995 meters 0.08999438879594558 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.30, Z:-0.89 [[ 9.99776489e-01 2.05218054e-02 -5.08216910e-03 2.79481461e+01] [-2.05202915e-02 9.99789375e-01 3.49847455e-04 -3.00228277e-01] [ 5.08827818e-03 -2.45481668e-04 9.99987024e-01 -8.94539537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699072328999996 meters 0.08994004533853503 Centerline is valid? [True, True] Translation: X:27.98, Y:-0.30, Z:-0.90 [[ 9.99775365e-01 2.00704289e-02 -6.81162684e-03 2.79765160e+01] [-2.00676993e-02 9.99798514e-01 4.68845704e-04 -3.02700139e-01] [ 6.81966432e-03 -3.32046706e-04 9.99976691e-01 -8.96906592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729072329 meters 0.09032135337987404 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.31, Z:-0.90 [[ 9.99776477e-01 1.97716566e-02 -7.48848053e-03 2.80037851e+01] [-1.97683636e-02 9.99804455e-01 5.13513183e-04 -3.05547391e-01] [ 7.49716920e-03 -3.65363394e-04 9.99971829e-01 -8.98692537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75907232899999 meters 0.09045019536461867 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.30, Z:-0.90 [[ 9.99771024e-01 1.93034064e-02 -9.23466515e-03 2.80328937e+01] [-1.92983689e-02 9.99813568e-01 6.34298824e-04 -3.03614988e-01] [ 9.24518764e-03 -4.55939609e-04 9.99957158e-01 -8.97249790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78907232899999 meters 0.09048796372129879 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.30, Z:-0.90 [[ 9.99768292e-01 1.94968945e-02 -9.12324436e-03 2.80610220e+01] [-1.94919958e-02 9.99809817e-01 6.25565276e-04 -3.02981681e-01] [ 9.13370586e-03 -4.47590087e-04 9.99958187e-01 -8.96301719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819072328999994 meters 0.090979264712894 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.30, Z:-0.90 [[ 9.99783073e-01 1.90903777e-02 -8.32854573e-03 2.80900810e+01] [-1.90862842e-02 9.99817677e-01 5.70708772e-04 -3.04636965e-01] [ 8.33792230e-03 -4.11623978e-04 9.99965154e-01 -8.96720525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.849072328999995 meters 0.09198662834547361 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.31, Z:-0.90 [[ 9.99811285e-01 1.81239360e-02 -6.99404538e-03 2.81175166e+01] [-1.81210332e-02 9.99835686e-01 4.78187529e-04 -3.10615065e-01] [ 7.00156280e-03 -3.51357959e-04 9.99975427e-01 -8.99303082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879072328999996 meters 0.09207378711686505 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.31, Z:-0.90 [[ 9.99810374e-01 1.83418247e-02 -6.54161452e-03 2.81458544e+01] [-1.83393182e-02 9.99831722e-01 4.42948533e-04 -3.14251744e-01] [ 6.54863819e-03 -3.22895788e-04 9.99978505e-01 -9.00821283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909072329 meters 0.09286362357057652 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.32, Z:-0.90 [[ 9.99823760e-01 1.76510461e-02 -6.39455925e-03 2.81738239e+01] [-1.76486232e-02 9.99844156e-01 4.35124500e-04 -3.17426041e-01] [ 6.40124310e-03 -3.22192647e-04 9.99979460e-01 -9.03254330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93907232899999 meters 0.09314067135116975 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.32, Z:-0.90 [[ 9.99823642e-01 1.74008477e-02 -7.06372531e-03 2.82020052e+01] [-1.73978879e-02 9.99848530e-01 4.80262355e-04 -3.17498318e-01] [ 7.07101234e-03 -3.57283756e-04 9.99974936e-01 -9.02373258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96907232899999 meters 0.09275434597690368 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.32, Z:-0.90 [[ 9.99805423e-01 1.80768098e-02 -7.89588072e-03 2.82309892e+01] [-1.80731326e-02 9.99836523e-01 5.36820352e-04 -3.15748914e-01] [ 7.90429393e-03 -3.94012600e-04 9.99968683e-01 -9.01435687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99907232899999 meters 0.09312160698938379 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.32, Z:-0.90 [[ 9.99802666e-01 1.77780949e-02 -8.86389858e-03 2.82593790e+01] [-1.77734527e-02 9.99841858e-01 6.02221306e-04 -3.17092685e-01] [ 8.87320318e-03 -4.44560385e-04 9.99960534e-01 -9.02434805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.029072328999995 meters 0.09341233770226116 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.32, Z:-0.90 [[ 9.99813210e-01 1.78109072e-02 -7.50445544e-03 2.82880554e+01] [-1.78075856e-02 9.99841303e-01 5.09206244e-04 -3.20102251e-01] [ 7.51233393e-03 -3.75474897e-04 9.99971712e-01 -9.02067997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059072328999996 meters 0.093127905790304 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.32, Z:-0.90 [[ 9.99814069e-01 1.81854916e-02 -6.41210936e-03 2.83168506e+01] [-1.81831034e-02 9.99834581e-01 4.30556569e-04 -3.21319668e-01] [ 6.41887856e-03 -3.13884468e-04 9.99979350e-01 -9.03031413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089072329 meters 0.09101179005312572 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.32, Z:-0.90 [[ 9.99822985e-01 1.74926469e-02 -6.92868220e-03 2.83457188e+01] [-1.74898227e-02 9.99846932e-01 4.67996403e-04 -3.17432164e-01] [ 6.93580813e-03 -3.46732137e-04 9.99975887e-01 -9.00887530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11907232899999 meters 0.09306870233086974 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.32, Z:-0.91 [[ 9.99843197e-01 1.54911082e-02 -8.57950595e-03 2.83738807e+01] [-1.54867028e-02 9.99879906e-01 5.79688895e-04 -3.22040147e-01] [ 8.58745562e-03 -4.46729739e-04 9.99963027e-01 -9.05053251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14907232899999 meters 0.09217721825743071 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.32, Z:-0.90 [[ 9.99864399e-01 1.42084925e-02 -8.32475037e-03 2.84023840e+01] [-1.42043456e-02 9.99898958e-01 5.57053838e-04 -3.21323974e-01] [ 8.33182412e-03 -4.38730670e-04 9.99965194e-01 -9.03564512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17907232899999 meters 0.09626678575438409 Centerline is valid? [True, True] Translation: X:28.43, Y:-0.33, Z:-0.91 [[ 9.99867289e-01 1.40319608e-02 -8.27697898e-03 2.84298348e+01] [-1.40278379e-02 9.99901450e-01 5.55967562e-04 -3.32115375e-01] [ 8.28396460e-03 -4.39785659e-04 9.99965591e-01 -9.08908225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.209072328999994 meters 0.09237192478785973 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.33, Z:-0.90 [[ 9.99866273e-01 1.41929388e-02 -8.12381710e-03 2.84590631e+01] [-1.41889744e-02 9.99899183e-01 5.45423602e-04 -3.25905772e-01] [ 8.13073924e-03 -4.30082031e-04 9.99966853e-01 -9.04941854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239072328999995 meters 0.09134386516047986 Centerline is valid? [True, True] Translation: X:28.49, Y:-0.32, Z:-0.90 [[ 9.99873423e-01 1.38845235e-02 -7.76899742e-03 2.84876699e+01] [-1.38808933e-02 9.99903520e-01 5.20990357e-04 -3.24787762e-01] [ 7.77548157e-03 -4.13083787e-04 9.99969685e-01 -9.03085330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269072329 meters 0.09234380778631045 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.32, Z:-0.90 [[ 9.99870472e-01 1.36598794e-02 -8.51152824e-03 2.85149759e+01] [-1.36555365e-02 9.99906597e-01 5.68151570e-04 -3.24156020e-01] [ 8.51849412e-03 -4.51848494e-04 9.99963615e-01 -9.02875443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299072329 meters 0.09090423970164253 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.32, Z:-0.90 [[ 9.99870549e-01 1.30604825e-02 -9.39733525e-03 2.85436573e+01] [-1.30551516e-02 9.99914580e-01 6.28402353e-04 -3.22221075e-01] [ 9.40473977e-03 -5.05637369e-04 9.99955647e-01 -9.02323390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32907232899999 meters 0.09443252583081543 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.34, Z:-0.91 [[ 9.99902713e-01 1.06893621e-02 -8.96109310e-03 2.85710486e+01] [-1.06844256e-02 9.99942741e-01 5.98572832e-04 -3.35498923e-01] [ 8.96697836e-03 -5.02770466e-04 9.99959669e-01 -9.09547549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35907232899999 meters 0.09602215323959645 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.34, Z:-0.91 [[ 9.99920865e-01 8.74771793e-03 -9.04104635e-03 2.85985300e+01] [-8.74262122e-03 9.99961601e-01 6.03098938e-04 -3.42887154e-01] [ 9.04597492e-03 -5.24008769e-04 9.99958947e-01 -9.12277006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.389072328999994 meters 0.0967045898400077 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.35, Z:-0.91 [[ 9.99935869e-01 6.98934529e-03 -8.91105866e-03 2.86271905e+01] [-6.98432408e-03 9.99975433e-01 5.94476294e-04 -3.48207779e-01] [ 8.91499474e-03 -5.32200448e-04 9.99960119e-01 -9.13229036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419072328999995 meters 0.09644351055085543 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.35, Z:-0.91 [[ 9.99955050e-01 5.22654909e-03 -7.91085013e-03 2.86559340e+01] [-5.22254421e-03 9.99986224e-01 5.26824753e-04 -3.50080001e-01] [ 7.91349463e-03 -4.85486308e-04 9.99968570e-01 -9.11250008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449072328999996 meters 0.09877134104389197 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.36, Z:-0.91 [[ 9.99976764e-01 2.62783890e-03 -6.29007699e-03 2.86839535e+01] [-2.62526064e-03 9.99996467e-01 4.18115684e-04 -3.55009538e-01] [ 6.29115351e-03 -4.01592878e-04 9.99980130e-01 -9.08096351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479072329 meters 0.1012142335282857 Centerline is valid? [True, False] Translation: X:28.68, Y:-0.35, Z:-0.91 [[ 9.99978700e-01 2.17873411e-03 -6.15244774e-03 2.86827275e+01] [-2.17945469e-03 9.99997619e-01 -1.10417700e-04 -3.54476816e-01] [ 6.15219252e-03 1.23824330e-04 9.99981067e-01 -9.06697671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50907232899999 meters 0.0977309091115176 Centerline is valid? [False, True] Translation: X:28.68, Y:-0.36, Z:-0.91 [[ 9.99979871e-01 2.19927768e-03 -5.95157553e-03 2.86822322e+01] [-2.19800171e-03 9.99997560e-01 2.20924078e-04 -3.55665005e-01] [ 5.95204688e-03 -2.07838057e-04 9.99982265e-01 -9.06723656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53907232899999 meters 0.09997134839621813 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.36, Z:-0.91 [[ 9.99980439e-01 -9.25356958e-04 -6.18596945e-03 2.87118427e+01] [ 9.28084419e-04 9.99999473e-01 4.38054764e-04 -3.63909895e-01] [ 6.18556083e-03 -4.43787297e-04 9.99980771e-01 -9.08449731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.569072328999994 meters 0.10353289371197108 Centerline is valid? [True, False] Translation: X:28.71, Y:-0.37, Z:-0.91 [[ 9.99971981e-01 -4.54609388e-03 -5.94729380e-03 2.87124715e+01] [ 4.53346934e-03 9.99987446e-01 -2.13449719e-03 -3.68540630e-01] [ 5.95692276e-03 2.10747551e-03 9.99980037e-01 -9.10734127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599072328999995 meters 0.10591252903003201 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.37, Z:-0.91 [[ 9.99975255e-01 -4.18509335e-03 -5.65454312e-03 2.87125249e+01] [ 4.17895000e-03 9.99990666e-01 -1.09782341e-03 -3.71274799e-01] [ 5.65908483e-03 1.07416619e-03 9.99983410e-01 -9.12216668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629072328999996 meters 0.10864263306228561 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.37, Z:-0.91 [[ 9.99977335e-01 -4.26772490e-03 -5.20724472e-03 2.87117203e+01] [ 4.26446229e-03 9.99990704e-01 -6.37495314e-04 -3.72512235e-01] [ 5.20991696e-03 6.15274766e-04 9.99986239e-01 -9.12860482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659072329 meters 0.11170525843397565 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.37, Z:-0.91 [[ 9.99978557e-01 -4.20096876e-03 -5.02362083e-03 2.87113173e+01] [ 4.19969244e-03 9.99991146e-01 -2.64584552e-04 -3.73841853e-01] [ 5.02468786e-03 2.43481216e-04 9.99987347e-01 -9.12975517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68907232899999 meters 0.11171992572614306 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.38, Z:-0.91 [[ 9.99981058e-01 -3.92257184e-03 -4.74307028e-03 2.87109419e+01] [ 3.92559717e-03 9.99992097e-01 6.28701941e-04 -3.76839429e-01] [ 4.74056667e-03 -6.47309415e-04 9.99988554e-01 -9.13523463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71907232899999 meters 0.11907799307686079 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.38, Z:-0.91 [[ 9.99983485e-01 -3.70398143e-03 -4.39441314e-03 2.87101641e+01] [ 3.71052137e-03 9.99992019e-01 1.48102046e-03 -3.80447362e-01] [ 4.38889239e-03 -1.49730157e-03 9.99989248e-01 -9.13675876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74907232899999 meters 0.11691337509093595 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.39, Z:-0.91 [[ 9.99986129e-01 -3.64561932e-03 -3.80137938e-03 2.87085782e+01] [ 3.65487884e-03 9.99990364e-01 2.43173552e-03 -3.85194495e-01] [ 3.79247757e-03 -2.44559537e-03 9.99989818e-01 -9.13481242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779072328999995 meters 0.11511766145819256 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.39, Z:-0.91 [[ 9.99986470e-01 -3.47548542e-03 -3.87038207e-03 2.87088570e+01] [ 3.48615869e-03 9.99990130e-01 2.75435362e-03 -3.86084477e-01] [ 3.86077116e-03 -2.76780912e-03 9.99988717e-01 -9.13669122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809072328999996 meters 0.11932884429640622 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.39, Z:-0.91 [[ 9.99986218e-01 -3.32302632e-03 -4.06473048e-03 2.87094754e+01] [ 3.33483590e-03 9.99990228e-01 2.90205861e-03 -3.86165431e-01] [ 4.05504715e-03 -2.91557382e-03 9.99987528e-01 -9.13841229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839072329 meters 0.1116715395395343 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.39, Z:-0.91 [[ 9.99986036e-01 -3.10147817e-03 -4.27897400e-03 2.87101650e+01] [ 3.11482291e-03 9.99990296e-01 3.11554572e-03 -3.86531601e-01] [ 4.26926968e-03 -3.12883046e-03 9.99985992e-01 -9.14044951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86907232899999 meters 0.11877480039338363 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.39, Z:-0.91 [[ 9.99987496e-01 -2.46548076e-03 -4.35087555e-03 2.87106687e+01] [ 2.48334421e-03 9.99988491e-01 4.10509931e-03 -3.90321764e-01] [ 4.34070443e-03 -4.11585270e-03 9.99982109e-01 -9.14491111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89907232899999 meters 0.11204787042543193 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.39, Z:-0.92 [[ 9.99988239e-01 -2.08884392e-03 -4.37703659e-03 2.87110067e+01] [ 2.10988585e-03 9.99986214e-01 4.80825736e-03 -3.92623668e-01] [ 4.36693255e-03 -4.81743586e-03 9.99978861e-01 -9.15009975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92907232899999 meters 0.11137899952756175 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.39, Z:-0.92 [[ 9.99988523e-01 -1.90503429e-03 -4.39601241e-03 2.87110891e+01] [ 1.92775052e-03 9.99984782e-01 5.16902322e-03 -3.93982633e-01] [ 4.38609835e-03 -5.17743831e-03 9.99976978e-01 -9.15111511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959072328999994 meters 0.11214958614339915 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.40, Z:-0.91 [[ 9.99988238e-01 -1.72196307e-03 -4.53411376e-03 2.87111669e+01] [ 1.74678917e-03 9.99983475e-01 5.47714787e-03 -3.95581815e-01] [ 4.52460739e-03 -5.48500359e-03 9.99974721e-01 -9.14697775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989072328999995 meters 0.11737888293289162 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.40, Z:-0.91 [[ 9.99987394e-01 -1.71065002e-03 -4.72068653e-03 2.87113042e+01] [ 1.73612110e-03 9.99983930e-01 5.39681742e-03 -3.95779270e-01] [ 4.71137861e-03 -5.40494508e-03 9.99974294e-01 -9.14175975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019072329 meters 0.11361745914204617 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.40, Z:-0.91 [[ 9.99986695e-01 -1.62282227e-03 -4.89657125e-03 2.87116619e+01] [ 1.64944422e-03 9.99983855e-01 5.43772445e-03 -3.96004981e-01] [ 4.88766773e-03 -5.44572872e-03 9.99973227e-01 -9.14070998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049072329 meters 0.10862903934307516 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.40, Z:-0.91 [[ 9.99985834e-01 -1.39640255e-03 -5.13630034e-03 2.87123411e+01] [ 1.42556941e-03 9.99982856e-01 5.67930276e-03 -3.96641051e-01] [ 5.12828169e-03 -5.68654446e-03 9.99970682e-01 -9.14238108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07907232899999 meters 0.10730011713074127 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.40, Z:-0.92 [[ 9.99984725e-01 -6.48695419e-04 -5.48889750e-03 2.87137692e+01] [ 6.85426244e-04 9.99977369e-01 6.69260743e-03 -3.99655315e-01] [ 5.48443182e-03 -6.69626744e-03 9.99962540e-01 -9.15132396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10907232899999 meters 0.1072216956615005 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.40, Z:-0.91 [[ 9.99968949e-01 -4.89794801e-03 -6.17335296e-03 2.87149618e+01] [ 4.91002566e-03 9.99986059e-01 1.94278116e-03 -3.98186530e-01] [ 6.16375125e-03 -1.97303216e-03 9.99979057e-01 -9.14363389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139072328999994 meters 0.10595805462754182 Centerline is valid? [False, False] Translation: X:28.72, Y:-0.40, Z:-0.91 [[ 9.99968339e-01 -4.72185473e-03 -6.40506652e-03 2.87155518e+01] [ 4.73519270e-03 9.99986649e-01 2.06884532e-03 -3.98446091e-01] [ 6.39521222e-03 -2.09910905e-03 9.99977347e-01 -9.14380059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169072328999995 meters 0.10393645248592492 Centerline is valid? [False, False] Translation: X:28.72, Y:-0.40, Z:-0.91 [[ 9.99965203e-01 -4.48077496e-03 -7.03670269e-03 2.87168433e+01] [ 4.49420032e-03 9.99988109e-01 1.89325249e-03 -3.97726046e-01] [ 7.02813578e-03 -1.92481096e-03 9.99973450e-01 -9.13945025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199072328999996 meters 0.10393645248592492 Centerline is valid? [False, False] Translation: X:28.72, Y:-0.40, Z:-0.91 [[ 9.99965203e-01 -4.48077496e-03 -7.03670269e-03 2.87168433e+01] [ 4.49420032e-03 9.99988109e-01 1.89325249e-03 -3.97726046e-01] [ 7.02813578e-03 -1.92481096e-03 9.99973450e-01 -9.13945025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229072329 meters 0.10231905858435186 Centerline is valid? [False, False] Translation: X:28.72, Y:-0.40, Z:-0.91 [[ 9.99964803e-01 -4.10092378e-03 -7.31951629e-03 2.87180139e+01] [ 4.11769828e-03 9.99988927e-01 2.27815288e-03 -3.98165915e-01] [ 7.31009271e-03 -2.30821226e-03 9.99970617e-01 -9.14710101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25907232899999 meters 0.10239106817801667 Centerline is valid? [False, False] Translation: X:28.72, Y:-0.40, Z:-0.91 [[ 9.99964015e-01 -3.92265748e-03 -7.52200979e-03 2.87186840e+01] [ 3.94084292e-03 9.99989344e-01 2.40433450e-03 -3.98303359e-01] [ 7.51249826e-03 -2.43389104e-03 9.99968819e-01 -9.14999100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28907232899999 meters 0.1003110987509369 Centerline is valid? [False, False] Translation: X:28.72, Y:-0.40, Z:-0.91 [[ 9.99960472e-01 -3.79538300e-03 -8.04051442e-03 2.87196551e+01] [ 3.81217208e-03 9.99990583e-01 2.07376432e-03 -3.97336556e-01] [ 8.03256798e-03 -2.10433417e-03 9.99965524e-01 -9.14456302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319072328999994 meters 0.0993989973607143 Centerline is valid? [False, True] Translation: X:28.72, Y:-0.40, Z:-0.91 [[ 9.99958617e-01 -3.50825414e-03 -8.39387028e-03 2.87207144e+01] [ 3.52709712e-03 9.99991291e-01 2.23110139e-03 -3.97290925e-01] [ 8.38596990e-03 -2.26061505e-03 9.99962282e-01 -9.14745110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.349072328999995 meters 0.09827972055292367 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.40, Z:-0.91 [[ 9.99966993e-01 -1.06266911e-03 -8.05498096e-03 2.87510396e+01] [ 1.06669829e-03 9.99999308e-01 4.95930179e-04 -3.96602130e-01] [ 8.05444837e-03 -5.04506044e-04 9.99967435e-01 -9.14067257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379072328999996 meters 0.09318583888362487 Centerline is valid? [True, True] Translation: X:28.78, Y:-0.39, Z:-0.91 [[ 9.99972797e-01 2.49924338e-03 -6.93964231e-03 2.87820290e+01] [-2.49633760e-03 9.99996793e-01 4.27352142e-04 -3.88872049e-01] [ 6.94068811e-03 -4.10016826e-04 9.99975829e-01 -9.11964218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409072329 meters 0.09252552128455928 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.39, Z:-0.91 [[ 9.99972156e-01 3.44127796e-03 -6.62149902e-03 2.88104735e+01] [-3.43866363e-03 9.99994005e-01 4.06168953e-04 -3.90035365e-01] [ 6.62285707e-03 -3.83388535e-04 9.99977995e-01 -9.12379202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43907232899999 meters 0.09129606581898018 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.39, Z:-0.91 [[ 9.99972039e-01 3.90527671e-03 -6.37736298e-03 2.88392006e+01] [-3.90286427e-03 9.99992307e-01 3.90683117e-04 -3.89197399e-01] [ 6.37883964e-03 -3.65782211e-04 9.99979588e-01 -9.12025282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46907232899999 meters 0.09206662437366733 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.39, Z:-0.91 [[ 9.99967774e-01 3.66890742e-03 -7.14071818e-03 2.88665422e+01] [-3.66588232e-03 9.99993185e-01 4.36683122e-04 -3.92595091e-01] [ 7.14227167e-03 -4.10492017e-04 9.99974409e-01 -9.12500563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49907232899999 meters 0.0928099466994997 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.40, Z:-0.91 [[ 9.99971965e-01 2.86659745e-03 -6.91746367e-03 2.88935300e+01] [-2.86374622e-03 9.99995810e-01 4.22047212e-04 -3.97291487e-01] [ 6.91864452e-03 -4.02225520e-04 9.99975985e-01 -9.13817254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.529072328999995 meters 0.09327842506355383 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.40, Z:-0.91 [[ 9.99978483e-01 2.02671397e-03 -6.23908959e-03 2.89214989e+01] [-2.02438092e-03 9.99997879e-01 3.80233810e-04 -4.02568080e-01] [ 6.23984698e-03 -3.67595335e-04 9.99980464e-01 -9.14309569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559072328999996 meters 0.09469325310854966 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.41, Z:-0.91 [[ 9.99986433e-01 -8.47618073e-04 -5.13968468e-03 2.89506855e+01] [ 8.49241705e-04 9.99999590e-01 3.13726965e-04 -4.11709746e-01] [ 5.13941666e-03 -3.18087543e-04 9.99986743e-01 -9.14534834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589072329 meters 0.09450309123431404 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.41, Z:-0.91 [[ 9.99979646e-01 -2.96799253e-03 -5.64797327e-03 2.89799730e+01] [ 2.96998368e-03 9.99995530e-01 3.44187706e-04 -4.14059125e-01] [ 5.64692648e-03 -3.60955088e-04 9.99983991e-01 -9.14780222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61907232899999 meters 0.09483367481249219 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.42, Z:-0.91 [[ 9.99960480e-01 -5.65604423e-03 -6.85910640e-03 2.90098662e+01] [ 5.65904833e-03 9.99983900e-01 4.18644404e-04 -4.18238448e-01] [ 6.85662810e-03 -4.57443874e-04 9.99976388e-01 -9.14861034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64907232899999 meters 0.10038302833830025 Centerline is valid? [True, False] Translation: X:29.01, Y:-0.42, Z:-0.92 [[ 9.99964012e-01 -5.14436420e-03 -6.74610112e-03 2.90102651e+01] [ 5.15538631e-03 9.99985403e-01 1.61747768e-03 -4.21423135e-01] [ 6.73768175e-03 -1.65219823e-03 9.99975937e-01 -9.16077313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67907232899999 meters 0.10024180978176148 Centerline is valid? [False, False] Translation: X:29.01, Y:-0.43, Z:-0.92 [[ 9.99969544e-01 -4.93586875e-03 -6.04546661e-03 2.90089471e+01] [ 4.95478314e-03 9.99982865e-01 3.11771884e-03 -4.27798187e-01] [ 6.02997437e-03 -3.14757786e-03 9.99976866e-01 -9.16659117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.709072328999994 meters 0.1062623010839331 Centerline is valid? [False, False] Translation: X:29.01, Y:-0.43, Z:-0.92 [[ 9.99972164e-01 -4.98361416e-03 -5.55299258e-03 2.90075602e+01] [ 5.00428775e-03 9.99980577e-01 3.71530860e-03 -4.31152038e-01] [ 5.53436906e-03 -3.74299395e-03 9.99977680e-01 -9.16376609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739072328999995 meters 0.10304586633106105 Centerline is valid? [False, False] Translation: X:29.01, Y:-0.43, Z:-0.92 [[ 9.99975088e-01 -4.59400985e-03 -5.35903717e-03 2.90073673e+01] [ 4.61943027e-03 9.99978093e-01 4.74077284e-03 -4.34674557e-01] [ 5.33714061e-03 -4.76541044e-03 9.99974403e-01 -9.16849647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769072329 meters 0.10745004028679742 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.44, Z:-0.92 [[ 9.99977031e-01 -4.94544639e-03 -4.63469095e-03 2.90049031e+01] [ 4.96978769e-03 9.99973841e-01 5.25526166e-03 -4.38832774e-01] [ 4.60858009e-03 -5.27817438e-03 9.99975451e-01 -9.15564587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799072329 meters 0.10820080041771404 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.44, Z:-0.92 [[ 9.99978001e-01 -4.92049303e-03 -4.44817239e-03 2.90042155e+01] [ 4.94552251e-03 9.99971902e-01 5.63353571e-03 -4.40769294e-01] [ 4.42032763e-03 -5.65541031e-03 9.99974238e-01 -9.15184859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82907232899999 meters 0.10997642473522425 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99981109e-01 -4.61488597e-03 -4.06016688e-03 2.90035183e+01] [ 4.64262115e-03 9.99965773e-01 6.84834659e-03 -4.45454725e-01] [ 4.02842357e-03 -6.86706703e-03 9.99968307e-01 -9.15505254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85907232899999 meters 0.1144526486800137 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99982689e-01 -4.44279166e-03 -3.85789438e-03 2.90031456e+01] [ 4.47147089e-03 9.99962196e-01 7.45738023e-03 -4.47800101e-01] [ 3.82461695e-03 -7.47450159e-03 9.99964751e-01 -9.15774504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.889072328999994 meters 0.11634935390797077 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99956365e-01 -8.29458042e-03 -4.29746667e-03 2.90046391e+01] [ 8.31031812e-03 9.99958781e-01 3.65726556e-03 -4.48750837e-01] [ 4.26695404e-03 -3.69281929e-03 9.99984078e-01 -9.16392645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919072328999995 meters 0.11952781784483557 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99959698e-01 -8.25702858e-03 -3.52466260e-03 2.90027106e+01] [ 8.27385299e-03 9.99954319e-01 4.78575135e-03 -4.54602413e-01] [ 3.48498551e-03 -4.81472102e-03 9.99982337e-01 -9.16085753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949072328999996 meters 0.1137392783230069 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.46, Z:-0.92 [[ 9.99960928e-01 -8.14964901e-03 -3.42423839e-03 2.90022782e+01] [ 8.16747785e-03 9.99952993e-01 5.22534079e-03 -4.56565541e-01] [ 3.38149273e-03 -5.25310401e-03 9.99980485e-01 -9.15776921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979072329 meters 0.11585746393805364 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.46, Z:-0.92 [[ 9.99960661e-01 -8.21201497e-03 -3.35238189e-03 2.90017280e+01] [ 8.22976482e-03 9.99952006e-01 5.31569447e-03 -4.57543662e-01] [ 3.30856843e-03 -5.34307467e-03 9.99980252e-01 -9.15173169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00907232899999 meters 0.12024700324058699 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.46, Z:-0.92 [[ 9.99962850e-01 -7.90568012e-03 -3.43496725e-03 2.90022473e+01] [ 7.92556702e-03 9.99951684e-01 5.81503024e-03 -4.58711436e-01] [ 3.38882952e-03 -5.84203828e-03 9.99977193e-01 -9.15675207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03907232899999 meters 0.1147680955819224 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99984983e-01 -2.66637789e-03 4.78787600e-03 2.89895990e+01] [ 2.65695218e-03 9.99994522e-01 1.97394488e-03 -4.61090418e-01] [-4.79311306e-03 -1.96119408e-03 9.99986590e-01 -9.19428919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.069072328999994 meters 0.113222136810385 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99987113e-01 -2.24096303e-03 4.55549419e-03 2.89906687e+01] [ 2.22950228e-03 9.99994341e-01 2.51933097e-03 -4.62086967e-01] [-4.56111414e-03 -2.50914202e-03 9.99986450e-01 -9.20288738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099072328999995 meters 0.11230006255684978 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99989319e-01 -1.94137426e-03 4.19451337e-03 2.89919017e+01] [ 1.93013003e-03 9.99994538e-01 2.68308695e-03 -4.61991412e-01] [-4.19969934e-03 -2.67496234e-03 9.99987603e-01 -9.20951224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129072328999996 meters 0.11267773947299271 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99990905e-01 -1.64857209e-03 3.93333748e-03 2.89930396e+01] [ 1.63696810e-03 9.99994304e-01 2.95155949e-03 -4.61900003e-01] [-3.93818093e-03 -2.94509390e-03 9.99987909e-01 -9.21796171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159072329 meters 0.11126166703146195 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99991677e-01 -1.80186752e-03 3.66036676e-03 2.89932336e+01] [ 1.79302084e-03 9.99995467e-01 2.41872964e-03 -4.60601228e-01] [-3.66470840e-03 -2.41214639e-03 9.99990376e-01 -9.21025592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18907232899999 meters 0.12204950757380063 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99992569e-01 -1.80674588e-03 3.40562534e-03 2.89936270e+01] [ 1.79931382e-03 9.99995996e-01 2.18409277e-03 -4.59918228e-01] [-3.40955780e-03 -2.17794875e-03 9.99991816e-01 -9.20656616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21907232899999 meters 0.10525455396579782 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99994042e-01 -1.64704633e-03 3.03377213e-03 2.89946203e+01] [ 1.64060794e-03 9.99996400e-01 2.12350651e-03 -4.59173709e-01] [-3.03725872e-03 -2.11851663e-03 9.99993143e-01 -9.20810500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24907232899999 meters 0.10465078398531644 Centerline is valid? [False, False] Translation: X:28.99, Y:-0.46, Z:-0.92 [[ 9.99994428e-01 -1.83466264e-03 2.78890432e-03 2.89947261e+01] [ 1.83017871e-03 9.99997030e-01 1.60947859e-03 -4.57935713e-01] [-2.79184888e-03 -1.60436542e-03 9.99994816e-01 -9.20028281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279072328999995 meters 0.10406938420406853 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.46, Z:-0.92 [[ 9.99996553e-01 -1.55229448e-03 2.11742163e-03 2.89964420e+01] [ 1.54917903e-03 9.99997716e-01 1.47218776e-03 -4.56462850e-01] [-2.11970206e-03 -1.46890242e-03 9.99996675e-01 -9.20257190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309072328999996 meters 0.1035739637395757 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.46, Z:-0.92 [[ 9.99997739e-01 -1.29349028e-03 1.68757274e-03 2.89978602e+01] [ 1.29098342e-03 9.99998063e-01 1.48573033e-03 -4.55437567e-01] [-1.68949125e-03 -1.48354834e-03 9.99997472e-01 -9.20861568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339072329 meters 0.10304899983160727 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99998108e-01 -1.34968838e-03 1.40096560e-03 2.89984546e+01] [ 1.34813346e-03 9.99998475e-01 1.11024068e-03 -4.54068553e-01] [-1.40246194e-03 -1.10834989e-03 9.99998402e-01 -9.20726955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36907232899999 meters 0.10236304465975521 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99999182e-01 -7.99577920e-04 9.98531843e-04 2.90002266e+01] [ 7.97954141e-04 9.99998360e-01 1.62550768e-03 -4.54339275e-01] [-9.99829926e-04 -1.62470957e-03 9.99998180e-01 -9.22018804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39907232899999 meters 0.1019859517111844 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99999590e-01 -5.69119556e-04 7.04692044e-04 2.90012672e+01] [ 5.67928938e-04 9.99998413e-01 1.68860615e-03 -4.54072468e-01] [-7.05651944e-04 -1.68820524e-03 9.99998326e-01 -9.22595091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42907232899999 meters 0.10195119151142878 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99999807e-01 -4.11205971e-04 4.66637042e-04 2.90020555e+01] [ 4.10387422e-04 9.99998379e-01 1.75288850e-03 -4.53782132e-01] [-4.67357084e-04 -1.75269665e-03 9.99998355e-01 -9.22937555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459072328999994 meters 0.1008891667485499 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99999994e-01 -4.50088108e-05 9.74470335e-05 2.90036150e+01] [ 4.48151524e-05 9.99998026e-01 1.98641026e-03 -4.53083548e-01] [-9.75362471e-05 -1.98640588e-03 9.99998022e-01 -9.23978634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489072328999995 meters 0.10260751085117828 Centerline is valid? [False, False] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99999972e-01 -2.06812727e-04 1.14407013e-04 2.90034156e+01] [ 2.06615149e-04 9.99998492e-01 1.72429761e-03 -4.52401161e-01] [-1.14763448e-04 -1.72427392e-03 9.99998507e-01 -9.23722981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519072329 meters 0.09698224095988889 Centerline is valid? [False, True] Translation: X:29.00, Y:-0.45, Z:-0.92 [[ 9.99999978e-01 -2.07449438e-04 3.56341470e-05 2.90035478e+01] [ 2.07389564e-04 9.99998580e-01 1.67212758e-03 -4.52175437e-01] [-3.59809784e-05 -1.67212015e-03 9.99998601e-01 -9.23607400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549072329 meters 0.09696598203458025 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.45, Z:-0.92 [[ 9.99999218e-01 -8.42654647e-04 9.23886260e-04 2.90344675e+01] [ 8.42715387e-04 9.99999643e-01 -6.53570878e-05 -4.51329068e-01] [-9.23830856e-04 6.61356099e-05 9.99999571e-01 -9.21986843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57907232899999 meters 0.09694210173694892 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.45, Z:-0.92 [[ 9.99998635e-01 -1.01577254e-03 1.30329973e-03 2.90653680e+01] [ 1.01589258e-03 9.99999480e-01 -9.14441949e-05 -4.53657995e-01] [-1.30320616e-03 9.27680826e-05 9.99999147e-01 -9.23625339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60907232899999 meters 0.09747819300053372 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.46, Z:-0.93 [[ 9.99997299e-01 -1.92970776e-03 1.29531536e-03 2.90962198e+01] [ 1.92982714e-03 9.99998134e-01 -9.09249362e-05 -4.58001607e-01] [-1.29513748e-03 9.34244253e-05 9.99999157e-01 -9.26148601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639072328999994 meters 0.0989896729945765 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.46, Z:-0.93 [[ 9.99992104e-01 -3.91567970e-03 6.77182727e-04 2.91269473e+01] [ 3.91571281e-03 9.99992332e-01 -4.75678666e-05 -4.64304389e-01] [-6.76991274e-04 5.02191441e-05 9.99999770e-01 -9.29446788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669072328999995 meters 0.1011390031852647 Centerline is valid? [True, False] Translation: X:29.13, Y:-0.46, Z:-0.93 [[ 9.99992556e-01 -3.81747950e-03 5.61368279e-04 2.91274174e+01] [ 3.81746849e-03 9.99992713e-01 2.06815716e-05 -4.64087317e-01] [-5.61443140e-04 -1.85384119e-05 9.99999842e-01 -9.29723249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699072328999996 meters 0.10085058889139013 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.46, Z:-0.93 [[ 9.99992410e-01 -3.87110562e-03 4.41305669e-04 2.91276638e+01] [ 3.87118189e-03 9.99992492e-01 -1.72118478e-04 -4.63220210e-01] [-4.40636067e-04 1.73825546e-04 9.99999888e-01 -9.29599914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729072329 meters 0.10084935782482497 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.46, Z:-0.93 [[ 9.99992096e-01 -3.96211324e-03 3.30180564e-04 2.91277826e+01] [ 3.96224619e-03 9.99992069e-01 -4.02993898e-04 -4.62415819e-01] [-3.28581238e-04 4.04298969e-04 9.99999864e-01 -9.29308740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75907232899999 meters 0.10351639227636131 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.46, Z:-0.93 [[ 9.99992327e-01 -3.90034842e-03 3.64760048e-04 2.91278215e+01] [ 3.90043299e-03 9.99992367e-01 -2.31432654e-04 -4.62712407e-01] [-3.63854596e-04 2.32853601e-04 9.99999907e-01 -9.29489082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78907232899999 meters 0.1068144549391144 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.46, Z:-0.93 [[ 9.99994036e-01 -3.43347866e-03 3.74124209e-04 2.91285139e+01] [ 3.43324610e-03 9.99993914e-01 6.20475817e-04 -4.64584887e-01] [-3.76252322e-04 -6.19187656e-04 9.99999738e-01 -9.30712071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819072328999994 meters 0.1055805928202726 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.47, Z:-0.93 [[ 9.99995757e-01 -2.88511022e-03 4.02530626e-04 2.91292407e+01] [ 2.88444923e-03 9.99994506e-01 1.63313247e-03 -4.66934233e-01] [-4.07240182e-04 -1.63196446e-03 9.99998585e-01 -9.32085406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.849072328999995 meters 0.1099517089356692 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.47, Z:-0.93 [[ 9.99996092e-01 -2.63671314e-03 9.29658848e-04 2.91284823e+01] [ 2.63422859e-03 9.99992983e-01 2.66371806e-03 -4.70420951e-01] [-9.36675785e-04 -2.66125872e-03 9.99996020e-01 -9.32931021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879072328999996 meters 0.10958848259028658 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.47, Z:-0.93 [[ 9.99996568e-01 -2.42189880e-03 9.99406286e-04 2.91286588e+01] [ 2.41873143e-03 9.99992087e-01 3.15839034e-03 -4.71516360e-01] [-1.00704768e-03 -3.15596220e-03 9.99994513e-01 -9.33499756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909072329 meters 0.11438659247635607 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.47, Z:-0.93 [[ 9.99995877e-01 -2.56651594e-03 1.28834677e-03 2.91279869e+01] [ 2.56217680e-03 9.99991078e-01 3.35841793e-03 -4.72006844e-01] [-1.29695470e-03 -3.35510311e-03 9.99993531e-01 -9.33563286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93907232899999 meters 0.11522641056527666 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.47, Z:-0.93 [[ 9.99996029e-01 -2.47607301e-03 1.34557705e-03 2.91279819e+01] [ 2.47115027e-03 9.99990293e-01 3.64789430e-03 -4.72874216e-01] [-1.35459644e-03 -3.64455469e-03 9.99992441e-01 -9.33834062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96907232899999 meters 0.11707042172734428 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.47, Z:-0.93 [[ 9.99996666e-01 -2.18688312e-03 1.37299225e-03 2.91281912e+01] [ 2.18097569e-03 9.99988422e-01 4.28944986e-03 -4.74805720e-01] [-1.38235688e-03 -4.28644110e-03 9.99989858e-01 -9.34373446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99907232899999 meters 0.11876996135073184 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.48, Z:-0.94 [[ 9.99981613e-01 -5.99755742e-03 8.95968623e-04 2.91298810e+01] [ 5.99713258e-03 9.99981904e-01 4.76109652e-04 -4.75370826e-01] [-8.98807905e-04 -4.70727655e-04 9.99999485e-01 -9.35210635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.029072328999995 meters 0.123010449052645 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.48, Z:-0.94 [[ 9.99979338e-01 -6.20094741e-03 1.69477252e-03 2.91278831e+01] [ 6.19913031e-03 9.99980207e-01 1.07534200e-03 -4.78786247e-01] [-1.70140711e-03 -1.06481366e-03 9.99997986e-01 -9.35021162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059072328999996 meters 0.11330912236521087 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.48, Z:-0.94 [[ 9.99979472e-01 -6.11528413e-03 1.91273588e-03 2.91274459e+01] [ 6.11246860e-03 9.99980232e-01 1.47439008e-03 -4.80190594e-01] [-1.92171438e-03 -1.46266827e-03 9.99997084e-01 -9.35150660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089072329 meters 0.11717981280415274 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.48, Z:-0.94 [[ 9.99979592e-01 -5.97675478e-03 2.25690964e-03 2.91269852e+01] [ 5.97184244e-03 9.99979799e-01 2.17707812e-03 -4.82199422e-01] [-2.26987591e-03 -2.16355579e-03 9.99995083e-01 -9.35754099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11907232899999 meters 0.11717981280415274 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.48, Z:-0.94 [[ 9.99979592e-01 -5.97675478e-03 2.25690964e-03 2.91269852e+01] [ 5.97184244e-03 9.99979799e-01 2.17707812e-03 -4.82199422e-01] [-2.26987591e-03 -2.16355579e-03 9.99995083e-01 -9.35754099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14907232899999 meters 0.1256181999998122 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.48, Z:-0.94 [[ 9.99980439e-01 -5.80920452e-03 2.31843057e-03 2.91271064e+01] [ 5.80320009e-03 9.99979812e-01 2.58824675e-03 -4.83403170e-01] [-2.33341942e-03 -2.57474181e-03 9.99993963e-01 -9.36274681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17907232899999 meters 0.11712135893166838 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.48, Z:-0.94 [[ 9.99982907e-01 -5.39319361e-03 2.25801376e-03 2.91278871e+01] [ 5.38570129e-03 9.99980015e-01 3.31113738e-03 -4.84861805e-01] [-2.27582624e-03 -3.29891980e-03 9.99991969e-01 -9.37377921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.209072328999994 meters 0.12122635273995883 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.49, Z:-0.94 [[ 9.99983309e-01 -5.25790573e-03 2.39503161e-03 2.91277342e+01] [ 5.24896192e-03 9.99979285e-01 3.72541844e-03 -4.86063526e-01] [-2.41456989e-03 -3.71278483e-03 9.99990192e-01 -9.37680817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239072328999995 meters 0.12298392673476466 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.49, Z:-0.94 [[ 9.99982520e-01 -5.34353193e-03 2.53088886e-03 2.91270222e+01] [ 5.33405234e-03 9.99978789e-01 3.73761231e-03 -4.86880352e-01] [-2.55080723e-03 -3.72404708e-03 9.99989812e-01 -9.37036875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269072329 meters 0.1377953480810629 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.49, Z:-0.94 [[ 9.99980929e-01 -5.38973235e-03 3.01548297e-03 2.91256534e+01] [ 5.37689577e-03 9.99976518e-01 4.24892408e-03 -4.89721626e-01] [-3.03831272e-03 -4.23262910e-03 9.99986427e-01 -9.36617749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299072329 meters 0.14645863045158647 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.49, Z:-0.94 [[ 9.99982005e-01 -5.16941983e-03 3.04429236e-03 2.91258506e+01] [ 5.15497985e-03 9.99975516e-01 4.73219205e-03 -4.90976230e-01] [-3.06868051e-03 -4.71641362e-03 9.99984169e-01 -9.37097736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32907232899999 meters 0.14146324327238124 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.49, Z:-0.94 [[ 9.99983292e-01 -4.91642226e-03 3.04044078e-03 2.91261633e+01] [ 4.90048096e-03 9.99974324e-01 5.22849759e-03 -4.92240232e-01] [-3.06606822e-03 -5.21351061e-03 9.99981709e-01 -9.37625786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35907232899999 meters 0.144825518729432 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.49, Z:-0.94 [[ 9.99984807e-01 -4.63022394e-03 2.99113802e-03 2.91265594e+01] [ 4.61282417e-03 9.99972552e-01 5.79804807e-03 -4.93761965e-01] [-3.01790218e-03 -5.78416238e-03 9.99978718e-01 -9.38167009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.389072328999994 meters 0.1274631943401359 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.50, Z:-0.94 [[ 9.99983059e-01 -4.70899957e-03 3.42144708e-03 2.91252259e+01] [ 4.68753754e-03 9.99969457e-01 6.25396496e-03 -4.96705936e-01] [-3.45079250e-03 -6.23782085e-03 9.99974590e-01 -9.37751134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419072328999995 meters 0.12864867382685263 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.50, Z:-0.94 [[ 9.99982542e-01 -4.77847882e-03 3.47590261e-03 2.91247301e+01] [ 4.75663669e-03 9.99969060e-01 6.26522913e-03 -4.97394612e-01] [-3.50573334e-03 -6.24858614e-03 9.99974332e-01 -9.37192918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449072328999996 meters 0.13225420939563368 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.50, Z:-0.94 [[ 9.99983175e-01 -4.73436420e-03 3.35207873e-03 2.91246710e+01] [ 4.71314853e-03 9.99968991e-01 6.30897097e-03 -4.98009995e-01] [-3.38184376e-03 -6.29306597e-03 9.99974480e-01 -9.36623950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479072329 meters 0.13245716061148147 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.50, Z:-0.94 [[ 9.99982592e-01 -4.82029974e-03 3.40314281e-03 2.91240633e+01] [ 4.79891154e-03 9.99968858e-01 6.26527627e-03 -4.98669760e-01] [-3.43323734e-03 -6.24883582e-03 9.99974582e-01 -9.35844237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50907232899999 meters 0.13303038052196536 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.50, Z:-0.94 [[ 9.99984460e-01 -4.39471229e-03 3.43033781e-03 2.91240339e+01] [ 4.37007524e-03 9.99964840e-01 7.15686048e-03 -5.01889070e-01] [-3.46166954e-03 -7.14175842e-03 9.99968506e-01 -9.35993950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53907232899999 meters 0.13082871326840767 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.50, Z:-0.94 [[ 9.99985410e-01 -4.18001376e-03 3.42158311e-03 2.91242430e+01] [ 4.15384933e-03 9.99962351e-01 7.61859671e-03 -5.03265201e-01] [-3.45330012e-03 -7.60427281e-03 9.99965124e-01 -9.36391990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.569072328999994 meters 0.13151735322169303 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.50, Z:-0.94 [[ 9.99987290e-01 -3.83252213e-03 3.27593404e-03 2.91248623e+01] [ 3.80551571e-03 9.99959050e-01 8.21073917e-03 -5.04828766e-01] [-3.30726773e-03 -8.19816819e-03 9.99960925e-01 -9.36926021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599072328999995 meters 0.13097683548055442 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.51, Z:-0.94 [[ 9.99989115e-01 -3.26327302e-03 3.33493489e-03 2.91250972e+01] [ 3.23147963e-03 9.99949702e-01 9.49476719e-03 -5.09009417e-01] [-3.36575117e-03 -9.48388706e-03 9.99949363e-01 -9.37734266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629072328999996 meters 0.13013747278926435 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.51, Z:-0.94 [[ 9.99990263e-01 -2.91692919e-03 3.31150894e-03 2.91253313e+01] [ 2.88287680e-03 9.99943397e-01 1.02416642e-02 -5.11330351e-01] [-3.34119571e-03 -1.02320178e-02 9.99942069e-01 -9.38163815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659072329 meters 0.1369313269626367 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.51, Z:-0.94 [[ 9.99975263e-01 -6.57503938e-03 2.49853329e-03 2.91276774e+01] [ 6.55880996e-03 9.99957694e-01 6.44918623e-03 -5.11456291e-01] [-2.54083124e-03 -6.43263929e-03 9.99976082e-01 -9.38886706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68907232899999 meters 0.136297592136354 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.51, Z:-0.94 [[ 9.99949503e-01 -5.30966919e-04 1.00354523e-02 2.91153356e+01] [ 4.97666833e-04 9.99994363e-01 3.32045066e-03 -5.12277864e-01] [-1.00371588e-02 -3.31528868e-03 9.99944131e-01 -9.40937753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71907232899999 meters 0.12435570516013643 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.51, Z:-0.94 [[ 9.99950303e-01 -5.78950003e-04 9.95268844e-03 2.91151496e+01] [ 5.46364653e-04 9.99994483e-01 3.27643213e-03 -5.12654538e-01] [-9.95453042e-03 -3.27083150e-03 9.99945103e-01 -9.40345763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74907232899999 meters 0.12132002065194541 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.51, Z:-0.94 [[ 9.99951507e-01 -2.60006021e-04 9.84458536e-03 2.91156369e+01] [ 2.22306430e-04 9.99992639e-01 3.83037540e-03 -5.14076631e-01] [-9.84550882e-03 -3.82800114e-03 9.99944205e-01 -9.40790919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779072328999995 meters 0.12591879542481002 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99950795e-01 -3.67870712e-03 9.21276038e-03 2.91177224e+01] [ 3.67416738e-03 9.99993120e-01 5.09643612e-04 -5.16187004e-01] [-9.21457183e-03 -4.75769311e-04 9.99957432e-01 -9.41859344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809072328999996 meters 0.12349301661362178 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.93 [[ 9.99969539e-01 -4.10111415e-03 -6.64096646e-03 2.91186669e+01] [ 4.08440867e-03 9.99988466e-01 -2.52713154e-03 -5.16078725e-01] [ 6.65125392e-03 2.49993014e-03 9.99974755e-01 -9.33402117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839072329 meters 0.12050385707545984 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.93 [[ 9.99968726e-01 -3.60658908e-03 -7.03843547e-03 2.91200249e+01] [ 3.59321504e-03 9.99991717e-01 -1.91186561e-03 -5.17122856e-01] [ 7.04527248e-03 1.88651521e-03 9.99973402e-01 -9.34184392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86907232899999 meters 0.12048409130808173 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99966144e-01 -3.18798787e-03 -7.58598124e-03 2.91219474e+01] [ 3.17560147e-03 9.99993606e-01 -1.64428683e-03 -5.16329821e-01] [ 7.59117470e-03 1.62014111e-03 9.99969874e-01 -9.35184433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89907232899999 meters 0.13543881201517483 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99963676e-01 -2.82201019e-03 -8.04261741e-03 2.91236384e+01] [ 2.81071369e-03 9.99995048e-01 -1.41553776e-03 -5.15594770e-01] [ 8.04657225e-03 1.39288084e-03 9.99966656e-01 -9.36106703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92907232899999 meters 0.11816120661971762 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99962288e-01 -2.75476881e-03 -8.23616743e-03 2.91241181e+01] [ 2.74317749e-03 9.99995232e-01 -1.41833310e-03 -5.15320606e-01] [ 8.24003534e-03 1.39568634e-03 9.99965076e-01 -9.36130511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959072328999994 meters 0.11431560808721254 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99963989e-01 -2.27823712e-03 -8.17502872e-03 2.91241683e+01] [ 2.27402473e-03 9.99997277e-01 -5.24533241e-04 -5.18307994e-01] [ 8.17620147e-03 5.05924134e-04 9.99966446e-01 -9.36472868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989072328999995 meters 0.1193473330513417 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99965170e-01 -1.98718432e-03 -8.10614107e-03 2.91240782e+01] [ 1.98786304e-03 9.99998021e-01 7.56725360e-05 -5.20326148e-01] [ 8.10597466e-03 -9.17837985e-05 9.99967142e-01 -9.36622074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019072329 meters 0.11453275306952021 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99965639e-01 -2.01725145e-03 -8.04058777e-03 2.91235848e+01] [ 2.01859589e-03 9.99997950e-01 1.59095673e-04 -5.21210800e-01] [ 8.04025035e-03 -1.75320904e-04 9.99967661e-01 -9.36141299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.049072329 meters 0.11550224922871213 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.52, Z:-0.94 [[ 9.99965155e-01 -1.69262082e-03 -8.17463293e-03 2.91243005e+01] [ 1.69797073e-03 9.99998349e-01 6.47557073e-04 -5.22098457e-01] [ 8.17352336e-03 -6.61414796e-04 9.99966377e-01 -9.36801932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07907232899999 meters 0.1169146462990749 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.52, Z:-0.94 [[ 9.99964640e-01 -1.37053985e-03 -8.29699685e-03 2.91251952e+01] [ 1.38054478e-03 9.99998327e-01 1.20024271e-03 -5.22974607e-01] [ 8.29533798e-03 -1.21165464e-03 9.99964859e-01 -9.37902653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10907232899999 meters 0.11833072871117807 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.52, Z:-0.94 [[ 9.99965022e-01 -1.25001063e-03 -8.26990400e-03 2.91252737e+01] [ 1.26244096e-03 9.99998081e-01 1.49803146e-03 -5.23817959e-01] [ 8.26801557e-03 -1.50841932e-03 9.99964682e-01 -9.38172391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139072328999994 meters 0.12003912400858012 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.52, Z:-0.94 [[ 9.99965668e-01 -1.07398394e-03 -8.21637137e-03 2.91253565e+01] [ 1.08961373e-03 9.99997605e-01 1.89803334e-03 -5.24887342e-01] [ 8.21431324e-03 -1.90692085e-03 9.99964444e-01 -9.38521972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169072328999995 meters 0.1224201598410975 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.53, Z:-0.94 [[ 9.99952528e-01 -4.84308414e-03 -8.45501103e-03 2.91261919e+01] [ 4.83097472e-03 9.99987277e-01 -1.45205465e-03 -5.27610496e-01] [ 8.46193588e-03 1.41113978e-03 9.99963201e-01 -9.38986124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199072328999996 meters 0.12374618013775776 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.53, Z:-0.94 [[ 9.99956432e-01 -4.46708682e-03 -8.19631571e-03 2.91259237e+01] [ 4.46324781e-03 9.99989921e-01 -4.86612987e-04 -5.30847140e-01] [ 8.19840684e-03 4.50009598e-04 9.99966291e-01 -9.39610984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229072329 meters 0.1264755999416864 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.53, Z:-0.94 [[ 9.99960090e-01 -3.76203310e-03 -8.10339144e-03 2.91265496e+01] [ 3.76939643e-03 9.99992497e-01 8.93592048e-04 -5.34408095e-01] [ 8.09996891e-03 -9.24101280e-04 9.99966768e-01 -9.41063353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25907232899999 meters 0.13085805467154407 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.54, Z:-0.94 [[ 9.99964375e-01 -4.05519224e-03 -7.40291846e-03 2.91244968e+01] [ 4.06444504e-03 9.99990977e-01 1.23526887e-03 -5.37019069e-01] [ 7.39784241e-03 -1.26531362e-03 9.99971835e-01 -9.40345703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28907232899999 meters 0.1331812935537703 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.54, Z:-0.94 [[ 9.99965948e-01 -3.83005504e-03 -7.30986132e-03 2.91245607e+01] [ 3.84276773e-03 9.99991127e-01 1.72586237e-03 -5.38240571e-01] [ 7.30318631e-03 -1.75389370e-03 9.99971793e-01 -9.40737443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319072328999994 meters 0.1386838087109757 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.54, Z:-0.94 [[ 9.99970480e-01 -3.93429417e-03 -6.60006839e-03 2.91224785e+01] [ 3.95055328e-03 9.99989190e-01 2.45225035e-03 -5.43212306e-01] [ 6.59034917e-03 -2.47825188e-03 9.99975212e-01 -9.40003230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.349072328999995 meters 0.14114761963178052 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.55, Z:-0.94 [[ 9.99973275e-01 -3.60150462e-03 -6.36232745e-03 2.91221674e+01] [ 3.62278283e-03 9.99987873e-01 3.33605346e-03 -5.46370414e-01] [ 6.35023548e-03 -3.35901363e-03 9.99974195e-01 -9.40496028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379072328999996 meters 0.1436317842173456 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.55, Z:-0.94 [[ 9.99974394e-01 -3.52116774e-03 -6.23005820e-03 2.91218562e+01] [ 3.54405822e-03 9.99986996e-01 3.66698343e-03 -5.47726029e-01] [ 6.21706512e-03 -3.68896922e-03 9.99973869e-01 -9.40550234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409072329 meters 0.14533648829732884 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.55, Z:-0.94 [[ 9.99974710e-01 -3.33728673e-03 -6.28033926e-03 2.91222363e+01] [ 3.36212266e-03 9.99986554e-01 3.94815750e-03 -5.48171267e-01] [ 6.26707868e-03 -3.96917293e-03 9.99972484e-01 -9.40899909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43907232899999 meters 0.14881185965909144 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.55, Z:-0.94 [[ 9.99976481e-01 -3.31294389e-03 -6.00513359e-03 2.91214482e+01] [ 3.33855603e-03 9.99985353e-01 4.26004648e-03 -5.49552271e-01] [ 5.99093234e-03 -4.27999476e-03 9.99972895e-01 -9.40545045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46907232899999 meters 0.1508742092030701 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.55, Z:-0.94 [[ 9.99978126e-01 -3.27145134e-03 -5.74845013e-03 2.91206642e+01] [ 3.29789826e-03 9.99983994e-01 4.59726481e-03 -5.51279533e-01] [ 5.73331839e-03 -4.61612206e-03 9.99972910e-01 -9.40223077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49907232899999 meters 0.14141354431552483 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.55, Z:-0.94 [[ 9.99979635e-01 -3.29120714e-03 -5.46787538e-03 2.91197880e+01] [ 3.31760795e-03 9.99982850e-01 4.82631648e-03 -5.52751402e-01] [ 5.45189720e-03 -4.84435846e-03 9.99973404e-01 -9.39888266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.529072328999995 meters 0.13014922722933292 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.55, Z:-0.94 [[ 9.99980898e-01 -3.03863513e-03 -5.38248318e-03 2.91198272e+01] [ 3.06749124e-03 9.99980925e-01 5.36099655e-03 -5.54343040e-01] [ 5.36609039e-03 -5.37740486e-03 9.99971144e-01 -9.40285107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559072328999996 meters 0.13473339412234872 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99982538e-01 -2.81505822e-03 -5.19604346e-03 2.91199624e+01] [ 2.84555342e-03 9.99978717e-01 5.87089314e-03 -5.55769021e-01] [ 5.17940597e-03 -5.88557624e-03 9.99969266e-01 -9.41225669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589072329 meters 0.1324987162959618 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99982829e-01 -2.62368708e-03 -5.23996780e-03 2.91205884e+01] [ 2.65595085e-03 9.99977501e-01 6.15980874e-03 -5.56010730e-01] [ 5.22368849e-03 -6.17362006e-03 9.99967299e-01 -9.42076904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61907232899999 meters 0.13936175573355228 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99977680e-01 -3.86753719e-03 -5.44813707e-03 2.91235004e+01] [ 3.89413271e-03 9.99980513e-01 4.87946121e-03 -5.55804720e-01] [ 5.42915940e-03 -4.90056807e-03 9.99973254e-01 -9.44918314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64907232899999 meters 0.13962009436920558 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99978698e-01 -3.82214918e-03 -5.29097325e-03 2.91230136e+01] [ 3.84917550e-03 9.99979550e-01 5.10728040e-03 -5.56837014e-01] [ 5.27134426e-03 -5.12753749e-03 9.99972960e-01 -9.44713573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67907232899999 meters 0.1383625146145087 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99979681e-01 -3.77799480e-03 -5.13464399e-03 2.91223440e+01] [ 3.80555754e-03 9.99978346e-01 5.36886747e-03 -5.58325263e-01] [ 5.11424926e-03 -5.38829857e-03 9.99972405e-01 -9.44241779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.709072328999994 meters 0.14061172292620353 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99981198e-01 -3.70774189e-03 -4.88432639e-03 2.91215863e+01] [ 3.73588310e-03 9.99976403e-01 5.76506427e-03 -5.60160054e-01] [ 4.86283576e-03 -5.78320315e-03 9.99971453e-01 -9.44006136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739072328999995 meters 0.14214840011799149 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99983430e-01 -3.77004246e-03 -4.35048128e-03 2.91198910e+01] [ 3.79721937e-03 9.99973224e-01 6.25561541e-03 -5.63324794e-01] [ 4.32678086e-03 -6.27203148e-03 9.99970970e-01 -9.43344474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769072329 meters 0.15352226740474129 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.56, Z:-0.94 [[ 9.99984482e-01 -3.51848758e-03 -4.31918135e-03 2.91199392e+01] [ 3.54771376e-03 9.99970738e-01 6.77769327e-03 -5.64980876e-01] [ 4.29520773e-03 -6.79291132e-03 9.99967703e-01 -9.43618128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799072329 meters 0.14407978127317617 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.57, Z:-0.95 [[ 9.99963768e-01 -6.81515197e-03 -5.10062011e-03 2.91230411e+01] [ 6.83296099e-03 9.99970592e-01 3.48229734e-03 -5.65221212e-01] [ 5.07673772e-03 -3.51702351e-03 9.99980928e-01 -9.45610672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82907232899999 meters 0.14291355979009826 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.57, Z:-0.95 [[ 9.99964948e-01 -6.57023949e-03 -5.18993864e-03 2.91236332e+01] [ 6.59029518e-03 9.99970846e-01 3.85673647e-03 -5.65882801e-01] [ 5.16444766e-03 -3.89080451e-03 9.99979095e-01 -9.46252435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85907232899999 meters 0.14887753205065346 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.57, Z:-0.95 [[ 9.99996672e-01 -3.95001633e-04 2.54941377e-03 2.91114527e+01] [ 3.92854267e-04 9.99999568e-01 8.42743840e-04 -5.68454655e-01] [-2.54974555e-03 -8.41739487e-04 9.99996395e-01 -9.51304611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.889072328999994 meters 0.1358130745757833 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.57, Z:-0.95 [[ 9.99991622e-01 -3.61767024e-03 1.91521686e-03 2.91142827e+01] [ 3.62182622e-03 9.99991085e-01 -2.17097210e-03 -5.70182790e-01] [-1.90734592e-03 2.17789049e-03 9.99995809e-01 -9.53551321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919072328999995 meters 0.13756355160306138 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.57, Z:-0.95 [[ 9.99993012e-01 -3.12578717e-03 2.05061236e-03 2.91144302e+01] [ 3.12814808e-03 9.99994447e-01 -1.14912811e-03 -5.73306769e-01] [-2.04700904e-03 1.15553470e-03 9.99997237e-01 -9.54473855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949072328999996 meters 0.15065136516620373 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.58, Z:-0.96 [[ 9.99994503e-01 -2.36525115e-03 2.32389610e-03 2.91144297e+01] [ 2.36420271e-03 9.99997102e-01 4.53802533e-04 -5.78426226e-01] [-2.32496273e-03 -4.48305876e-04 9.99997197e-01 -9.55629240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979072329 meters 0.130491590344025 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.58, Z:-0.96 [[ 9.99994931e-01 -2.18685911e-03 2.31433965e-03 2.91146080e+01] [ 2.18509141e-03 9.99997319e-01 7.66056268e-04 -5.79175467e-01] [-2.31600870e-03 -7.60995341e-04 9.99997028e-01 -9.55889751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00907232899999 meters 0.130491590344025 Centerline is valid? [False, False] Translation: X:29.11, Y:-0.58, Z:-0.96 [[ 9.99994931e-01 -2.18685911e-03 2.31433965e-03 2.91146080e+01] [ 2.18509141e-03 9.99997319e-01 7.66056268e-04 -5.79175467e-01] [-2.31600870e-03 -7.60995341e-04 9.99997028e-01 -9.55889751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03907232899999 meters 0.1397641570571777 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.58, Z:-0.96 [[ 9.99995485e-01 -2.03045473e-03 2.21543408e-03 2.91150818e+01] [ 2.02832801e-03 9.99997480e-01 9.61781737e-04 -5.79256095e-01] [-2.21738135e-03 -9.57283767e-04 9.99997083e-01 -9.56236798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.069072329 meters 0.12505020574584044 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.58, Z:-0.96 [[ 9.99997406e-01 -1.37367215e-03 1.81711716e-03 2.91167510e+01] [ 1.37036774e-03 9.99997408e-01 1.81848892e-03 -5.80737031e-01] [-1.81961045e-03 -1.81599408e-03 9.99996696e-01 -9.57501900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099072329 meters 0.1372668946836776 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.58, Z:-0.96 [[ 9.99998154e-01 -7.69536859e-04 1.76053508e-03 2.91175480e+01] [ 7.64484909e-04 9.99995594e-01 2.86842908e-03 -5.83389585e-01] [-1.76273469e-03 -2.86707788e-03 9.99994336e-01 -9.58724061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.129072329 meters 0.13653290027289 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99998415e-01 -2.33194252e-04 1.76510150e-03 2.91180391e+01] [ 2.26399500e-04 9.99992568e-01 3.84871773e-03 -5.86130312e-01] [-1.76598588e-03 -3.84831201e-03 9.99991036e-01 -9.59691034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159072329 meters 0.13562655545295965 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99998252e-01 5.57345353e-05 1.86909244e-03 2.91178451e+01] [-6.42422821e-05 9.99989637e-01 4.55205525e-03 -5.88757523e-01] [-1.86881936e-03 -4.55216736e-03 9.99987893e-01 -9.59910840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.189072329 meters 0.13427512639215855 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99998464e-01 2.55449847e-05 1.75241319e-03 2.91179920e+01] [-3.34168630e-05 9.99989910e-01 4.49213964e-03 -5.88663877e-01] [-1.75228075e-03 -4.49219130e-03 9.99988375e-01 -9.59741301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219072329 meters 0.14925500099384578 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99998866e-01 6.96579977e-05 1.50429195e-03 2.91186440e+01] [-7.62646684e-05 9.99990351e-01 4.39227000e-03 -5.87909219e-01] [-1.50397148e-03 -4.39237974e-03 9.99989222e-01 -9.59826097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.249072329 meters 0.13251872521287908 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99999404e-01 -1.93733163e-04 1.07431038e-03 2.91188305e+01] [ 1.89715555e-04 9.99992994e-01 3.73855079e-03 -5.86485990e-01] [-1.07502713e-03 -3.73834475e-03 9.99992435e-01 -9.58558970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27907232899999 meters 0.12908523067330516 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99999555e-01 -9.52039475e-05 9.38386250e-04 2.91190207e+01] [ 9.15356899e-05 9.99992358e-01 3.90838070e-03 -5.87213370e-01] [-9.38751173e-04 -3.90829306e-03 9.99991922e-01 -9.58478823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30907232899999 meters 0.1377601671469693 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99994540e-01 -3.30426261e-03 -4.19705578e-05 2.91223941e+01] [ 3.30429062e-03 9.99994306e-01 6.85791774e-04 -5.87963352e-01] [ 3.97042827e-05 -6.85926713e-04 9.99999764e-01 -9.60544214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33907232899999 meters 0.12564632162611614 Centerline is valid? [False, False] Translation: X:29.12, Y:-0.59, Z:-0.96 [[ 9.99996554e-01 -2.51944576e-03 -7.37890529e-04 2.91248862e+01] [ 2.52054037e-03 9.99995719e-01 1.48626911e-03 -5.88911930e-01] [ 7.34142796e-04 -1.48812387e-03 9.99998623e-01 -9.62215853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36907232899999 meters 0.12542334462081461 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.59, Z:-0.96 [[ 9.99996363e-01 -2.42810951e-03 -1.17396938e-03 2.91261129e+01] [ 2.42962079e-03 9.99996219e-01 1.28761511e-03 -5.87439469e-01] [ 1.17083847e-03 -1.29046272e-03 9.99998482e-01 -9.62636584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39907232899999 meters 0.12391065646766906 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.59, Z:-0.96 [[ 9.99996549e-01 -1.86028189e-03 -1.85483499e-03 2.91284998e+01] [ 1.86330022e-03 9.99996941e-01 1.62687881e-03 -5.86421426e-01] [ 1.85180286e-03 -1.63032931e-03 9.99996956e-01 -9.63929330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.429072329 meters 0.12245743523406538 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.59, Z:-0.96 [[ 9.99996045e-01 -1.57402968e-03 -2.33095314e-03 2.91300188e+01] [ 1.57810274e-03 9.99997230e-01 1.74657178e-03 -5.85693722e-01] [ 2.32819753e-03 -1.75024336e-03 9.99995758e-01 -9.64665259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.459072329 meters 0.11781789917730284 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.59, Z:-0.96 [[ 9.99994315e-01 -1.24837595e-03 -3.13221154e-03 2.91316877e+01] [ 1.25387314e-03 9.99997676e-01 1.75369966e-03 -5.85282239e-01] [ 3.13001499e-03 -1.75761709e-03 9.99993557e-01 -9.64738998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.489072329 meters 0.11688138280138047 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.59, Z:-0.97 [[ 9.99993359e-01 -1.00360230e-03 -3.50351854e-03 2.91327441e+01] [ 1.01033260e-03 9.99997647e-01 1.91977016e-03 -5.85283873e-01] [ 3.50158361e-03 -1.92329713e-03 9.99992020e-01 -9.65159829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519072329 meters 0.11497676737431023 Centerline is valid? [False, False] Translation: X:29.13, Y:-0.58, Z:-0.96 [[ 9.99992105e-01 -1.16643615e-03 -3.79862798e-03 2.91329644e+01] [ 1.17216677e-03 9.99998178e-01 1.50672583e-03 -5.84293325e-01] [ 3.79686356e-03 -1.51116656e-03 9.99991650e-01 -9.64495440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.549072329 meters 0.09806005978871632 Centerline is valid? [False, True] Translation: X:29.13, Y:-0.58, Z:-0.96 [[ 9.99986154e-01 3.12810737e-03 -4.23165529e-03 2.91336216e+01] [-3.10470773e-03 9.99979917e-01 5.52497947e-03 -5.83382116e-01] [ 4.24885304e-03 -5.51176492e-03 9.99975784e-01 -9.64039411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579072329 meters 0.10795411035893562 Centerline is valid? [True, False] Translation: X:29.14, Y:-0.58, Z:-0.96 [[ 9.99985866e-01 -1.08196043e-03 -5.20542106e-03 2.91355343e+01] [ 1.08371244e-03 9.99999357e-01 3.33766001e-04 -5.79284144e-01] [ 5.20505659e-03 -3.39402463e-04 9.99986396e-01 -9.63844095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.609072329 meters 0.10598111742947017 Centerline is valid? [False, False] Translation: X:29.14, Y:-0.58, Z:-0.96 [[ 9.99983720e-01 -1.04164806e-03 -5.61026536e-03 2.91365942e+01] [ 1.04200620e-03 9.99999455e-01 6.09149490e-05 -5.77854333e-01] [ 5.61019885e-03 -6.67598886e-05 9.99984260e-01 -9.64171582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639072329 meters 0.10364028762063698 Centerline is valid? [False, False] Translation: X:29.14, Y:-0.58, Z:-0.97 [[ 9.99979948e-01 -4.35396711e-04 -6.31777345e-03 2.91391204e+01] [ 4.38104319e-04 9.99999813e-01 4.27192360e-04 -5.77185137e-01] [ 6.31758627e-03 -4.29951637e-04 9.99979951e-01 -9.65825791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66907232899999 meters 0.0955865648667382 Centerline is valid? [False, True] Translation: X:29.14, Y:-0.58, Z:-0.97 [[ 9.99977011e-01 2.49781664e-04 -6.77608639e-03 2.91412517e+01] [-2.41785749e-04 9.99999274e-01 1.18081322e-03 -5.77733765e-01] [ 6.77637641e-03 -1.17914772e-03 9.99976345e-01 -9.67539523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69907232899999 meters 0.09053832823681839 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.57, Z:-0.97 [[ 9.99975659e-01 2.89300201e-03 -6.34913242e-03 2.91718705e+01] [-2.89024009e-03 9.99995725e-01 4.44140640e-04 -5.69844747e-01] [ 6.35039018e-03 -4.25779312e-04 9.99979745e-01 -9.66314283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72907232899999 meters 0.09067821626297795 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.57, Z:-0.97 [[ 9.99963875e-01 5.66482594e-03 -6.33708670e-03 2.92002600e+01] [-5.66213456e-03 9.99983872e-01 4.42564416e-04 -5.72263107e-01] [ 6.33949154e-03 -4.06666991e-04 9.99979823e-01 -9.68015340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75907232899999 meters 0.08831111099350611 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.57, Z:-0.97 [[ 9.99903167e-01 1.13005452e-02 -8.12122581e-03 2.92299283e+01] [-1.12963070e-02 9.99936034e-01 5.67548948e-04 -5.65434902e-01] [ 8.12711994e-03 -4.75754130e-04 9.99966861e-01 -9.67156328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78907232899999 meters 0.08691988646473574 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.56, Z:-0.97 [[ 9.99857966e-01 1.46396925e-02 -8.35031148e-03 2.92600908e+01] [-1.46353287e-02 9.99892728e-01 5.83457267e-04 -5.61030241e-01] [ 8.35795736e-03 -4.61164843e-04 9.99964965e-01 -9.65377584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.819072329 meters 0.08262255407010713 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.55, Z:-0.96 [[ 9.99742508e-01 2.12331537e-02 -8.00445002e-03 2.92906938e+01] [-2.12293573e-02 9.99774476e-01 5.58970139e-04 -5.51103419e-01] [ 8.01451352e-03 -3.88896879e-04 9.99967808e-01 -9.61887854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.849072329 meters 0.08097175295411774 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.55, Z:-0.96 [[ 9.99693981e-01 2.39862474e-02 -6.05010817e-03 2.93210877e+01] [-2.39841294e-02 9.99712250e-01 4.22400859e-04 -5.49614214e-01] [ 6.05849907e-03 -2.77165019e-04 9.99981609e-01 -9.60728650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879072329 meters 0.08068233389933134 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.55, Z:-0.96 [[ 9.99643862e-01 2.61211427e-02 -5.46223907e-03 2.93487882e+01] [-2.61194555e-02 9.99658757e-01 3.80011785e-04 -5.51168890e-01] [ 5.47030146e-03 -2.37205738e-04 9.99985010e-01 -9.60431756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.909072329 meters 0.07963659989153131 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.55, Z:-0.96 [[ 9.99575713e-01 2.86089268e-02 -5.47026053e-03 2.93780800e+01] [-2.86072878e-02 9.99590656e-01 3.77658995e-04 -5.49588014e-01] [ 5.47882573e-03 -2.21009442e-04 9.99984967e-01 -9.60273015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939072329 meters 0.07820420800748035 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.54, Z:-0.96 [[ 9.99459167e-01 3.20336247e-02 -7.43108768e-03 2.94074401e+01] [-3.20306777e-02 9.99486753e-01 5.15292196e-04 -5.43667199e-01] [ 7.44378038e-03 -2.76990735e-04 9.99972256e-01 -9.60526275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.969072329 meters 0.07886465123179716 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.55, Z:-0.96 [[ 9.99411203e-01 3.32889628e-02 -8.31217556e-03 2.94350072e+01] [-3.32853259e-02 9.99445724e-01 5.75531916e-04 -5.47398685e-01] [ 8.32672719e-03 -2.98519572e-04 9.99965288e-01 -9.63043071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999072329 meters 0.07790025073154477 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.55, Z:-0.96 [[ 9.99370112e-01 3.44969739e-02 -8.32689106e-03 2.94635252e+01] [-3.44933993e-02 9.99404762e-01 5.72556591e-04 -5.46735037e-01] [ 8.34168604e-03 -2.84973166e-04 9.99965167e-01 -9.62508701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02907232899999 meters 0.07728093824479051 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.55, Z:-0.96 [[ 9.99273379e-01 3.69022267e-02 -9.53621133e-03 2.94926134e+01] [-3.68976634e-02 9.99318835e-01 6.54077454e-04 -5.47124717e-01] [ 9.55385251e-03 -3.01738272e-04 9.99954315e-01 -9.64956964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05907232899999 meters 0.07668146718380488 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.54, Z:-0.96 [[ 9.99179810e-01 3.84893546e-02 -1.25807799e-02 2.95214953e+01] [-3.84815724e-02 9.99258940e-01 8.60161348e-04 -5.43992978e-01] [ 1.26045638e-02 -3.75327661e-04 9.99920489e-01 -9.64594661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08907232899999 meters 0.07642696021496823 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.54, Z:-0.97 [[ 9.99090600e-01 4.04552443e-02 -1.34664648e-02 2.95504682e+01] [-4.04465511e-02 9.99181282e-01 9.17382375e-04 -5.41959806e-01] [ 1.34925524e-02 -3.71876053e-04 9.99908902e-01 -9.65351485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11907232899999 meters 0.07683622393838245 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.54, Z:-0.97 [[ 9.99026262e-01 4.20783514e-02 -1.32642082e-02 2.95777817e+01] [-4.20700512e-02 9.99114254e-01 9.04285234e-04 -5.44168157e-01] [ 1.32905103e-02 -3.45378781e-04 9.99911618e-01 -9.67667406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14907232899999 meters 0.07665393590038398 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.55, Z:-0.97 [[ 9.98982341e-01 4.38408727e-02 -1.05952973e-02 2.96050209e+01] [-4.38356874e-02 9.99038494e-01 7.21243998e-04 -5.48192801e-01] [ 1.06167298e-02 -2.56057878e-04 9.99943608e-01 -9.67960293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.179072329 meters 0.0755668193233576 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.54, Z:-0.96 [[ 9.98972621e-01 4.41635296e-02 -1.01628963e-02 2.96336251e+01] [-4.41588235e-02 9.99024287e-01 6.87109658e-04 -5.44882432e-01] [ 1.01833254e-02 -2.37622194e-04 9.99948120e-01 -9.63531525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.209072329 meters 0.075479449334831 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.55, Z:-0.96 [[ 9.98940706e-01 4.48429135e-02 -1.03237138e-02 2.96611840e+01] [-4.48380932e-02 9.98994023e-01 6.98015717e-04 -5.45162615e-01] [ 1.03446294e-02 -2.34380672e-04 9.99946465e-01 -9.62999667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239072329 meters 0.07573995667408844 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.54, Z:-0.96 [[ 9.98911601e-01 4.50853742e-02 -1.19550484e-02 2.96895848e+01] [-4.50789777e-02 9.98983103e-01 8.04118133e-04 -5.44059320e-01] [ 1.19791453e-02 -2.64321572e-04 9.99928213e-01 -9.64437972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.269072329 meters 0.07578554166194851 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.55, Z:-0.97 [[ 9.98920252e-01 4.45012454e-02 -1.33405409e-02 2.97172698e+01] [-4.44932142e-02 9.99009283e-01 8.98354751e-04 -5.46421599e-01] [ 1.33673021e-02 -3.03821211e-04 9.99910607e-01 -9.66897789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299072329 meters 0.07598336609665338 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.55, Z:-0.97 [[ 9.98959513e-01 4.34994914e-02 -1.36998372e-02 2.97457968e+01] [-4.34910012e-02 9.99053398e-01 9.17183525e-04 -5.49102214e-01] [ 1.37267659e-02 -3.20409570e-04 9.99905732e-01 -9.68303681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.329072329 meters 0.07628587882406873 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.55, Z:-0.97 [[ 9.99146786e-01 3.91943875e-02 -1.30191972e-02 2.97755151e+01] [-3.91863300e-02 9.99231539e-01 8.73511476e-04 -5.52568411e-01] [ 1.30434292e-02 -3.62591626e-04 9.99914865e-01 -9.68636677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359072329 meters 0.07663533584427962 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.56, Z:-0.97 [[ 9.99214090e-01 3.75159033e-02 -1.27968359e-02 2.98034756e+01] [-3.75080044e-02 9.99295960e-01 8.56786575e-04 -5.55452531e-01] [ 1.28199695e-02 -3.76129441e-04 9.99917750e-01 -9.70676778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.389072329 meters 0.07728978480573943 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.56, Z:-0.97 [[ 9.99326602e-01 3.43707397e-02 -1.28450428e-02 2.98327495e+01] [-3.43625193e-02 9.99409064e-01 8.60185057e-04 -5.58831304e-01] [ 1.28670174e-02 -4.18217778e-04 9.99917129e-01 -9.71390009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41907232899999 meters 0.07805574821258492 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.56, Z:-0.97 [[ 9.99398581e-01 3.24081711e-02 -1.23364339e-02 2.98606729e+01] [-3.24004611e-02 9.99474627e-01 8.24375423e-04 -5.63294353e-01] [ 1.23566691e-02 -4.24173482e-04 9.99923563e-01 -9.73273917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44907232899999 meters 0.07911983787732375 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.57, Z:-0.97 [[ 9.99511930e-01 2.87120754e-02 -1.23092946e-02 2.98901580e+01] [-2.87041170e-02 9.99587613e-01 8.22756977e-04 -5.68100161e-01] [ 1.23278415e-02 -4.69027982e-04 9.99923899e-01 -9.73502485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47907232899999 meters 0.079790077004032 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.57, Z:-0.97 [[ 9.99592708e-01 2.60153375e-02 -1.17311485e-02 2.99186199e+01] [-2.60079867e-02 9.99661432e-01 7.78757966e-04 -5.71114660e-01] [ 1.17474364e-02 -4.73337230e-04 9.99930884e-01 -9.73693799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50907232899999 meters 0.08145852489094478 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.58, Z:-0.97 [[ 9.99697161e-01 2.16955609e-02 -1.16141316e-02 2.99490371e+01] [-2.16880321e-02 9.99764488e-01 7.73811170e-04 -5.76254897e-01] [ 1.16281846e-02 -5.21689171e-04 9.99932254e-01 -9.74409953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53907232899999 meters 0.08245879231793429 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.58, Z:-0.98 [[ 9.99724607e-01 1.98619349e-02 -1.24985634e-02 2.99772602e+01] [-1.98530883e-02 9.99802562e-01 8.31489515e-04 -5.80719783e-01] [ 1.25126107e-02 -5.83125446e-04 9.99921544e-01 -9.75893863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.569072329 meters 0.08315181087241243 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.58, Z:-0.98 [[ 9.99762512e-01 1.80292699e-02 -1.22419112e-02 3.00056939e+01] [-1.80206586e-02 9.99837284e-01 8.13378060e-04 -5.84347015e-01] [ 1.22545839e-02 -5.92577590e-04 9.99924734e-01 -9.76179419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599072329 meters 0.08402432534759699 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.59, Z:-0.98 [[ 9.99820095e-01 1.51258096e-02 -1.14449403e-02 3.00348082e+01] [-1.51180985e-02 9.99885426e-01 7.59974848e-04 -5.87679808e-01] [ 1.14551242e-02 -5.86812390e-04 9.99934216e-01 -9.76335518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.629072329 meters 0.08665607286199424 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.60, Z:-0.98 [[ 9.99873042e-01 1.06372855e-02 -1.18637617e-02 3.00636559e+01] [-1.06286838e-02 9.99943204e-01 7.87863918e-04 -5.95084943e-01] [ 1.18714686e-02 -6.61667721e-04 9.99929313e-01 -9.78759949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659072329 meters 0.08791537421070225 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.60, Z:-0.98 [[ 9.99888150e-01 8.23922161e-03 -1.24821280e-02 3.00927289e+01] [-8.22952512e-03 9.99965794e-01 8.27994377e-04 -6.00117367e-01] [ 1.24885231e-02 -7.25179780e-04 9.99921752e-01 -9.80515610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.689072329 meters 0.08900124291911486 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.60, Z:-0.98 [[ 9.99904328e-01 5.92473619e-03 -1.24992863e-02 3.01217687e+01] [-5.91484738e-03 9.99982164e-01 8.27969870e-04 -6.04573306e-01] [ 1.25039688e-02 -7.53959286e-04 9.99921538e-01 -9.81293867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719072329 meters 0.09199574740639438 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.61, Z:-0.98 [[ 9.99914855e-01 6.80363164e-04 -1.30314736e-02 3.01503658e+01] [-6.69169779e-04 9.99999403e-01 8.63291099e-04 -6.12735060e-01] [ 1.30320532e-02 -8.54497326e-04 9.99914714e-01 -9.82571739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.749072329 meters 0.09141474051481273 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.61, Z:-0.98 [[ 9.99925846e-01 -8.25002189e-04 -1.21499507e-02 3.01788117e+01] [ 8.34822791e-04 9.99999329e-01 8.03233792e-04 -6.13136750e-01] [ 1.21492799e-02 -8.13317285e-04 9.99925864e-01 -9.80888977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77907232899999 meters 0.0915539467281583 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.61, Z:-0.98 [[ 9.99929193e-01 -2.58425413e-03 -1.16159268e-02 3.02087275e+01] [ 2.59335018e-03 9.99996342e-01 7.68072733e-04 -6.14617873e-01] [ 1.16138994e-02 -7.98142515e-04 9.99932238e-01 -9.79570141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80907232899999 meters 0.09418762752288318 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.62, Z:-0.98 [[ 9.99919208e-01 -6.76937489e-03 -1.07588715e-02 3.02381032e+01] [ 6.77741857e-03 9.99976780e-01 7.11348292e-04 -6.21642923e-01] [ 1.07538063e-02 -7.84208196e-04 9.99941869e-01 -9.79712100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83907232899999 meters 0.09554356172990537 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.63, Z:-0.98 [[ 9.99896992e-01 -8.70689470e-03 -1.14103621e-02 3.02685203e+01] [ 8.71607019e-03 9.99961730e-01 7.54654095e-04 -6.26575197e-01] [ 1.14033547e-02 -8.54029877e-04 9.99934615e-01 -9.80446908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86907232899999 meters 0.09514273679843514 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.63, Z:-0.98 [[ 9.99876247e-01 -1.06155531e-02 -1.16103830e-02 3.02977272e+01] [ 1.06251606e-02 9.99943258e-01 7.66123117e-04 -6.27560857e-01] [ 1.16015914e-02 -8.89390491e-04 9.99932304e-01 -9.79912486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89907232899999 meters 0.09502186403751843 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.63, Z:-0.98 [[ 9.99786649e-01 -1.52399212e-02 -1.39427745e-02 3.03283020e+01] [ 1.52542390e-02 9.99883223e-01 9.21122947e-04 -6.27094839e-01] [ 1.39271085e-02 -1.13361284e-03 9.99902371e-01 -9.79611526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.929072329 meters 0.09502186403751843 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.63, Z:-0.98 [[ 9.99786111e-01 -1.52751287e-02 -1.39428350e-02 3.03574921e+01] [ 1.52894373e-02 9.99882686e-01 9.20206921e-04 -6.28979801e-01] [ 1.39271430e-02 -1.13318820e-03 9.99902371e-01 -9.79950138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.959072329 meters 0.10695919084236441 Centerline is valid? [True, False] Translation: X:30.36, Y:-0.63, Z:-0.99 [[ 9.99886997e-01 -1.49532931e-02 1.54687211e-03 3.03567539e+01] [ 1.49514274e-02 9.99887488e-01 1.21077715e-03 -6.29456232e-01] [-1.56480317e-03 -1.18751239e-03 9.99998071e-01 -9.85698142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.989072329 meters 0.09787110688252633 Centerline is valid? [False, True] Translation: X:30.36, Y:-0.63, Z:-0.99 [[ 9.99884580e-01 -1.50987586e-02 1.68925145e-03 3.03562732e+01] [ 1.50969623e-02 9.99885461e-01 1.07111260e-03 -6.29452536e-01] [-1.70523043e-03 -1.04548640e-03 9.99998000e-01 -9.85417836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019072329 meters 0.10175841312914034 Centerline is valid? [True, False] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99840886e-01 -1.52763796e-02 9.21058433e-03 3.03454271e+01] [ 1.53276133e-02 9.99867300e-01 -5.51777935e-03 -6.29855177e-01] [-9.12507039e-03 5.65807767e-03 9.99942358e-01 -9.89414729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.049072329 meters 0.10011415596018816 Centerline is valid? [False, False] Translation: X:30.34, Y:-0.63, Z:-0.99 [[ 9.99895801e-01 -1.07485130e-02 9.63621483e-03 3.03448910e+01] [ 1.07513005e-02 9.99942175e-01 -2.37521315e-04 -6.33288713e-01] [-9.63310462e-03 3.41098407e-04 9.99953542e-01 -9.90276304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079072329 meters 0.1053885134331615 Centerline is valid? [False, False] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99911314e-01 -1.14403794e-02 -6.81776101e-03 3.03481902e+01] [ 1.14270630e-02 9.99932731e-01 -1.98896678e-03 -6.32199233e-01] [ 6.84005691e-03 1.91088340e-03 9.99974781e-01 -9.85706412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.109072329 meters 0.10653899269437668 Centerline is valid? [False, False] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99955718e-01 -6.71449918e-03 -6.59369587e-03 3.03483732e+01] [ 6.73568032e-03 9.99972210e-01 3.19539584e-03 -6.34256261e-01] [ 6.57205715e-03 -3.23966737e-03 9.99973156e-01 -9.87011130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139072329 meters 0.10190567073212205 Centerline is valid? [False, False] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99953577e-01 -6.83525558e-03 -6.79139568e-03 3.03489983e+01] [ 6.85417284e-03 9.99972684e-01 2.76611439e-03 -6.32267414e-01] [ 6.77230307e-03 -2.81253538e-03 9.99973112e-01 -9.87197064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16907232899999 meters 0.1032509325177872 Centerline is valid? [False, False] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99971809e-01 -3.16920414e-03 -6.80716416e-03 3.03484006e+01] [ 3.20821608e-03 9.99978450e-01 5.72775937e-03 -6.28382019e-01] [ 6.78886502e-03 -5.74943676e-03 9.99960427e-01 -9.86071730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19907232899999 meters 0.09863237066165675 Centerline is valid? [False, True] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99970553e-01 -3.41768958e-03 -6.87106613e-03 3.03482249e+01] [ 3.45360716e-03 9.99980400e-01 5.22231463e-03 -6.27146211e-01] [ 6.85308320e-03 -5.24589082e-03 9.99962757e-01 -9.85538670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22907232899999 meters 0.10136894647657813 Centerline is valid? [True, False] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99970817e-01 -3.28678727e-03 -6.89659644e-03 3.03483295e+01] [ 3.32459370e-03 9.99979471e-01 5.47761108e-03 -6.28040248e-01] [ 6.87845112e-03 -5.50037961e-03 9.99961216e-01 -9.85711904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25907232899999 meters 0.10294847691079907 Centerline is valid? [False, False] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99970600e-01 -3.15436877e-03 -6.98914563e-03 3.03485407e+01] [ 3.19383264e-03 9.99978981e-01 5.64250318e-03 -6.28778638e-01] [ 6.97120019e-03 -5.66465945e-03 9.99959656e-01 -9.85834382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28907232899999 meters 0.09752294256777154 Centerline is valid? [False, True] Translation: X:30.35, Y:-0.63, Z:-0.99 [[ 9.99967742e-01 -3.52882243e-03 -7.21547964e-03 3.03487419e+01] [ 3.56297894e-03 9.99982483e-01 4.72641916e-03 -6.25929435e-01] [ 7.19867455e-03 -4.75197530e-03 9.99962798e-01 -9.85294215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.319072329 meters 0.09665143876702621 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.62, Z:-0.98 [[ 9.99964861e-01 -1.07945494e-03 -8.31329777e-03 3.03795876e+01] [ 1.08511018e-03 9.99999183e-01 6.75784469e-04 -6.20857538e-01] [ 8.31256150e-03 -6.84781567e-04 9.99965216e-01 -9.84105053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.349072329 meters 0.09444837461324213 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.62, Z:-0.99 [[ 9.99937468e-01 3.68604183e-03 -1.05580575e-02 3.04104344e+01] [-3.67718057e-03 9.99992871e-01 8.58578643e-04 -6.15601422e-01] [ 1.05611469e-02 -8.19701071e-04 9.99943894e-01 -9.86897962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379072329 meters 0.10552914666213914 Centerline is valid? [True, False] Translation: X:30.41, Y:-0.62, Z:-0.99 [[ 9.99933633e-01 3.88891550e-03 -1.08446309e-02 3.04114441e+01] [-3.87919462e-03 9.99992055e-01 9.17267864e-04 -6.15042919e-01] [ 1.08481119e-02 -8.75138553e-04 9.99940775e-01 -9.87510949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.409072329 meters 0.09352264305278632 Centerline is valid? [False, True] Translation: X:30.41, Y:-0.61, Z:-0.99 [[ 9.99932052e-01 3.84418386e-03 -1.10051968e-02 3.04116898e+01] [-3.83666319e-03 9.99992392e-01 7.04405788e-04 -6.14415165e-01] [ 1.10078210e-02 -6.62134691e-04 9.99939193e-01 -9.87362209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439072329 meters 0.08970895333816518 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.61, Z:-0.98 [[ 9.99915764e-01 8.51592361e-03 -9.79505971e-03 3.04420567e+01] [-8.50906409e-03 9.99963522e-01 7.41765739e-04 -6.09342339e-01] [ 9.80101922e-03 -6.58356465e-04 9.99951752e-01 -9.84966294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.469072329 meters 0.09051078786796593 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.61, Z:-0.98 [[ 9.99908872e-01 1.07638984e-02 -8.14777433e-03 3.04711714e+01] [-1.07592299e-02 9.99941928e-01 6.16587733e-04 -6.11288559e-01] [ 8.15393806e-03 -5.28867767e-04 9.99966616e-01 -9.84987467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499072329 meters 0.0898064733574381 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.61, Z:-0.98 [[ 9.99881403e-01 1.27028910e-02 -8.70724205e-03 3.05012304e+01] [-1.26976347e-02 9.99919165e-01 6.58696750e-04 -6.09670711e-01] [ 8.71490555e-03 -5.48057252e-04 9.99961874e-01 -9.84248120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52907232899999 meters 0.08753071242696586 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.60, Z:-0.98 [[ 9.99858476e-01 1.50197689e-02 -7.57860365e-03 3.05316690e+01] [-1.50158526e-02 9.99887091e-01 5.73399785e-04 -6.03969159e-01] [ 7.58636029e-03 -4.59519439e-04 9.99971118e-01 -9.82722830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55907232899999 meters 0.09145190485338205 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.61, Z:-0.99 [[ 9.99842024e-01 1.59803494e-02 -7.78174339e-03 3.05591813e+01] [-1.59762603e-02 9.99872199e-01 5.87360932e-04 -6.13861738e-01] [ 7.79013511e-03 -4.62944985e-04 9.99969549e-01 -9.88660808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58907232899999 meters 0.08625526514556776 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.61, Z:-0.99 [[ 9.99819688e-01 1.64470232e-02 -9.49141327e-03 3.05890278e+01] [-1.64409648e-02 9.99864582e-01 7.15980057e-04 -6.05899061e-01] [ 9.50190370e-03 -5.59802966e-04 9.99954699e-01 -9.87250251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61907232899999 meters 0.08657330101725635 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.61, Z:-0.99 [[ 9.99790784e-01 1.68334354e-02 -1.16199379e-02 3.06171075e+01] [-1.68243928e-02 9.99858077e-01 8.75517976e-04 -6.09424389e-01] [ 1.16330268e-02 -6.79836404e-04 9.99932103e-01 -9.90637663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64907232899999 meters 0.08648653879231023 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.61, Z:-0.99 [[ 9.99788016e-01 1.74809019e-02 -1.08784775e-02 3.06445096e+01] [-1.74730258e-02 9.99847000e-01 8.18635321e-04 -6.10641175e-01] [ 1.08911236e-02 -6.28381865e-04 9.99940493e-01 -9.90145694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.679072329 meters 0.08557900554594475 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.61, Z:-0.99 [[ 9.99784736e-01 1.81758628e-02 -1.00059670e-02 3.06734023e+01] [-1.81692394e-02 9.99834643e-01 7.52460720e-04 -6.09134163e-01] [ 1.00179891e-02 -5.70497932e-04 9.99949656e-01 -9.88083355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.709072329 meters 0.08287221712753474 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.60, Z:-0.98 [[ 9.99751102e-01 2.07017110e-02 -8.31702942e-03 3.07042932e+01] [-2.06972175e-02 9.99785594e-01 6.25996750e-04 -6.01553549e-01] [ 8.32820540e-03 -4.53701573e-04 9.99965217e-01 -9.82993151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739072329 meters 0.08509146678097106 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.61, Z:-0.98 [[ 9.99726953e-01 2.20035179e-02 -7.86542768e-03 3.07319151e+01] [-2.19995547e-02 9.99757806e-01 5.90046426e-04 -6.07791814e-01] [ 7.87650582e-03 -4.16849409e-04 9.99968893e-01 -9.84941853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.769072329 meters 0.08438100156326714 Centerline is valid? [True, True] Translation: X:30.76, Y:-0.61, Z:-0.98 [[ 9.99717488e-01 2.23427651e-02 -8.10834479e-03 3.07609457e+01] [-2.23385656e-02 9.99750278e-01 6.08133644e-04 -6.07348758e-01] [ 8.11990734e-03 -4.26833047e-04 9.99966942e-01 -9.84782559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799072329 meters 0.08374354674501537 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.61, Z:-0.99 [[ 9.99699588e-01 2.34256095e-02 -7.20936844e-03 3.07894134e+01] [-2.34223222e-02 9.99725514e-01 5.40083157e-04 -6.08456577e-01] [ 7.22004134e-03 -3.71060759e-04 9.99973866e-01 -9.86026661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.829072329 meters 0.08426914150351095 Centerline is valid? [True, True] Translation: X:30.82, Y:-0.61, Z:-0.99 [[ 9.99643020e-01 2.54317331e-02 -8.18901843e-03 3.08165814e+01] [-2.54275655e-02 9.99676479e-01 6.12655793e-04 -6.13709963e-01] [ 8.20195002e-03 -4.04210285e-04 9.99966282e-01 -9.91173496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859072329 meters 0.08190817776590821 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.61, Z:-0.99 [[ 9.99621215e-01 2.62562937e-02 -8.24828099e-03 3.08461442e+01] [-2.62521290e-02 9.99655166e-01 6.12798724e-04 -6.09848863e-01] [ 8.26152653e-03 -3.96031668e-04 9.99965795e-01 -9.89980894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.889072329 meters 0.0814981291097458 Centerline is valid? [True, True] Translation: X:30.88, Y:-0.61, Z:-0.99 [[ 9.99582625e-01 2.78791129e-02 -7.57165983e-03 3.08752328e+01] [-2.78756650e-02 9.99611241e-01 5.60543654e-04 -6.09998054e-01] [ 7.58434374e-03 -3.49244645e-04 9.99971177e-01 -9.89823063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91907232899999 meters 0.07935470752078629 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.60, Z:-0.99 [[ 9.99481672e-01 3.15839652e-02 -6.23221270e-03 3.09056715e+01] [-3.15816863e-02 9.99501067e-01 4.63750666e-04 -6.04956677e-01] [ 6.24375032e-03 -2.66686505e-04 9.99980472e-01 -9.85685874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94907232899999 meters 0.08129908381993231 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.61, Z:-0.99 [[ 9.99413451e-01 3.34900915e-02 -7.15314985e-03 3.09326539e+01] [-3.34871483e-02 9.99439007e-01 5.30867458e-04 -6.12094126e-01] [ 7.16691578e-03 -2.91017489e-04 9.99974275e-01 -9.91873282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97907232899999 meters 0.07793999761476665 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.61, Z:-0.99 [[ 9.99367552e-01 3.43951234e-02 -9.02616761e-03 3.09613297e+01] [-3.43905263e-02 9.99408250e-01 6.64078699e-04 -6.05760945e-01] [ 9.04366745e-03 -3.53244049e-04 9.99959043e-01 -9.88426891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00907232899999 meters 0.07723574222224946 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.61, Z:-0.99 [[ 9.99273526e-01 3.67484096e-02 -1.00982104e-02 3.09903023e+01] [-3.67427835e-02 9.99324480e-01 7.42162276e-04 -6.09418973e-01] [ 1.01186622e-02 -3.70586755e-04 9.99948736e-01 -9.91159441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03907232899999 meters 0.07696016289015783 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.61, Z:-0.99 [[ 9.99256607e-01 3.77168846e-02 -7.97934252e-03 3.10178009e+01] [-3.77133950e-02 9.99288424e-01 5.87408297e-04 -6.11980560e-01] [ 7.99581982e-03 -2.86043525e-04 9.99967992e-01 -9.90456842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.069072329 meters 0.07663847451231279 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.61, Z:-0.99 [[ 9.99252595e-01 3.81532425e-02 -6.21137239e-03 3.10466805e+01] [-3.81511658e-02 9.99271877e-01 4.52526602e-04 -6.13021652e-01] [ 6.22411510e-03 -2.15217284e-04 9.99980607e-01 -9.88134422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099072329 meters 0.07651893335118298 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.61, Z:-0.99 [[ 9.99208925e-01 3.92365151e-02 -6.48230510e-03 3.10758207e+01] [-3.92342823e-02 9.99229928e-01 4.71304442e-04 -6.14173577e-01] [ 6.49580560e-03 -2.16603017e-04 9.99978879e-01 -9.86475098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.129072329 meters 0.07666585995856058 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.62, Z:-0.99 [[ 9.99223046e-01 3.85737722e-02 -8.08511063e-03 3.11045740e+01] [-3.85702885e-02 9.99255717e-01 5.86426324e-04 -6.17635237e-01] [ 8.10171370e-03 -2.74125648e-04 9.99967143e-01 -9.88173742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159072329 meters 0.07800969623713302 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.63, Z:-0.99 [[ 9.99235345e-01 3.79085924e-02 -9.57412929e-03 3.11311574e+01] [-3.79036542e-02 9.99281155e-01 6.96775515e-04 -6.26659943e-01] [ 9.59366075e-03 -3.33348237e-04 9.99953924e-01 -9.93307892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.189072329 meters 0.08131662350930609 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.65, Z:-1.00 [[ 9.99283398e-01 3.69147993e-02 -8.36585903e-03 3.11561088e+01] [-3.69110213e-02 9.99318373e-01 6.05599528e-04 -6.45648638e-01] [ 8.38251222e-03 -2.96373153e-04 9.99964822e-01 -1.00233746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219072329 meters 0.07845077296476832 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.64, Z:-0.99 [[ 9.99347908e-01 3.54640538e-02 -6.78675804e-03 3.11843863e+01] [-3.54615612e-02 9.99370922e-01 4.87285220e-04 -6.40876093e-01] [ 6.79976975e-03 -2.46298429e-04 9.99976851e-01 -9.93704558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.249072329 meters 0.07849360369632068 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.64, Z:-0.99 [[ 9.99378153e-01 3.47072690e-02 -6.22197984e-03 3.12123029e+01] [-3.47051724e-02 9.99397495e-01 4.44657587e-04 -6.42618155e-01] [ 6.23366392e-03 -2.28446195e-04 9.99980544e-01 -9.91710586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27907232899999 meters 0.07820103124859243 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.64, Z:-0.99 [[ 9.99416286e-01 3.34474050e-02 -6.95405583e-03 3.12407913e+01] [-3.34447602e-02 9.99440444e-01 4.96301250e-04 -6.42272752e-01] [ 6.96676463e-03 -2.63434823e-04 9.99975697e-01 -9.89519508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30907232899999 meters 0.08104377119844078 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.66, Z:-0.99 [[ 9.99524886e-01 2.99113070e-02 -7.43740939e-03 3.12686067e+01] [-2.99081592e-02 9.99552508e-01 5.34125409e-04 -6.56230338e-01] [ 7.45005760e-03 -3.11432415e-04 9.99972199e-01 -9.93277121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33907232899999 meters 0.08075692584634628 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.66, Z:-0.99 [[ 9.99588560e-01 2.75738051e-02 -7.89908364e-03 3.12976658e+01] [-2.75701808e-02 9.99619709e-01 5.67375035e-04 -6.62207073e-01] [ 7.91172438e-03 -3.49362431e-04 9.99968641e-01 -9.93720738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36907232899999 meters 0.08339012708450062 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.68, Z:-1.00 [[ 9.99716519e-01 2.25609393e-02 -7.60828157e-03 3.13258528e+01] [-2.25574341e-02 9.99745399e-01 5.46210920e-04 -6.79033661e-01] [ 7.61866752e-03 -3.74432769e-04 9.99970907e-01 -9.96752690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39907232899999 meters 0.0842729285485524 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.68, Z:-1.00 [[ 9.99761448e-01 2.03391291e-02 -7.96035204e-03 3.13546897e+01] [-2.03352272e-02 9.99793055e-01 5.70813899e-04 -6.84049628e-01] [ 7.97031454e-03 -4.08802163e-04 9.99968153e-01 -9.95880451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.429072329 meters 0.08256316615682593 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.68, Z:-0.99 [[ 9.99798478e-01 1.84639971e-02 -7.87933588e-03 3.13849831e+01] [-1.84601163e-02 9.99829438e-01 5.64975286e-04 -6.81353653e-01] [ 7.88842367e-03 -4.19407974e-04 9.99968798e-01 -9.92036717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.459072329 meters 0.08585657540123677 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.69, Z:-0.99 [[ 9.99836042e-01 1.66480551e-02 -7.12256338e-03 3.14115187e+01] [-1.66448614e-02 9.99861336e-01 5.07437847e-04 -6.90904962e-01] [ 7.13002359e-03 -3.88800569e-04 9.99974505e-01 -9.93635531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.489072329 meters 0.08549153087374453 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.69, Z:-0.99 [[ 9.99870683e-01 1.45856731e-02 -6.77308388e-03 3.14411837e+01] [-1.45827261e-02 9.99893549e-01 4.84300123e-04 -6.93796259e-01] [ 6.77942673e-03 -3.85467468e-04 9.99976945e-01 -9.92235969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519072329 meters 0.08758571071225829 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.71, Z:-1.00 [[ 9.99916816e-01 1.10771007e-02 -6.60746883e-03 3.14702850e+01] [-1.10742193e-02 9.99938567e-01 4.72510600e-04 -7.09699209e-01] [ 6.61229696e-03 -3.99298736e-04 9.99978059e-01 -9.95316683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.549072329 meters 0.08526773626854008 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.71, Z:-0.99 [[ 9.99936547e-01 9.34207133e-03 -6.29510829e-03 3.14995852e+01] [-9.33942756e-03 9.99956286e-01 4.49238594e-04 -7.10536740e-01] [ 6.29902992e-03 -3.90417380e-04 9.99980085e-01 -9.93624454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579072329 meters 0.08675522716589483 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.72, Z:-0.99 [[ 9.99953733e-01 6.60735818e-03 -6.99104418e-03 3.15277555e+01] [-6.60402520e-03 9.99978068e-01 4.99728450e-04 -7.20387821e-01] [ 6.99419274e-03 -4.53536297e-04 9.99975437e-01 -9.94414603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.609072329 meters 0.08577969240839199 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.72, Z:-0.99 [[ 9.99958023e-01 5.87595091e-03 -7.03031580e-03 3.15570152e+01] [-5.87257394e-03 9.99982631e-01 5.00891301e-04 -7.20959947e-01] [ 7.03313691e-03 -4.59584226e-04 9.99975162e-01 -9.92909988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639072329 meters 0.08855860142305122 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.73, Z:-1.00 [[ 9.99958358e-01 4.91877419e-03 -7.68682871e-03 3.15836394e+01] [-4.91471946e-03 9.99987773e-01 5.46291163e-04 -7.29649063e-01] [ 7.68942181e-03 -5.08489808e-04 9.99970307e-01 -9.95547337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66907232899999 meters 0.08920389567654784 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.74, Z:-1.00 [[ 9.99969636e-01 3.35528444e-03 -7.03349698e-03 3.16127964e+01] [-3.35184476e-03 9.99994257e-01 5.00774462e-04 -7.37393781e-01] [ 7.03513683e-03 -4.77184066e-04 9.99975139e-01 -9.96249103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69907232899999 meters 0.09042224550534173 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.75, Z:-1.00 [[ 9.99982812e-01 2.24583171e-03 -5.41595776e-03 3.16399056e+01] [-2.24378434e-03 9.99997409e-01 3.84070784e-04 -7.45646301e-01] [ 5.41680628e-03 -3.71911941e-04 9.99985260e-01 -9.97022655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72907232899999 meters 0.09140356762318778 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.75, Z:-1.00 [[ 9.99993175e-01 1.06845617e-03 -3.53663831e-03 3.16672023e+01] [-1.06757873e-03 9.99999399e-01 2.49979372e-04 -7.53725806e-01] [ 3.53690328e-03 -2.46202026e-04 9.99993715e-01 -9.98590537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75907232899999 meters 0.08879698591277854 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.76, Z:-1.00 [[ 9.99989925e-01 -1.05198915e-03 -4.36381041e-03 3.16962668e+01] [ 1.05334815e-03 9.99999397e-01 3.09136751e-04 -7.56092329e-01] [ 4.36348257e-03 -3.13730248e-04 9.99990431e-01 -9.98234305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78907232899999 meters 0.09059146163493695 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.76, Z:-1.00 [[ 9.99987056e-01 -2.30623246e-03 -4.53541587e-03 3.17246258e+01] [ 2.30771240e-03 9.99997286e-01 3.21101600e-04 -7.62868298e-01] [ 4.53466303e-03 -3.31563879e-04 9.99989663e-01 -9.99682318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.819072329 meters 0.09059146163493695 Centerline is valid? [True, True] Translation: X:31.75, Y:-0.76, Z:-1.00 [[ 9.99986452e-01 -2.55416303e-03 -4.53573909e-03 3.17528459e+01] [ 2.55562493e-03 9.99996684e-01 3.16540009e-04 -7.64734562e-01] [ 4.53491555e-03 -3.28127368e-04 9.99989663e-01 -1.00018270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.849072329 meters 0.09003730109881707 Centerline is valid? [True, True] Translation: X:31.78, Y:-0.77, Z:-1.00 [[ 9.99981288e-01 -3.50039004e-03 -5.01709331e-03 3.17825943e+01] [ 3.50221083e-03 9.99993805e-01 3.54177489e-04 -7.65904295e-01] [ 5.01582247e-03 -3.71741780e-04 9.99987352e-01 -9.99374744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879072329 meters 0.0918853655292225 Centerline is valid? [True, True] Translation: X:31.81, Y:-0.77, Z:-1.00 [[ 9.99979845e-01 -4.98113447e-03 -3.93677462e-03 3.18108604e+01] [ 4.98226262e-03 9.99987550e-01 2.76813600e-04 -7.71972272e-01] [ 3.93534676e-03 -2.96422066e-04 9.99992213e-01 -9.98247915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.909072329 meters 0.09207956938427474 Centerline is valid? [True, True] Translation: X:31.84, Y:-0.78, Z:-1.00 [[ 9.99977036e-01 -5.92415480e-03 -3.29104288e-03 3.18409491e+01] [ 5.92495188e-03 9.99982420e-01 2.32500562e-04 -7.75950196e-01] [ 3.28960766e-03 -2.51994494e-04 9.99994557e-01 -9.98168595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939072329 meters 0.09236311229240858 Centerline is valid? [True, True] Translation: X:31.87, Y:-0.78, Z:-1.00 [[ 9.99973011e-01 -6.91285707e-03 -2.48782198e-03 3.18714980e+01] [ 6.91331648e-03 9.99976087e-01 1.76110482e-04 -7.81145746e-01] [ 2.48654506e-03 -1.93304830e-04 9.99996890e-01 -9.98772426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.969072329 meters 0.09372173135635038 Centerline is valid? [True, True] Translation: X:31.90, Y:-0.79, Z:-1.00 [[ 9.99964306e-01 -8.40158864e-03 -8.94551071e-04 3.19022047e+01] [ 8.40164940e-03 9.99964703e-01 6.41888129e-05 -7.88386898e-01] [ 8.93980209e-04 -7.17022262e-05 9.99999598e-01 -9.99951520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999072329 meters 0.09553296766216955 Centerline is valid? [True, True] Translation: X:31.93, Y:-0.80, Z:-1.00 [[ 9.99942286e-01 -1.07186771e-02 -7.31571911e-04 3.19321037e+01] [ 1.07187180e-02 9.99942552e-01 5.20528641e-05 -7.96501574e-01] [ 7.30971945e-04 -5.98913729e-05 9.99999731e-01 -1.00202866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02907232899999 meters 0.09595278397526331 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.80, Z:-1.00 [[ 9.99932570e-01 -1.15281499e-02 -1.39919713e-03 3.19636407e+01] [ 1.15283010e-02 9.99933542e-01 9.99636845e-05 -7.99098740e-01] [ 1.39795175e-03 -1.16087310e-04 9.99999016e-01 -1.00356026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05907232899999 meters 0.09592589262490377 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.80, Z:-1.00 [[ 9.99934279e-01 -1.12543891e-02 -2.18551536e-03 3.19955361e+01] [ 1.12547569e-02 9.99936651e-01 1.56080361e-04 -8.00894625e-01] [ 2.18362032e-03 -1.80667547e-04 9.99997600e-01 -1.00481920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08907232899999 meters 0.0999481108733351 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.81, Z:-1.01 [[ 9.99924113e-01 -1.16905657e-02 -3.88581078e-03 3.20263921e+01] [ 1.16917308e-02 9.99931611e-01 2.77265245e-04 -8.09475585e-01] [ 3.88230364e-03 -3.22676058e-04 9.99992412e-01 -1.00924857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11907232899999 meters 0.09685905483711883 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.81, Z:-1.01 [[ 9.99914020e-01 -1.24570521e-02 -4.09568026e-03 3.20584632e+01] [ 1.24583541e-02 9.99922349e-01 2.92548333e-04 -8.05998449e-01] [ 4.09171794e-03 -3.43548614e-04 9.99991570e-01 -1.00799816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14907232899999 meters 0.09812905494308864 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.81, Z:-1.01 [[ 9.99892482e-01 -1.41470533e-02 -3.85803902e-03 3.20897118e+01] [ 1.41482181e-02 9.99899871e-01 2.74799962e-04 -8.11994137e-01] [ 3.85376511e-03 -3.29354793e-04 9.99992520e-01 -1.00777551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.179072329 meters 0.09983409284691662 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.82, Z:-1.01 [[ 9.99879166e-01 -1.51281667e-02 -3.57659549e-03 3.21200131e+01] [ 1.51291747e-02 9.99885515e-01 2.54919383e-04 -8.18005809e-01] [ 3.57232957e-03 -3.08999518e-04 9.99993571e-01 -1.00785800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.209072329 meters 0.10063773370989383 Centerline is valid? [True, False] Translation: X:32.12, Y:-0.82, Z:-1.01 [[ 9.99926460e-01 -9.81990402e-03 7.11650749e-03 3.21188464e+01] [ 9.88097725e-03 9.99914215e-01 -8.59817542e-03 -8.17878652e-01] [-7.03146375e-03 8.66786115e-03 9.99937711e-01 -1.00983074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239072329 meters 0.1017274382340261 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.82, Z:-1.01 [[ 9.99959572e-01 -5.14446089e-03 7.37494229e-03 3.21187930e+01] [ 5.16908144e-03 9.99981118e-01 -3.32324141e-03 -8.20549323e-01] [-7.35770675e-03 3.36122873e-03 9.99967283e-01 -1.01079789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.269072329 meters 0.10411199461789948 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.82, Z:-1.01 [[ 9.99959041e-01 -4.89210836e-03 7.61464786e-03 3.21185171e+01] [ 4.91244466e-03 9.99984411e-01 -2.65427302e-03 -8.22534323e-01] [-7.60154416e-03 2.69157084e-03 9.99967485e-01 -1.01115314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299072329 meters 0.09844568020896052 Centerline is valid? [False, True] Translation: X:32.12, Y:-0.82, Z:-1.01 [[ 9.99959880e-01 -4.54694405e-03 7.71776502e-03 3.21186125e+01] [ 4.56186837e-03 9.99987757e-01 -1.91726106e-03 -8.24514181e-01] [-7.70895285e-03 1.95239157e-03 9.99968380e-01 -1.01167218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.329072329 meters 0.10713549704003461 Centerline is valid? [True, False] Translation: X:32.12, Y:-0.83, Z:-1.01 [[ 9.99961087e-01 -4.13011135e-03 7.79530428e-03 3.21189110e+01] [ 4.13870014e-03 9.99990846e-01 -1.08598106e-03 -8.26553160e-01] [-7.79074770e-03 1.11820123e-03 9.99969026e-01 -1.01244936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359072329 meters 0.10411986744566366 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.83, Z:-1.01 [[ 9.99962192e-01 -3.35707681e-03 8.02148974e-03 3.21193608e+01] [ 3.35130524e-03 9.99994116e-01 7.32846582e-04 -8.31399506e-01] [-8.02390277e-03 -7.05936414e-04 9.99967559e-01 -1.01420471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.389072329 meters 0.10567753235821915 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.83, Z:-1.02 [[ 9.99965265e-01 -2.51952516e-03 7.94484050e-03 3.21204803e+01] [ 2.50162986e-03 9.99994314e-01 2.26157704e-03 -8.34910984e-01] [-7.95049342e-03 -2.24162344e-03 9.99965882e-01 -1.01590754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41907232899999 meters 0.12004293590698799 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99967046e-01 -1.72283399e-03 7.93337179e-03 3.21214951e+01] [ 1.69317619e-03 9.99991559e-01 3.74356041e-03 -8.38267160e-01] [-7.93975437e-03 -3.73000445e-03 9.99961523e-01 -1.01767946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44907232899999 meters 0.10708688961975768 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99963538e-01 -1.82918884e-03 8.34125638e-03 3.21202208e+01] [ 1.79494269e-03 9.99989938e-01 4.11127472e-03 -8.40343735e-01] [-8.34869274e-03 -4.09615274e-03 9.99956759e-01 -1.01704243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47907232899999 meters 0.12464915288510384 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99963163e-01 -1.89769308e-03 8.37091640e-03 3.21199747e+01] [ 1.86416921e-03 9.99990219e-01 4.01078979e-03 -8.40122041e-01] [-8.37844577e-03 -3.99503724e-03 9.99956920e-01 -1.01665746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50907232899999 meters 0.12747137137561868 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99961249e-01 -2.35621854e-03 8.48224836e-03 3.21190960e+01] [ 2.32822035e-03 9.99991814e-01 3.30916059e-03 -8.38743688e-01] [-8.48997604e-03 -3.28928382e-03 9.99958550e-01 -1.01557458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53907232899999 meters 0.11757315646441115 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99958708e-01 -2.35923884e-03 8.77583961e-03 3.21185383e+01] [ 2.32820451e-03 9.99991007e-01 3.54487394e-03 -8.39814070e-01] [-8.78412389e-03 -3.52429562e-03 9.99955208e-01 -1.01575341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.569072329 meters 0.11485208283693364 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99947910e-01 -5.87719028e-03 8.34483703e-03 3.21206651e+01] [ 5.87541959e-03 9.99982712e-01 2.36689391e-04 -8.41172731e-01] [-8.34608383e-03 -1.87647643e-04 9.99965153e-01 -1.01761578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599072329 meters 0.11833086199470678 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99951239e-01 -5.20761354e-03 8.39054522e-03 3.21212797e+01] [ 5.19527664e-03 9.99985392e-01 1.49145868e-03 -8.44449152e-01] [-8.39818959e-03 -1.44779475e-03 9.99963686e-01 -1.01890804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.629072329 meters 0.11918543711425163 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.85, Z:-1.02 [[ 9.99950959e-01 -5.07165575e-03 8.50633513e-03 3.21212693e+01] [ 5.05664649e-03 9.99985622e-01 1.78505974e-03 -8.45138555e-01] [-8.51526603e-03 -1.74195867e-03 9.99962227e-01 -1.01929560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659072329 meters 0.13584180925189332 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99949194e-01 -5.51055872e-03 8.44060053e-03 3.21209525e+01] [ 5.50255160e-03 9.99984389e-01 9.71572808e-04 -8.43042768e-01] [-8.44582267e-03 -9.25078606e-04 9.99963906e-01 -1.01845518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.689072329 meters 0.1225335232292602 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99949601e-01 -5.67346541e-03 8.28299603e-03 3.21212849e+01] [ 5.66908979e-03 9.99983778e-01 5.51649114e-04 -8.41455803e-01] [-8.28599142e-03 -5.04664263e-04 9.99965543e-01 -1.01830892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719072329 meters 0.116075580903266 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99951217e-01 -5.65866180e-03 8.09590972e-03 3.21217471e+01] [ 5.65533035e-03 9.99983914e-01 4.34332349e-04 -8.40799431e-01] [-8.09823723e-03 -3.88526117e-04 9.99967133e-01 -1.01832687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.749072329 meters 0.11514727507477404 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.84, Z:-1.02 [[ 9.99954452e-01 -5.14610639e-03 8.03812423e-03 3.21224887e+01] [ 5.13580084e-03 9.99985964e-01 1.30219924e-03 -8.42733514e-01] [-8.04471266e-03 -1.26085772e-03 9.99966846e-01 -1.01939809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77907232899999 meters 0.11722320862938454 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.85, Z:-1.02 [[ 9.99957518e-01 -4.47635408e-03 8.05759296e-03 3.21231830e+01] [ 4.45632960e-03 9.99986942e-01 2.50141027e-03 -8.45647502e-01] [-8.06868494e-03 -2.46539671e-03 9.99964408e-01 -1.02070457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80907232899999 meters 0.12231466546456035 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.85, Z:-1.02 [[ 9.99959896e-01 -3.87045912e-03 8.07623164e-03 3.21238490e+01] [ 3.84132532e-03 9.99986071e-01 3.61974961e-03 -8.48298055e-01] [-8.09012924e-03 -3.58858101e-03 9.99960835e-01 -1.02195083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83907232899999 meters 0.12242340118903029 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.85, Z:-1.02 [[ 9.99960453e-01 -3.61253786e-03 8.12658396e-03 3.21237912e+01] [ 3.57853047e-03 9.99984796e-01 4.19536425e-03 -8.50008047e-01] [-8.14161631e-03 -4.16611711e-03 9.99958178e-01 -1.02203389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86907232899999 meters 0.12108014124243086 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.85, Z:-1.02 [[ 9.99959582e-01 -3.82450540e-03 8.13675956e-03 3.21233956e+01] [ 3.79305810e-03 9.99985292e-01 3.87677114e-03 -8.49482876e-01] [-8.15146661e-03 -3.84575125e-03 9.99959381e-01 -1.02141474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89907232899999 meters 0.12699629504615592 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.85, Z:-1.02 [[ 9.99962761e-01 -3.53455106e-03 7.87297614e-03 3.21241269e+01] [ 3.50053185e-03 9.99984496e-01 4.33060749e-03 -8.50406827e-01] [-7.88816083e-03 -4.30288662e-03 9.99959630e-01 -1.02167694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.929072329 meters 0.11395150639444661 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.85, Z:-1.02 [[ 9.99963655e-01 -3.31422914e-03 7.85520205e-03 3.21242341e+01] [ 3.27648448e-03 9.99983049e-01 4.81306061e-03 -8.51907173e-01] [-7.87102049e-03 -4.78714823e-03 9.99957564e-01 -1.02190375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.959072329 meters 0.12160263551101883 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.85, Z:-1.02 [[ 9.99967161e-01 -2.59315513e-03 7.67806579e-03 3.21255454e+01] [ 2.54729148e-03 9.99978893e-01 5.97710002e-03 -8.54287778e-01] [-7.69340327e-03 -5.95734547e-03 9.99952660e-01 -1.02345186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.989072329 meters 0.11368254795543416 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.86, Z:-1.02 [[ 9.99969403e-01 -2.13343501e-03 7.52604533e-03 3.21263962e+01] [ 2.08267684e-03 9.99975078e-01 6.74573828e-03 -8.55989165e-01] [-7.54024936e-03 -6.72985756e-03 9.99948926e-01 -1.02434031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019072329 meters 0.1227347794334049 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.86, Z:-1.02 [[ 9.99970249e-01 -2.00919904e-03 7.44738666e-03 3.21267258e+01] [ 1.95733901e-03 9.99973833e-01 6.96427938e-03 -8.56481954e-01] [-7.46118441e-03 -6.94949513e-03 9.99948016e-01 -1.02463707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.049072329 meters 0.1146487582777428 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.86, Z:-1.02 [[ 9.99971388e-01 -2.00146376e-03 7.29503706e-03 3.21268478e+01] [ 1.95039037e-03 9.99973587e-01 7.00151754e-03 -8.56761712e-01] [-7.30885766e-03 -6.98708904e-03 9.99948879e-01 -1.02433440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079072329 meters 0.11435890700083999 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.86, Z:-1.02 [[ 9.99972076e-01 -2.06357332e-03 7.18250514e-03 3.21267490e+01] [ 2.01384110e-03 9.99973998e-01 6.92443515e-03 -8.56944417e-01] [-7.19660746e-03 -6.90977737e-03 9.99950231e-01 -1.02381541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.109072329 meters 0.11089071455460807 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.86, Z:-1.02 [[ 9.99973101e-01 -2.07044013e-03 7.03633929e-03 3.21268706e+01] [ 2.02170355e-03 9.99973968e-01 6.92648007e-03 -8.57162534e-01] [-7.05049698e-03 -6.91206836e-03 9.99951256e-01 -1.02355699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139072329 meters 0.11300825613730535 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.86, Z:-1.02 [[ 9.99976396e-01 -1.73708908e-03 6.64756355e-03 3.21281183e+01] [ 1.68886236e-03 9.99972267e-01 7.25354693e-03 -8.57435934e-01] [-6.65997925e-03 -7.24214889e-03 9.99951597e-01 -1.02439459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16907232899999 meters 0.10864437570045796 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.86, Z:-1.02 [[ 9.99977809e-01 -1.80593176e-03 6.41257096e-03 3.21286744e+01] [ 1.76104816e-03 9.99973962e-01 6.99807645e-03 -8.56456858e-01] [-6.42504204e-03 -6.98662831e-03 9.99954952e-01 -1.02451975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19907232899999 meters 0.10653677782747187 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99991923e-01 5.02646720e-04 3.98756236e-03 3.21408927e+01] [-5.06599735e-04 9.99999381e-01 9.90388295e-04 -8.52992857e-01] [-3.98706207e-03 -9.92400394e-04 9.99991559e-01 -1.02075075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22907232899999 meters 0.10653875720089923 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99992535e-01 7.75936337e-05 3.86320214e-03 3.21405132e+01] [-7.83981479e-05 9.99999975e-01 2.08099610e-04 -8.51257579e-01] [-3.86318589e-03 -2.08400924e-04 9.99992516e-01 -1.01964555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25907232899999 meters 0.10473667113658702 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99993394e-01 2.82037128e-04 3.62378066e-03 3.21412749e+01] [-2.83558800e-04 9.99999872e-01 4.19405887e-04 -8.51384674e-01] [-3.62366190e-03 -4.20430672e-04 9.99993346e-01 -1.02002796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28907232899999 meters 0.10621745853937524 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99994195e-01 6.45274027e-04 3.34556504e-03 3.21422815e+01] [-6.48276581e-04 9.99999388e-01 8.96465979e-04 -8.52387889e-01] [-3.34498453e-03 -8.98629627e-04 9.99994002e-01 -1.02080898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.319072329 meters 0.10688566886763101 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99994555e-01 6.16752017e-04 3.24179007e-03 3.21425195e+01] [-6.19416725e-04 9.99999471e-01 8.21046682e-04 -8.52149137e-01] [-3.24128197e-03 -8.23050230e-04 9.99994408e-01 -1.02086522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.349072329 meters 0.10850567061884772 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99994970e-01 6.73798667e-04 3.09944936e-03 3.21430796e+01] [-6.76292899e-04 9.99999448e-01 8.03756234e-04 -8.51636671e-01] [-3.09890609e-03 -8.05848326e-04 9.99994874e-01 -1.02123149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379072329 meters 0.10485980716491825 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99996024e-01 5.22331314e-04 2.77112180e-03 3.21436769e+01] [-5.23068290e-04 9.99999828e-01 2.65230656e-04 -8.49470355e-01] [-2.77098279e-03 -2.66679088e-04 9.99996125e-01 -1.02094364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.409072329 meters 0.10496700315232055 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99996211e-01 1.24292243e-04 2.75016182e-03 3.21431902e+01] [-1.23079384e-04 9.99999895e-01 -4.41178339e-04 -8.47899058e-01] [-2.75021637e-03 4.40838179e-04 9.99996121e-01 -1.02002738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439072329 meters 0.09741880439043422 Centerline is valid? [False, True] Translation: X:32.14, Y:-0.85, Z:-1.02 [[ 9.99996437e-01 -4.88759207e-05 2.66910692e-03 3.21431174e+01] [ 5.09200080e-05 9.99999706e-01 -7.65769337e-04 -8.47175342e-01] [-2.66906871e-03 7.65902519e-04 9.99996145e-01 -1.01963028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.469072329 meters 0.09724322227292344 Centerline is valid? [True, True] Translation: X:32.17, Y:-0.85, Z:-1.02 [[ 9.99996331e-01 1.07260546e-03 2.48741025e-03 3.21741865e+01] [-1.07207401e-03 9.99999402e-01 -2.14979545e-04 -8.50784676e-01] [-2.48763935e-03 2.12312068e-04 9.99996883e-01 -1.02227182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499072329 meters 0.09719861411461864 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.85, Z:-1.03 [[ 9.99996489e-01 2.39350146e-03 1.13747147e-03 3.22052674e+01] [-2.39339169e-03 9.99997131e-01 -9.78610577e-05 -8.53526616e-01] [-1.13770244e-03 9.51382993e-05 9.99999348e-01 -1.02657756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52907232899999 meters 0.09623677986159539 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.85, Z:-1.03 [[ 9.99995440e-01 2.68743538e-03 1.37727216e-03 3.22356443e+01] [-2.68727320e-03 9.99996382e-01 -1.19585986e-04 -8.52890088e-01] [-1.37758856e-03 1.15884334e-04 9.99999044e-01 -1.02583921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55907232899999 meters 0.09681254380188971 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.85, Z:-1.02 [[ 9.99988568e-01 3.55564146e-03 3.19713779e-03 3.22649245e+01] [-3.55477560e-03 9.99993644e-01 -2.76462884e-04 -8.54914502e-01] [-3.19810047e-03 2.65094616e-04 9.99994851e-01 -1.02456259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58907232899999 meters 0.09736311582163087 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.86, Z:-1.02 [[ 9.99976647e-01 4.54653794e-03 5.10244511e-03 3.22951622e+01] [-4.54434566e-03 9.99989577e-01 -4.41164050e-04 -8.56082752e-01] [-5.10439769e-03 4.17966473e-04 9.99986885e-01 -1.02253043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61907232899999 meters 0.09708776940835716 Centerline is valid? [True, True] Translation: X:32.33, Y:-0.86, Z:-1.02 [[ 9.99984464e-01 4.25854708e-03 3.59663243e-03 3.23264046e+01] [-4.25745193e-03 9.99990888e-01 -3.12092657e-04 -8.58002704e-01] [-3.59792872e-03 2.96775319e-04 9.99993483e-01 -1.02391919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64907232899999 meters 0.09682233041517865 Centerline is valid? [True, True] Translation: X:32.36, Y:-0.86, Z:-1.03 [[ 9.99986342e-01 4.05870849e-03 3.29282471e-03 3.23571266e+01] [-4.05778681e-03 9.99991726e-01 -2.86538716e-04 -8.60514894e-01] [-3.29396044e-03 2.73173222e-04 9.99994538e-01 -1.02671048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.679072329 meters 0.10342590359476918 Centerline is valid? [True, False] Translation: X:32.36, Y:-0.86, Z:-1.03 [[ 9.99984277e-01 4.54000522e-03 3.29164298e-03 3.23580674e+01] [-4.54147372e-03 9.99989591e-01 4.38794076e-04 -8.61622804e-01] [-3.28961659e-03 -4.53736087e-04 9.99994486e-01 -1.02826943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.709072329 meters 0.09742063862850327 Centerline is valid? [False, True] Translation: X:32.36, Y:-0.86, Z:-1.03 [[ 9.99985309e-01 4.28770615e-03 3.31632493e-03 3.23578254e+01] [-4.28770170e-03 9.99990808e-01 -8.45235100e-06 -8.60521184e-01] [-3.31633068e-03 -5.76718519e-06 9.99994501e-01 -1.02793698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739072329 meters 0.09742063862850327 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.86, Z:-1.03 [[ 9.99985362e-01 4.29513522e-03 3.29038974e-03 3.23878301e+01] [-4.29418306e-03 9.99990736e-01 -2.96387547e-04 -8.63053785e-01] [-3.29163229e-03 2.82253672e-04 9.99994543e-01 -1.02858788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.769072329 meters 0.09908111815059036 Centerline is valid? [True, True] Translation: X:32.42, Y:-0.87, Z:-1.03 [[ 9.99984734e-01 4.00788250e-03 3.80366084e-03 3.24176879e+01] [-4.00660950e-03 9.99991915e-01 -3.42239479e-04 -8.66487231e-01] [-3.80500174e-03 3.26994471e-04 9.99992707e-01 -1.02884467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799072329 meters 0.10082863324979781 Centerline is valid? [True, False] Translation: X:32.42, Y:-0.86, Z:-1.03 [[ 9.99988390e-01 3.07943413e-03 3.70645409e-03 3.24169093e+01] [-3.07167885e-03 9.99993085e-01 -2.09624737e-03 -8.61907359e-01] [-3.71288371e-03 2.08483800e-03 9.99990934e-01 -1.02704809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.829072329 meters 0.09895009770153873 Centerline is valid? [False, True] Translation: X:32.42, Y:-0.86, Z:-1.03 [[ 9.99989277e-01 2.92520596e-03 3.59025369e-03 3.24171528e+01] [-2.91628964e-03 9.99992657e-01 -2.48620845e-03 -8.60534248e-01] [-3.59750000e-03 2.47571157e-03 9.99990464e-01 -1.02693405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859072329 meters 0.09986622162297654 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.87, Z:-1.03 [[ 9.99995234e-01 1.59609613e-03 2.64297204e-03 3.24482407e+01] [-1.59546568e-03 9.99998698e-01 -2.40629694e-04 -8.65226622e-01] [-2.64335266e-03 2.36411776e-04 9.99996478e-01 -1.03015597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88907232899999 meters 0.09951185082503804 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.87, Z:-1.04 [[ 9.99999222e-01 -1.23077748e-03 2.00902135e-04 3.24787586e+01] [ 1.23078118e-03 9.99999242e-01 -1.82766590e-05 -8.68134897e-01] [-2.00879488e-04 1.85239114e-05 9.99999980e-01 -1.03570030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91907232899999 meters 0.10491225494498754 Centerline is valid? [True, False] Translation: X:32.48, Y:-0.87, Z:-1.04 [[ 9.99999411e-01 -1.06701822e-03 1.98790891e-04 3.24791551e+01] [ 1.06697413e-03 9.99999406e-01 2.21747464e-04 -8.68373294e-01] [-1.99027382e-04 -2.21535229e-04 9.99999956e-01 -1.03631575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94907232899999 meters 0.10341504922775069 Centerline is valid? [False, False] Translation: X:32.48, Y:-0.87, Z:-1.04 [[ 9.99999210e-01 -1.24680097e-03 1.56729121e-04 3.24792031e+01] [ 1.24683104e-03 9.99999204e-01 -1.91874026e-04 -8.66894176e-01] [-1.56489767e-04 1.92069290e-04 9.99999969e-01 -1.03610008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97907232899999 meters 0.10774309299362549 Centerline is valid? [False, False] Translation: X:32.48, Y:-0.86, Z:-1.03 [[ 9.99997331e-01 -2.31039722e-03 -2.25235907e-05 3.24787646e+01] [ 2.31034020e-03 9.99994759e-01 -2.26800829e-03 -8.60525651e-01] [ 2.77634727e-05 2.26795020e-03 9.99997428e-01 -1.03450834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00907232899999 meters 0.10686450290179395 Centerline is valid? [False, False] Translation: X:32.48, Y:-0.86, Z:-1.03 [[ 9.99998392e-01 1.76999716e-03 2.88816587e-04 3.24778486e+01] [-1.77053843e-03 9.99996656e-01 1.88473508e-03 -8.60890827e-01] [-2.85479645e-04 -1.88524341e-03 9.99998182e-01 -1.03413270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03907232899999 meters 0.09944081361471672 Centerline is valid? [False, True] Translation: X:32.48, Y:-0.86, Z:-1.03 [[ 9.99998021e-01 1.97970029e-03 1.95490463e-04 3.24785675e+01] [-1.98011182e-03 9.99995776e-01 2.12786927e-03 -8.60939285e-01] [-1.91277094e-04 -2.12825215e-03 9.99997717e-01 -1.03494377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.069072329 meters 0.10004205106840919 Centerline is valid? [True, False] Translation: X:32.48, Y:-0.86, Z:-1.03 [[ 9.99998273e-01 1.84746760e-03 2.00349289e-04 3.24785796e+01] [-1.84783499e-03 9.99996583e-01 1.84935061e-03 -8.60122158e-01] [-1.96931989e-04 -1.84971763e-03 9.99998270e-01 -1.03499506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099072329 meters 0.10477813561956652 Centerline is valid? [False, False] Translation: X:32.48, Y:-0.86, Z:-1.03 [[ 9.99998827e-01 1.52917271e-03 9.22108108e-05 3.24786776e+01] [-1.52927764e-03 9.99998171e-01 1.14871790e-03 -8.58009041e-01] [-9.04540540e-05 -1.14885757e-03 9.99999336e-01 -1.03471493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.129072329 meters 0.09887619111886978 Centerline is valid? [False, True] Translation: X:32.48, Y:-0.86, Z:-1.04 [[ 9.99999002e-01 1.40347149e-03 -1.61344819e-04 3.24794995e+01] [-1.40337157e-03 9.99998824e-01 6.17764306e-04 -8.55569815e-01] [ 1.62211644e-04 -6.17537263e-04 9.99999796e-01 -1.03500833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159072329 meters 0.09893055868861789 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99994251e-01 2.85364541e-03 1.83167021e-03 3.25088521e+01] [-2.85331603e-03 9.99995913e-01 -1.82414501e-04 -8.52681013e-01] [-1.83218327e-03 1.77187119e-04 9.99998306e-01 -1.03218718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.189072329 meters 0.10028305268249255 Centerline is valid? [True, False] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99994653e-01 2.77193140e-03 1.73529670e-03 3.25089943e+01] [-2.77118836e-03 9.99996068e-01 -4.30451895e-04 -8.51778092e-01] [-1.73648306e-03 4.25640759e-04 9.99998402e-01 -1.03198992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219072329 meters 0.10783477762169474 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99995125e-01 2.56485148e-03 1.78071256e-03 3.25085474e+01] [-2.56350964e-03 9.99996429e-01 -7.55416333e-04 -8.51272986e-01] [-1.78264373e-03 7.50847776e-04 9.99998129e-01 -1.03145860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.249072329 meters 0.10193819374051562 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99998551e-01 -1.13022890e-03 1.27287910e-03 3.25108460e+01] [ 1.13606362e-03 9.99988809e-01 -4.59252425e-03 -8.50541263e-01] [-1.26767425e-03 4.59396367e-03 9.99988644e-01 -1.03332269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27907232899999 meters 0.10276452037506877 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99998665e-01 -1.05498945e-03 1.24743053e-03 3.25112114e+01] [ 1.06060761e-03 9.99989260e-01 -4.51173468e-03 -8.50384343e-01] [-1.24265730e-03 4.51305169e-03 9.99989044e-01 -1.03380705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30907232899999 meters 0.10417432381140307 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99998855e-01 -9.79171331e-04 1.15345724e-03 3.25118239e+01] [ 9.84377432e-04 9.99989293e-01 -4.52158835e-03 -8.49668104e-01] [-1.14901748e-03 4.52271861e-03 9.99989112e-01 -1.03436691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33907232899999 meters 0.10465511512555187 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99998974e-01 -9.55563523e-04 1.06713315e-03 3.25123489e+01] [ 9.60483760e-04 9.99988868e-01 -4.61975092e-03 -8.48652792e-01] [-1.06270681e-03 4.62077115e-03 9.99988760e-01 -1.03476081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36907232899999 meters 0.11059759635222381 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.03 [[ 9.99998826e-01 -1.12521741e-03 1.04015748e-03 3.25125302e+01] [ 1.13045516e-03 9.99986616e-01 -5.04873793e-03 -8.46799832e-01] [-1.03446263e-03 5.04990785e-03 9.99986714e-01 -1.03475873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39907232899999 meters 0.10411808918580401 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.04 [[ 9.99999032e-01 -9.14814341e-04 1.04804626e-03 3.25129607e+01] [ 9.19763632e-04 9.99988383e-01 -4.73168871e-03 -8.47201546e-01] [-1.04370547e-03 4.73264809e-03 9.99988256e-01 -1.03547084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.429072329 meters 0.10884350475252187 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.04 [[ 9.99999467e-01 -3.28311433e-04 9.79014554e-04 3.25143112e+01] [ 3.32119031e-04 9.99992373e-01 -3.89159254e-03 -8.48207599e-01] [-9.77729433e-04 3.89191561e-03 9.99991948e-01 -1.03740418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.459072329 meters 0.11041286015038267 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.04 [[ 9.99999537e-01 -1.00750962e-04 9.57389150e-04 3.25147685e+01] [ 1.04149250e-04 9.99993693e-01 -3.55015042e-03 -8.48744987e-01] [-9.57025431e-04 3.55024848e-03 9.99993240e-01 -1.03807178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.489072329 meters 0.11198937252676269 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99999537e-01 6.39237448e-05 9.60596959e-04 3.25150496e+01] [-6.07550210e-05 9.99994559e-01 -3.29836997e-03 -8.49100703e-01] [-9.60802576e-04 3.29831008e-03 9.99994099e-01 -1.03849885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519072329 meters 0.11358218040777299 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.85, Z:-1.04 [[ 9.99999387e-01 -3.65106105e-04 1.04546873e-03 3.25144128e+01] [ 3.69361474e-04 9.99991637e-01 -4.07300133e-03 -8.46867363e-01] [-1.04397291e-03 4.07338499e-03 9.99991159e-01 -1.03754836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.549072329 meters 0.11661258555621444 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99999560e-01 -3.38849857e-04 8.74411472e-04 3.25151336e+01] [ 3.42526401e-04 9.99991088e-01 -4.20787410e-03 -8.45726933e-01] [-8.72977842e-04 4.20817176e-03 9.99990765e-01 -1.03797899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579072329 meters 0.1175144192600151 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99999784e-01 1.84752189e-05 6.56489952e-04 3.25165304e+01] [-1.59595287e-05 9.99992658e-01 -3.83183017e-03 -8.45496284e-01] [-6.56555926e-04 3.83181886e-03 9.99992443e-01 -1.03932738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.609072329 meters 0.12088319074508386 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99999467e-01 8.54006539e-04 5.79864332e-04 3.25182789e+01] [-8.52523071e-04 9.99996376e-01 -2.55374776e-03 -8.47447723e-01] [-5.82043148e-04 2.55325205e-03 9.99996571e-01 -1.04192695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63907232899999 meters 0.1225635477950842 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99999009e-01 1.26868584e-03 6.10963578e-04 3.25187693e+01] [-1.26757720e-03 9.99997556e-01 -1.81156236e-03 -8.49133164e-01] [-6.13260388e-04 1.81078612e-03 9.99998172e-01 -1.04290716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66907232899999 meters 0.11716225396984922 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99998633e-01 1.52060443e-03 6.49353606e-04 3.25190714e+01] [-1.51970218e-03 9.99997882e-01 -1.38770422e-03 -8.49975806e-01] [-6.51462380e-04 1.38671550e-03 9.99998826e-01 -1.04352128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69907232899999 meters 0.11517249779310063 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99998832e-01 1.43208966e-03 5.33532181e-04 3.25193142e+01] [-1.43119376e-03 9.99997572e-01 -1.67580233e-03 -8.48508704e-01] [-5.35930784e-04 1.67503678e-03 9.99998454e-01 -1.04332840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72907232899999 meters 0.12658871703884683 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99999170e-01 1.22567652e-03 3.96360915e-04 3.25196066e+01] [-1.22481412e-03 9.99996898e-01 -2.16877649e-03 -8.46676540e-01] [-3.99017904e-04 2.16828922e-03 9.99997570e-01 -1.04319691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75907232899999 meters 0.12683871206726213 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.85, Z:-1.04 [[ 9.99998840e-01 1.52313523e-03 2.51274908e-05 3.25211860e+01] [-1.52308201e-03 9.99996846e-01 -1.99717707e-03 -8.45687279e-01] [-2.81693823e-05 1.99713648e-03 9.99998005e-01 -1.04427367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78907232899999 meters 0.11349891360418699 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.84, Z:-1.05 [[ 9.99997869e-01 1.98344589e-03 -5.72697111e-04 3.25235188e+01] [-1.98451078e-03 9.99996292e-01 -1.86489560e-03 -8.43811883e-01] [ 5.68996068e-04 1.86602815e-03 9.99998097e-01 -1.04575126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.819072329 meters 0.10978705809022479 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.84, Z:-1.05 [[ 9.99998133e-01 1.82733145e-03 -6.28315220e-04 3.25234946e+01] [-1.82870616e-03 9.99995920e-01 -2.19436177e-03 -8.42927093e-01] [ 6.24302830e-04 2.19550668e-03 9.99997395e-01 -1.04549701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.849072329 meters 0.1260616413081656 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.84, Z:-1.05 [[ 9.99997670e-01 2.01960476e-03 -7.62624428e-04 3.25241696e+01] [-2.02113975e-03 9.99995923e-01 -2.01739597e-03 -8.42830088e-01] [ 7.58546975e-04 2.01893264e-03 9.99997674e-01 -1.04606798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879072329 meters 0.11097148395607247 Centerline is valid? [False, False] Translation: X:32.53, Y:-0.84, Z:-1.05 [[ 9.99996886e-01 2.16218040e-03 -1.24602681e-03 3.25254553e+01] [-2.16507029e-03 9.99994959e-01 -2.32262166e-03 -8.40926635e-01] [ 1.24099860e-03 2.32531217e-03 9.99996526e-01 -1.04633571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.909072329 meters 0.10957124823935445 Centerline is valid? [False, False] Translation: X:32.53, Y:-0.84, Z:-1.05 [[ 9.99997340e-01 1.75248527e-03 -1.49957852e-03 3.25256491e+01] [-1.75751799e-03 9.99992806e-01 -3.36137660e-03 -8.37791021e-01] [ 1.49367696e-03 3.36400319e-03 9.99993226e-01 -1.04563496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939072329 meters 0.11055898976128413 Centerline is valid? [False, False] Translation: X:32.53, Y:-0.84, Z:-1.05 [[ 9.99995159e-01 2.22116684e-03 -2.17924687e-03 3.25281116e+01] [-2.22857814e-03 9.99991722e-01 -3.40434201e-03 -8.35075980e-01] [ 2.17166722e-03 3.40918215e-03 9.99991831e-01 -1.04696894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.969072329 meters 0.10808801007710289 Centerline is valid? [False, False] Translation: X:32.53, Y:-0.83, Z:-1.05 [[ 9.99990437e-01 2.87218370e-03 -3.29790679e-03 3.25315442e+01] [-2.88457206e-03 9.99988779e-01 -3.75783921e-03 -8.30214140e-01] [ 3.28707658e-03 3.76731633e-03 9.99987501e-01 -1.04847586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999072329 meters 0.1041816122918459 Centerline is valid? [False, False] Translation: X:32.53, Y:-0.83, Z:-1.05 [[ 9.99987942e-01 3.29067724e-03 -3.64504680e-03 3.25332684e+01] [-3.30327884e-03 9.99988570e-01 -3.45657571e-03 -8.29462966e-01] [ 3.63363066e-03 3.46857464e-03 9.99987383e-01 -1.04989023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02907232899999 meters 0.10603111056442255 Centerline is valid? [False, False] Translation: X:32.53, Y:-0.83, Z:-1.05 [[ 9.99985672e-01 3.61797007e-03 -3.94546634e-03 3.25346975e+01] [-3.63070340e-03 9.99988209e-01 -3.22496049e-03 -8.28867872e-01] [ 3.93375200e-03 3.23923910e-03 9.99987016e-01 -1.05100204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05907232899999 meters 0.10551573981016397 Centerline is valid? [False, False] Translation: X:32.54, Y:-0.82, Z:-1.05 [[ 9.99985711e-01 3.24029333e-03 -4.25195764e-03 3.25351298e+01] [-3.25899148e-03 9.99985018e-01 -4.39800356e-03 -8.24999368e-01] [ 4.23764312e-03 4.41179781e-03 9.99981289e-01 -1.05042948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08907232899999 meters 0.09913895497657241 Centerline is valid? [False, True] Translation: X:32.54, Y:-0.82, Z:-1.05 [[ 9.99985218e-01 3.01420339e-03 -4.52528494e-03 3.25357326e+01] [-3.03771051e-03 9.99981883e-01 -5.19676097e-03 -8.21968130e-01] [ 4.50953886e-03 5.21043066e-03 9.99976257e-01 -1.05023160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11907232899999 meters 0.09863073656360273 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.82, Z:-1.05 [[ 9.99982849e-01 4.48899739e-03 -3.76161388e-03 3.25652284e+01] [-4.48775512e-03 9.99989873e-01 3.38624608e-04 -8.24055813e-01] [ 3.76309586e-03 -3.21737598e-04 9.99992868e-01 -1.05350830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14907232899999 meters 0.09868377851187216 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.82, Z:-1.05 [[ 9.99976769e-01 5.80064118e-03 -3.57961136e-03 3.25946041e+01] [-5.79952509e-03 9.99983131e-01 3.22090555e-04 -8.24290069e-01] [ 3.58141931e-03 -3.01323027e-04 9.99993541e-01 -1.05492708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.179072329 meters 0.09853378338170377 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.82, Z:-1.06 [[ 9.99957266e-01 8.02380871e-03 -4.59184284e-03 3.26233283e+01] [-8.02199712e-03 9.99967738e-01 4.12805968e-04 -8.22451713e-01] [ 4.59500697e-03 -3.75952577e-04 9.99989372e-01 -1.05846093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.209072329 meters 0.09633309780275248 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.82, Z:-1.06 [[ 9.99949181e-01 8.51449150e-03 -5.39809513e-03 3.26521006e+01] [-8.51199791e-03 9.99963655e-01 4.84744234e-04 -8.19294028e-01] [ 5.40202628e-03 -4.38771025e-04 9.99985313e-01 -1.05963646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239072329 meters 0.09641669996843692 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.82, Z:-1.06 [[ 9.99938877e-01 9.27084855e-03 -6.02439128e-03 3.26806267e+01] [-9.26775789e-03 9.99956907e-01 5.40739962e-04 -8.20504341e-01] [ 6.02914479e-03 -4.84874311e-04 9.99981707e-01 -1.06194111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.269072329 meters 0.0967444406865415 Centerline is valid? [True, True] Translation: X:32.71, Y:-0.82, Z:-1.06 [[ 9.99903078e-01 1.26869527e-02 -5.73369681e-03 3.27104526e+01] [-1.26842046e-02 9.99919419e-01 5.15417444e-04 -8.20153080e-01] [ 5.73977386e-03 -4.42640106e-04 9.99983429e-01 -1.06302319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299072329 meters 0.09554629427211485 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.82, Z:-1.06 [[ 9.99877313e-01 1.50806634e-02 -4.23457815e-03 3.27408069e+01] [-1.50791867e-02 9.99886230e-01 3.80431502e-04 -8.17032898e-01] [ 4.23983354e-03 -3.16530834e-04 9.99990962e-01 -1.06165513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.329072329 meters 0.08834307586175554 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.80, Z:-1.06 [[ 9.99828214e-01 1.80953634e-02 -4.01252163e-03 3.27724432e+01] [-1.80940611e-02 9.99836224e-01 3.60632731e-04 -8.02408831e-01] [ 4.01839026e-03 -2.87967968e-04 9.99991885e-01 -1.05667011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359072329 meters 0.09265770396858916 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.81, Z:-1.06 [[ 9.99719701e-01 2.33815593e-02 -3.71780497e-03 3.28009064e+01] [-2.33804809e-02 9.99726584e-01 3.33268733e-04 -8.08704932e-01] [ 3.72458080e-03 -2.46251251e-04 9.99993033e-01 -1.06287188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38907232899999 meters 0.09135864302090392 Centerline is valid? [True, True] Translation: X:32.83, Y:-0.81, Z:-1.07 [[ 9.99636983e-01 2.67340571e-02 -3.34559220e-03 3.28307746e+01] [-2.67332013e-02 9.99642559e-01 3.00257884e-04 -8.09014339e-01] [ 3.35242346e-03 -2.10710495e-04 9.99994358e-01 -1.06543371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41907232899999 meters 0.0837950435775382 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.79, Z:-1.07 [[ 9.99452022e-01 3.25768251e-02 -5.86571715e-03 3.28623444e+01] [-3.25742911e-02 9.99469178e-01 5.27035978e-04 -7.93151101e-01] [ 5.87977266e-03 -3.35675596e-04 9.99982658e-01 -1.06536837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44907232899999 meters 0.08252156392560735 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.79, Z:-1.07 [[ 9.99332272e-01 3.61021986e-02 -5.62514322e-03 3.28927005e+01] [-3.60999261e-02 9.99348058e-01 5.05043536e-04 -7.90767079e-01] [ 5.63970914e-03 -3.01639049e-04 9.99984051e-01 -1.06676104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47907232899999 meters 0.08131851089742838 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.79, Z:-1.07 [[ 9.99202484e-01 3.95219434e-02 -5.69317125e-03 3.29222581e+01] [-3.95196739e-02 9.99218662e-01 5.10624659e-04 -7.88215194e-01] [ 5.70890383e-03 -2.85225156e-04 9.99983663e-01 -1.06678714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50907232899999 meters 0.07956453347737757 Centerline is valid? [True, True] Translation: X:32.95, Y:-0.78, Z:-1.07 [[ 9.99039646e-01 4.35174283e-02 -5.10098677e-03 3.29524479e+01] [-4.35156596e-02 9.99052640e-01 4.57266293e-04 -7.84717181e-01] [ 5.11605336e-03 -2.34854351e-04 9.99986885e-01 -1.06596475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53907232899999 meters 0.07764642705072142 Centerline is valid? [True, True] Translation: X:32.98, Y:-0.78, Z:-1.06 [[ 9.98738248e-01 5.01178435e-02 -3.18017012e-03 3.29818878e+01] [-5.01171912e-02 9.98743303e-01 2.84537638e-04 -7.79809258e-01] [ 3.19043402e-03 -1.24797428e-04 9.99994903e-01 -1.06356675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.569072329 meters 0.07651437782371436 Centerline is valid? [True, True] Translation: X:33.01, Y:-0.78, Z:-1.06 [[ 9.98577668e-01 5.32814924e-02 -1.92954033e-03 3.30119913e+01] [-5.32812586e-02 9.98579530e-01 1.72410966e-04 -7.78110611e-01] [ 1.93598579e-03 -6.93574029e-05 9.99998124e-01 -1.06197600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599072329 meters 0.07641362414389768 Centerline is valid? [True, True] Translation: X:33.04, Y:-0.78, Z:-1.06 [[ 9.98461192e-01 5.54127785e-02 -2.16157965e-03 3.30394622e+01] [-5.54124924e-02 9.98463529e-01 1.92051401e-04 -7.78926739e-01] [ 2.16890054e-03 -7.19773549e-05 9.99997645e-01 -1.06365335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.629072329 meters 0.07641362414389768 Centerline is valid? [True, True] Translation: X:33.07, Y:-0.78, Z:-1.06 [[ 9.98475630e-01 5.51519892e-02 -2.16194530e-03 3.30667188e+01] [-5.51517113e-02 9.98477968e-01 1.87962767e-04 -7.81154390e-01] [ 2.16902127e-03 -6.84412595e-05 9.99997645e-01 -1.06419796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659072329 meters 0.07460223243147503 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.77, Z:-1.07 [[ 9.98169083e-01 6.03036583e-02 -4.68512499e-03 3.30966307e+01] [-6.03023699e-02 9.98180070e-01 4.15889431e-04 -7.74870856e-01] [ 4.70167804e-03 -1.32603832e-04 9.99988938e-01 -1.06600171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.689072329 meters 0.07385056155800432 Centerline is valid? [True, True] Translation: X:33.13, Y:-0.77, Z:-1.07 [[ 9.98074878e-01 6.18681384e-02 -4.34416621e-03 3.31260592e+01] [-6.18670502e-02 9.98084325e-01 3.84570829e-04 -7.73553176e-01] [ 4.35963688e-03 -1.15069735e-04 9.99990490e-01 -1.06653341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719072329 meters 0.07356257193500464 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.77, Z:-1.07 [[ 9.98042477e-01 6.23828748e-02 -4.42606337e-03 3.31543643e+01] [-6.23817656e-02 9.98052285e-01 3.88355742e-04 -7.74356469e-01] [ 4.44166941e-03 -1.11489879e-04 9.99990130e-01 -1.06793258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.749072329 meters 0.07350588527920267 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.78, Z:-1.07 [[ 9.97993811e-01 6.31287989e-02 -4.80700976e-03 3.31825125e+01] [-6.31275029e-02 9.98005381e-01 4.21014505e-04 -7.76720850e-01] [ 4.82399975e-03 -1.16715348e-04 9.99988358e-01 -1.06925129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77907232899999 meters 0.07316057200109147 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.78, Z:-1.07 [[ 9.97992806e-01 6.30964185e-02 -5.40373135e-03 3.32110135e+01] [-6.30947856e-02 9.98007427e-01 4.72284745e-04 -7.77102383e-01] [ 5.42276350e-03 -1.30389507e-04 9.99985288e-01 -1.06834909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80907232899999 meters 0.07399885558343552 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.78, Z:-1.07 [[ 9.98018083e-01 6.26105242e-02 -6.31097205e-03 3.32384396e+01] [-6.26082645e-02 9.98038024e-01 5.55188090e-04 -7.81123380e-01] [ 6.33335069e-03 -1.58968746e-04 9.99979931e-01 -1.07005800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83907232899999 meters 0.07438664896837646 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.78, Z:-1.07 [[ 9.98035788e-01 6.22496468e-02 -7.03899695e-03 3.32659431e+01] [-6.22468287e-02 9.98060594e-01 6.18948357e-04 -7.84810150e-01] [ 7.06387480e-03 -1.79577374e-04 9.99975034e-01 -1.07106434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86907232899999 meters 0.0746761218923833 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.79, Z:-1.07 [[ 9.98034179e-01 6.22201751e-02 -7.51180006e-03 3.32936885e+01] [-6.22170071e-02 9.98062430e-01 6.54917999e-04 -7.88762265e-01] [ 7.53799454e-03 -1.86268830e-04 9.99971572e-01 -1.07182097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89907232899999 meters 0.07415162742942501 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.79, Z:-1.07 [[ 9.98034027e-01 6.22714172e-02 -7.09588405e-03 3.33222447e+01] [-6.22686029e-02 9.98059237e-01 6.17057589e-04 -7.91507661e-01] [ 7.12053767e-03 -1.73993684e-04 9.99974634e-01 -1.07039455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.929072329 meters 0.07361815173720944 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.79, Z:-1.07 [[ 9.98029263e-01 6.24970003e-02 -5.63167524e-03 3.33509186e+01] [-6.24952462e-02 9.98045143e-01 4.87073747e-04 -7.92550934e-01] [ 5.65110677e-03 -1.34160922e-04 9.99984023e-01 -1.06774167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.959072329 meters 0.07348463043378677 Centerline is valid? [True, True] Translation: X:33.38, Y:-0.80, Z:-1.07 [[ 9.98062483e-01 6.19973993e-02 -5.25371979e-03 3.33786571e+01] [-6.19958797e-02 9.98076303e-01 4.51759273e-04 -7.95277850e-01] [ 5.27162112e-03 -1.25175001e-04 9.99986097e-01 -1.06724191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.989072329 meters 0.07353740538644576 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.80, Z:-1.07 [[ 9.98039912e-01 6.24291822e-02 -4.35111763e-03 3.34059253e+01] [-6.24281325e-02 9.98049391e-01 3.76778358e-04 -7.98957092e-01] [ 4.36615227e-03 -1.04407691e-04 9.99990463e-01 -1.06701279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019072329 meters 0.07432021366245174 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.81, Z:-1.07 [[ 9.98042580e-01 6.24312921e-02 -3.65282571e-03 3.34327295e+01] [-6.24305545e-02 9.98049260e-01 3.15713624e-04 -8.08534615e-01] [ 3.66541041e-03 -8.70477053e-05 9.99993279e-01 -1.06949952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.049072329 meters 0.07458434685672774 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.81, Z:-1.07 [[ 9.98086252e-01 6.17366130e-02 -3.52479673e-03 3.34598246e+01] [-6.17359381e-02 9.98092473e-01 3.00065989e-04 -8.14213220e-01] [ 3.53659814e-03 -8.18851056e-05 9.99993743e-01 -1.07064131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079072329 meters 0.07386983765999207 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.82, Z:-1.07 [[ 9.98134615e-01 6.08781493e-02 -4.59793610e-03 3.34882985e+01] [-6.08769881e-02 9.98145199e-01 3.92219255e-04 -8.16266873e-01] [ 4.61328543e-03 -1.11579114e-04 9.99989353e-01 -1.06799290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.109072329 meters 0.07539290724025036 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.83, Z:-1.07 [[ 9.98143001e-01 6.05109067e-02 -6.99850161e-03 3.35153867e+01] [-6.05081706e-02 9.98167520e-01 6.02233340e-04 -8.27589207e-01] [ 7.02211868e-03 -1.77648465e-04 9.99975329e-01 -1.07359598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13907232899999 meters 0.07544889470345824 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.83, Z:-1.07 [[ 9.98141732e-01 6.05787678e-02 -6.57996720e-03 3.35424373e+01] [-6.05763539e-02 9.98163406e-01 5.65711338e-04 -8.32443822e-01] [ 6.60215256e-03 -1.66069673e-04 9.99978192e-01 -1.07410861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16907232899999 meters 0.07420556568321507 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.83, Z:-1.07 [[ 9.98163429e-01 6.01487366e-02 -7.20402176e-03 3.35713147e+01] [-6.01458694e-02 9.98189409e-01 6.14193464e-04 -8.31440001e-01] [ 7.22792119e-03 -1.79773302e-04 9.99973862e-01 -1.06876770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19907232899999 meters 0.07415405202928808 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.84, Z:-1.07 [[ 9.98093094e-01 6.11932940e-02 -8.09670093e-03 3.35992203e+01] [-6.11897270e-02 9.98125916e-01 6.87782738e-04 -8.35729197e-01] [ 8.12361473e-03 -1.91036281e-04 9.99966985e-01 -1.06758975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22907232899999 meters 0.07470276573051383 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.84, Z:-1.07 [[ 9.98040159e-01 6.20742906e-02 -7.91355908e-03 3.36265451e+01] [-6.20708855e-02 9.98071515e-01 6.75411373e-04 -8.41777466e-01] [ 7.94022358e-03 -1.82886054e-04 9.99968459e-01 -1.07089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25907232899999 meters 0.07438614364329212 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.85, Z:-1.07 [[ 9.97973249e-01 6.30146924e-02 -8.86245485e-03 3.36543471e+01] [-6.30105149e-02 9.98012581e-01 7.50080312e-04 -8.48109042e-01] [ 8.89210752e-03 -1.90132243e-04 9.99960446e-01 -1.07032423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28907232899999 meters 0.07439266102552272 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.85, Z:-1.07 [[ 9.97946142e-01 6.34306473e-02 -8.94705608e-03 3.36827809e+01] [-6.34264199e-02 9.97986231e-01 7.55733387e-04 -8.52997645e-01] [ 8.97697544e-03 -1.86701482e-04 9.99959689e-01 -1.07171687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.319072329 meters 0.07443055527876534 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.86, Z:-1.07 [[ 9.97889742e-01 6.39960473e-02 -1.09804216e-02 3.37111390e+01] [-6.39897323e-02 9.97950127e-01 9.25848560e-04 -8.57063545e-01] [ 1.10171638e-02 -2.21260542e-04 9.99939285e-01 -1.07353983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.349072329 meters 0.07449116246083082 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.86, Z:-1.07 [[ 9.97822752e-01 6.50336064e-02 -1.09720345e-02 3.37386564e+01] [-6.50273388e-02 9.97883052e-01 9.27401735e-04 -8.59725294e-01] [ 1.10091195e-02 -2.11900347e-04 9.99939375e-01 -1.07410996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379072329 meters 0.07437019419673681 Centerline is valid? [True, True] Translation: X:33.77, Y:-0.86, Z:-1.07 [[ 9.97734986e-01 6.65359931e-02 -9.89233801e-03 3.37664310e+01] [-6.65309947e-02 9.97784010e-01 8.33875306e-04 -8.63193512e-01] [ 9.92589941e-03 -1.73839480e-04 9.99950722e-01 -1.07191283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.409072329 meters 0.0742720194725473 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.87, Z:-1.07 [[ 9.97727066e-01 6.68434808e-02 -8.52354749e-03 3.37940298e+01] [-6.68397834e-02 9.97763463e-01 7.18235404e-04 -8.67467279e-01] [ 8.55249361e-03 -1.46890834e-04 9.99963416e-01 -1.07152827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439072329 meters 0.0741145214108673 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.87, Z:-1.07 [[ 9.97736654e-01 6.67051482e-02 -8.48478450e-03 3.38212221e+01] [-6.67015347e-02 9.97772721e-01 7.08462391e-04 -8.71226836e-01] [ 8.51314461e-03 -1.40910748e-04 9.99963753e-01 -1.06919287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.469072329 meters 0.07470651565134767 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.88, Z:-1.07 [[ 9.97692842e-01 6.72443848e-02 -9.33731383e-03 3.38484942e+01] [-6.72400097e-02 9.97736523e-01 7.82054731e-04 -8.81559353e-01] [ 9.36876782e-03 -1.52409335e-04 9.99956101e-01 -1.07418299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499072329 meters 0.07474878676447726 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.89, Z:-1.07 [[ 9.97680710e-01 6.73669967e-02 -9.74109026e-03 3.38764092e+01] [-6.73622939e-02 9.97728252e-01 8.10451589e-04 -8.86063795e-01] [ 9.77355864e-03 -1.52389732e-04 9.99952226e-01 -1.07495461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52907232899999 meters 0.07512242062389843 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.89, Z:-1.08 [[ 9.97651157e-01 6.77071760e-02 -1.03878785e-02 3.39032149e+01] [-6.77018122e-02 9.97705223e-01 8.67535760e-04 -8.94698163e-01] [ 1.04227790e-02 -1.62219858e-04 9.99945668e-01 -1.07829600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55907232899999 meters 0.0749722826467298 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.90, Z:-1.08 [[ 9.97594252e-01 6.84861130e-02 -1.07406464e-02 3.39308217e+01] [-6.84804942e-02 9.97652058e-01 8.90467687e-04 -8.98709902e-01] [ 1.07764126e-02 -1.52800675e-04 9.99941921e-01 -1.07830185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58907232899999 meters 0.07491174577167731 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.90, Z:-1.08 [[ 9.97584660e-01 6.85950590e-02 -1.09345465e-02 3.39580578e+01] [-6.85892737e-02 9.97644573e-01 9.03656383e-04 -9.02618737e-01] [ 1.09707774e-02 -1.51481140e-04 9.99939808e-01 -1.07787942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61907232899999 meters 0.07412110957569312 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.91, Z:-1.07 [[ 9.97462506e-01 7.03088276e-02 -1.11901063e-02 3.39868508e+01] [-7.03029075e-02 9.97525263e-01 9.22021297e-04 -9.06378682e-01] [ 1.12272400e-02 -1.32984663e-04 9.99936964e-01 -1.07032594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64907232899999 meters 0.07488014383625718 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.91, Z:-1.08 [[ 9.97396621e-01 7.11704483e-02 -1.16080788e-02 3.40135793e+01] [-7.11641477e-02 9.97464160e-01 9.55451495e-04 -9.13265298e-01] [ 1.16466424e-02 -1.26885062e-04 9.99932168e-01 -1.07830932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.679072329 meters 0.07442266421852559 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.92, Z:-1.07 [[ 9.97336456e-01 7.18718362e-02 -1.24270856e-02 3.40425891e+01] [-7.18647207e-02 9.97413868e-01 1.01877084e-03 -9.16803506e-01] [ 1.24681685e-02 -1.22988260e-04 9.99922262e-01 -1.07485400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.709072329 meters 0.0743153808608153 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.93, Z:-1.08 [[ 9.97239585e-01 7.33194037e-02 -1.17249948e-02 3.40711215e+01] [-7.33131637e-02 9.97308506e-01 9.61700543e-04 -9.26018404e-01] [ 1.17639483e-02 -9.94493879e-05 9.99930797e-01 -1.07578490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739072329 meters 0.07426666849014084 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.93, Z:-1.08 [[ 9.97192921e-01 7.42106119e-02 -9.95304540e-03 3.40985069e+01] [-7.42061640e-02 9.97242588e-01 8.15952829e-04 -9.31269706e-01] [ 9.98615311e-03 -7.50850657e-05 9.99950134e-01 -1.07615788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.769072329 meters 0.07410007821231256 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.94, Z:-1.08 [[ 9.97203677e-01 7.40961678e-02 -9.72546935e-03 3.41261262e+01] [-7.40919844e-02 9.97251098e-01 7.90240919e-04 -9.35990666e-01] [ 9.75728882e-03 -6.74518267e-05 9.99952394e-01 -1.07533570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799072329 meters 0.07427831599823502 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.94, Z:-1.08 [[ 9.97152722e-01 7.46733329e-02 -1.05044041e-02 3.41535951e+01] [-7.46684466e-02 9.97208047e-01 8.57131884e-04 -9.40993675e-01] [ 1.05390812e-02 -7.03438520e-05 9.99944460e-01 -1.07687564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.829072329 meters 0.07460218148116862 Centerline is valid? [True, True] Translation: X:34.18, Y:-0.95, Z:-1.08 [[ 9.97042808e-01 7.59124107e-02 -1.19559288e-02 3.41814761e+01] [-7.59062439e-02 9.97114488e-01 9.69389036e-04 -9.47836865e-01] [ 1.19950185e-02 -5.89927193e-05 9.99928055e-01 -1.07736218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859072329 meters 0.0747297052238524 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.95, Z:-1.08 [[ 9.96955988e-01 7.67864840e-02 -1.35127257e-02 3.42097837e+01] [-7.67787264e-02 9.97047558e-01 1.09270104e-03 -9.52221592e-01] [ 1.35567348e-02 -5.18849819e-05 9.99908102e-01 -1.07780707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88907232899999 meters 0.07489471134264403 Centerline is valid? [True, True] Translation: X:34.24, Y:-0.96, Z:-1.08 [[ 9.96781382e-01 7.89845069e-02 -1.37231095e-02 3.42361836e+01] [-7.89767014e-02 9.96875843e-01 1.11063349e-03 -9.55997832e-01] [ 1.37679592e-02 -2.32528634e-05 9.99905217e-01 -1.07967933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91907232899999 meters 0.07494734172779009 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.96, Z:-1.08 [[ 9.96399398e-01 8.37036357e-02 -1.34885888e-02 3.42635101e+01] [-8.36966277e-02 9.96490692e-01 1.08420750e-03 -9.61629746e-01] [ 1.35320053e-02 4.86456928e-05 9.99908437e-01 -1.07835089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94907232899999 meters 0.07546009973982477 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.96, Z:-1.08 [[ 9.96156545e-01 8.66255967e-02 -1.29670385e-02 3.42906205e+01] [-8.66193804e-02 9.96240934e-01 1.04130195e-03 -9.63637785e-01] [ 1.30084980e-02 8.58970865e-05 9.99915382e-01 -1.08056804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97907232899999 meters 0.07659325196981483 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.96, Z:-1.08 [[ 9.95457485e-01 9.43297568e-02 -1.28954425e-02 3.43183769e+01] [-9.43242407e-02 9.95540990e-01 1.03664508e-03 -9.62075677e-01] [ 1.29357280e-02 1.84416719e-04 9.99916313e-01 -1.07943796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00907232899999 meters 0.0764206850685017 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.96, Z:-1.08 [[ 9.95150183e-01 9.76135063e-02 -1.21538740e-02 3.43473055e+01] [-9.76089340e-02 9.95224374e-01 9.70241108e-04 -9.64863008e-01] [ 1.21905403e-02 2.20791067e-04 9.99925668e-01 -1.07577744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03907232899999 meters 0.07714421209663894 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.97, Z:-1.08 [[ 9.94756517e-01 1.01602270e-01 -1.16812402e-02 3.43744600e+01] [-1.01598303e-01 9.94825066e-01 9.34004484e-04 -9.66574635e-01] [ 1.17156875e-02 2.57687139e-04 9.99931336e-01 -1.07587030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.069072329 meters 0.0789462449365683 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.97, Z:-1.08 [[ 9.93937704e-01 1.09108664e-01 -1.35329524e-02 3.44045971e+01] [-1.09104008e-01 9.94029748e-01 1.08407383e-03 -9.71081911e-01] [ 1.35704391e-02 3.98997487e-04 9.99907838e-01 -1.07785647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099072329 meters 0.0806074312346565 Centerline is valid? [True, True] Translation: X:34.43, Y:-0.97, Z:-1.08 [[ 9.93438401e-01 1.13515742e-01 -1.39398908e-02 3.44324752e+01] [-1.13511265e-01 9.93536084e-01 1.11449905e-03 -9.72978966e-01] [ 1.39762977e-02 4.75148492e-04 9.99902214e-01 -1.08039555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.129072329 meters 0.08178756241403422 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.98, Z:-1.08 [[ 9.93029202e-01 1.16930368e-01 -1.48422779e-02 3.44613948e+01] [-1.16925679e-01 9.93139959e-01 1.18629174e-03 -9.75944029e-01] [ 1.48791728e-02 5.57421081e-04 9.99889144e-01 -1.08079627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159072329 meters 0.08345287605089201 Centerline is valid? [True, True] Translation: X:34.49, Y:-0.98, Z:-1.08 [[ 9.92599599e-01 1.20575497e-01 -1.44078379e-02 3.44902566e+01] [-1.20571473e-01 9.92703982e-01 1.15074224e-03 -9.78082905e-01] [ 1.44414694e-02 5.94947961e-04 9.99895540e-01 -1.08097713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.189072329 meters 0.08390171453110921 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.98, Z:-1.08 [[ 9.92214566e-01 1.23814690e-01 -1.34230484e-02 3.45198356e+01] [-1.23811496e-01 9.92305177e-01 1.07187522e-03 -9.83028869e-01] [ 1.34524744e-02 5.98397499e-04 9.99909332e-01 -1.07865221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219072329 meters 0.08464919264742692 Centerline is valid? [True, True] Translation: X:34.55, Y:-0.99, Z:-1.07 [[ 9.91573880e-01 1.29116896e-01 -1.04912927e-02 3.45485692e+01] [-1.29115253e-01 9.91629241e-01 8.36619251e-04 -9.93701506e-01] [ 1.05114943e-02 5.25016113e-04 9.99944615e-01 -1.07475456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.249072329 meters 0.08571243668996817 Centerline is valid? [True, True] Translation: X:34.58, Y:-1.00, Z:-1.08 [[ 9.91281373e-01 1.31380480e-01 -1.00204319e-02 3.45778011e+01] [-1.31379097e-01 9.91331879e-01 7.99013709e-04 -9.99196221e-01] [ 1.00385484e-02 5.24427891e-04 9.99949475e-01 -1.07555155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27907232899999 meters 0.08758878768537484 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.00, Z:-1.08 [[ 9.91030410e-01 1.33112770e-01 -1.18201920e-02 3.46061330e+01] [-1.33110980e-01 9.91100691e-01 9.41615480e-04 -1.00287441e+00] [ 1.18403415e-02 6.40227756e-04 9.99929696e-01 -1.07791697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30907232899999 meters 0.08974668674692435 Centerline is valid? [True, True] Translation: X:34.63, Y:-1.01, Z:-1.08 [[ 9.90546885e-01 1.36562245e-01 -1.29468620e-02 3.46348548e+01] [-1.36560382e-01 9.90631211e-01 1.03198337e-03 -1.01495078e+00] [ 1.29664955e-02 7.45800499e-04 9.99915653e-01 -1.08200823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33907232899999 meters 0.09086642988034334 Centerline is valid? [True, True] Translation: X:34.66, Y:-1.02, Z:-1.09 [[ 9.90422347e-01 1.37314583e-01 -1.44318774e-02 3.46623772e+01] [-1.37312379e-01 9.90527128e-01 1.14819286e-03 -1.02397359e+00] [ 1.44528297e-02 8.44479551e-04 9.99895196e-01 -1.08547144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36907232899999 meters 0.09439934500720994 Centerline is valid? [True, True] Translation: X:34.69, Y:-1.03, Z:-1.09 [[ 9.90361099e-01 1.37787270e-01 -1.41266628e-02 3.46897899e+01] [-1.37785252e-01 9.90461493e-01 1.12068559e-03 -1.02867799e+00] [ 1.41463317e-02 8.36562381e-04 9.99899586e-01 -1.09093596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39907232899999 meters 0.08991578467871562 Centerline is valid? [True, True] Translation: X:34.72, Y:-1.06, Z:-1.09 [[ 9.90109384e-01 1.39633307e-01 -1.36362185e-02 3.47168799e+01] [-1.39631592e-01 9.90202932e-01 1.08246583e-03 -1.05612569e+00] [ 1.36537719e-02 8.32287316e-04 9.99906437e-01 -1.08623246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.429072329 meters 0.0967650613499108 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.05, Z:-1.09 [[ 9.89987306e-01 1.40632100e-01 -1.21551071e-02 3.47443389e+01] [-1.40630837e-01 9.90061635e-01 9.62828111e-04 -1.05424693e+00] [ 1.21697098e-02 7.56195280e-04 9.99925660e-01 -1.09164625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.459072329 meters 0.09224919080332017 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.08, Z:-1.09 [[ 9.89661049e-01 1.43024765e-01 -1.07202610e-02 3.47718800e+01] [-1.43023917e-01 9.89718868e-01 8.49686692e-04 -1.08066560e+00] [ 1.07315708e-02 6.92351885e-04 9.99942175e-01 -1.08518732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.489072329 meters 0.09433402809837163 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.09, Z:-1.09 [[ 9.89417967e-01 1.44762364e-01 -9.79518028e-03 3.48004168e+01] [-1.44761750e-01 9.89466237e-01 7.75363952e-04 -1.08679789e+00] [ 9.80424369e-03 6.50808417e-04 9.99951725e-01 -1.08545693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519072329 meters 0.09520762291721668 Centerline is valid? [True, True] Translation: X:34.83, Y:-1.10, Z:-1.09 [[ 9.89226887e-01 1.46033099e-01 -1.02225016e-02 3.48294969e+01] [-1.46032498e-01 9.89279462e-01 8.09234409e-04 -1.09570695e+00] [ 1.02310859e-02 6.92301011e-04 9.99947421e-01 -1.08567319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.549072329 meters 0.09520762291721668 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.10, Z:-1.09 [[ 9.89271134e-01 1.45733010e-01 -1.02231629e-02 3.48568581e+01] [-1.45732479e-01 9.89323710e-01 8.00870767e-04 -1.09762541e+00] [ 1.02307308e-02 6.97568543e-04 9.99947421e-01 -1.08621874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579072329 meters 0.0957612456207539 Centerline is valid? [True, True] Translation: X:34.89, Y:-1.12, Z:-1.09 [[ 9.88939096e-01 1.47834477e-01 -1.20180070e-02 3.48855429e+01] [-1.47833820e-01 9.89011761e-01 9.47971112e-04 -1.11963572e+00] [ 1.20260931e-02 8.39182181e-04 9.99927332e-01 -1.08864536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.609072329 meters 0.09636738584882723 Centerline is valid? [True, True] Translation: X:34.91, Y:-1.13, Z:-1.09 [[ 9.89072634e-01 1.46879834e-01 -1.27137407e-02 3.49129897e+01] [-1.46879126e-01 9.89153948e-01 9.94506925e-04 -1.13242518e+00] [ 1.27219198e-02 8.83743541e-04 9.99918683e-01 -1.09208471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63907232899999 meters 0.09659225188231793 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.15, Z:-1.09 [[ 9.89158983e-01 1.46263780e-01 -1.30924590e-02 3.49411616e+01] [-1.46263011e-01 9.89245211e-01 1.02140720e-03 -1.14619002e+00] [ 1.31010472e-02 9.04608358e-04 9.99913768e-01 -1.09408290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66907232899999 meters 0.09381607129263934 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.16, Z:-1.09 [[ 9.89368994e-01 1.44778581e-01 -1.37170250e-02 3.49686202e+01] [-1.44777651e-01 9.89463640e-01 1.06598828e-03 -1.16471081e+00] [ 1.37268297e-02 9.31262910e-04 9.99905349e-01 -1.09384860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69907232899999 meters 0.09319543910413805 Centerline is valid? [True, True] Translation: X:35.00, Y:-1.19, Z:-1.09 [[ 9.89740172e-01 1.42327108e-01 -1.25453790e-02 3.49970593e+01] [-1.42326080e-01 9.89819341e-01 9.79339256e-04 -1.18928812e+00] [ 1.25570453e-02 8.16243205e-04 9.99920824e-01 -1.09410948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72907232899999 meters 0.09303320571902707 Centerline is valid? [True, True] Translation: X:35.02, Y:-1.20, Z:-1.09 [[ 9.90053648e-01 1.40069145e-01 -1.32064272e-02 3.50242793e+01] [-1.40067833e-01 9.90141376e-01 1.02878212e-03 -1.20190395e+00] [ 1.32203306e-02 8.31246154e-04 9.99912262e-01 -1.09480761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75907232899999 meters 0.09417175381133636 Centerline is valid? [True, True] Translation: X:35.05, Y:-1.21, Z:-1.10 [[ 9.90344479e-01 1.37965660e-01 -1.35384398e-02 3.50517157e+01] [-1.37964100e-01 9.90436670e-01 1.05365876e-03 -1.21297546e+00] [ 1.35543360e-02 8.24333520e-04 9.99907796e-01 -1.09701879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78907232899999 meters 0.09063075899166766 Centerline is valid? [True, True] Translation: X:35.08, Y:-1.25, Z:-1.10 [[ 9.90869261e-01 1.34244461e-01 -1.25112839e-02 3.50795978e+01] [-1.34242820e-01 9.90947988e-01 9.74642074e-04 -1.24632565e+00] [ 1.25288719e-02 7.13807165e-04 9.99921256e-01 -1.09612475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.819072329 meters 0.09139288227563391 Centerline is valid? [True, True] Translation: X:35.11, Y:-1.26, Z:-1.10 [[ 9.91090813e-01 1.32641522e-01 -1.20510470e-02 3.51062327e+01] [-1.32639915e-01 9.91163850e-01 9.36045717e-04 -1.25828801e+00] [ 1.20687206e-02 6.70743532e-04 9.99926945e-01 -1.09777599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.849072329 meters 0.0891592980783472 Centerline is valid? [True, True] Translation: X:35.13, Y:-1.27, Z:-1.10 [[ 9.91348405e-01 1.30767328e-01 -1.13245392e-02 3.51340161e+01] [-1.30765794e-01 9.91412898e-01 8.79035767e-04 -1.27483703e+00] [ 1.13422434e-02 6.09431653e-04 9.99935489e-01 -1.09575266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879072329 meters 0.08894262730864573 Centerline is valid? [True, True] Translation: X:35.16, Y:-1.30, Z:-1.10 [[ 9.91874407e-01 1.26788318e-01 -1.04825310e-02 3.51614774e+01] [-1.26786779e-01 9.91929660e-01 8.13927108e-04 -1.29902226e+00] [ 1.05011299e-02 5.21732870e-04 9.99944726e-01 -1.09785477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.909072329 meters 0.0878218934123383 Centerline is valid? [True, True] Translation: X:35.19, Y:-1.31, Z:-1.10 [[ 9.92189381e-01 1.24277309e-01 -1.07416258e-02 3.51897868e+01] [-1.24275577e-01 9.92247394e-01 8.31114061e-04 -1.31411576e+00] [ 1.07616388e-02 5.10299202e-04 9.99941962e-01 -1.09809236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939072329 meters 0.08526593336347506 Centerline is valid? [True, True] Translation: X:35.22, Y:-1.34, Z:-1.10 [[ 9.92633727e-01 1.20673080e-01 -1.07838537e-02 3.52174435e+01] [-1.20671109e-01 9.92692191e-01 8.35641445e-04 -1.34079262e+00] [ 1.08058868e-02 4.71813701e-04 9.99941503e-01 -1.09746632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.969072329 meters 0.08502958003628554 Centerline is valid? [True, True] Translation: X:35.25, Y:-1.35, Z:-1.10 [[ 9.92801009e-01 1.19333510e-01 -1.02795689e-02 3.52455178e+01] [-1.19331721e-01 9.92854127e-01 7.89456527e-04 -1.35268037e+00] [ 1.03003210e-02 4.42905408e-04 9.99946852e-01 -1.09826834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999072329 meters 0.08466073552696118 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.37, Z:-1.10 [[ 9.93000072e-01 1.17636312e-01 -1.06091640e-02 3.52734116e+01] [-1.17634336e-01 9.93056647e-01 8.12206910e-04 -1.36538146e+00] [ 1.06310458e-02 4.41480439e-04 9.99943391e-01 -1.09966296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02907232899999 meters 0.08461502648805819 Centerline is valid? [True, True] Translation: X:35.30, Y:-1.38, Z:-1.10 [[ 9.93161924e-01 1.16283273e-01 -1.03726647e-02 3.53006329e+01] [-1.16281288e-01 9.93216003e-01 7.96343207e-04 -1.37749301e+00] [ 1.03948980e-02 4.15249063e-04 9.99945885e-01 -1.10132152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05907232899999 meters 0.08444233515776828 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.40, Z:-1.10 [[ 9.93294791e-01 1.15053363e-01 -1.13217517e-02 3.53278402e+01] [-1.15050921e-01 9.93359215e-01 8.68914983e-04 -1.39989927e+00] [ 1.13465379e-02 4.39489226e-04 9.99935529e-01 -1.10360330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08907232899999 meters 0.08223557849298829 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.41, Z:-1.10 [[ 9.93349927e-01 1.14605380e-01 -1.10240489e-02 3.53553071e+01] [-1.14603115e-01 9.93411004e-01 8.39090009e-04 -1.41443789e+00] [ 1.10475757e-02 4.29880339e-04 9.99938881e-01 -1.09973539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11907232899999 meters 0.08458120368048007 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.42, Z:-1.10 [[ 9.93298358e-01 1.15131137e-01 -1.01583677e-02 3.53826231e+01] [-1.15129231e-01 9.93350221e-01 7.74131676e-04 -1.41662341e+00] [ 1.01799435e-02 4.00581339e-04 9.99948103e-01 -1.10291293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14907232899999 meters 0.08524175984600396 Centerline is valid? [True, True] Translation: X:35.41, Y:-1.43, Z:-1.10 [[ 9.93212956e-01 1.15988513e-01 -8.64225376e-03 3.54105185e+01] [-1.15987164e-01 9.93250494e-01 6.58840613e-04 -1.42921309e+00] [ 8.66034076e-03 3.48021473e-04 9.99962438e-01 -1.10233685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.179072329 meters 0.08285984390042962 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.45, Z:-1.10 [[ 9.93151811e-01 1.16438715e-01 -9.56584218e-03 3.54378039e+01] [-1.16437110e-01 9.93197801e-01 7.26512120e-04 -1.44508589e+00] [ 9.58536756e-03 3.92282186e-04 9.99953982e-01 -1.09896035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.209072329 meters 0.08286281228850459 Centerline is valid? [True, True] Translation: X:35.47, Y:-1.46, Z:-1.10 [[ 9.93130172e-01 1.16451214e-01 -1.14706540e-02 3.54658573e+01] [-1.16448964e-01 9.93196299e-01 8.66094949e-04 -1.45555284e+00] [ 1.14934689e-02 4.75600750e-04 9.99933835e-01 -1.10110383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239072329 meters 0.08387413170434575 Centerline is valid? [True, True] Translation: X:35.49, Y:-1.47, Z:-1.10 [[ 9.93083509e-01 1.16788310e-01 -1.20679575e-02 3.54925670e+01] [-1.16785813e-01 9.93156704e-01 9.13830418e-04 -1.46993193e+00] [ 1.20920976e-02 5.01856315e-04 9.99926762e-01 -1.10465493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.269072329 meters 0.0836563067797226 Centerline is valid? [True, True] Translation: X:35.52, Y:-1.48, Z:-1.10 [[ 9.93109055e-01 1.16657699e-01 -1.11976436e-02 3.55213069e+01] [-1.16655547e-01 9.93172072e-01 8.47336696e-04 -1.47806395e+00] [ 1.12200352e-02 4.64769491e-04 9.99936945e-01 -1.10368101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299072329 meters 0.08633822599559722 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.48, Z:-1.11 [[ 9.93225120e-01 1.15923562e-01 -8.09868276e-03 3.55492899e+01] [-1.15922425e-01 9.93258082e-01 6.11308050e-04 -1.47843321e+00] [ 8.11494711e-03 3.31652432e-04 9.99967018e-01 -1.10738429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.329072329 meters 0.08489885646569503 Centerline is valid? [True, True] Translation: X:35.58, Y:-1.49, Z:-1.11 [[ 9.93606948e-01 1.12704010e-01 -6.56034873e-03 3.55773348e+01] [-1.12703189e-01 9.93628575e-01 4.95799726e-04 -1.49386340e+00] [ 6.57442858e-03 2.46742172e-04 9.99978358e-01 -1.10568982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359072329 meters 0.08119665424528846 Centerline is valid? [True, True] Translation: X:35.61, Y:-1.51, Z:-1.10 [[ 9.93885206e-01 1.10178004e-01 -7.28041951e-03 3.56054049e+01] [-1.10176931e-01 9.93911838e-01 5.49457933e-04 -1.51231462e+00] [ 7.29663331e-03 2.56036170e-04 9.99973346e-01 -1.10262890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38907232899999 meters 0.08174666227586708 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.53, Z:-1.11 [[ 9.94575150e-01 1.03499334e-01 -1.03999327e-02 3.56316261e+01] [-1.03496793e-01 9.94629479e-01 7.83714553e-04 -1.53337432e+00] [ 1.04251936e-02 2.96896664e-04 9.99945612e-01 -1.11326199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41907232899999 meters 0.078520570974798 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.55, Z:-1.11 [[ 9.94989176e-01 9.95445972e-02 -9.34944682e-03 3.56605871e+01] [-9.95423585e-02 9.95033075e-01 7.05643252e-04 -1.55256541e+00] [ 9.37325180e-03 2.28558590e-04 9.99956044e-01 -1.10829581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44907232899999 meters 0.07753330024075654 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.57, Z:-1.11 [[ 9.95277014e-01 9.66698516e-02 -8.86597320e-03 3.56889211e+01] [-9.66677355e-02 9.95316484e-01 6.67910694e-04 -1.56508268e+00] [ 8.88901609e-03 1.92297390e-04 9.99960473e-01 -1.10813929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47907232899999 meters 0.07695311011814733 Centerline is valid? [True, True] Translation: X:35.72, Y:-1.58, Z:-1.11 [[ 9.95599940e-01 9.33068491e-02 -8.63668196e-03 3.57160605e+01] [-9.33047278e-02 9.95637387e-01 6.49102828e-04 -1.57638595e+00] [ 8.65956920e-03 1.59596522e-04 9.99962492e-01 -1.10919318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50907232899999 meters 0.07594153614159392 Centerline is valid? [True, True] Translation: X:35.74, Y:-1.60, Z:-1.11 [[ 9.96251147e-01 8.59949776e-02 -9.40833815e-03 3.57422841e+01] [-8.59921388e-02 9.96295565e-01 7.06600055e-04 -1.59981939e+00] [ 9.43424963e-03 1.05092005e-04 9.99955491e-01 -1.11079707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53907232899999 meters 0.07566609961861856 Centerline is valid? [True, True] Translation: X:35.77, Y:-1.61, Z:-1.11 [[ 9.96525774e-01 8.27728700e-02 -9.22133093e-03 3.57706936e+01] [-8.27700042e-02 9.96568436e-01 6.92630814e-04 -1.61351077e+00] [ 9.24701838e-03 7.30251418e-05 9.99957243e-01 -1.11140154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.569072329 meters 0.07512757137136555 Centerline is valid? [True, True] Translation: X:35.80, Y:-1.63, Z:-1.11 [[ 9.96782616e-01 7.96208236e-02 -9.21631675e-03 3.57994637e+01] [-7.96178266e-02 9.96825222e-01 6.92207803e-04 -1.62762777e+00] [ 9.24217114e-03 4.38024043e-05 9.99957289e-01 -1.10900304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599072329 meters 0.07546208154485207 Centerline is valid? [True, True] Translation: X:35.83, Y:-1.65, Z:-1.11 [[ 9.97178981e-01 7.42060814e-02 -1.12932780e-02 3.58268904e+01] [-7.42012436e-02 9.97242928e-01 8.47355996e-04 -1.65146235e+00] [ 1.13250206e-02 -6.99031425e-06 9.99935870e-01 -1.11259854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.629072329 meters 0.0758054775916666 Centerline is valid? [True, True] Translation: X:35.86, Y:-1.66, Z:-1.11 [[ 9.97409393e-01 7.09649178e-02 -1.17678941e-02 3.58553784e+01] [-7.09594394e-02 9.97478811e-01 8.82945266e-04 -1.66429936e+00] [ 1.18008832e-02 -4.56147294e-05 9.99930366e-01 -1.11472873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659072329 meters 0.07606115030157702 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.68, Z:-1.12 [[ 9.97611490e-01 6.81836270e-02 -1.10593015e-02 3.58833551e+01] [-6.81786293e-02 9.97672786e-01 8.28734122e-04 -1.67711847e+00] [ 1.10900702e-02 -7.27466664e-05 9.99938501e-01 -1.11569148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.689072329 meters 0.07620020701500554 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.69, Z:-1.12 [[ 9.97829799e-01 6.50583520e-02 -1.01540065e-02 3.59132014e+01] [-6.50539666e-02 9.97881456e-01 7.61928888e-04 -1.69006358e+00] [ 1.01820646e-02 -9.97169513e-05 9.99948156e-01 -1.11554813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719072329 meters 0.0772571848699312 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.72, Z:-1.11 [[ 9.98292327e-01 5.80381134e-02 -6.63384812e-03 3.59428177e+01] [-5.80360607e-02 9.98314361e-01 5.01670296e-04 -1.71733402e+00] [ 6.65178184e-03 -1.15811195e-04 9.99977870e-01 -1.11432617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.749072329 meters 0.07734239029892831 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.73, Z:-1.11 [[ 9.98503858e-01 5.41932466e-02 -7.28952220e-03 3.59743224e+01] [-5.41906734e-02 9.98530454e-01 5.50197645e-04 -1.72992487e+00] [ 7.30862691e-03 -1.54350354e-04 9.99973280e-01 -1.11122814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77907232899999 meters 0.07978107605586406 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.76, Z:-1.11 [[ 9.98774729e-01 4.91470397e-02 -5.79739229e-03 3.60038658e+01] [-4.91452964e-02 9.98791542e-01 4.42870049e-04 -1.75547027e+00] [ 5.81215214e-03 -1.57412850e-04 9.99983097e-01 -1.11434580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80907232899999 meters 0.0786572082329807 Centerline is valid? [True, True] Translation: X:36.04, Y:-1.76, Z:-1.11 [[ 9.98824329e-01 4.82712601e-02 -4.45484175e-03 3.60369497e+01] [-4.82702053e-02 9.98834255e-01 3.44053525e-04 -1.76296998e+00] [ 4.46625644e-03 -1.28612905e-04 9.99990018e-01 -1.11005232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83907232899999 meters 0.07954918763251514 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.78, Z:-1.11 [[ 9.98893631e-01 4.68876366e-02 -3.61422876e-03 3.60673886e+01] [-4.68869301e-02 9.98900164e-01 2.79990137e-04 -1.77596640e+00] [ 3.62338177e-03 -1.10220273e-04 9.99993429e-01 -1.11098286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86907232899999 meters 0.0798248573922734 Centerline is valid? [True, True] Translation: X:36.10, Y:-1.80, Z:-1.11 [[ 9.98901520e-01 4.67838688e-02 -2.65025173e-03 3.60967668e+01] [-4.67834837e-02 9.98905032e-01 2.07184065e-04 -1.79547166e+00] [ 2.65704266e-03 -8.29684693e-05 9.99996467e-01 -1.11135921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89907232899999 meters 0.0796605690018186 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.80, Z:-1.11 [[ 9.98856274e-01 4.77995478e-02 -1.16078600e-03 3.61285267e+01] [-4.77994707e-02 9.98856948e-01 9.41227112e-05 -1.80443390e+00] [ 1.16395819e-03 -3.85301040e-05 9.99999322e-01 -1.11249058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.929072329 meters 0.07922447290421226 Centerline is valid? [True, True] Translation: X:36.16, Y:-1.81, Z:-1.11 [[ 9.98770506e-01 4.95615200e-02 -1.06377580e-03 3.61604459e+01] [-4.95614555e-02 9.98771072e-01 8.69500702e-05 -1.81192940e+00] [ 1.06677788e-03 -3.41208886e-05 9.99999430e-01 -1.11307070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.959072329 meters 0.07848092015282979 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.82, Z:-1.11 [[ 9.98657225e-01 5.17952041e-02 -1.00234775e-03 3.61921753e+01] [-5.17951473e-02 9.98657727e-01 8.25477749e-05 -1.81925461e+00] [ 1.00527790e-03 -3.05201825e-05 9.99999494e-01 -1.11282192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.989072329 meters 0.07665243404901453 Centerline is valid? [True, True] Translation: X:36.22, Y:-1.83, Z:-1.11 [[ 9.98413673e-01 5.62345903e-02 2.79417732e-03 3.62230640e+01] [-5.62342101e-02 9.98417582e-01 -2.14509369e-04 -1.83288536e+00] [-2.80181861e-03 5.70407324e-05 9.99996073e-01 -1.10818294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019072329 meters 0.07556526411789063 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.84, Z:-1.11 [[ 9.98254645e-01 5.88620358e-02 4.78800921e-03 3.62544910e+01] [-5.88609602e-02 9.98266124e-01 -3.65370378e-04 -1.84002681e+00] [-4.80121384e-03 8.29058576e-05 9.99988471e-01 -1.10675663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.049072329 meters 0.07573635477948656 Centerline is valid? [True, True] Translation: X:36.29, Y:-1.85, Z:-1.11 [[ 9.98141548e-01 6.06863738e-02 5.53308705e-03 3.62850070e+01] [-6.06849427e-02 9.98156879e-01 -4.26328085e-04 -1.85010209e+00] [-5.54876121e-03 8.97607041e-05 9.99984601e-01 -1.10881230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079072329 meters 0.0753273074788109 Centerline is valid? [True, True] Translation: X:36.32, Y:-1.86, Z:-1.11 [[ 9.97953513e-01 6.37142519e-02 5.41118943e-03 3.63153595e+01] [-6.37129297e-02 9.97968180e-01 -4.16547154e-04 -1.86354396e+00] [-5.42673486e-03 7.09319632e-05 9.99985273e-01 -1.11139703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.109072329 meters 0.0747941027721093 Centerline is valid? [True, True] Translation: X:36.35, Y:-1.87, Z:-1.11 [[ 9.97838700e-01 6.53730912e-02 6.65492874e-03 3.63468468e+01] [-6.53711136e-02 9.97860889e-01 -5.14496725e-04 -1.87134820e+00] [-6.67432735e-03 7.83446407e-05 9.99977723e-01 -1.11020816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13907232899999 meters 0.07477980569785056 Centerline is valid? [True, True] Translation: X:36.38, Y:-1.88, Z:-1.11 [[ 9.97726232e-01 6.70338155e-02 6.98813600e-03 3.63774659e+01] [-6.70316496e-02 9.97750701e-01 -5.43964708e-04 -1.88304391e+00] [-7.00888162e-03 7.43015750e-05 9.99975435e-01 -1.11128392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16907232899999 meters 0.07439645350331406 Centerline is valid? [True, True] Translation: X:36.41, Y:-1.89, Z:-1.11 [[ 9.97617068e-01 6.85466242e-02 7.84508735e-03 3.64087802e+01] [-6.85439398e-02 9.97647911e-01 -6.10855972e-04 -1.89380517e+00] [-7.86850713e-03 7.16671487e-05 9.99969040e-01 -1.10924783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19907232899999 meters 0.07407898761746265 Centerline is valid? [True, True] Translation: X:36.44, Y:-1.91, Z:-1.11 [[ 9.97347462e-01 7.20897725e-02 1.00550563e-02 3.64382197e+01] [-7.20854973e-02 9.97398146e-01 -7.87427451e-04 -1.91314814e+00] [-1.00856599e-02 6.05150380e-05 9.99949137e-01 -1.11024621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22907232899999 meters 0.07385831565588706 Centerline is valid? [True, True] Translation: X:36.47, Y:-1.92, Z:-1.11 [[ 9.97182116e-01 7.43458921e-02 1.00257364e-02 3.64693443e+01] [-7.43417327e-02 9.97232514e-01 -7.87431857e-04 -1.92181324e+00] [-1.00565327e-02 3.98823483e-05 9.99949431e-01 -1.11053659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25907232899999 meters 0.07368169879219717 Centerline is valid? [True, True] Translation: X:36.50, Y:-1.94, Z:-1.11 [[ 9.96908933e-01 7.80529993e-02 8.96151217e-03 3.65004614e+01] [-7.80498106e-02 9.96949211e-01 -7.05533858e-04 -1.93805913e+00] [-8.98924152e-03 3.90867838e-06 9.99959596e-01 -1.11362714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28907232899999 meters 0.07345579671521413 Centerline is valid? [True, True] Translation: X:36.53, Y:-1.95, Z:-1.11 [[ 9.96697554e-01 8.05270589e-02 1.04584411e-02 3.65323095e+01] [-8.05228079e-02 9.96752423e-01 -8.27591583e-04 -1.94694277e+00] [-1.04911200e-02 -1.72845372e-05 9.99944967e-01 -1.11444968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.319072329 meters 0.07327494316650518 Centerline is valid? [True, True] Translation: X:36.56, Y:-1.97, Z:-1.11 [[ 9.96499613e-01 8.25685784e-02 1.30748634e-02 3.65622020e+01] [-8.25620449e-02 9.96585384e-01 -1.03960238e-03 -1.96505295e+00] [-1.31160563e-02 -4.35240944e-05 9.99913980e-01 -1.11478589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.349072329 meters 0.0732892710682114 Centerline is valid? [True, True] Translation: X:36.59, Y:-1.98, Z:-1.11 [[ 9.96505072e-01 8.24425994e-02 1.34483813e-02 3.65936351e+01] [-8.24356338e-02 9.96595814e-01 -1.07241489e-03 -1.97925750e+00] [-1.34910132e-02 -3.99589655e-05 9.99908991e-01 -1.11441115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379072329 meters 0.07329402124295598 Centerline is valid? [True, True] Translation: X:36.63, Y:-1.99, Z:-1.12 [[ 9.96561725e-01 8.18193240e-02 1.30509363e-02 3.66256573e+01] [-8.18126621e-02 9.96647178e-01 -1.04442884e-03 -1.99362247e+00] [-1.30926333e-02 -2.68940361e-05 9.99914287e-01 -1.11525220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.409072329 meters 0.0733692371608304 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.01, Z:-1.12 [[ 9.96695924e-01 8.03209304e-02 1.20740669e-02 3.66570269e+01] [-8.03150810e-02 9.96769055e-01 -9.69349979e-04 -2.00905056e+00] [-1.21129154e-02 -3.58248962e-06 9.99926636e-01 -1.11577771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439072329 meters 0.0733692371608304 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.01, Z:-1.12 [[ 9.96672385e-01 8.06125323e-02 1.20737826e-02 3.66893135e+01] [-8.06066615e-02 9.96745514e-01 -9.72874063e-04 -2.01187738e+00] [-1.21129145e-02 -3.59059744e-06 9.99926636e-01 -1.11642405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.469072329 meters 0.07361745792783465 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.04, Z:-1.12 [[ 9.96876444e-01 7.82528669e-02 1.06697392e-02 3.67191791e+01] [-7.82481171e-02 9.96933543e-01 -8.62539178e-04 -2.03666030e+00] [-1.07045170e-02 2.49579899e-05 9.99942705e-01 -1.11834424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499072329 meters 0.0737053516746607 Centerline is valid? [True, True] Translation: X:36.75, Y:-2.05, Z:-1.12 [[ 9.97024307e-01 7.62506608e-02 1.13299509e-02 3.67497575e+01] [-7.62451317e-02 9.97088679e-01 -9.19781916e-04 -2.04909582e+00] [-1.13670998e-02 5.31913258e-05 9.99935391e-01 -1.11964195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52907232899999 meters 0.07380712028974482 Centerline is valid? [True, True] Translation: X:36.78, Y:-2.06, Z:-1.12 [[ 9.97147837e-01 7.45257251e-02 1.19208654e-02 3.67816755e+01] [-7.45194632e-02 9.97219088e-01 -9.69232370e-04 -2.06109985e+00] [-1.19599473e-02 7.81314719e-05 9.99928474e-01 -1.12050911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55907232899999 meters 0.07412954233077151 Centerline is valid? [True, True] Translation: X:36.81, Y:-2.07, Z:-1.12 [[ 9.97364516e-01 7.14434993e-02 1.26431362e-02 3.68117979e+01] [-7.14361508e-02 9.97444640e-01 -1.03246100e-03 -2.07486409e+00] [-1.26845911e-02 1.26562984e-04 9.99919539e-01 -1.12116592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58907232899999 meters 0.07522096838798255 Centerline is valid? [True, True] Translation: X:36.84, Y:-2.10, Z:-1.12 [[ 9.97818561e-01 6.45927598e-02 1.36343398e-02 3.68411438e+01] [-6.45835149e-02 9.97911680e-01 -1.11773362e-03 -2.10404134e+00] [-1.36780644e-02 2.34741761e-04 9.99906423e-01 -1.11839653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61907232899999 meters 0.07605469626318784 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.12, Z:-1.12 [[ 9.98021044e-01 6.15821763e-02 1.27134584e-02 3.68717409e+01] [-6.15738877e-02 9.98101983e-01 -1.04272187e-03 -2.12088297e+00] [-1.27535411e-02 2.57841313e-04 9.99918637e-01 -1.11834156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64907232899999 meters 0.07714880213935019 Centerline is valid? [True, True] Translation: X:36.90, Y:-2.14, Z:-1.12 [[ 9.98242587e-01 5.79477842e-02 1.24012800e-02 3.69025612e+01] [-5.79395634e-02 9.98319570e-01 -1.02145906e-03 -2.13725101e+00] [-1.24396318e-02 3.01139184e-04 9.99922579e-01 -1.11885010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.679072329 meters 0.0797121412735377 Centerline is valid? [True, True] Translation: X:36.93, Y:-2.16, Z:-1.12 [[ 9.98636677e-01 5.13047827e-02 9.62320204e-03 3.69306016e+01] [-5.12995135e-02 9.98682998e-01 -7.93747672e-04 -2.16211338e+00] [-9.65125132e-03 2.98999954e-04 9.99953381e-01 -1.12350132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.709072329 meters 0.07974200788624301 Centerline is valid? [True, True] Translation: X:36.96, Y:-2.17, Z:-1.12 [[ 9.98783813e-01 4.85513946e-02 8.58241930e-03 3.69622152e+01] [-4.85471093e-02 9.98820644e-01 -7.07063935e-04 -2.17149587e+00] [-8.60662651e-03 2.89552365e-04 9.99962920e-01 -1.12446005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739072329 meters 0.08183849398631943 Centerline is valid? [True, True] Translation: X:36.99, Y:-2.19, Z:-1.13 [[ 9.98881228e-01 4.64792255e-02 8.71632213e-03 3.69916466e+01] [-4.64747171e-02 9.98919208e-01 -7.19183523e-04 -2.18587149e+00] [-8.74032869e-03 3.13290316e-04 9.99961754e-01 -1.12726798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.769072329 meters 0.08096612443441947 Centerline is valid? [True, True] Translation: X:37.02, Y:-2.19, Z:-1.13 [[ 9.98995100e-01 4.39226744e-02 8.92126091e-03 3.70231155e+01] [-4.39178503e-02 9.99034875e-01 -7.36018550e-04 -2.19204768e+00] [-8.94497868e-03 3.43476323e-04 9.99959934e-01 -1.12706605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799072329 meters 0.08305050061134482 Centerline is valid? [True, True] Translation: X:37.05, Y:-2.21, Z:-1.13 [[ 9.99179531e-01 3.96429462e-02 8.28868606e-03 3.70511142e+01] [-3.96386234e-02 9.99213846e-01 -6.85230220e-04 -2.21352463e+00] [-8.30933442e-03 3.56115904e-04 9.99965413e-01 -1.12820332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.829072329 meters 0.08394938332522114 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.22, Z:-1.13 [[ 9.99261252e-01 3.75424637e-02 8.21669815e-03 3.70824787e+01] [-3.75381520e-02 9.99294965e-01 -6.78402092e-04 -2.22493970e+00] [-8.23637397e-03 3.69461260e-04 9.99966012e-01 -1.12849814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859072329 meters 0.0880738885762174 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.24, Z:-1.13 [[ 9.99322259e-01 3.61785772e-02 6.79213222e-03 3.71120148e+01] [-3.61756126e-02 9.99345292e-01 -5.58863136e-04 -2.24196195e+00] [-6.80790423e-03 3.12774827e-04 9.99976777e-01 -1.13222981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88907232899999 meters 0.08599254822528267 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.24, Z:-1.13 [[ 9.99383063e-01 3.43962104e-02 7.09887459e-03 3.71441728e+01] [-3.43928982e-02 9.99408216e-01 -5.88178713e-04 -2.24372912e+00] [-7.11490471e-03 3.43664973e-04 9.99974630e-01 -1.13236868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91907232899999 meters 0.08655791608108146 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.26, Z:-1.13 [[ 9.99474560e-01 3.20023388e-02 5.14339375e-03 3.71744624e+01] [-3.20005658e-02 9.99487760e-01 -4.26672826e-04 -2.25547244e+00] [-5.15441362e-03 2.61857125e-04 9.99986682e-01 -1.13455171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94907232899999 meters 0.08730692192195615 Centerline is valid? [True, True] Translation: X:37.21, Y:-2.26, Z:-1.13 [[ 9.99497994e-01 3.11330099e-02 5.87338435e-03 3.72062389e+01] [-3.11306994e-02 9.99515205e-01 -4.84410901e-04 -2.26431617e+00] [-5.88561813e-03 3.01325161e-04 9.99982634e-01 -1.13446004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97907232899999 meters 0.08911534954624659 Centerline is valid? [True, True] Translation: X:37.24, Y:-2.28, Z:-1.14 [[ 9.99535190e-01 2.98244016e-02 6.31741127e-03 3.72367035e+01] [-2.98216877e-02 9.99555098e-01 -5.23371108e-04 -2.27632176e+00] [-6.33020987e-03 3.34731974e-04 9.99979908e-01 -1.13638182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00907232899999 meters 0.08766489060964626 Centerline is valid? [True, True] Translation: X:37.27, Y:-2.28, Z:-1.14 [[ 9.99535910e-01 2.98760625e-02 5.94864119e-03 3.72686676e+01] [-2.98736521e-02 9.99553561e-01 -4.93652435e-04 -2.27680435e+00] [-5.96073387e-03 3.15715698e-04 9.99982185e-01 -1.13756064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03907232899999 meters 0.08807595272802052 Centerline is valid? [True, True] Translation: X:37.30, Y:-2.28, Z:-1.14 [[ 9.99526261e-01 3.02832893e-02 5.49332937e-03 3.73017352e+01] [-3.02812370e-02 9.99541314e-01 -4.56407980e-04 -2.28087256e+00] [-5.50463119e-03 2.89846953e-04 9.99984807e-01 -1.13983186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.069072329 meters 0.09002877316308404 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.29, Z:-1.14 [[ 9.99517833e-01 3.08117368e-02 3.83894683e-03 3.73333086e+01] [-3.08107338e-02 9.99525185e-01 -3.20155508e-04 -2.28816593e+00] [-3.84698859e-03 2.01720371e-04 9.99992580e-01 -1.14319875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099072329 meters 0.08850486379019737 Centerline is valid? [True, True] Translation: X:37.36, Y:-2.29, Z:-1.14 [[ 9.99492557e-01 3.17694874e-02 2.30812112e-03 3.73649615e+01] [-3.17691330e-02 9.99495216e-01 -1.90076241e-04 -2.28840384e+00] [-2.31299464e-03 1.16652781e-04 9.99997318e-01 -1.14420441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.129072329 meters 0.08900378471529834 Centerline is valid? [True, True] Translation: X:37.40, Y:-2.29, Z:-1.15 [[ 9.99493569e-01 3.18062768e-02 9.83298470e-04 3.73969008e+01] [-3.18062152e-02 9.99494051e-01 -7.82086695e-05 -2.29165804e+00] [-9.85288498e-04 4.68940594e-05 9.99999514e-01 -1.14540583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159072329 meters 0.09045142706978392 Centerline is valid? [True, True] Translation: X:37.43, Y:-2.30, Z:-1.15 [[ 9.99494889e-01 3.17475656e-02 1.43463573e-03 3.74287588e+01] [-3.17474309e-02 9.99495916e-01 -1.16594029e-04 -2.29602568e+00] [-1.43761413e-03 7.09891379e-05 9.99998964e-01 -1.14799953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.189072329 meters 0.08992297424577786 Centerline is valid? [True, True] Translation: X:37.46, Y:-2.29, Z:-1.15 [[ 9.99501531e-01 3.15701584e-02 -1.17392348e-04 3.74609449e+01] [-3.15701569e-02 9.99501538e-01 1.52749697e-05 -2.29218493e+00] [ 1.17816065e-04 -1.15612608e-05 9.99999993e-01 -1.15053792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219072329 meters 0.09000277142062563 Centerline is valid? [True, True] Translation: X:37.49, Y:-2.29, Z:-1.15 [[ 9.99519868e-01 3.09788070e-02 -5.89504343e-04 3.74929916e+01] [-3.09787794e-02 9.99520041e-01 5.58325509e-05 -2.29239855e+00] [ 5.90951031e-04 -3.75436189e-05 9.99999825e-01 -1.15189786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.249072329 meters 0.09334478630256184 Centerline is valid? [True, True] Translation: X:37.52, Y:-2.30, Z:-1.16 [[ 9.99559851e-01 2.96289822e-02 -1.49262366e-03 3.75235326e+01] [-2.96288200e-02 9.99560962e-01 1.30676890e-04 -2.30000967e+00] [ 1.49584016e-03 -8.63946950e-05 9.99998877e-01 -1.15533863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27907232899999 meters 0.095786697691019 Centerline is valid? [True, True] Translation: X:37.55, Y:-2.30, Z:-1.16 [[ 9.99640739e-01 2.63512349e-02 -4.89946320e-03 3.75543191e+01] [-2.63494879e-02 9.99652703e-01 4.20783209e-04 -2.30305845e+00] [ 4.90884979e-03 -2.91533692e-04 9.99987909e-01 -1.15855196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30907232899999 meters 0.0981077538419285 Centerline is valid? [True, True] Translation: X:37.58, Y:-2.31, Z:-1.16 [[ 9.99681903e-01 2.45680901e-02 -5.70101688e-03 3.75846821e+01] [-2.45656942e-02 9.99698098e-01 4.89920448e-04 -2.30619179e+00] [ 5.71133214e-03 -3.49715168e-04 9.99983629e-01 -1.16227647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33907232899999 meters 0.09992897087194129 Centerline is valid? [True, True] Translation: X:37.62, Y:-2.31, Z:-1.17 [[ 9.99739274e-01 2.14359567e-02 -7.86656235e-03 3.76155293e+01] [-2.14313013e-02 9.99770095e-01 6.75632679e-04 -2.30784590e+00] [ 7.87923662e-03 -5.06865856e-04 9.99968830e-01 -1.16555925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36907232899999 meters 0.10006319826311086 Centerline is valid? [True, False] Translation: X:37.61, Y:-2.30, Z:-1.17 [[ 9.99972857e-01 7.28737905e-03 1.08561474e-03 3.76147768e+01] [-7.29077562e-03 9.99968434e-01 3.15831337e-03 -2.30073210e+00] [-1.06256465e-03 -3.16614262e-03 9.99994423e-01 -1.16800671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39907232899999 meters 0.10165411119049196 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.30, Z:-1.17 [[ 9.99976049e-01 6.85328084e-03 9.66827565e-04 3.76154006e+01] [-6.85554253e-03 9.99973726e-01 2.35570597e-03 -2.29872511e+00] [-9.50657848e-04 -2.36227768e-03 9.99996758e-01 -1.16863901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.429072329 meters 0.1090287071108657 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.30, Z:-1.17 [[ 9.99979124e-01 6.39595667e-03 9.18217466e-04 3.76156668e+01] [-6.39721493e-03 9.99978594e-01 1.37399886e-03 -2.29571793e+00] [-9.09409773e-04 -1.37984421e-03 9.99998635e-01 -1.16896752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.459072329 meters 0.10450208956383479 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.29, Z:-1.17 [[ 9.99985872e-01 5.26568105e-03 7.26894270e-04 3.76169023e+01] [-5.26505148e-03 9.99985765e-01 -8.65333801e-04 -2.28935673e+00] [-7.31440495e-04 8.61494439e-04 9.99999361e-01 -1.17035393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.489072329 meters 0.10589668016895512 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.29, Z:-1.17 [[ 9.99990744e-01 4.28943264e-03 3.36921449e-04 3.76190008e+01] [-4.28862052e-03 9.99987983e-01 -2.37525191e-03 -2.28635302e+00] [-3.47105883e-04 2.37378500e-03 9.99997122e-01 -1.17233985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519072329 meters 0.10806736137895775 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.28, Z:-1.17 [[ 9.99992611e-01 3.83800454e-03 2.16190501e-04 3.76196709e+01] [-3.83727612e-03 9.99987276e-01 -3.27458358e-03 -2.28395329e+00] [-2.28755617e-04 3.27372980e-03 9.99994615e-01 -1.17307029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.549072329 meters 0.10956158312787671 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.28, Z:-1.17 [[ 9.99995112e-01 3.12619142e-03 -4.93407928e-05 3.76210893e+01] [-3.12638095e-03 9.99985096e-01 -4.47595277e-03 -2.28127855e+00] [ 3.53473723e-05 4.47608515e-03 9.99989982e-01 -1.17447862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579072329 meters 0.11255870264878429 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.28, Z:-1.18 [[ 9.99997787e-01 2.09694921e-03 -1.70137324e-04 3.76222542e+01] [-2.09801987e-03 9.99976297e-01 -6.55771816e-03 -2.27532485e+00] [ 1.56382089e-04 6.55806060e-03 9.99978483e-01 -1.17598736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.609072329 meters 0.11411727494380441 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.27, Z:-1.18 [[ 9.99998732e-01 1.57208912e-03 -2.55629252e-04 3.76227606e+01] [-1.57401170e-03 9.99969091e-01 -7.70322610e-03 -2.27198796e+00] [ 2.43511193e-04 7.70361869e-03 9.99970297e-01 -1.17657014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63907232899999 meters 0.11485108864153055 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.27, Z:-1.18 [[ 9.99984916e-01 5.47719026e-03 -4.09772382e-04 3.76234949e+01] [-5.47879545e-03 9.99976893e-01 -4.02446258e-03 -2.27067724e+00] [ 3.87720166e-04 4.02664694e-03 9.99991818e-01 -1.17717522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66907232899999 meters 0.11789080880928943 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.26, Z:-1.18 [[ 9.99989674e-01 4.52761605e-03 -3.91662358e-04 3.76238223e+01] [-4.53007517e-03 9.99968458e-01 -6.52387595e-03 -2.26226373e+00] [ 3.62112399e-04 6.52558284e-03 9.99978643e-01 -1.17784311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69907232899999 meters 0.11539458335804226 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.26, Z:-1.18 [[ 9.99989648e-01 -5.05983203e-04 4.52184184e-03 3.76144268e+01] [ 5.12873565e-04 9.99998709e-01 -1.52276579e-03 -2.25720753e+00] [-4.52106551e-03 1.52506916e-03 9.99988617e-01 -1.18181970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72907232899999 meters 0.11522681029308271 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.25, Z:-1.18 [[ 9.99989774e-01 -1.17651835e-03 4.36670545e-03 3.76151394e+01] [ 1.18954201e-03 9.99994849e-01 -2.98109263e-03 -2.25301262e+00] [-4.36317565e-03 2.98625653e-03 9.99986022e-01 -1.18254253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75907232899999 meters 0.11894289877510388 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.25, Z:-1.18 [[ 9.99989793e-01 2.06119338e-03 4.02054441e-03 3.76167198e+01] [-2.05854727e-03 9.99997662e-01 -6.62172765e-04 -2.24821920e+00] [-4.02189987e-03 6.53889525e-04 9.99991698e-01 -1.18384946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78907232899999 meters 0.11839664306542132 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.24, Z:-1.18 [[ 9.99991704e-01 1.35228084e-03 3.84221174e-03 3.76175931e+01] [-1.34424331e-03 9.99996905e-01 -2.09371607e-03 -2.24445285e+00] [-3.84503114e-03 2.08853383e-03 9.99990427e-01 -1.18466760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.819072329 meters 0.11874018846936198 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.24, Z:-1.19 [[ 9.99985347e-01 4.13014735e-03 3.49956721e-03 3.76192052e+01] [-4.12789620e-03 9.99991269e-01 -6.50245305e-04 -2.23656379e+00] [-3.50222227e-03 6.35789927e-04 9.99993665e-01 -1.18599859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.849072329 meters 0.12469397775299945 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.23, Z:-1.19 [[ 9.99989400e-01 3.22289437e-03 3.28836900e-03 3.76200778e+01] [-3.21446610e-03 9.99991544e-01 -2.56512759e-03 -2.23083132e+00] [-3.29660833e-03 2.55453004e-03 9.99991303e-01 -1.18679263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879072329 meters 0.1248496255780355 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.23, Z:-1.19 [[ 9.99996421e-01 2.59855196e-03 -6.37156945e-04 3.76320052e+01] [-2.59818233e-03 9.99996456e-01 5.80273286e-04 -2.22697371e+00] [ 6.38662557e-04 -5.78615759e-04 9.99999629e-01 -1.18678261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.909072329 meters 0.12334227416450962 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.22, Z:-1.19 [[ 9.99997868e-01 1.91925287e-03 -7.61442508e-04 3.76327163e+01] [-1.91984327e-03 9.99997856e-01 -7.75389899e-04 -2.22316585e+00] [ 7.59952707e-04 7.76850096e-04 9.99999409e-01 -1.18756360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939072329 meters 0.12223846094490648 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.22, Z:-1.19 [[ 9.99999122e-01 7.54404401e-04 -1.08901252e-03 3.76339832e+01] [-7.57679316e-04 9.99995183e-01 -3.00995974e-03 -2.21721008e+00] [ 1.08673655e-03 3.01078222e-03 9.99994877e-01 -1.18842726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.969072329 meters 0.12049022324452507 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.21, Z:-1.19 [[ 9.99999249e-01 3.00126710e-04 -1.18833949e-03 3.76343080e+01] [-3.04893269e-04 9.99991902e-01 -4.01296131e-03 -2.21426938e+00] [ 1.18712547e-03 4.01332062e-03 9.99991242e-01 -1.18861249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999072329 meters 0.13091721867779912 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.21, Z:-1.19 [[ 9.99993152e-01 3.20395819e-03 -1.85205425e-03 3.76371669e+01] [-3.20629149e-03 9.99994068e-01 -1.25825170e-03 -2.21226306e+00] [ 1.84801188e-03 1.26418131e-03 9.99997493e-01 -1.19086198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02907232899999 meters 0.12868254252686218 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.20, Z:-1.19 [[ 9.99996650e-01 1.37726778e-03 -2.19139286e-03 3.76393251e+01] [-1.38668129e-03 9.99989794e-01 -4.29996623e-03 -2.20340159e+00] [ 2.18544829e-03 4.30299059e-03 9.99988354e-01 -1.19283317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05907232899999 meters 0.1303393882722855 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.20, Z:-1.19 [[ 9.99997031e-01 1.02023933e-03 -2.21312277e-03 3.76396040e+01] [-1.03130308e-03 9.99986949e-01 -5.00379147e-03 -2.20146948e+00] [ 2.20798883e-03 5.00605901e-03 9.99985032e-01 -1.19321922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08907232899999 meters 0.12766948392618457 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.20, Z:-1.19 [[ 9.99997174e-01 9.50234693e-04 -2.17918385e-03 3.76393880e+01] [-9.61586077e-04 9.99985945e-01 -5.21388858e-03 -2.20071629e+00] [ 2.17419881e-03 5.21596932e-03 9.99984033e-01 -1.19298494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11907232899999 meters 0.1350379098136346 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.20, Z:-1.19 [[ 9.99997389e-01 8.94182180e-04 -2.10290853e-03 3.76392076e+01] [-9.05470565e-04 9.99985154e-01 -5.37317504e-03 -2.20017541e+00] [ 2.09807271e-03 5.37506513e-03 9.99983353e-01 -1.19294258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14907232899999 meters 0.13669108535515845 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.20, Z:-1.19 [[ 9.99991835e-01 3.33781439e-03 -2.27772182e-03 3.76408509e+01] [-3.34448894e-03 9.99990106e-01 -2.93287005e-03 -2.19775455e+00] [ 2.26790991e-03 2.94046392e-03 9.99993105e-01 -1.19473765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.179072329 meters 0.13956699683163168 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.19, Z:-1.20 [[ 9.99993442e-01 2.76258349e-03 -2.34166842e-03 3.76414523e+01] [-2.77195652e-03 9.99988122e-01 -4.00896384e-03 -2.19484391e+00] [ 2.33056551e-03 4.01542855e-03 9.99989222e-01 -1.19550418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.209072329 meters 0.14221527717904306 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.19, Z:-1.20 [[ 9.99994710e-01 2.18742140e-03 -2.40714297e-03 3.76421265e+01] [-2.19946960e-03 9.99985011e-01 -5.01397153e-03 -2.19229688e+00] [ 2.39613922e-03 5.01923945e-03 9.99984533e-01 -1.19634144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239072329 meters 0.1493099918244666 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.19, Z:-1.20 [[ 9.99981980e-01 -5.80076972e-03 1.54598251e-03 3.76302802e+01] [ 5.80376940e-03 9.99981270e-01 -1.94293538e-03 -2.18819031e+00] [-1.53468303e-03 1.95187290e-03 9.99996917e-01 -1.19837519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.269072329 meters 0.15365609368987335 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.19, Z:-1.20 [[ 9.99982293e-01 -5.72928673e-03 1.60873801e-03 3.76301120e+01] [ 5.73196922e-03 9.99982181e-01 -1.66782029e-03 -2.18907998e+00] [-1.59915392e-03 1.67701200e-03 9.99997315e-01 -1.19828339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299072329 meters 0.1566489700144695 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.19, Z:-1.20 [[ 9.99982216e-01 -5.69220367e-03 1.77962623e-03 3.76296986e+01] [ 5.69499105e-03 9.99982559e-01 -1.56514930e-03 -2.18926783e+00] [-1.77068605e-03 1.57525642e-03 9.99997192e-01 -1.19817100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.329072329 meters 0.16349404483398564 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.19, Z:-1.20 [[ 9.99993119e-01 -2.91611846e-03 2.29290928e-03 3.76292369e+01] [ 2.91240382e-03 9.99994444e-01 1.62173116e-03 -2.18911358e+00] [-2.29762570e-03 -1.61504213e-03 9.99996056e-01 -1.19860601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359072329 meters 0.16349404483398564 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.19, Z:-1.20 [[ 9.99993119e-01 -2.91611846e-03 2.29290928e-03 3.76292369e+01] [ 2.91240382e-03 9.99994444e-01 1.62173116e-03 -2.18911358e+00] [-2.29762570e-03 -1.61504213e-03 9.99996056e-01 -1.19860601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38907232899999 meters 0.1643250282834295 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.19, Z:-1.20 [[ 9.99992159e-01 -3.22508836e-03 2.29780334e-03 3.76293990e+01] [ 3.22272108e-03 9.99994273e-01 1.03319487e-03 -2.18746205e+00] [-2.30112232e-03 -1.02578159e-03 9.99996826e-01 -1.19887871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41907232899999 meters 0.1682113877732198 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.19, Z:-1.20 [[ 9.99991036e-01 -3.54195598e-03 2.32019941e-03 3.76295837e+01] [ 3.54107309e-03 9.99993656e-01 3.84518169e-04 -2.18562085e+00] [-2.32154664e-03 -3.76298726e-04 9.99997234e-01 -1.19927395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44907232899999 meters 0.16966848188339165 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.18, Z:-1.20 [[ 9.99988885e-01 -4.14273518e-03 2.25101500e-03 3.76303478e+01] [ 4.14430253e-03 9.99991173e-01 -6.92069744e-04 -2.18291342e+00] [-2.24812807e-03 7.01390939e-04 9.99997227e-01 -1.20025765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47907232899999 meters 0.17746896795623332 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.18, Z:-1.20 [[ 9.99988914e-01 -4.17774837e-03 2.17216707e-03 3.76304601e+01] [ 4.17942096e-03 9.99990973e-01 -7.66040225e-04 -2.18272138e+00] [-2.16894714e-03 7.75110133e-04 9.99997347e-01 -1.20016763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50907232899999 meters 0.15510419568098066 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.18, Z:-1.20 [[ 9.99988730e-01 -4.24809259e-03 2.11996072e-03 3.76304305e+01] [ 4.25022400e-03 9.99990466e-01 -1.00191189e-03 -2.18194166e+00] [-2.11568429e-03 1.01091090e-03 9.99997251e-01 -1.19992904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53907232899999 meters 0.16906985582909953 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.18, Z:-1.20 [[ 9.99997823e-01 -4.67524210e-04 2.03362771e-03 3.76308267e+01] [ 4.62848317e-04 9.99997250e-01 2.29914993e-03 -2.17935204e+00] [-2.03469703e-03 -2.29820367e-03 9.99995289e-01 -1.20024229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.569072329 meters 0.16992336313584663 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.18, Z:-1.20 [[ 9.99997699e-01 -1.20164654e-03 1.77704329e-03 3.76319552e+01] [ 1.20002694e-03 9.99998864e-01 9.12190258e-04 -2.17574457e+00] [-1.77813741e-03 -9.10055660e-04 9.99998005e-01 -1.20119125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599072329 meters 0.16160523517266376 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.17, Z:-1.20 [[ 9.99997158e-01 -1.79105991e-03 1.57362361e-03 3.76327072e+01] [ 1.79159408e-03 9.99998338e-01 -3.38110974e-04 -2.17228016e+00] [-1.57301541e-03 3.40929307e-04 9.99998705e-01 -1.20174372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.629072329 meters 0.18358758197212308 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.17, Z:-1.20 [[ 9.99997492e-01 -1.06435677e-03 1.97046527e-03 3.76302453e+01] [ 1.06611276e-03 9.99999035e-01 -8.90321412e-04 -2.16693547e+00] [-1.96951575e-03 8.92419918e-04 9.99997662e-01 -1.19927439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659072329 meters 0.16350153530982328 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.17, Z:-1.20 [[ 9.99997703e-01 -1.29335613e-03 1.70923801e-03 3.76307273e+01] [ 1.29585933e-03 9.99998088e-01 -1.46422223e-03 -2.16535447e+00] [-1.70734098e-03 1.46643380e-03 9.99997467e-01 -1.19916424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.689072329 meters 0.16469748731637093 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.16, Z:-1.20 [[ 9.99997657e-01 -1.65135550e-03 1.39996890e-03 3.76313986e+01] [ 1.65458153e-03 9.99995972e-01 -2.30633538e-03 -2.16310694e+00] [-1.39615468e-03 2.30864633e-03 9.99996360e-01 -1.19918216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719072329 meters 0.16217594610588215 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.16, Z:-1.20 [[ 9.99998036e-01 -7.57859569e-04 1.83141474e-03 3.76289604e+01] [ 7.62141878e-04 9.99996975e-01 -2.33868612e-03 -2.15998876e+00] [-1.82963680e-03 2.34007733e-03 9.99995588e-01 -1.19689482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.749072329 meters 0.16214736724202541 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.15, Z:-1.20 [[ 9.99995078e-01 2.72479096e-03 1.55567793e-03 3.76297622e+01] [-2.72443612e-03 9.99996262e-01 -2.30165852e-04 -2.15388994e+00] [-1.55629927e-03 2.25926374e-04 9.99998763e-01 -1.19708785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77907232899999 meters 0.16281807541791837 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.15, Z:-1.20 [[ 9.99997268e-01 2.04908141e-03 1.12452202e-03 3.76310328e+01] [-2.04706099e-03 9.99996294e-01 -1.79491807e-03 -2.14989418e+00] [-1.12819579e-03 1.79261120e-03 9.99997757e-01 -1.19776271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80907232899999 meters 0.15855319405407664 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.15, Z:-1.20 [[ 9.99998479e-01 1.54706849e-03 8.05903055e-04 3.76318665e+01] [-1.54454764e-03 9.99993942e-01 -3.11926489e-03 -2.14630248e+00] [-8.10723889e-04 3.11801539e-03 9.99994810e-01 -1.19807999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83907232899999 meters 0.14921406279957955 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.14, Z:-1.20 [[ 9.99986799e-01 5.10783937e-03 5.57973383e-04 3.76325908e+01] [-5.10733128e-03 9.99986545e-01 -9.08259174e-04 -2.14047807e+00] [-5.62605117e-04 9.05397430e-04 9.99999432e-01 -1.19818575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86907232899999 meters 0.15513813000962912 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.14, Z:-1.20 [[ 9.99988331e-01 4.80253162e-03 5.23607182e-04 3.76326092e+01] [-4.80128481e-03 9.99985696e-01 -2.35699692e-03 -2.13601431e+00] [-5.34919245e-04 2.35445542e-03 9.99997085e-01 -1.19790508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89907232899999 meters 0.13893727901661074 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.13, Z:-1.20 [[ 9.99964298e-01 8.43571754e-03 4.91256682e-04 3.76328417e+01] [-8.43536656e-03 9.99964168e-01 -7.12198567e-04 -2.12822871e+00] [-4.97246985e-04 7.08029210e-04 9.99999626e-01 -1.19763150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.929072329 meters 0.13933243728045525 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.12, Z:-1.20 [[ 9.99969233e-01 7.83861140e-03 2.99699886e-04 3.76334679e+01] [-7.83780109e-03 9.99965863e-01 -2.61550192e-03 -2.12280399e+00] [-3.20191559e-04 2.61307246e-03 9.99996535e-01 -1.19781031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959072329 meters 0.14536550041952567 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.12, Z:-1.20 [[ 9.99973861e-01 7.23024972e-03 3.93086885e-05 3.76341440e+01] [-7.23000679e-03 9.99964183e-01 -4.39992935e-03 -2.11786740e+00] [-7.11198686e-05 4.39953014e-03 9.99990319e-01 -1.19788001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.989072329 meters 0.13604605348008178 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.11, Z:-1.20 [[ 9.99977586e-01 6.69334094e-03 -1.62564918e-04 3.76347180e+01] [-6.69426942e-03 9.99955741e-01 -6.61078024e-03 -2.11167120e+00] [ 1.18309517e-04 6.61172032e-03 9.99978135e-01 -1.19781189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019072329 meters 0.13381940336240047 Centerline is valid? [False, False] Translation: X:37.64, Y:-2.11, Z:-1.20 [[ 9.99941174e-01 1.08460443e-02 -1.09870632e-04 3.76350699e+01] [-1.08462887e-02 9.99937943e-01 -2.54344610e-03 -2.11121233e+00] [ 8.22774852e-05 2.54448816e-03 9.99996759e-01 -1.19839281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.049072329 meters 0.13425956266763006 Centerline is valid? [False, False] Translation: X:37.62, Y:-2.11, Z:-1.20 [[ 9.99964898e-01 6.73349183e-03 4.98624441e-03 3.76244666e+01] [-6.74222115e-03 9.99975764e-01 1.73594469e-03 -2.10695597e+00] [-4.97443460e-03 -1.76950212e-03 9.99986062e-01 -1.20202791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079072329 meters 0.138374946937246 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99970231e-01 6.01495683e-03 4.83304881e-03 3.76253496e+01] [-6.01677835e-03 9.99981833e-01 3.62437841e-04 -2.10341159e+00] [-4.83078097e-03 -3.91506435e-04 9.99988255e-01 -1.20291322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.109072329 meters 0.1386229170277392 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99975416e-01 5.22776769e-03 4.67301184e-03 3.76258734e+01] [-5.22213134e-03 9.99985623e-01 -1.21753806e-03 -2.09910234e+00] [-4.67930966e-03 1.19310505e-03 9.99988340e-01 -1.20316369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13907232899999 meters 0.13378854872676788 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99977524e-01 4.89622141e-03 4.58016983e-03 3.76261285e+01] [-4.88769536e-03 9.99986305e-01 -1.87085967e-03 -2.09736444e+00] [-4.58926725e-03 1.84843115e-03 9.99987761e-01 -1.20323573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16907232899999 meters 0.13554792567278054 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99978714e-01 4.71135948e-03 4.51380649e-03 3.76259851e+01] [-4.70122251e-03 9.99986409e-01 -2.25375355e-03 -2.09631897e+00] [-4.52436339e-03 2.23248517e-03 9.99987273e-01 -1.20272959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19907232899999 meters 0.1426694016963544 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99977667e-01 4.89834652e-03 4.54652926e-03 3.76256805e+01] [-4.89012698e-03 9.99986392e-01 -1.81723167e-03 -2.09759655e+00] [-4.55536883e-03 1.79495798e-03 9.99988013e-01 -1.20231790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22907232899999 meters 0.148858472134016 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99978781e-01 4.74937760e-03 4.45890895e-03 3.76258638e+01] [-4.74430134e-03 9.99988086e-01 -1.14834126e-03 -2.10037023e+00] [-4.46430974e-03 1.12716249e-03 9.99989400e-01 -1.20254317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25907232899999 meters 0.14541918966288814 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99979132e-01 4.65678472e-03 4.47780553e-03 3.76259573e+01] [-4.65106668e-03 9.99988356e-01 -1.28653954e-03 -2.10008680e+00] [-4.48374453e-03 1.26568612e-03 9.99989147e-01 -1.20275299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28907232899999 meters 0.14856867402486007 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99980833e-01 4.38515822e-03 4.37085756e-03 3.76262247e+01] [-4.37718370e-03 9.99988741e-01 -1.83237524e-03 -2.09861036e+00] [-4.37884360e-03 1.81320807e-03 9.99988769e-01 -1.20283371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.319072329 meters 0.1457291874085596 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99982456e-01 4.13325291e-03 4.24300005e-03 3.76265482e+01] [-4.12332373e-03 9.99988747e-01 -2.34622028e-03 -2.09723837e+00] [-4.25264982e-03 2.32868386e-03 9.99988246e-01 -1.20293625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.349072329 meters 0.1474589415124523 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99983950e-01 3.94330450e-03 4.06807734e-03 3.76269157e+01] [-3.93223083e-03 9.99988552e-01 -2.72650647e-03 -2.09624780e+00] [-4.07878221e-03 2.71046610e-03 9.99988008e-01 -1.20294258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379072329 meters 0.14778605697181868 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99985666e-01 3.77784268e-03 3.79421862e-03 3.76274710e+01] [-3.76590589e-03 9.99987953e-01 -3.14827883e-03 -2.09523187e+00] [-3.80606661e-03 3.13394504e-03 9.99987846e-01 -1.20293354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.409072329 meters 0.14660198325555351 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.10, Z:-1.20 [[ 9.99986853e-01 3.72715638e-03 3.52167082e-03 3.76280626e+01] [-3.71563593e-03 9.99987743e-01 -3.27220293e-03 -2.09500809e+00] [-3.53382367e-03 3.25907466e-03 9.99988445e-01 -1.20303036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439072329 meters 0.14193808355339405 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.09, Z:-1.20 [[ 9.99987506e-01 3.84823219e-03 3.19057169e-03 3.76289389e+01] [-3.83441884e-03 9.99983299e-01 -4.32429905e-03 -2.09104349e+00] [-3.20715931e-03 4.31201103e-03 9.99985560e-01 -1.20354399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.469072329 meters 0.1407364056483253 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.09, Z:-1.20 [[ 9.99964601e-01 7.84511196e-03 3.04160782e-03 3.76294523e+01] [-7.84317719e-03 9.99969032e-01 -6.47511356e-04 -2.08937274e+00] [-3.04659343e-03 6.23632566e-04 9.99995165e-01 -1.20377172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499072329 meters 0.13809990707141975 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.09, Z:-1.20 [[ 9.99967770e-01 7.51554150e-03 2.82421430e-03 3.76300283e+01] [-7.50994643e-03 9.99969827e-01 -1.98651626e-03 -2.08549295e+00] [-2.83905883e-03 1.96524254e-03 9.99994039e-01 -1.20384680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52907232899999 meters 0.13211493158448312 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.08, Z:-1.20 [[ 9.99965434e-01 8.01218148e-03 2.22151968e-03 3.76309506e+01] [-8.00615625e-03 9.99964284e-01 -2.70796265e-03 -2.08220475e+00] [-2.24313702e-03 2.69008321e-03 9.99993866e-01 -1.20335362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55907232899999 meters 0.1291193277276909 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.08, Z:-1.20 [[ 9.99951943e-01 9.41289471e-03 2.74015818e-03 3.76281057e+01] [-9.40779975e-03 9.99954004e-01 -1.86635540e-03 -2.08112612e+00] [-2.75759995e-03 1.84048685e-03 9.99994504e-01 -1.20052325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58907232899999 meters 0.12613960842849298 Centerline is valid? [False, False] Translation: X:37.63, Y:-2.08, Z:-1.20 [[ 9.99955485e-01 9.10787173e-03 2.46459698e-03 3.76287074e+01] [-9.10107775e-03 9.99954792e-01 -2.75394393e-03 -2.07881285e+00] [-2.48956813e-03 2.73139085e-03 9.99993171e-01 -1.20054610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61907232899999 meters 0.12069264365087505 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.07, Z:-1.20 [[ 9.99904736e-01 1.36226109e-02 -2.22321607e-03 3.76110658e+01] [-1.36157350e-02 9.99902561e-01 3.07915461e-03 -2.07312266e+00] [ 2.26494557e-03 -3.04859056e-03 9.99992788e-01 -1.20208779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64907232899999 meters 0.11752346608833454 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.07, Z:-1.20 [[ 9.99908620e-01 1.33346136e-02 -2.22237251e-03 3.76110619e+01] [-1.33302330e-02 9.99909199e-01 1.97440023e-03 -2.06986156e+00] [ 2.24849858e-03 -1.94459507e-03 9.99995581e-01 -1.20192585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679072329 meters 0.11521426979308676 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.07, Z:-1.20 [[ 9.99912924e-01 1.29847586e-02 -2.35381712e-03 3.76112296e+01] [-1.29824236e-02 9.99915220e-01 1.00454436e-03 -2.06711764e+00] [ 2.36666133e-03 -9.73898636e-04 9.99996725e-01 -1.20168448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.709072329 meters 0.11061756551526679 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.06, Z:-1.20 [[ 9.99915666e-01 1.27948033e-02 -2.22559002e-03 3.76108133e+01] [-1.27959360e-02 9.99918006e-01 -4.95481547e-04 -2.06257506e+00] [ 2.21906794e-03 5.23918269e-04 9.99997401e-01 -1.20083086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739072329 meters 0.10266657203364438 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.06, Z:-1.20 [[ 9.99919954e-01 1.24434420e-02 -2.29064122e-03 3.76110672e+01] [-1.24466064e-02 9.99921596e-01 -1.37243091e-03 -2.06013923e+00] [ 2.27338386e-03 1.40083176e-03 9.99996435e-01 -1.20105698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.769072329 meters 0.10765172638051829 Centerline is valid? [False, False] Translation: X:37.60, Y:-2.06, Z:-1.20 [[ 9.99930187e-01 1.05478199e-02 -5.32581787e-03 3.76031892e+01] [-1.05008890e-02 9.99906454e-01 8.76434433e-03 -2.05921132e+00] [ 5.41776439e-03 -8.70780664e-03 9.99947410e-01 -1.20162140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799072329 meters 0.10797032803843994 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.05, Z:-1.20 [[ 9.99969235e-01 5.14613557e-03 -5.91996838e-03 3.76053522e+01] [-5.13300943e-03 9.99984339e-01 2.23032685e-03 -2.05379012e+00] [ 5.93135323e-03 -2.19987098e-03 9.99979990e-01 -1.20375308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.829072329 meters 0.10700576355776271 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.05, Z:-1.20 [[ 9.99971584e-01 4.57910234e-03 -5.98851251e-03 3.76056606e+01] [-4.57439382e-03 9.99989218e-01 7.99719776e-04 -2.04985662e+00] [ 5.99210994e-03 -7.72303237e-04 9.99981749e-01 -1.20412732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859072329 meters 0.10023008362043725 Centerline is valid? [False, False] Translation: X:37.61, Y:-2.05, Z:-1.20 [[ 9.99972736e-01 4.20322102e-03 -6.07119889e-03 3.76058431e+01] [-4.20324283e-03 9.99991166e-01 9.16825162e-06 -2.04774455e+00] [ 6.07118380e-03 1.63507215e-05 9.99981570e-01 -1.20412370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88907232899999 meters 0.09637638047775811 Centerline is valid? [False, True] Translation: X:37.61, Y:-2.05, Z:-1.20 [[ 9.99973809e-01 3.83460033e-03 -6.13815216e-03 3.76059401e+01] [-3.83939572e-03 9.99992333e-01 -7.69649515e-04 -2.04563041e+00] [ 6.13515380e-03 7.93196152e-04 9.99980865e-01 -1.20403886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91907232899999 meters 0.09898511616413909 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.05, Z:-1.21 [[ 9.99982524e-01 4.61858863e-03 -3.69053961e-03 3.76346425e+01] [-4.61782113e-03 9.99989314e-01 2.16456217e-04 -2.04860024e+00] [ 3.69149990e-03 -1.99410182e-04 9.99993167e-01 -1.20710112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94907232899999 meters 0.09562106768789784 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.04, Z:-1.20 [[ 9.99982856e-01 4.67602972e-03 -3.52453878e-03 3.76653119e+01] [-4.67533080e-03 9.99989049e-01 2.06514269e-04 -2.04303760e+00] [ 3.52546585e-03 -1.90032344e-04 9.99993767e-01 -1.20325997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97907232899999 meters 0.09508762504169525 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.04, Z:-1.20 [[ 9.99981805e-01 4.91188243e-03 -3.50182648e-03 3.76952832e+01] [-4.91119446e-03 9.99987919e-01 2.05031836e-04 -2.04232553e+00] [ 3.50279127e-03 -1.87829955e-04 9.99993848e-01 -1.20386517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00907232899999 meters 0.09653929203877974 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.04, Z:-1.21 [[ 9.99980192e-01 5.23520048e-03 -3.49414147e-03 3.77248389e+01] [-5.23451510e-03 9.99986279e-01 2.05267561e-04 -2.04499559e+00] [ 3.49516815e-03 -1.86973359e-04 9.99993874e-01 -1.20637004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03907232899999 meters 0.1077520213319052 Centerline is valid? [True, False] Translation: X:37.72, Y:-2.04, Z:-1.21 [[ 9.99980832e-01 5.05535434e-03 -3.57485818e-03 3.77249962e+01] [-5.05597255e-03 9.99987205e-01 -1.63917597e-04 -2.04400231e+00] [ 3.57398378e-03 1.81988840e-04 9.99993597e-01 -1.20636865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.069072329 meters 0.09755265166859294 Centerline is valid? [False, True] Translation: X:37.73, Y:-2.04, Z:-1.21 [[ 9.99983437e-01 4.48382228e-03 -3.60843880e-03 3.77251456e+01] [-4.48872173e-03 9.99989013e-01 -1.35082373e-03 -2.04073699e+00] [ 3.60234231e-03 1.36699863e-03 9.99992577e-01 -1.20650411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099072329 meters 0.09702541300492148 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.04, Z:-1.21 [[ 9.99982914e-01 4.82145884e-03 -3.30541972e-03 3.77548626e+01] [-4.82085264e-03 9.99988361e-01 1.91339309e-04 -2.04016377e+00] [ 3.30630378e-03 -1.75401099e-04 9.99994519e-01 -1.20712692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.129072329 meters 0.09794834509817314 Centerline is valid? [True, True] Translation: X:37.78, Y:-2.04, Z:-1.21 [[ 9.99978077e-01 4.84156102e-03 -4.51717417e-03 3.77841498e+01] [-4.84041970e-03 9.99988250e-01 2.63560899e-04 -2.04091766e+00] [ 4.51839714e-03 -2.41690102e-04 9.99989763e-01 -1.21055301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159072329 meters 0.09822049568293338 Centerline is valid? [True, True] Translation: X:37.81, Y:-2.04, Z:-1.21 [[ 9.99967179e-01 6.38466084e-03 -4.98776905e-03 3.78131697e+01] [-6.38330080e-03 9.99979585e-01 2.88546701e-04 -2.03935347e+00] [ 4.98950950e-03 -2.56698801e-04 9.99987519e-01 -1.21353758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.189072329 meters 0.09776913425329657 Centerline is valid? [True, True] Translation: X:37.84, Y:-2.04, Z:-1.21 [[ 9.99959059e-01 7.52636236e-03 -5.02341475e-03 3.78432186e+01] [-7.52499464e-03 9.99971644e-01 2.91113649e-04 -2.03870956e+00] [ 5.02546333e-03 -2.53300561e-04 9.99987340e-01 -1.21478818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219072329 meters 0.09788137591017546 Centerline is valid? [True, True] Translation: X:37.87, Y:-2.04, Z:-1.22 [[ 9.99961891e-01 8.03225383e-03 -3.42051500e-03 3.78717597e+01] [-8.03162172e-03 9.99967726e-01 1.98495131e-04 -2.03806773e+00] [ 3.42199897e-03 -1.71015284e-04 9.99994130e-01 -1.21579199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.249072329 meters 0.09788137591017546 Centerline is valid? [True, True] Translation: X:37.90, Y:-2.04, Z:-1.22 [[ 9.99961891e-01 8.03223358e-03 -3.42048297e-03 3.79017505e+01] [-8.03159960e-03 9.99967726e-01 1.99045470e-04 -2.03981330e+00] [ 3.42197136e-03 -1.71565935e-04 9.99994130e-01 -1.21689477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27907232899999 meters 0.09746704628598662 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.04, Z:-1.22 [[ 9.99955188e-01 9.09664036e-03 -2.62175175e-03 3.79311954e+01] [-9.09626759e-03 9.99958616e-01 1.54073610e-04 -2.03803772e+00] [ 2.62304480e-03 -1.30218550e-04 9.99996551e-01 -1.21734030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30907232899999 meters 0.09662140999158965 Centerline is valid? [True, True] Translation: X:37.96, Y:-2.03, Z:-1.22 [[ 9.99932544e-01 1.14296212e-02 -2.06674737e-03 3.79617519e+01] [-1.14293954e-02 9.99934675e-01 1.21017662e-04 -2.03205228e+00] [ 2.06799555e-03 -9.73878252e-05 9.99997857e-01 -1.21752625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33907232899999 meters 0.09136028912412482 Centerline is valid? [True, True] Translation: X:37.99, Y:-2.02, Z:-1.21 [[ 9.99911269e-01 1.32416754e-02 -1.45356246e-03 3.79938931e+01] [-1.32415643e-02 9.99912323e-01 8.60900890e-05 -2.02150713e+00] [ 1.45457499e-03 -6.68350095e-05 9.99998940e-01 -1.21214983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36907232899999 meters 0.090467412140168 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.02, Z:-1.21 [[ 9.99897096e-01 1.43409402e-02 -3.67295336e-04 3.80259001e+01] [-1.43409323e-02 9.99897163e-01 2.42992282e-05 -2.01877935e+00] [ 3.67606038e-04 -1.90293702e-05 9.99999932e-01 -1.21254454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39907232899999 meters 0.0893164003990893 Centerline is valid? [True, True] Translation: X:38.06, Y:-2.01, Z:-1.21 [[ 9.99837093e-01 1.79341729e-02 2.03779502e-03 3.80559977e+01] [-1.79339677e-02 9.99839166e-01 -1.18933027e-04 -2.01364569e+00] [-2.03960024e-03 8.23679017e-05 9.99997917e-01 -1.21269796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.429072329 meters 0.08802389992981088 Centerline is valid? [True, True] Translation: X:38.09, Y:-2.01, Z:-1.21 [[ 9.99781473e-01 2.04980381e-02 4.10333778e-03 3.80869902e+01] [-2.04972300e-02 9.99789881e-01 -2.38897205e-04 -2.01016241e+00] [-4.10737251e-03 1.54737942e-04 9.99991553e-01 -1.21211412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.459072329 meters 0.08464527573124939 Centerline is valid? [True, True] Translation: X:38.12, Y:-2.00, Z:-1.21 [[ 9.99734485e-01 2.24954802e-02 4.99127303e-03 3.81189172e+01] [-2.24943116e-02 9.99746929e-01 -2.90146595e-04 -2.00063533e+00] [-4.99653687e-03 1.77794306e-04 9.99987501e-01 -1.20851086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.489072329 meters 0.08420524823724276 Centerline is valid? [True, True] Translation: X:38.15, Y:-1.99, Z:-1.21 [[ 9.99661097e-01 2.57686339e-02 3.69720263e-03 3.81505170e+01] [-2.57680418e-02 9.99667927e-01 -2.07682736e-04 -1.99303616e+00] [-3.70132659e-03 1.12342680e-04 9.99993144e-01 -1.21304084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519072329 meters 0.08912829768209006 Centerline is valid? [True, True] Translation: X:38.18, Y:-2.00, Z:-1.23 [[ 9.99630186e-01 2.69660719e-02 3.51037636e-03 3.81804715e+01] [-2.69655324e-02 9.99636344e-01 -2.00920001e-04 -2.00225755e+00] [-3.51451781e-03 1.06186531e-04 9.99993818e-01 -1.22597728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.549072329 meters 0.08914360172921461 Centerline is valid? [True, True] Translation: X:38.21, Y:-2.00, Z:-1.23 [[ 9.99606970e-01 2.77557541e-02 3.93999993e-03 3.82122659e+01] [-2.77550846e-02 9.99614728e-01 -2.24517764e-04 -2.00228334e+00] [-3.94471362e-03 1.15074490e-04 9.99992213e-01 -1.22790024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579072329 meters 0.08337916643515139 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.99, Z:-1.22 [[ 9.99569849e-01 2.89636346e-02 4.60700308e-03 3.82454950e+01] [-2.89627279e-02 9.99580457e-01 -2.63421746e-04 -1.99117910e+00] [-4.61269989e-03 1.29877059e-04 9.99989353e-01 -1.21600370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.609072329 meters 0.08333867937527484 Centerline is valid? [True, True] Translation: X:38.28, Y:-1.99, Z:-1.22 [[ 9.99565116e-01 2.90099845e-02 5.29137800e-03 3.82773622e+01] [-2.90087737e-02 9.99579110e-01 -3.05443787e-04 -1.99279458e+00] [-5.29801183e-03 1.51814568e-04 9.99985954e-01 -1.21594901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63907232899999 meters 0.08877996442599381 Centerline is valid? [True, True] Translation: X:38.31, Y:-2.01, Z:-1.23 [[ 9.99554580e-01 2.90796430e-02 6.70941892e-03 3.83077639e+01] [-2.90776675e-02 9.99577078e-01 -3.91820071e-04 -2.00607006e+00] [-6.71797535e-03 1.96551294e-04 9.99977415e-01 -1.22855233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66907232899999 meters 0.08180726732683063 Centerline is valid? [True, True] Translation: X:38.34, Y:-1.99, Z:-1.22 [[ 9.99473802e-01 3.16766351e-02 6.97918094e-03 3.83414990e+01] [-3.16745461e-02 9.99498152e-01 -4.09685840e-04 -1.98707615e+00] [-6.98865592e-03 1.88407876e-04 9.99975561e-01 -1.21598607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69907232899999 meters 0.08120034982961521 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.98, Z:-1.22 [[ 9.99406535e-01 3.38377961e-02 6.44830431e-03 3.83744146e+01] [-3.38360175e-02 9.99427324e-01 -3.84741601e-04 -1.98401225e+00] [-6.45763033e-03 1.66328333e-04 9.99979135e-01 -1.21713548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72907232899999 meters 0.08066984372804967 Centerline is valid? [True, True] Translation: X:38.41, Y:-1.98, Z:-1.22 [[ 9.99310796e-01 3.66084129e-02 6.14462833e-03 3.84066210e+01] [-3.66068804e-02 9.99329678e-01 -3.61731564e-04 -1.98205919e+00] [-6.15375187e-03 1.36546584e-04 9.99981056e-01 -1.21865358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75907232899999 meters 0.0800006482741809 Centerline is valid? [True, True] Translation: X:38.44, Y:-1.98, Z:-1.22 [[ 9.99190301e-01 3.98791527e-02 5.32883164e-03 3.84384596e+01] [-3.98780466e-02 9.99204505e-01 -3.13692421e-04 -1.98075361e+00] [-5.33710237e-03 1.00935027e-04 9.99985752e-01 -1.21960995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78907232899999 meters 0.07901849309652387 Centerline is valid? [True, True] Translation: X:38.47, Y:-1.98, Z:-1.22 [[ 9.98903324e-01 4.66605953e-02 3.86491542e-03 3.84701892e+01] [-4.66600706e-02 9.98910800e-01 -2.25867641e-04 -1.97733196e+00] [-3.87124487e-03 4.52827117e-05 9.99992506e-01 -1.22163858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.819072329 meters 0.078476510091688 Centerline is valid? [True, True] Translation: X:38.50, Y:-1.97, Z:-1.22 [[ 9.98697203e-01 5.08532322e-02 4.22435016e-03 3.85015131e+01] [-5.08526175e-02 9.98706137e-01 -2.52865404e-04 -1.97410904e+00] [-4.23174345e-03 3.77167082e-05 9.99991045e-01 -1.22286477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.849072329 meters 0.07783810875173443 Centerline is valid? [True, True] Translation: X:38.53, Y:-1.97, Z:-1.23 [[ 9.98453024e-01 5.53294128e-02 5.49673643e-03 3.85342047e+01] [-5.53284451e-02 9.98468154e-01 -3.28067041e-04 -1.96922156e+00] [-5.50646804e-03 2.34336497e-05 9.99984839e-01 -1.22500823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879072329 meters 0.0774777841211449 Centerline is valid? [True, True] Translation: X:38.57, Y:-1.96, Z:-1.23 [[ 9.97880082e-01 6.48991729e-02 4.84150924e-03 3.85680838e+01] [-6.48985405e-02 9.97891826e-01 -2.87768905e-04 -1.95737371e+00] [-4.84997846e-03 -2.70480257e-05 9.99988238e-01 -1.22629812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.909072329 meters 0.07785232741046201 Centerline is valid? [True, True] Translation: X:38.60, Y:-1.95, Z:-1.23 [[ 9.97522785e-01 7.02681695e-02 3.26771530e-03 3.86008429e+01] [-7.02679137e-02 9.97528136e-01 -1.93176061e-04 -1.95339541e+00] [-3.27321209e-03 -3.69180149e-05 9.99994642e-01 -1.22843009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939072329 meters 0.07952559097241955 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.95, Z:-1.24 [[ 9.97105634e-01 7.59619391e-02 3.18409566e-03 3.86319581e+01] [-7.59617104e-02 9.97110717e-01 -1.92871091e-04 -1.94642105e+00] [-3.18954677e-03 -4.95565004e-05 9.99994912e-01 -1.23731252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.969072329 meters 0.0804020805338765 Centerline is valid? [True, True] Translation: X:38.66, Y:-1.94, Z:-1.23 [[ 9.96328591e-01 8.56049871e-02 1.06072044e-03 3.86631939e+01] [-8.56049656e-02 9.96329155e-01 -6.57763174e-05 -1.93939121e+00] [-1.06245748e-03 -2.52681111e-05 9.99999435e-01 -1.23337841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999072329 meters 0.08108545088760659 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.94, Z:-1.23 [[ 9.95930196e-01 9.01252109e-02 7.01126984e-04 3.86948818e+01] [-9.01252035e-02 9.95930442e-01 -4.22372935e-05 -1.93607927e+00] [-7.02080352e-04 -2.11238161e-05 9.99999753e-01 -1.23427533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02907232899999 meters 0.0824166516508954 Centerline is valid? [True, True] Translation: X:38.73, Y:-1.93, Z:-1.24 [[ 9.95595989e-01 9.37447335e-02 7.42312700e-04 3.87259819e+01] [-9.37447261e-02 9.95596266e-01 -4.48303280e-05 -1.93182507e+00] [-7.43246360e-04 -2.49550060e-05 9.99999723e-01 -1.23652314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05907232899999 meters 0.0849329489763557 Centerline is valid? [True, True] Translation: X:38.76, Y:-1.93, Z:-1.24 [[ 9.94964387e-01 1.00219211e-01 1.40648132e-03 3.87563096e+01] [-1.00219191e-01 9.94965380e-01 -8.50144029e-05 -1.92565503e+00] [-1.40792030e-03 -5.63701163e-05 9.99999007e-01 -1.23883209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08907232899999 meters 0.08466088387559399 Centerline is valid? [True, True] Translation: X:38.79, Y:-1.93, Z:-1.24 [[ 9.94780745e-01 1.02035593e-01 -8.90120854e-05 3.87886644e+01] [-1.02035593e-01 9.94780749e-01 8.28750666e-06 -1.92923975e+00] [ 8.93931296e-05 8.38148864e-07 9.99999996e-01 -1.23800404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11907232899999 meters 0.08754807419503625 Centerline is valid? [True, True] Translation: X:38.82, Y:-1.92, Z:-1.24 [[ 9.94393592e-01 1.05720530e-01 2.13374219e-03 3.88196651e+01] [-1.05720489e-01 9.94395877e-01 -1.31885836e-04 -1.92347821e+00] [-2.13572748e-03 -9.44338381e-05 9.99997715e-01 -1.24107652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14907232899999 meters 0.08788497543991823 Centerline is valid? [True, True] Translation: X:38.85, Y:-1.92, Z:-1.24 [[ 9.94301472e-01 1.06579573e-01 2.31901622e-03 3.88516016e+01] [-1.06579544e-01 9.94304170e-01 -1.36404550e-04 -1.92347486e+00] [-2.32034544e-03 -1.11532447e-04 9.99997302e-01 -1.24201691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.179072329 meters 0.08734171888453224 Centerline is valid? [True, True] Translation: X:38.88, Y:-1.93, Z:-1.24 [[ 9.94197752e-01 1.07549233e-01 1.99825537e-03 3.88833339e+01] [-1.07549216e-01 9.94199755e-01 -1.16537045e-04 -1.92733677e+00] [-1.99919847e-03 -9.90499302e-05 9.99997997e-01 -1.24251511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.209072329 meters 0.0878693196890226 Centerline is valid? [True, True] Translation: X:38.91, Y:-1.93, Z:-1.25 [[ 9.94223685e-01 1.07323228e-01 9.94322839e-04 3.89139634e+01] [-1.07323224e-01 9.94224181e-01 -5.76898473e-05 -1.93064578e+00] [-9.94771271e-04 -4.93573198e-05 9.99999504e-01 -1.24533255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239072329 meters 0.08539581767194061 Centerline is valid? [True, True] Translation: X:38.95, Y:-1.95, Z:-1.24 [[ 9.94596472e-01 1.03812514e-01 9.05304688e-04 3.89450163e+01] [-1.03812507e-01 9.94596883e-01 -5.51298627e-05 -1.94600256e+00] [-9.06136391e-04 -3.91499819e-05 9.99999589e-01 -1.24350426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.269072329 meters 0.08475374700472241 Centerline is valid? [True, True] Translation: X:38.98, Y:-1.95, Z:-1.24 [[ 9.94827198e-01 1.01559798e-01 2.11056723e-03 3.89754622e+01] [-1.01559746e-01 9.94829433e-01 -1.32000545e-04 -1.95287103e+00] [-2.11306035e-03 -8.30309400e-05 9.99997764e-01 -1.24381016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299072329 meters 0.08274816265523158 Centerline is valid? [True, True] Translation: X:39.01, Y:-1.96, Z:-1.24 [[ 9.95047584e-01 9.93943350e-02 1.03550823e-03 3.90073880e+01] [-9.93943306e-02 9.95048121e-01 -5.58660222e-05 -1.96232846e+00] [-1.03593329e-03 -4.73342970e-05 9.99999462e-01 -1.24169284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.329072329 meters 0.08222328394977026 Centerline is valid? [True, True] Translation: X:39.04, Y:-1.97, Z:-1.24 [[ 9.95413137e-01 9.56650804e-02 9.37111599e-04 3.90372884e+01] [-9.56650675e-02 9.95413578e-01 -5.87699761e-05 -1.96900149e+00] [-9.38435845e-04 -3.11484381e-05 9.99999559e-01 -1.24442757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359072329 meters 0.08166454096980491 Centerline is valid? [True, True] Translation: X:39.07, Y:-1.98, Z:-1.25 [[ 9.95582491e-01 9.38890099e-02 -5.98262247e-04 3.90695247e+01] [-9.38889972e-02 9.95582670e-01 4.93248836e-05 -1.97575988e+00] [ 6.00250590e-04 7.06325200e-06 9.99999820e-01 -1.24645738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38907232899999 meters 0.0821799614046452 Centerline is valid? [True, True] Translation: X:39.10, Y:-1.99, Z:-1.25 [[ 9.95795061e-01 9.15885450e-02 -1.93262004e-03 3.91004622e+01] [-9.15884584e-02 9.95796935e-01 1.33437293e-04 -1.98522710e+00] [ 1.93671844e-03 4.41294932e-05 9.99998124e-01 -1.25149502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41907232899999 meters 0.08194817996040041 Centerline is valid? [True, True] Translation: X:39.13, Y:-1.99, Z:-1.25 [[ 9.95887770e-01 9.05535562e-02 -2.75724352e-03 3.91326898e+01] [-9.05533819e-02 9.95891585e-01 1.88253347e-04 -1.99190405e+00] [ 2.76296263e-03 6.21985195e-05 9.99996181e-01 -1.25280523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44907232899999 meters 0.08153501745402478 Centerline is valid? [True, True] Translation: X:39.16, Y:-2.00, Z:-1.25 [[ 9.95992056e-01 8.94301499e-02 -1.44002415e-03 3.91642393e+01] [-8.94300951e-02 9.95993096e-01 1.02509096e-04 -1.99807206e+00] [ 1.44342152e-03 2.66832520e-05 9.99998958e-01 -1.25312858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47907232899999 meters 0.08062554601104983 Centerline is valid? [True, True] Translation: X:39.20, Y:-2.01, Z:-1.25 [[ 9.96308611e-01 8.58355298e-02 -1.18918709e-03 3.91950346e+01] [-8.58354976e-02 9.96309320e-01 7.82167209e-05 -2.00778246e+00] [ 1.19151195e-03 2.41464728e-05 9.99999290e-01 -1.25244143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50907232899999 meters 0.08000661634428921 Centerline is valid? [True, True] Translation: X:39.23, Y:-2.01, Z:-1.25 [[ 9.96407834e-01 8.46766058e-02 -1.14068427e-03 3.92265362e+01] [-8.46765655e-02 9.96408487e-01 8.37152868e-05 -2.01495917e+00] [ 1.14367621e-03 1.31746585e-05 9.99999346e-01 -1.25109450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53907232899999 meters 0.08020150662357975 Centerline is valid? [True, True] Translation: X:39.26, Y:-2.02, Z:-1.25 [[ 9.96452643e-01 8.41369078e-02 -1.76368908e-03 3.92578837e+01] [-8.41368178e-02 9.96454204e-01 1.25291625e-04 -2.01976600e+00] [ 1.76797705e-03 2.35440166e-05 9.99998437e-01 -1.25411505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.569072329 meters 0.07974536449693627 Centerline is valid? [True, True] Translation: X:39.29, Y:-2.03, Z:-1.25 [[ 9.96532221e-01 8.31900105e-02 -1.71912051e-03 3.92894174e+01] [-8.31899232e-02 9.96533703e-01 1.22396419e-04 -2.02623238e+00] [ 1.72334369e-03 2.10415282e-05 9.99998515e-01 -1.25343580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599072329 meters 0.07996182619200784 Centerline is valid? [True, True] Translation: X:39.32, Y:-2.03, Z:-1.26 [[ 9.96634121e-01 8.19498682e-02 -2.15576696e-03 3.93209591e+01] [-8.19497306e-02 9.96636453e-01 1.52200529e-04 -2.03352771e+00] [ 2.16098875e-03 2.49762815e-05 9.99997665e-01 -1.25648563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.629072329 meters 0.07990166704988279 Centerline is valid? [True, True] Translation: X:39.35, Y:-2.04, Z:-1.26 [[ 9.96683757e-01 8.13385855e-02 -2.35019010e-03 3.93540925e+01] [-8.13384196e-02 9.96686527e-01 1.66246639e-04 -2.03817027e+00] [ 2.35592507e-03 2.54654233e-05 9.99997224e-01 -1.25863684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659072329 meters 0.08077462970798469 Centerline is valid? [True, True] Translation: X:39.39, Y:-2.04, Z:-1.27 [[ 9.96709093e-01 8.09530892e-02 -4.19300316e-03 3.93851763e+01] [-8.09525988e-02 9.96717911e-01 2.86816765e-04 -2.04079656e+00] [ 4.20246005e-03 5.35616250e-05 9.99991168e-01 -1.26526737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.689072329 meters 0.08098270554621051 Centerline is valid? [True, True] Translation: X:39.42, Y:-2.05, Z:-1.27 [[ 9.96724042e-01 8.06717081e-02 -5.76707590e-03 3.94171553e+01] [-8.06707845e-02 9.96740724e-01 3.92955454e-04 -2.04616238e+00] [ 5.77997979e-03 7.35663888e-05 9.99983293e-01 -1.26722782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719072329 meters 0.08064803631940178 Centerline is valid? [True, True] Translation: X:39.45, Y:-2.05, Z:-1.27 [[ 9.96695379e-01 8.09670047e-02 -6.53196813e-03 3.94490992e+01] [-8.09658209e-02 9.96716779e-01 4.45895932e-04 -2.05061797e+00] [ 6.54662509e-03 8.44437467e-05 9.99978567e-01 -1.26535608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.749072329 meters 0.08000890670000776 Centerline is valid? [True, True] Translation: X:39.48, Y:-2.05, Z:-1.26 [[ 9.96692716e-01 8.12292800e-02 -2.33117178e-03 3.94786406e+01] [-8.12291396e-02 9.96695441e-01 1.54990721e-04 -2.05432816e+00] [ 2.33605807e-03 3.48809558e-05 9.99997271e-01 -1.26244755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77907232899999 meters 0.08035206273172486 Centerline is valid? [True, True] Translation: X:39.51, Y:-2.05, Z:-1.27 [[ 9.96587052e-01 8.25162094e-02 -2.30699118e-03 3.95101345e+01] [-8.25160526e-02 9.96589722e-01 1.63225453e-04 -2.05429646e+00] [ 2.31259244e-03 2.76954326e-05 9.99997326e-01 -1.26527196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80907232899999 meters 0.08043154062992877 Centerline is valid? [True, True] Translation: X:39.54, Y:-2.05, Z:-1.27 [[ 9.96420745e-01 8.45012819e-02 -2.28762791e-03 3.95419993e+01] [-8.45011300e-02 9.96423370e-01 1.63115334e-04 -2.05406897e+00] [ 2.29322937e-03 3.07756405e-05 9.99997370e-01 -1.26518714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83907232899999 meters 0.0815054104654575 Centerline is valid? [True, True] Translation: X:39.57, Y:-2.05, Z:-1.27 [[ 9.96046224e-01 8.87741207e-02 -3.32794984e-03 3.95737136e+01] [-8.87738371e-02 9.96051782e-01 2.33133144e-04 -2.04917723e+00] [ 3.33550656e-03 6.32234891e-05 9.99994435e-01 -1.26785371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86907232899999 meters 0.08223550771931185 Centerline is valid? [True, True] Translation: X:39.61, Y:-2.05, Z:-1.27 [[ 9.95792341e-01 9.15295562e-02 -4.46696097e-03 3.96053946e+01] [-9.15291013e-02 9.95802355e-01 3.06596112e-04 -2.04763064e+00] [ 4.47627286e-03 1.03550862e-04 9.99989976e-01 -1.26993293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89907232899999 meters 0.08316727303102739 Centerline is valid? [True, True] Translation: X:39.64, Y:-2.05, Z:-1.27 [[ 9.95517527e-01 9.44280269e-02 -5.31056971e-03 3.96378526e+01] [-9.44274381e-02 9.95531681e-01 3.62071787e-04 -2.04518122e+00] [ 5.32103012e-03 1.41014683e-04 9.99985833e-01 -1.27237584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.929072329 meters 0.08428476103951643 Centerline is valid? [True, True] Translation: X:39.67, Y:-2.04, Z:-1.27 [[ 9.95232349e-01 9.73775197e-02 -5.49463789e-03 3.96687423e+01] [-9.73769205e-02 9.95247503e-01 3.77103526e-04 -2.04262244e+00] [ 5.50524605e-03 1.59745289e-04 9.99984833e-01 -1.27473607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.959072329 meters 0.08589850047459727 Centerline is valid? [True, True] Translation: X:39.70, Y:-2.04, Z:-1.28 [[ 9.94797553e-01 1.01670411e-01 -6.39973450e-03 3.96990450e+01] [-1.01669700e-01 9.94818114e-01 4.37151618e-04 -2.03716757e+00] [ 6.41101719e-03 2.15781729e-04 9.99979426e-01 -1.27644520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.989072329 meters 0.08657556631569148 Centerline is valid? [True, True] Translation: X:39.73, Y:-2.04, Z:-1.28 [[ 9.94523541e-01 1.04351348e-01 -5.80715960e-03 3.97311614e+01] [-1.04350763e-01 9.94540474e-01 4.04508938e-04 -2.03622822e+00] [ 5.81766631e-03 2.03687871e-04 9.99983056e-01 -1.27612998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019072329 meters 0.08400470939145875 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.04, Z:-1.27 [[ 9.94350106e-01 1.05979604e-01 -6.01581297e-03 3.97632841e+01] [-1.05978993e-01 9.94368280e-01 4.21252991e-04 -2.04281644e+00] [ 6.02657782e-03 2.18676844e-04 9.99981816e-01 -1.26963852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.049072329 meters 0.08538335133493825 Centerline is valid? [True, True] Translation: X:39.80, Y:-2.04, Z:-1.27 [[ 9.94011356e-01 1.09125192e-01 -5.75464602e-03 3.97950440e+01] [-1.09124679e-01 9.94027988e-01 4.04022640e-04 -2.03883912e+00] [ 5.76436825e-03 2.26370808e-04 9.99983360e-01 -1.27062213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079072329 meters 0.085255610468607 Centerline is valid? [True, True] Translation: X:39.83, Y:-2.04, Z:-1.27 [[ 9.93874428e-01 1.10414160e-01 -4.72594370e-03 3.98278923e+01] [-1.10413805e-01 9.93885646e-01 3.36860680e-04 -2.04086433e+00] [ 4.73424180e-03 1.87012208e-04 9.99988776e-01 -1.27034031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.109072329 meters 0.08600212977488962 Centerline is valid? [True, True] Translation: X:39.86, Y:-2.04, Z:-1.27 [[ 9.93675582e-01 1.12182517e-01 -4.89092419e-03 3.98587498e+01] [-1.12182164e-01 9.93687597e-01 3.47254417e-04 -2.04157123e+00] [ 4.89900658e-03 2.03616226e-04 9.99987979e-01 -1.27174143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13907232899999 meters 0.08904332051957398 Centerline is valid? [True, True] Translation: X:39.89, Y:-2.04, Z:-1.28 [[ 9.93450846e-01 1.14201474e-01 -3.66616885e-03 3.98903704e+01] [-1.14201279e-01 9.93457598e-01 2.63315798e-04 -2.03801282e+00] [ 3.67225435e-03 1.57089868e-04 9.99993245e-01 -1.27706180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16907232899999 meters 0.08904332051957398 Centerline is valid? [True, True] Translation: X:39.92, Y:-2.04, Z:-1.28 [[ 9.93419417e-01 1.14474548e-01 -3.66600590e-03 3.99228019e+01] [-1.14474345e-01 9.93426169e-01 2.65640847e-04 -2.04050299e+00] [ 3.67231531e-03 1.55770851e-04 9.99993245e-01 -1.27825688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19907232899999 meters 0.08748554104288424 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.05, Z:-1.28 [[ 9.93261358e-01 1.15822652e-01 -4.12157262e-03 3.99546390e+01] [-1.15822412e-01 9.93269893e-01 2.97693339e-04 -2.04768268e+00] [ 4.12831363e-03 1.81683194e-04 9.99991462e-01 -1.27588731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22907232899999 meters 0.08813921023894365 Centerline is valid? [True, True] Translation: X:39.99, Y:-2.05, Z:-1.28 [[ 9.93092216e-01 1.17320115e-01 -1.95974964e-03 3.99858433e+01] [-1.17320055e-01 9.93094146e-01 1.46206187e-04 -2.04955171e+00] [ 1.96336882e-03 8.47217095e-05 9.99998069e-01 -1.27689617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25907232899999 meters 0.0873256149939532 Centerline is valid? [True, True] Translation: X:40.02, Y:-2.05, Z:-1.28 [[ 9.92959733e-01 1.18419838e-01 -2.77694533e-03 4.00181290e+01] [-1.18419747e-01 9.92963607e-01 1.97865504e-04 -2.05443831e+00] [ 2.78083686e-03 1.32372686e-04 9.99996125e-01 -1.27542703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28907232899999 meters 0.08751750923056488 Centerline is valid? [True, True] Translation: X:40.05, Y:-2.06, Z:-1.28 [[ 9.92800679e-01 1.19768458e-01 -1.52566353e-03 4.00505516e+01] [-1.19768417e-01 9.92801849e-01 1.18542572e-04 -2.05750646e+00] [ 1.52887923e-03 6.50371593e-05 9.99998829e-01 -1.27588832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319072329 meters 0.08897905958239304 Centerline is valid? [True, True] Translation: X:40.08, Y:-2.06, Z:-1.28 [[ 9.92655133e-01 1.20967453e-01 -1.63167846e-03 4.00816093e+01] [-1.20967412e-01 9.92656471e-01 1.24246989e-04 -2.06189255e+00] [ 1.63472602e-03 7.40455087e-05 9.99998661e-01 -1.27763799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.349072329 meters 0.09113962263051296 Centerline is valid? [True, True] Translation: X:40.11, Y:-2.06, Z:-1.28 [[ 9.92545161e-01 1.21853720e-01 -2.40289465e-03 4.01125041e+01] [-1.21853642e-01 9.92548063e-01 1.79274192e-04 -2.06354365e+00] [ 2.40683366e-03 1.14863734e-04 9.99997097e-01 -1.28146559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379072329 meters 0.08865372314188798 Centerline is valid? [True, True] Translation: X:40.14, Y:-2.08, Z:-1.28 [[ 9.92331388e-01 1.23595760e-01 -1.58231044e-03 4.01442848e+01] [-1.23595722e-01 9.92332647e-01 1.22331866e-04 -2.07543044e+00] [ 1.58529801e-03 7.41730519e-05 9.99998741e-01 -1.27771459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.409072329 meters 0.09277470339869331 Centerline is valid? [True, True] Translation: X:40.18, Y:-2.07, Z:-1.28 [[ 9.92065928e-01 1.25710435e-01 -1.44293443e-03 4.01755337e+01] [-1.25710405e-01 9.92066974e-01 1.11959791e-04 -2.07269950e+00] [ 1.44556211e-03 7.03203777e-05 9.99998953e-01 -1.28343250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439072329 meters 0.08953076347969621 Centerline is valid? [True, True] Translation: X:40.21, Y:-2.08, Z:-1.28 [[ 9.91750817e-01 1.28177539e-01 -9.14267698e-04 4.02072831e+01] [-1.28177530e-01 9.91751237e-01 6.82214283e-05 -2.08464049e+00] [ 9.15470575e-04 4.95299184e-05 9.99999580e-01 -1.27732846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.469072329 meters 0.09102191603010364 Centerline is valid? [True, True] Translation: X:40.24, Y:-2.09, Z:-1.28 [[ 9.91284754e-01 1.31736342e-01 -2.68340863e-04 4.02374215e+01] [-1.31736341e-01 9.91284791e-01 1.98988593e-05 -2.08739465e+00] [ 2.68623619e-04 1.56248076e-05 9.99999964e-01 -1.27839479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499072329 meters 0.08958925831306648 Centerline is valid? [True, True] Translation: X:40.27, Y:-2.10, Z:-1.28 [[ 9.91033368e-01 1.33610858e-01 1.00124427e-03 4.02686278e+01] [-1.33610858e-01 9.91033871e-01 -6.67270292e-05 -2.09580358e+00] [-1.00118244e-03 -6.76483937e-05 9.99999497e-01 -1.27609270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52907232899999 meters 0.09456422365640729 Centerline is valid? [True, True] Translation: X:40.30, Y:-2.10, Z:-1.28 [[ 9.90690874e-01 1.36127165e-01 9.93137932e-04 4.02985473e+01] [-1.36127165e-01 9.90691370e-01 -6.80081522e-05 -2.09709806e+00] [-9.93150936e-04 -6.78179956e-05 9.99999505e-01 -1.28081088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55907232899999 meters 0.09251997946160255 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.11, Z:-1.28 [[ 9.90462308e-01 1.37782508e-01 6.29788667e-04 4.03299094e+01] [-1.37782509e-01 9.90462507e-01 -4.25634116e-05 -2.10955977e+00] [-6.29646556e-04 -4.46164076e-05 9.99999801e-01 -1.27885388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58907232899999 meters 0.09311034500525342 Centerline is valid? [True, True] Translation: X:40.36, Y:-2.12, Z:-1.28 [[ 9.90326241e-01 1.38756016e-01 8.39183533e-04 4.03616895e+01] [-1.38756023e-01 9.90326594e-01 -5.10137168e-05 -2.11608078e+00] [-8.38144231e-04 -6.59215469e-05 9.99999647e-01 -1.27990768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61907232899999 meters 0.0935852842812695 Centerline is valid? [True, True] Translation: X:40.39, Y:-2.13, Z:-1.28 [[ 9.90119715e-01 1.40216471e-01 1.51354028e-03 4.03934040e+01] [-1.40216481e-01 9.90120866e-01 -1.00165130e-04 -2.12555772e+00] [-1.51263262e-03 -1.13047823e-04 9.99998850e-01 -1.28085353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64907232899999 meters 0.09298229892374965 Centerline is valid? [True, True] Translation: X:40.43, Y:-2.13, Z:-1.28 [[ 9.89942639e-01 1.41466794e-01 8.46959734e-04 4.04253116e+01] [-1.41466795e-01 9.89943000e-01 -5.86814508e-05 -2.13320170e+00] [-8.46743337e-04 -6.17254089e-05 9.99999640e-01 -1.28139952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.679072329 meters 0.0955363837584925 Centerline is valid? [True, True] Translation: X:40.46, Y:-2.13, Z:-1.29 [[ 9.89863716e-01 1.42019851e-01 4.31638760e-04 4.04564283e+01] [-1.42019853e-01 9.89863809e-01 -2.62922854e-05 -2.13481414e+00] [-4.30997613e-04 -3.52754939e-05 9.99999906e-01 -1.28608865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.709072329 meters 0.09346941189453377 Centerline is valid? [True, True] Translation: X:40.49, Y:-2.15, Z:-1.29 [[ 9.89738871e-01 1.42887909e-01 -1.08955950e-04 4.04874409e+01] [-1.42887908e-01 9.89738877e-01 1.75917056e-05 -2.14724393e+00] [ 1.10351581e-04 -1.84270712e-06 9.99999994e-01 -1.28563199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739072329 meters 0.09570885569956146 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.16, Z:-1.29 [[ 9.89834921e-01 1.42217087e-01 -1.06260436e-03 4.05174095e+01] [-1.42217076e-01 9.89835489e-01 8.66089475e-05 -2.15775048e+00] [ 1.06412078e-03 6.53919249e-05 9.99999432e-01 -1.29116254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.769072329 meters 0.09348045818968385 Centerline is valid? [True, True] Translation: X:40.55, Y:-2.17, Z:-1.29 [[ 9.89934865e-01 1.41520738e-01 -9.18961564e-04 4.05489358e+01] [-1.41520727e-01 9.89935290e-01 7.70526909e-05 -2.17068890e+00] [ 9.20617036e-04 5.37749634e-05 9.99999575e-01 -1.28976844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799072329 meters 0.09274148936648592 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.18, Z:-1.29 [[ 9.90161200e-01 1.39917814e-01 1.95013199e-03 4.05781105e+01] [-1.39917802e-01 9.90163112e-01 -1.43226372e-04 -2.18323890e+00] [-1.95098868e-03 -1.31040984e-04 9.99998088e-01 -1.28967502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.829072329 meters 0.09526932087316325 Centerline is valid? [True, True] Translation: X:40.61, Y:-2.18, Z:-1.29 [[ 9.90318717e-01 1.38805829e-01 1.33457054e-03 4.06092321e+01] [-1.38805830e-01 9.90319612e-01 -9.28316211e-05 -2.18436647e+00] [-1.33453694e-03 -9.33132787e-05 9.99999105e-01 -1.29468470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859072329 meters 0.09566226807419856 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.19, Z:-1.30 [[ 9.90413216e-01 1.38135587e-01 4.71265231e-04 4.06401920e+01] [-1.38135590e-01 9.90413327e-01 -2.65639242e-05 -2.19047840e+00] [-4.70416789e-04 -3.87892392e-05 9.99999889e-01 -1.29818114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88907232899999 meters 0.09225058129846163 Centerline is valid? [True, True] Translation: X:40.67, Y:-2.21, Z:-1.30 [[ 9.90496781e-01 1.37526677e-01 -1.59360407e-03 4.06708426e+01] [-1.37526657e-01 9.90498058e-01 1.22900044e-04 -2.20573940e+00] [ 1.59536377e-03 9.74309419e-05 9.99998723e-01 -1.29651923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91907232899999 meters 0.09185664196371489 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.22, Z:-1.30 [[ 9.90866704e-01 1.34824946e-01 -2.32583736e-03 4.07002293e+01] [-1.34824903e-01 9.90869424e-01 1.76204542e-04 -2.22098411e+00] [ 2.32835789e-03 1.38985582e-04 9.99997280e-01 -1.29823985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94907232899999 meters 0.09190848890463506 Centerline is valid? [True, True] Translation: X:40.73, Y:-2.23, Z:-1.30 [[ 9.90923494e-01 1.34421199e-01 -1.25318288e-03 4.07315181e+01] [-1.34421177e-01 9.90924284e-01 1.02268491e-04 -2.22801329e+00] [ 1.25555640e-03 6.71140678e-05 9.99999210e-01 -1.29933648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97907232899999 meters 0.09081734200374686 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.24, Z:-1.30 [[ 9.91278618e-01 1.31781761e-01 -5.19136379e-04 4.07606827e+01] [-1.31781759e-01 9.91278753e-01 3.85783292e-05 -2.23689356e+00] [ 5.19692783e-04 3.01708322e-05 9.99999865e-01 -1.30202682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00907232899999 meters 0.08990839547399518 Centerline is valid? [True, True] Translation: X:40.79, Y:-2.24, Z:-1.30 [[ 9.91411132e-01 1.30778007e-01 -1.03931799e-03 4.07920253e+01] [-1.30777988e-01 9.91411676e-01 8.65850412e-05 -2.24319215e+00] [ 1.04171541e-03 5.00785425e-05 9.99999456e-01 -1.30408256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03907232899999 meters 0.08798306647784195 Centerline is valid? [True, True] Translation: X:40.82, Y:-2.25, Z:-1.30 [[ 9.91539493e-01 1.29803694e-01 -6.59058676e-04 4.08234105e+01] [-1.29803684e-01 9.91539712e-01 5.87442479e-05 -2.25315227e+00] [ 6.61108070e-04 2.73010021e-05 9.99999781e-01 -1.30353524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.069072329 meters 0.0893162564512605 Centerline is valid? [True, True] Translation: X:40.85, Y:-2.26, Z:-1.31 [[ 9.92038199e-01 1.25923518e-01 1.86532809e-03 4.08522026e+01] [-1.25923477e-01 9.92039948e-01 -1.40068540e-04 -2.26065539e+00] [-1.86811791e-03 -9.59352566e-05 9.99998250e-01 -1.30714188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099072329 meters 0.08680480042376558 Centerline is valid? [True, True] Translation: X:40.88, Y:-2.27, Z:-1.30 [[ 9.92321198e-01 1.23657883e-01 2.71425769e-03 4.08835277e+01] [-1.23657794e-01 9.92324901e-01 -2.01227862e-04 -2.27334398e+00] [-2.71830890e-03 -1.35956445e-04 9.99996296e-01 -1.30398078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.129072329 meters 0.08336042892886428 Centerline is valid? [True, True] Translation: X:40.91, Y:-2.29, Z:-1.30 [[ 9.92750736e-01 1.20121118e-01 4.11005207e-03 4.09131281e+01] [-1.20120871e-01 9.92759226e-01 -3.07670908e-04 -2.28932738e+00] [-4.11724989e-03 -1.88262515e-04 9.99991506e-01 -1.30048291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159072329 meters 0.08396700847714891 Centerline is valid? [True, True] Translation: X:40.94, Y:-2.29, Z:-1.31 [[ 9.92923562e-01 1.18715251e-01 3.08061086e-03 4.09438689e+01] [-1.18715121e-01 9.92928330e-01 -2.25552700e-04 -2.29060789e+00] [-3.08560234e-03 -1.41758501e-04 9.99995229e-01 -1.30547785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.189072329 meters 0.08463625739588841 Centerline is valid? [True, True] Translation: X:40.97, Y:-2.29, Z:-1.31 [[ 9.92936061e-01 1.18630175e-01 2.20468443e-03 4.09748961e+01] [-1.18630118e-01 9.92938503e-01 -1.57303681e-04 -2.29224084e+00] [-2.20777702e-03 -1.05349476e-04 9.99997557e-01 -1.30974063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219072329 meters 0.08443321856316237 Centerline is valid? [True, True] Translation: X:41.01, Y:-2.30, Z:-1.31 [[ 9.92906403e-01 1.18877821e-01 2.22235551e-03 4.10072958e+01] [-1.18877766e-01 9.92908884e-01 -1.57244758e-04 -2.29765855e+00] [-2.22528944e-03 -1.08059332e-04 9.99997518e-01 -1.31123711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.249072329 meters 0.0837831383242225 Centerline is valid? [True, True] Translation: X:41.04, Y:-2.30, Z:-1.31 [[ 9.92856544e-01 1.19298421e-01 1.94153793e-03 4.10387012e+01] [-1.19298380e-01 9.92858438e-01 -1.37657565e-04 -2.30467409e+00] [-1.94409465e-03 -9.49481153e-05 9.99998106e-01 -1.31006029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27907232899999 meters 0.08348768927084778 Centerline is valid? [True, True] Translation: X:41.07, Y:-2.31, Z:-1.31 [[ 9.92733091e-01 1.20239598e-01 4.84234676e-03 4.10703414e+01] [-1.20239275e-01 9.92744876e-01 -3.58765724e-04 -2.31158233e+00] [-4.85035277e-03 -2.26081659e-04 9.99988211e-01 -1.30823839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30907232899999 meters 0.08388255860492487 Centerline is valid? [True, True] Translation: X:41.10, Y:-2.31, Z:-1.31 [[ 9.92660833e-01 1.20752450e-01 6.58151688e-03 4.11018666e+01] [-1.20751831e-01 9.92682604e-01 -4.92831471e-04 -2.31328614e+00] [-6.59286793e-03 -3.05515717e-04 9.99978220e-01 -1.30919443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33907232899999 meters 0.08422375741359638 Centerline is valid? [True, True] Translation: X:41.13, Y:-2.31, Z:-1.31 [[ 9.92542469e-01 1.21669905e-01 7.47543533e-03 4.11334131e+01] [-1.21669112e-01 9.92570557e-01 -5.62550979e-04 -2.31449419e+00] [-7.48834254e-03 -3.51173838e-04 9.99971900e-01 -1.31073825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36907232899999 meters 0.08533285693523197 Centerline is valid? [True, True] Translation: X:41.16, Y:-2.31, Z:-1.31 [[ 9.92223234e-01 1.24262923e-01 7.19583082e-03 4.11648956e+01] [-1.24262194e-01 9.92249265e-01 -5.50034186e-04 -2.31490416e+00] [-7.20840670e-03 -3.48413030e-04 9.99973958e-01 -1.31402077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39907232899999 meters 0.08570332909623861 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.32, Z:-1.32 [[ 9.91961667e-01 1.26396402e-01 6.00001495e-03 4.11963277e+01] [-1.26395935e-01 9.91979767e-01 -4.58606610e-04 -2.31783363e+00] [-6.00985966e-03 -3.03457320e-04 9.99981895e-01 -1.31554687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.429072329 meters 0.08707171058490798 Centerline is valid? [True, True] Translation: X:41.23, Y:-2.32, Z:-1.32 [[ 9.91779590e-01 1.27824013e-01 5.85379842e-03 4.12276470e+01] [-1.27823627e-01 9.91796817e-01 -4.41511660e-04 -2.31823813e+00] [-5.86221443e-03 -3.10371494e-04 9.99982769e-01 -1.31826310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.459072329 meters 0.08774250679044088 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.32, Z:-1.32 [[ 9.91581355e-01 1.29366641e-01 5.53969759e-03 4.12595220e+01] [-1.29366286e-01 9.91596785e-01 -4.23752199e-04 -2.32217989e+00] [-5.54796572e-03 -2.96465326e-04 9.99984566e-01 -1.31957003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.489072329 meters 0.08740078831426736 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.33, Z:-1.32 [[ 9.91468781e-01 1.30195721e-01 6.22335475e-03 4.12918847e+01] [-1.30195326e-01 9.91488253e-01 -4.70272872e-04 -2.32657137e+00] [-6.23161064e-03 -3.43990829e-04 9.99980524e-01 -1.32030118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519072329 meters 0.08744818244762495 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.33, Z:-1.32 [[ 9.91435183e-01 1.30442540e-01 6.40474257e-03 4.13249806e+01] [-1.30442113e-01 9.91455808e-01 -4.86148342e-04 -2.33040152e+00] [-6.41343364e-03 -3.53463586e-04 9.99979371e-01 -1.32149084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.549072329 meters 0.08811592684740649 Centerline is valid? [True, True] Translation: X:41.36, Y:-2.33, Z:-1.32 [[ 9.91306193e-01 1.31439448e-01 5.97517745e-03 4.13558129e+01] [-1.31439078e-01 9.91324145e-01 -4.56252619e-04 -2.33233844e+00] [-5.98330727e-03 -3.33085768e-04 9.99982044e-01 -1.32357867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579072329 meters 0.08879793310334591 Centerline is valid? [True, True] Translation: X:41.39, Y:-2.34, Z:-1.32 [[ 9.91091460e-01 1.32988356e-01 7.19833638e-03 4.13868463e+01] [-1.32987835e-01 9.91117516e-01 -5.53072852e-04 -2.33526139e+00] [-7.20794952e-03 -4.09145392e-04 9.99973939e-01 -1.32472083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.609072329 meters 0.08943717187054945 Centerline is valid? [True, True] Translation: X:41.42, Y:-2.34, Z:-1.33 [[ 9.90980760e-01 1.33761797e-01 8.05701914e-03 4.14195431e+01] [-1.33761159e-01 9.91013404e-01 -6.20476761e-04 -2.33858133e+00] [-8.06761005e-03 -4.62835687e-04 9.99967349e-01 -1.32546192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63907232899999 meters 0.0897960974795338 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.34, Z:-1.33 [[ 9.90761475e-01 1.35360836e-01 8.31528297e-03 4.14512274e+01] [-1.35360182e-01 9.90796249e-01 -6.44062358e-04 -2.34331527e+00] [-8.32593200e-03 -4.87446042e-04 9.99965220e-01 -1.32563969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66907232899999 meters 0.09110061400188751 Centerline is valid? [True, True] Translation: X:41.48, Y:-2.35, Z:-1.33 [[ 9.90494028e-01 1.37092533e-01 1.12791226e-02 4.14829413e+01] [-1.37091379e-01 9.90558015e-01 -8.79030488e-04 -2.34827664e+00] [-1.12931338e-02 -6.75596025e-04 9.99936002e-01 -1.32507661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69907232899999 meters 0.09206534671883847 Centerline is valid? [True, True] Translation: X:41.51, Y:-2.35, Z:-1.33 [[ 9.90221503e-01 1.38970801e-01 1.21857198e-02 4.15147621e+01] [-1.38969493e-01 9.90296199e-01 -9.58178105e-04 -2.35089094e+00] [-1.22006308e-02 -7.44634740e-04 9.99925292e-01 -1.32590203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72907232899999 meters 0.09318810272836014 Centerline is valid? [True, True] Translation: X:41.55, Y:-2.35, Z:-1.33 [[ 9.90016181e-01 1.40374153e-01 1.27694098e-02 4.15459614e+01] [-1.40372866e-01 9.90098205e-01 -1.00150529e-03 -2.35239859e+00] [-1.27835552e-02 -8.00972210e-04 9.99917966e-01 -1.32772097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75907232899999 meters 0.09607634545361368 Centerline is valid? [True, True] Translation: X:41.58, Y:-2.35, Z:-1.33 [[ 9.89462763e-01 1.44309157e-01 1.17604408e-02 4.15752439e+01] [-1.44308253e-01 9.89532346e-01 -9.29836161e-04 -2.35459414e+00] [-1.17715204e-02 -7.77090413e-04 9.99930411e-01 -1.33002919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78907232899999 meters 0.09702390328307571 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.36, Z:-1.33 [[ 9.89218701e-01 1.46047086e-01 1.07986180e-02 4.16065028e+01] [-1.46046439e-01 9.89277368e-01 -8.52744750e-04 -2.35920293e+00] [-1.08073693e-02 -7.33548653e-04 9.99941330e-01 -1.33177368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.819072329 meters 0.09832317129281015 Centerline is valid? [True, True] Translation: X:41.64, Y:-2.36, Z:-1.34 [[ 9.89052138e-01 1.47277378e-01 9.23271133e-03 4.16375048e+01] [-1.47276957e-01 9.89095024e-01 -7.29226447e-04 -2.36306031e+00] [-9.23942739e-03 -6.38522653e-04 9.99957112e-01 -1.33502582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.849072329 meters 0.09988902552237304 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.37, Z:-1.34 [[ 9.88740162e-01 1.49356547e-01 9.24734112e-03 4.16675577e+01] [-1.49356208e-01 9.88783186e-01 -7.31132620e-04 -2.36919334e+00] [-9.25281486e-03 -6.58247620e-04 9.99956975e-01 -1.33698298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879072329 meters 0.10089464672253037 Centerline is valid? [True, False] Translation: X:41.66, Y:-2.37, Z:-1.34 [[ 9.89905406e-01 1.41603616e-01 5.97515979e-03 4.16645504e+01] [-1.41641768e-01 9.89896420e-01 6.53353301e-03 -2.37173653e+00] [-4.98961739e-03 -7.31391184e-03 9.99960804e-01 -1.33867524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.909072329 meters 0.10224264452070032 Centerline is valid? [False, False] Translation: X:41.66, Y:-2.37, Z:-1.34 [[ 9.91216856e-01 1.31916902e-01 9.33139378e-03 4.16556340e+01] [-1.32001282e-01 9.91207864e-01 9.09021412e-03 -2.37283715e+00] [-8.05019801e-03 -1.02421294e-02 9.99915143e-01 -1.34263524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939072329 meters 0.10364357435164467 Centerline is valid? [False, False] Translation: X:41.64, Y:-2.38, Z:-1.34 [[ 9.92348045e-01 1.22662554e-01 1.41157575e-02 4.16439913e+01] [-1.22843449e-01 9.92344144e-01 1.27509370e-02 -2.37939008e+00] [-1.24436268e-02 -1.43873957e-02 9.99819063e-01 -1.34403217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.969072329 meters 0.10482458889284496 Centerline is valid? [False, False] Translation: X:41.66, Y:-2.38, Z:-1.34 [[ 9.93131895e-01 1.16857081e-01 -5.78457807e-03 4.16569293e+01] [-1.16755604e-01 9.93039003e-01 1.55456237e-02 -2.38350901e+00] [ 7.56092786e-03 -1.47634728e-02 9.99862427e-01 -1.33824021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999072329 meters 0.09656890046136114 Centerline is valid? [False, True] Translation: X:41.65, Y:-2.39, Z:-1.34 [[ 9.94229425e-01 1.07270449e-01 -9.49248037e-04 4.16489300e+01] [-1.07240178e-01 9.94095338e-01 1.65530555e-02 -2.38515974e+00] [ 2.71929675e-03 -1.63557374e-02 9.99862538e-01 -1.34417969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02907232899999 meters 0.10737394107181407 Centerline is valid? [True, False] Translation: X:41.64, Y:-2.39, Z:-1.35 [[ 9.94974934e-01 1.00087791e-01 2.70457750e-03 4.16435384e+01] [-1.00122829e-01 9.94744747e-01 2.14081126e-02 -2.39146694e+00] [-5.47673555e-04 -2.15713254e-02 9.99767162e-01 -1.35177734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05907232899999 meters 0.10737394107181407 Centerline is valid? [False, False] Translation: X:41.64, Y:-2.39, Z:-1.36 [[ 9.95344920e-01 9.61771009e-02 6.20128564e-03 4.16380903e+01] [-9.62979725e-02 9.95071902e-01 2.36349563e-02 -2.39112944e+00] [-3.89758352e-03 -2.41221049e-02 9.99701422e-01 -1.35509473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08907232899999 meters 0.09891706087802803 Centerline is valid? [False, True] Translation: X:41.63, Y:-2.39, Z:-1.36 [[ 9.96187086e-01 8.65258147e-02 1.11612353e-02 4.16300030e+01] [-8.67800270e-02 9.95919701e-01 2.47623723e-02 -2.39221541e+00] [-8.97310964e-03 -2.56365278e-02 9.99631058e-01 -1.36091957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11907232899999 meters 0.10983029225728272 Centerline is valid? [True, False] Translation: X:41.62, Y:-2.39, Z:-1.37 [[ 9.96890212e-01 7.70811552e-02 1.63829511e-02 4.16214649e+01] [-7.74893863e-02 9.96655542e-01 2.59446639e-02 -2.39343761e+00] [-1.43283144e-02 -2.71334863e-02 9.99529126e-01 -1.36638899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14907232899999 meters 0.10089200067997776 Centerline is valid? [False, False] Translation: X:41.63, Y:-2.40, Z:-1.36 [[ 9.97095307e-01 7.60881059e-02 -3.39829694e-03 4.16335691e+01] [-7.59977773e-02 9.96874757e-01 2.15651961e-02 -2.39608435e+00] [ 5.02853136e-03 -2.12442928e-02 9.99761669e-01 -1.36205108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.179072329 meters 0.09734574009967482 Centerline is valid? [False, True] Translation: X:41.63, Y:-2.40, Z:-1.37 [[ 9.97602732e-01 6.91754709e-02 1.88221665e-03 4.16257947e+01] [-6.92001719e-02 9.97359473e-01 2.20322011e-02 -2.40181889e+00] [-3.53158725e-04 -2.21096337e-02 9.99755490e-01 -1.36618925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.209072329 meters 0.09770712061110706 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.39, Z:-1.37 [[ 9.97595774e-01 6.92480561e-02 2.71626532e-03 4.16562885e+01] [-6.92483933e-02 9.97599448e-01 3.01549763e-05 -2.39211312e+00] [-2.70765661e-03 -2.18179486e-04 9.99996310e-01 -1.37489482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239072329 meters 0.09808437414115885 Centerline is valid? [True, True] Translation: X:41.69, Y:-2.40, Z:-1.38 [[ 9.97595207e-01 6.92827538e-02 1.92407105e-03 4.16894454e+01] [-6.92829287e-02 9.97597051e-01 2.43082879e-05 -2.39543791e+00] [-1.91776346e-03 -1.57555109e-04 9.99998149e-01 -1.37662569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.269072329 meters 0.09783516683900752 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.40, Z:-1.38 [[ 9.97723964e-01 6.74186965e-02 1.26958047e-03 4.17203948e+01] [-6.74187655e-02 9.97724767e-01 1.15893548e-05 -2.40346587e+00] [-1.26591054e-03 -9.71565252e-05 9.99999194e-01 -1.37821042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299072329 meters 0.09774706715214536 Centerline is valid? [True, True] Translation: X:41.75, Y:-2.41, Z:-1.38 [[ 9.97742215e-01 6.71498836e-02 1.16828811e-03 4.17524468e+01] [-6.71499487e-02 9.97742895e-01 1.65617331e-05 -2.40666758e+00] [-1.16453904e-03 -9.49748268e-05 9.99999317e-01 -1.37903315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.329072329 meters 0.09805880211609876 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.41, Z:-1.38 [[ 9.97755755e-01 6.69156117e-02 2.39887484e-03 4.17838913e+01] [-6.69158651e-02 9.97758621e-01 2.54382159e-05 -2.40875730e+00] [-2.39179584e-03 -1.85903911e-04 9.99997122e-01 -1.37881524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359072329 meters 0.09855718271020704 Centerline is valid? [True, True] Translation: X:41.81, Y:-2.41, Z:-1.38 [[ 9.97753573e-01 6.67895748e-02 5.19224450e-03 4.18148179e+01] [-6.67906910e-02 9.97767008e-01 4.16862125e-05 -2.41316067e+00] [-5.17786605e-03 -3.88386165e-04 9.99986519e-01 -1.37699256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38907232899999 meters 0.09883478943037258 Centerline is valid? [True, True] Translation: X:41.85, Y:-2.42, Z:-1.38 [[ 9.97716131e-01 6.72979952e-02 5.78810871e-03 4.18480312e+01] [-6.72994215e-02 9.97732823e-01 5.17784913e-05 -2.41580337e+00] [-5.77150145e-03 -4.41196604e-04 9.99983247e-01 -1.37692943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41907232899999 meters 0.09955161992557102 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.42, Z:-1.38 [[ 9.97662562e-01 6.80895233e-02 5.76439283e-03 4.18803119e+01] [-6.80909377e-02 9.97679118e-01 4.92369607e-05 -2.41774907e+00] [-5.74766183e-03 -4.41624785e-04 9.99983385e-01 -1.37793655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44907232899999 meters 0.10130915171336417 Centerline is valid? [True, False] Translation: X:41.88, Y:-2.42, Z:-1.38 [[ 9.98250572e-01 5.76736790e-02 1.30208448e-02 4.18800441e+01] [-5.77829802e-02 9.98295655e-01 8.17995364e-03 -2.42286875e+00] [-1.25268847e-02 -8.91802662e-03 9.99881766e-01 -1.38121313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47907232899999 meters 0.10179692720202932 Centerline is valid? [False, False] Translation: X:41.87, Y:-2.43, Z:-1.38 [[ 9.98699197e-01 5.07025444e-02 5.40055900e-03 4.18706401e+01] [-5.07632548e-02 9.98641358e-01 1.17698864e-02 -2.42508840e+00] [-4.79645838e-03 -1.20287260e-02 9.99916148e-01 -1.37827475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50907232899999 meters 0.10277913796533927 Centerline is valid? [False, False] Translation: X:41.86, Y:-2.43, Z:-1.38 [[ 9.99121893e-01 4.06224150e-02 1.02597802e-02 4.18627557e+01] [-4.07566916e-02 9.99081423e-01 1.32364073e-02 -2.42663991e+00] [-9.71266101e-03 -1.36429390e-02 9.99859757e-01 -1.38380621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53907232899999 meters 0.10443594899255375 Centerline is valid? [False, False] Translation: X:41.85, Y:-2.43, Z:-1.39 [[ 9.99389727e-01 3.12783113e-02 1.55512016e-02 4.18542271e+01] [-3.15212474e-02 9.99380866e-01 1.56299796e-02 -2.43216626e+00] [-1.50526939e-02 -1.61106344e-02 9.99756902e-01 -1.38878340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.569072329 meters 0.09583879118410774 Centerline is valid? [False, True] Translation: X:41.86, Y:-2.43, Z:-1.39 [[ 9.99587591e-01 2.87030290e-02 -8.84935257e-04 4.18585430e+01] [-2.86871495e-02 9.99482741e-01 1.45360895e-02 -2.43458042e+00] [ 1.30170732e-03 -1.45047084e-02 9.99893954e-01 -1.38641797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599072329 meters 0.10519747041468912 Centerline is valid? [True, False] Translation: X:41.86, Y:-2.43, Z:-1.39 [[ 9.99794579e-01 2.02610696e-02 -5.37580667e-04 4.18576564e+01] [-2.02577662e-02 9.99779289e-01 5.56739663e-03 -2.43211662e+00] [ 6.50263428e-04 -5.55536278e-03 9.99984357e-01 -1.38685401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.629072329 meters 0.10631492020843057 Centerline is valid? [False, False] Translation: X:41.85, Y:-2.43, Z:-1.39 [[ 9.99946272e-01 9.68099231e-03 3.70553882e-03 4.18498764e+01] [-9.70807258e-03 9.99925780e-01 7.36119727e-03 -2.43280641e+00] [-3.63400010e-03 -7.39677541e-03 9.99966040e-01 -1.39225769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659072329 meters 0.0974471472464366 Centerline is valid? [False, True] Translation: X:41.85, Y:-2.44, Z:-1.39 [[ 9.99975288e-01 5.96790153e-03 3.71579472e-03 4.18497728e+01] [-5.98414292e-03 9.99972523e-01 4.37523832e-03 -2.43697453e+00] [-3.68958163e-03 -4.39736605e-03 9.99983525e-01 -1.39206561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.689072329 meters 0.09801972759538266 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.44, Z:-1.40 [[ 9.99984269e-01 5.12770996e-03 2.27327582e-03 4.18807457e+01] [-5.12811549e-03 9.99986836e-01 1.72599623e-04 -2.43581216e+00] [-2.27236085e-03 -1.84254529e-04 9.99997401e-01 -1.39655300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719072329 meters 0.10587366530317423 Centerline is valid? [True, False] Translation: X:41.88, Y:-2.44, Z:-1.40 [[ 9.99986735e-01 4.83987773e-03 1.76223978e-03 4.18827940e+01] [-4.84078818e-03 9.99988152e-01 5.12743763e-04 -2.43903344e+00] [-1.75973728e-03 -5.21267591e-04 9.99998316e-01 -1.39795540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.749072329 meters 0.09566213602914637 Centerline is valid? [False, True] Translation: X:41.88, Y:-2.44, Z:-1.40 [[ 9.99998049e-01 9.22851101e-04 1.74669049e-03 4.18828701e+01] [-9.18020166e-04 9.99995757e-01 -2.76454867e-03 -2.44229735e+00] [-1.74923435e-03 2.76293978e-03 9.99994653e-01 -1.39804171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77907232899999 meters 0.09440794598718068 Centerline is valid? [True, True] Translation: X:41.91, Y:-2.45, Z:-1.40 [[ 9.99998040e-01 -1.40100385e-03 1.39892027e-03 4.19139602e+01] [ 1.40086442e-03 9.99999014e-01 1.00649569e-04 -2.44573405e+00] [-1.39905991e-03 -9.86896742e-05 9.99999016e-01 -1.39775770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80907232899999 meters 0.09343395013353371 Centerline is valid? [True, True] Translation: X:41.94, Y:-2.45, Z:-1.40 [[ 9.99990725e-01 -4.02438194e-03 1.53440011e-03 4.19444549e+01] [ 4.02421817e-03 9.99991897e-01 1.09802850e-04 -2.44763363e+00] [-1.53482957e-03 -1.03627071e-04 9.99998817e-01 -1.39934479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83907232899999 meters 0.09164582143079689 Centerline is valid? [True, True] Translation: X:41.97, Y:-2.46, Z:-1.40 [[ 9.99953188e-01 -9.67332600e-03 2.18746507e-04 4.19745945e+01] [ 9.67332294e-03 9.99953212e-01 1.50347615e-05 -2.45544895e+00] [-2.18881709e-04 -1.29180521e-05 9.99999976e-01 -1.40097050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86907232899999 meters 0.0869616265039291 Centerline is valid? [True, True] Translation: X:42.01, Y:-2.47, Z:-1.40 [[ 9.99920856e-01 -1.24851642e-02 1.55005734e-03 4.20055944e+01] [ 1.24850089e-02 9.99922053e-01 1.09842992e-04 -2.46643765e+00] [-1.55130792e-03 -9.04818189e-05 9.99998793e-01 -1.39698066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89907232899999 meters 0.08637487808929747 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.47, Z:-1.40 [[ 9.99890397e-01 -1.47398517e-02 1.38985926e-03 4.20352114e+01] [ 1.47397291e-02 9.99891359e-01 9.84463601e-05 -2.46743269e+00] [-1.39115935e-03 -7.79494212e-05 9.99999029e-01 -1.39810360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.929072329 meters 0.08503844645787659 Centerline is valid? [True, True] Translation: X:42.06, Y:-2.47, Z:-1.40 [[ 9.99794385e-01 -2.02633795e-02 -7.64220639e-04 4.20644269e+01] [ 2.02633429e-02 9.99794676e-01 -5.56798279e-05 -2.47075326e+00] [ 7.65191987e-04 4.01827144e-05 9.99999706e-01 -1.40187217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.959072329 meters 0.08424033313272133 Centerline is valid? [True, True] Translation: X:42.09, Y:-2.47, Z:-1.40 [[ 9.99729643e-01 -2.32082868e-02 -1.42012548e-03 4.20945208e+01] [ 2.32081647e-02 9.99730649e-01 -1.02377132e-04 -2.47181673e+00] [ 1.42211897e-03 6.93909470e-05 9.99998986e-01 -1.40385409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.989072329 meters 0.08251370643566909 Centerline is valid? [True, True] Translation: X:42.12, Y:-2.48, Z:-1.40 [[ 9.99573108e-01 -2.92152442e-02 2.68753022e-04 4.21248611e+01] [ 2.92152402e-02 9.99573144e-01 1.85878233e-05 -2.47795510e+00] [-2.69181351e-04 -1.07282042e-05 9.99999964e-01 -1.40185672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019072329 meters 0.08149757848847812 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.48, Z:-1.40 [[ 9.99475298e-01 -3.23898397e-02 1.66965913e-04 4.21547715e+01] [ 3.23898393e-02 9.99475311e-01 4.79422195e-06 -2.48087529e+00] [-1.67033592e-04 6.16292674e-07 9.99999986e-01 -1.40143508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.049072329 meters 0.07973749150735376 Centerline is valid? [True, True] Translation: X:42.18, Y:-2.49, Z:-1.40 [[ 9.99375535e-01 -3.53323698e-02 4.05250846e-04 4.21847492e+01] [ 3.53323639e-02 9.99375617e-01 2.16454252e-05 -2.48605710e+00] [-4.05762598e-04 -7.31343799e-06 9.99999918e-01 -1.39852601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079072329 meters 0.08035718759439567 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.48, Z:-1.40 [[ 9.99295088e-01 -3.75410051e-02 -2.12950267e-05 4.22122726e+01] [ 3.75410050e-02 9.99295088e-01 -4.43463354e-06 -2.48284294e+00] [ 2.14464961e-05 3.63207081e-06 1.00000000e+00 -1.40375435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.109072329 meters 0.07981251670731804 Centerline is valid? [True, True] Translation: X:42.24, Y:-2.48, Z:-1.41 [[ 9.99165930e-01 -4.08248437e-02 -8.81618673e-04 4.22413489e+01] [ 4.08247964e-02 9.99166318e-01 -7.16174977e-05 -2.48276064e+00] [ 8.83807456e-04 3.55658609e-05 9.99999609e-01 -1.40806707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13907232899999 meters 0.07834677172034824 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.48, Z:-1.40 [[ 9.99131316e-01 -4.16705623e-02 4.22032808e-04 4.22707259e+01] [ 4.16705566e-02 9.99131405e-01 2.23454569e-05 -2.48484820e+00] [-4.22597380e-04 -4.73970375e-06 9.99999911e-01 -1.40377735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16907232899999 meters 0.07836844739671163 Centerline is valid? [True, True] Translation: X:42.30, Y:-2.48, Z:-1.41 [[ 9.99118524e-01 -4.19686170e-02 9.00093520e-04 4.22979241e+01] [ 4.19685776e-02 9.99118929e-01 6.26202791e-05 -2.48144250e+00] [-9.01928560e-04 -2.47894361e-05 9.99999593e-01 -1.40611127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19907232899999 meters 0.07939598888506934 Centerline is valid? [True, True] Translation: X:42.32, Y:-2.48, Z:-1.41 [[ 9.99128224e-01 -4.17222914e-02 1.42927535e-03 4.23242902e+01] [ 4.17221907e-02 9.99129245e-01 1.00228248e-04 -2.47519131e+00] [-1.43221256e-03 -4.05083723e-05 9.99998974e-01 -1.41080024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22907232899999 meters 0.0796153254665906 Centerline is valid? [True, True] Translation: X:42.35, Y:-2.47, Z:-1.41 [[ 9.99131152e-01 -4.16763473e-02 1.51639742e-04 4.23530290e+01] [ 4.16763473e-02 9.99131164e-01 3.38329917e-06 -2.47186802e+00] [-1.51648995e-04 2.93943094e-06 9.99999988e-01 -1.41292598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25907232899999 meters 0.08013676393610117 Centerline is valid? [True, True] Translation: X:42.38, Y:-2.47, Z:-1.41 [[ 9.99156366e-01 -4.10676822e-02 -3.72844850e-05 4.23807099e+01] [ 4.10676820e-02 9.99156367e-01 -5.46884212e-06 -2.46831931e+00] [ 3.74776232e-05 3.93304105e-06 9.99999999e-01 -1.41428527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28907232899999 meters 0.07889204581486137 Centerline is valid? [True, True] Translation: X:42.41, Y:-2.47, Z:-1.41 [[ 9.99198539e-01 -4.00271642e-02 3.25061145e-04 4.24097516e+01] [ 4.00271612e-02 9.99198592e-01 1.56146869e-05 -2.47110417e+00] [-3.25425650e-04 -2.59089744e-06 9.99999947e-01 -1.40870968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.319072329 meters 0.08136338910186523 Centerline is valid? [True, True] Translation: X:42.44, Y:-2.46, Z:-1.42 [[ 9.99272190e-01 -3.81456371e-02 -2.55758964e-05 4.24361650e+01] [ 3.81456369e-02 9.99272190e-01 -5.41097280e-06 -2.45901571e+00] [ 2.57636870e-05 4.43142578e-06 1.00000000e+00 -1.41635102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.349072329 meters 0.08011551769261206 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.46, Z:-1.41 [[ 9.99323383e-01 -3.67792516e-02 -2.50051916e-04 4.24656531e+01] [ 3.67792461e-02 9.99323414e-01 -2.65312452e-05 -2.45941396e+00] [ 2.50858534e-04 1.73165728e-05 9.99999968e-01 -1.41300329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379072329 meters 0.08007539748002104 Centerline is valid? [True, True] Translation: X:42.49, Y:-2.46, Z:-1.41 [[ 9.99378504e-01 -3.52407011e-02 8.36018707e-04 4.24944772e+01] [ 3.52406685e-02 9.99378853e-01 5.37866905e-05 -2.45565393e+00] [-8.37394897e-04 -2.42914042e-05 9.99999649e-01 -1.41223587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.409072329 meters 0.08038213243960546 Centerline is valid? [True, True] Translation: X:42.52, Y:-2.45, Z:-1.41 [[ 9.99498763e-01 -3.15624125e-02 2.45709788e-03 4.25238666e+01] [ 3.15620624e-02 9.99501778e-01 1.81149780e-04 -2.45009227e+00] [-2.46159122e-03 -1.03507904e-04 9.99996965e-01 -1.41133524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439072329 meters 0.08081107287515508 Centerline is valid? [True, True] Translation: X:42.55, Y:-2.45, Z:-1.41 [[ 9.99529302e-01 -3.05395351e-02 2.91747750e-03 4.25511881e+01] [ 3.05390409e-02 9.99533552e-01 2.13808990e-04 -2.44594202e+00] [-2.92264628e-03 -1.24611385e-04 9.99995721e-01 -1.41199717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.469072329 meters 0.08078347045526393 Centerline is valid? [True, True] Translation: X:42.58, Y:-2.44, Z:-1.41 [[ 9.99541858e-01 -3.01254562e-02 2.92095314e-03 4.25802887e+01] [ 3.01249725e-02 9.99546118e-01 2.09452127e-04 -2.44365579e+00] [-2.92593721e-03 -1.21362535e-04 9.99995712e-01 -1.41221024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49907232899999 meters 0.08159326190273312 Centerline is valid? [True, True] Translation: X:42.61, Y:-2.44, Z:-1.42 [[ 9.99550314e-01 -2.99488657e-02 1.49485952e-03 4.26076842e+01] [ 2.99487388e-02 9.99551430e-01 1.07229103e-04 -2.43667340e+00] [-1.49740036e-03 -6.24117267e-05 9.99998877e-01 -1.41751797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52907232899999 meters 0.08156821674080847 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.43, Z:-1.42 [[ 9.99533781e-01 -3.05131631e-02 1.08025625e-03 4.26351928e+01] [ 3.05131034e-02 9.99534364e-01 7.16967917e-05 -2.43311764e+00] [-1.08194094e-03 -3.87013945e-05 9.99999414e-01 -1.42025668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55907232899999 meters 0.08207703890608332 Centerline is valid? [True, True] Translation: X:42.66, Y:-2.43, Z:-1.42 [[ 9.99478838e-01 -3.22533387e-02 -1.33219712e-03 4.26627480e+01] [ 3.22532282e-02 9.99479724e-01 -1.04415937e-04 -2.42960318e+00] [ 1.33487177e-03 6.13938615e-05 9.99999107e-01 -1.42454158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58907232899999 meters 0.0810182270258218 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.43, Z:-1.42 [[ 9.99420271e-01 -3.40355688e-02 -8.37653263e-04 4.26919936e+01] [ 3.40355260e-02 9.99420622e-01 -6.53022225e-05 -2.43149604e+00] [ 8.39390543e-04 3.67543955e-05 9.99999647e-01 -1.42298994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61907232899999 meters 0.08037504347965393 Centerline is valid? [True, True] Translation: X:42.72, Y:-2.43, Z:-1.42 [[ 9.99354328e-01 -3.59244153e-02 6.03558050e-04 4.27215415e+01] [ 3.59243951e-02 9.99354510e-01 4.42467082e-05 -2.43151056e+00] [-6.04757996e-04 -2.25356814e-05 9.99999817e-01 -1.42129408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64907232899999 meters 0.0797124153670029 Centerline is valid? [True, True] Translation: X:42.75, Y:-2.43, Z:-1.42 [[ 9.99272375e-01 -3.80904624e-02 1.95885703e-03 4.27513340e+01] [ 3.80902487e-02 9.99274292e-01 1.46279888e-04 -2.43103934e+00] [-1.96300734e-03 -7.15601002e-05 9.99998071e-01 -1.41994069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.679072329 meters 0.07924214379148016 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.43, Z:-1.42 [[ 9.99125787e-01 -4.17048453e-02 2.89280392e-03 4.27804145e+01] [ 4.17043925e-02 9.99129970e-01 2.16688575e-04 -2.42981844e+00] [-2.89932406e-03 -9.58565129e-05 9.99995792e-01 -1.42113286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.709072329 meters 0.07900417408888993 Centerline is valid? [True, True] Translation: X:42.81, Y:-2.43, Z:-1.42 [[ 9.99064735e-01 -4.32122206e-02 1.53570754e-03 4.28087016e+01] [ 4.32121071e-02 9.99065915e-01 1.06987179e-04 -2.42815019e+00] [-1.53889621e-03 -4.05259587e-05 9.99998815e-01 -1.42317446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739072329 meters 0.07934896310366038 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.43, Z:-1.43 [[ 9.99033426e-01 -4.39559463e-02 -2.96471889e-04 4.28358922e+01] [ 4.39559401e-02 9.99033470e-01 -2.74111488e-05 -2.42565941e+00] [ 2.97390223e-04 1.43529533e-05 9.99999956e-01 -1.42652049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.769072329 meters 0.07942945052579575 Centerline is valid? [True, True] Translation: X:42.86, Y:-2.42, Z:-1.43 [[ 9.98995268e-01 -4.47519104e-02 -2.39196339e-03 4.28643303e+01] [ 4.47515847e-02 9.98998128e-01 -1.89551431e-04 -2.42360930e+00] [ 2.39804973e-03 8.23168301e-05 9.99997121e-01 -1.42917926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799072329 meters 0.07869047437155904 Centerline is valid? [True, True] Translation: X:42.89, Y:-2.42, Z:-1.43 [[ 9.98979334e-01 -4.50578430e-02 -3.17520921e-03 4.28935805e+01] [ 4.50572745e-02 9.98984374e-01 -2.50377036e-04 -2.42434606e+00] [ 3.18326583e-03 1.07055211e-04 9.99994928e-01 -1.42717502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.829072329 meters 0.07884153867153397 Centerline is valid? [True, True] Translation: X:42.92, Y:-2.42, Z:-1.43 [[ 9.98981993e-01 -4.49927058e-02 -3.26094698e-03 4.29215189e+01] [ 4.49921179e-02 9.98987310e-01 -2.53466868e-04 -2.41997486e+00] [ 3.26904881e-03 1.06491926e-04 9.99994651e-01 -1.42936995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859072329 meters 0.07868993101132057 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.42, Z:-1.43 [[ 9.98934125e-01 -4.61056447e-02 -2.20990016e-03 4.29505893e+01] [ 4.61053646e-02 9.98936566e-01 -1.77565001e-04 -2.41662451e+00] [ 2.21573682e-03 7.54874864e-05 9.99997542e-01 -1.43062132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88907232899999 meters 0.07801290357588211 Centerline is valid? [True, True] Translation: X:42.98, Y:-2.42, Z:-1.43 [[ 9.98815802e-01 -4.85975747e-02 -2.29561405e-03 4.29794500e+01] [ 4.85972780e-02 9.98818437e-01 -1.84858194e-04 -2.41610648e+00] [ 2.30188530e-03 7.30786905e-05 9.99997348e-01 -1.42951702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91907232899999 meters 0.07765891889859751 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.42, Z:-1.43 [[ 9.98723124e-01 -5.04752314e-02 -2.09109978e-03 4.30086696e+01] [ 5.04749865e-02 9.98725311e-01 -1.69714878e-04 -2.41583061e+00] [ 2.09700068e-03 6.39499398e-05 9.99997799e-01 -1.42832401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94907232899999 meters 0.07747269220505465 Centerline is valid? [True, True] Translation: X:43.04, Y:-2.42, Z:-1.43 [[ 9.98593542e-01 -5.29633449e-02 -2.41301650e-03 4.30373419e+01] [ 5.29630278e-02 9.98596455e-01 -1.95181545e-04 -2.41522943e+00] [ 2.41996719e-03 6.71063706e-05 9.99997070e-01 -1.42890785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97907232899999 meters 0.07747269220505465 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.41, Z:-1.43 [[ 9.98577806e-01 -5.32592069e-02 -2.41286531e-03 4.30648862e+01] [ 5.32588860e-02 9.98580719e-01 -1.97114848e-04 -2.41290235e+00] [ 2.41993896e-03 6.83279935e-05 9.99997070e-01 -1.42979961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00907232899999 meters 0.07695246080230257 Centerline is valid? [True, True] Translation: X:43.09, Y:-2.41, Z:-1.43 [[ 9.98314923e-01 -5.79674573e-02 -2.66249837e-03 4.30935645e+01] [ 5.79671047e-02 9.98318472e-01 -2.09482268e-04 -2.41353352e+00] [ 2.67016446e-03 5.47919524e-05 9.99996434e-01 -1.43014831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03907232899999 meters 0.07789016822484061 Centerline is valid? [True, True] Translation: X:43.12, Y:-2.41, Z:-1.44 [[ 9.98158383e-01 -6.05750787e-02 -3.24059879e-03 4.31210863e+01] [ 6.05745689e-02 9.98163642e-01 -2.55319812e-04 -2.40880844e+00] [ 3.25011390e-03 5.85517360e-05 9.99994717e-01 -1.43928980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.069072329 meters 0.0767088251398794 Centerline is valid? [True, True] Translation: X:43.15, Y:-2.41, Z:-1.43 [[ 9.97987224e-01 -6.33333212e-02 -3.22352277e-03 4.31508630e+01] [ 6.33328107e-02 9.97992428e-01 -2.60310609e-04 -2.41114891e+00] [ 3.23353766e-03 5.56319047e-05 9.99994771e-01 -1.43254936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099072329 meters 0.07689291450057319 Centerline is valid? [True, True] Translation: X:43.18, Y:-2.41, Z:-1.44 [[ 9.97673923e-01 -6.81399791e-02 -1.92028027e-03 4.31782776e+01] [ 6.81398105e-02 9.97675770e-01 -1.53192952e-04 -2.40982727e+00] [ 1.92625566e-03 2.19890798e-05 9.99998145e-01 -1.43775084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.129072329 meters 0.0765249636310979 Centerline is valid? [True, True] Translation: X:43.21, Y:-2.41, Z:-1.44 [[ 9.97516935e-01 -7.03811132e-02 -2.54242589e-03 4.32066014e+01] [ 7.03808087e-02 9.97520174e-01 -2.09149899e-04 -2.40904777e+00] [ 2.55084132e-03 2.96925756e-05 9.99996746e-01 -1.43525230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159072329 meters 0.07676733316191495 Centerline is valid? [True, True] Translation: X:43.23, Y:-2.41, Z:-1.44 [[ 9.97381207e-01 -7.22811342e-02 -2.48285594e-03 4.32342756e+01] [ 7.22808610e-02 9.97384298e-01 -1.99699401e-04 -2.40642091e+00] [ 2.49079603e-03 1.97134648e-05 9.99996898e-01 -1.43955706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.189072329 meters 0.07653612209095206 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.40, Z:-1.44 [[ 9.97098426e-01 -7.61152505e-02 -1.09385643e-03 4.32638048e+01] [ 7.61151933e-02 9.97099026e-01 -9.38691508e-05 -2.40475791e+00] [ 1.09782805e-03 1.03376893e-05 9.99999397e-01 -1.43694612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219072329 meters 0.07634067991494267 Centerline is valid? [True, True] Translation: X:43.29, Y:-2.40, Z:-1.43 [[ 9.96967357e-01 -7.78138704e-02 -1.04459447e-03 4.32921583e+01] [ 7.78138162e-02 9.96967904e-01 -9.25338814e-05 -2.40268379e+00] [ 1.04862758e-03 1.09693767e-05 9.99999450e-01 -1.43442224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24907232899999 meters 0.07647001669590872 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.40, Z:-1.43 [[ 9.96819646e-01 -7.96844102e-02 -9.94538377e-04 4.33206760e+01] [ 7.96843613e-02 9.96820142e-01 -8.88206673e-05 -2.40031298e+00] [ 9.98453508e-04 9.28903082e-06 9.99999502e-01 -1.43452254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27907232899999 meters 0.07685673012098186 Centerline is valid? [True, True] Translation: X:43.35, Y:-2.40, Z:-1.44 [[ 9.96708159e-01 -8.10655343e-02 -1.10693454e-03 4.33478752e+01] [ 8.10654831e-02 9.96708773e-01 -9.11259135e-05 -2.39721111e+00] [ 1.11067854e-03 1.09175825e-06 9.99999383e-01 -1.43906567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30907232899999 meters 0.07718212048357281 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.39, Z:-1.44 [[ 9.96424107e-01 -8.44848261e-02 -1.14620554e-03 4.33765626e+01] [ 8.44847673e-02 9.96424766e-01 -9.96632477e-05 -2.39354414e+00] [ 1.15052762e-03 2.46995453e-06 9.99999338e-01 -1.43994579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33907232899999 meters 0.07751196410253408 Centerline is valid? [True, True] Translation: X:43.40, Y:-2.39, Z:-1.44 [[ 9.96271522e-01 -8.62671012e-02 -1.02111977e-03 4.34044065e+01] [ 8.62670599e-02 9.96272045e-01 -8.45135495e-05 -2.39130015e+00] [ 1.02460382e-03 -3.89055818e-06 9.99999475e-01 -1.44175782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36907232899999 meters 0.07815186597687386 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.39, Z:-1.44 [[ 9.96120210e-01 -8.79835783e-02 -1.84862588e-03 4.34315934e+01] [ 8.79834489e-02 9.96121925e-01 -1.51359454e-04 -2.38801965e+00] [ 1.85477392e-03 -1.18762700e-05 9.99998280e-01 -1.44389673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39907232899999 meters 0.07748401823208799 Centerline is valid? [True, True] Translation: X:43.46, Y:-2.38, Z:-1.44 [[ 9.96026494e-01 -8.90402029e-02 -1.75064945e-03 4.34598901e+01] [ 8.90400761e-02 9.96028033e-01 -1.50365030e-04 -2.38314972e+00] [ 1.75708446e-03 -6.11040679e-06 9.99998456e-01 -1.43991520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.429072329 meters 0.07764282896428802 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.38, Z:-1.44 [[ 9.95846073e-01 -9.10417449e-02 -1.41431696e-03 4.34876704e+01] [ 9.10416610e-02 9.95847077e-01 -1.23718086e-04 -2.37953610e+00] [ 1.41970692e-03 -5.55759579e-06 9.99998992e-01 -1.44104230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.459072329 meters 0.0789920038772973 Centerline is valid? [True, True] Translation: X:43.51, Y:-2.38, Z:-1.45 [[ 9.95694208e-01 -9.26927269e-02 -1.05001370e-03 4.35148869e+01] [ 9.26926859e-02 9.95694762e-01 -8.77581529e-05 -2.37785629e+00] [ 1.05362768e-03 -9.94830544e-06 9.99999445e-01 -1.44842734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.489072329 meters 0.08008988140817769 Centerline is valid? [True, True] Translation: X:43.54, Y:-2.38, Z:-1.45 [[ 9.95370656e-01 -9.60998977e-02 -1.43760365e-03 4.35420325e+01] [ 9.60998254e-02 9.95371694e-01 -1.19446510e-04 -2.37552953e+00] [ 1.44242878e-03 -1.92599083e-05 9.99998960e-01 -1.45062780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519072329 meters 0.08097720590000819 Centerline is valid? [True, True] Translation: X:43.57, Y:-2.37, Z:-1.45 [[ 9.95163451e-01 -9.82007713e-02 -2.51272631e-03 4.35703191e+01] [ 9.82005641e-02 9.95166623e-01 -2.06000358e-04 -2.37398934e+00] [ 2.52081075e-03 -4.17471141e-05 9.99996822e-01 -1.45240338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.549072329 meters 0.07977844577407506 Centerline is valid? [True, True] Translation: X:43.60, Y:-2.37, Z:-1.45 [[ 9.94915405e-01 -1.00663080e-01 -3.20652484e-03 4.35995075e+01] [ 1.00662737e-01 9.94920570e-01 -2.68774149e-04 -2.36818544e+00] [ 3.21729316e-03 -5.53700247e-05 9.99994823e-01 -1.44543038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579072329 meters 0.08051922194609622 Centerline is valid? [True, True] Translation: X:43.63, Y:-2.36, Z:-1.45 [[ 9.94623299e-01 -1.03510746e-01 -3.16525013e-03 4.36266354e+01] [ 1.03510440e-01 9.94628333e-01 -2.60905375e-04 -2.36428898e+00] [ 3.17525397e-03 -6.81338681e-05 9.99994957e-01 -1.44678077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.609072329 meters 0.0808361951350482 Centerline is valid? [True, True] Translation: X:43.66, Y:-2.36, Z:-1.45 [[ 9.94494166e-01 -1.04738128e-01 -3.35830482e-03 4.36555527e+01] [ 1.04737772e-01 9.94499834e-01 -2.82234245e-04 -2.35896777e+00] [ 3.36939428e-03 -7.10610545e-05 9.99994321e-01 -1.44897018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63907232899999 meters 0.0809346854119723 Centerline is valid? [True, True] Translation: X:43.68, Y:-2.35, Z:-1.45 [[ 9.94442297e-01 -1.05239192e-01 -3.03815083e-03 4.36835087e+01] [ 1.05238894e-01 9.94446936e-01 -2.58198682e-04 -2.35247860e+00] [ 3.04845240e-03 -6.29679430e-05 9.99995351e-01 -1.45075121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66907232899999 meters 0.08166887217203932 Centerline is valid? [True, True] Translation: X:43.71, Y:-2.35, Z:-1.45 [[ 9.94427927e-01 -1.05331489e-01 -4.28662441e-03 4.37111710e+01] [ 1.05330933e-01 9.94437161e-01 -3.55839090e-04 -2.34525305e+00] [ 4.30025967e-03 -9.76578182e-05 9.99990749e-01 -1.45396619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69907232899999 meters 0.08186752462763866 Centerline is valid? [True, True] Translation: X:43.74, Y:-2.34, Z:-1.45 [[ 9.94367366e-01 -1.05915983e-01 -3.91727280e-03 4.37375351e+01] [ 1.05915512e-01 9.94375078e-01 -3.28286567e-04 -2.34139814e+00] [ 3.93000925e-03 -8.84625044e-05 9.99992274e-01 -1.45462303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72907232899999 meters 0.08019206408065874 Centerline is valid? [True, True] Translation: X:43.77, Y:-2.33, Z:-1.45 [[ 9.94409332e-01 -1.05551619e-01 -2.98936173e-03 4.37664840e+01] [ 1.05551329e-01 9.94413823e-01 -2.55178613e-04 -2.33309742e+00] [ 2.99959715e-03 -6.17791099e-05 9.99995499e-01 -1.44939015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75907232899999 meters 0.07957022951112762 Centerline is valid? [True, True] Translation: X:43.79, Y:-2.32, Z:-1.45 [[ 9.94726339e-01 -1.02521115e-01 -2.98863762e-03 4.37931038e+01] [ 1.02520827e-01 9.94730827e-01 -2.49771391e-04 -2.32025574e+00] [ 2.99849681e-03 -5.79434189e-05 9.99995503e-01 -1.45237346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78907232899999 meters 0.08015212447299731 Centerline is valid? [True, True] Translation: X:43.82, Y:-2.31, Z:-1.46 [[ 9.94947605e-01 -1.00360660e-01 -2.64596437e-03 4.38200606e+01] [ 1.00360425e-01 9.94951122e-01 -2.21673417e-04 -2.31308825e+00] [ 2.65485251e-03 -4.49966743e-05 9.99996475e-01 -1.45899563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819072329 meters 0.07812789008365553 Centerline is valid? [True, True] Translation: X:43.85, Y:-2.30, Z:-1.45 [[ 9.95215897e-01 -9.76697304e-02 -2.43752864e-03 4.38484879e+01] [ 9.76695085e-02 9.95218882e-01 -2.10171551e-04 -2.29908875e+00] [ 2.44640193e-03 -2.89061560e-05 9.99997007e-01 -1.45481465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.849072329 meters 0.07731869049942078 Centerline is valid? [True, True] Translation: X:43.88, Y:-2.28, Z:-1.46 [[ 9.95820023e-01 -9.12906224e-02 -2.91620384e-03 4.38757944e+01] [ 9.12902782e-02 9.95824293e-01 -2.51182812e-04 -2.28176177e+00] [ 2.92695726e-03 -1.60881860e-05 9.99995716e-01 -1.45722555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879072329 meters 0.07718147855968799 Centerline is valid? [True, True] Translation: X:43.90, Y:-2.27, Z:-1.46 [[ 9.96056506e-01 -8.86948851e-02 -2.15718173e-03 4.39043817e+01] [ 8.86946848e-02 9.96058842e-01 -1.88559627e-04 -2.27366266e+00] [ 2.16540421e-03 -3.51450989e-06 9.99997656e-01 -1.45871026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.909072329 meters 0.07786348365938185 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.27, Z:-1.47 [[ 9.96238360e-01 -8.66118890e-02 -2.74047600e-03 4.39312306e+01] [ 8.66115741e-02 9.96242130e-01 -2.33574602e-04 -2.26732188e+00] [ 2.75040798e-03 -4.66096115e-06 9.99996218e-01 -1.46594433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939072329 meters 0.07684208958996053 Centerline is valid? [True, True] Translation: X:43.96, Y:-2.26, Z:-1.46 [[ 9.96385950e-01 -8.49257768e-02 -1.62822548e-03 4.39601428e+01] [ 8.49256532e-02 9.96387280e-01 -1.45035652e-04 -2.25905754e+00] [ 1.63466043e-03 6.23337380e-06 9.99998664e-01 -1.45863655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.969072329 meters 0.07647604188839012 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.24, Z:-1.46 [[ 9.96702521e-01 -8.11369881e-02 -9.34893887e-04 4.39865067e+01] [ 8.11369473e-02 9.96702959e-01 -8.14810418e-05 -2.24440897e+00] [ 9.38422630e-04 5.35792369e-06 9.99999560e-01 -1.45970420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99907232899999 meters 0.07621298500231552 Centerline is valid? [True, True] Translation: X:44.01, Y:-2.24, Z:-1.46 [[ 9.96801499e-01 -7.99155600e-02 5.24214894e-04 4.40149710e+01] [ 7.99155522e-02 9.96801637e-01 3.58191606e-05 -2.23559663e+00] [-5.25400773e-04 6.18832973e-06 9.99999862e-01 -1.46136956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02907232899999 meters 0.07609720881829206 Centerline is valid? [True, True] Translation: X:44.04, Y:-2.22, Z:-1.46 [[ 9.96917717e-01 -7.84203306e-02 2.30587159e-03 4.40419661e+01] [ 7.84200978e-02 9.96920384e-01 1.91376835e-04 -2.22478587e+00] [-2.31377822e-03 -9.96028172e-06 9.99997323e-01 -1.46257491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05907232899999 meters 0.07591772869574602 Centerline is valid? [True, True] Translation: X:44.07, Y:-2.22, Z:-1.46 [[ 9.96921463e-01 -7.83672531e-02 2.48410607e-03 4.40696050e+01] [ 7.83669963e-02 9.96924558e-01 2.00710486e-04 -2.21878929e+00] [-2.49219548e-03 -5.42065930e-06 9.99996894e-01 -1.46364177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08907232899999 meters 0.07606164826838632 Centerline is valid? [True, True] Translation: X:44.10, Y:-2.21, Z:-1.47 [[ 9.96919434e-01 -7.84068547e-02 2.00183513e-03 4.40967053e+01] [ 7.84066783e-02 9.96921444e-01 1.66569164e-04 -2.21280324e+00] [-2.00873253e-03 -9.09879384e-06 9.99997982e-01 -1.46592802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11907232899999 meters 0.07621455389326678 Centerline is valid? [True, True] Translation: X:44.12, Y:-2.20, Z:-1.47 [[ 9.96842030e-01 -7.93936990e-02 1.61500662e-03 4.41236124e+01] [ 7.93935883e-02 9.96843338e-01 1.32621820e-04 -2.20386893e+00] [-1.62043792e-03 -3.98183347e-06 9.99998687e-01 -1.46887041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14907232899999 meters 0.07638541979401763 Centerline is valid? [True, True] Translation: X:44.15, Y:-2.20, Z:-1.47 [[ 9.96785715e-01 -8.01107346e-02 7.12587396e-04 4.41525818e+01] [ 8.01107175e-02 9.96785970e-01 5.26394140e-05 -2.19885425e+00] [-7.14514101e-04 4.61567165e-06 9.99999745e-01 -1.47079323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179072329 meters 0.0765645705791518 Centerline is valid? [True, True] Translation: X:44.18, Y:-2.19, Z:-1.47 [[ 9.96710625e-01 -8.10426048e-02 1.61012659e-04 4.41815440e+01] [ 8.10426049e-02 9.96710638e-01 5.76460711e-06 -2.19449062e+00] [-1.60950209e-04 7.30324018e-06 9.99999987e-01 -1.47229736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.209072329 meters 0.07632453673856238 Centerline is valid? [True, True] Translation: X:44.21, Y:-2.19, Z:-1.47 [[ 9.96685670e-01 -8.13490710e-02 -5.84929098e-05 4.42091219e+01] [ 8.13490703e-02 9.96685672e-01 -1.44634620e-05 -2.18686207e+00] [ 5.94756343e-05 9.65718146e-06 9.99999998e-01 -1.47108346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239072329 meters 0.07648396426507262 Centerline is valid? [True, True] Translation: X:44.24, Y:-2.18, Z:-1.48 [[ 9.96675099e-01 -8.14766836e-02 5.44459032e-04 4.42367477e+01] [ 8.14766719e-02 9.96675248e-01 4.36991248e-05 -2.17999997e+00] [-5.46209301e-04 8.06880388e-07 9.99999851e-01 -1.47513459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.269072329 meters 0.0762045978304974 Centerline is valid? [True, True] Translation: X:44.27, Y:-2.17, Z:-1.47 [[ 9.96668559e-01 -8.15580052e-02 2.72942152e-04 4.42654931e+01] [ 8.15580041e-02 9.96668597e-01 1.52180336e-05 -2.17315235e+00] [-2.73274024e-04 7.09328151e-06 9.99999963e-01 -1.47452983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299072329 meters 0.07628594866769367 Centerline is valid? [True, True] Translation: X:44.29, Y:-2.17, Z:-1.48 [[ 9.96698841e-01 -8.11859731e-02 5.07709751e-04 4.42928393e+01] [ 8.11859629e-02 9.96698970e-01 4.07533394e-05 -2.16642365e+00] [-5.09342386e-04 6.00098814e-07 9.99999870e-01 -1.47614353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.329072329 meters 0.07608618057139571 Centerline is valid? [True, True] Translation: X:44.32, Y:-2.16, Z:-1.47 [[ 9.96881066e-01 -7.89165181e-02 5.68935638e-04 4.43209051e+01] [ 7.89165079e-02 9.96881228e-01 4.04635992e-05 -2.15587296e+00] [-5.70354504e-04 4.56101786e-06 9.99999837e-01 -1.47419356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359072329 meters 0.07635376008391583 Centerline is valid? [True, True] Translation: X:44.35, Y:-2.15, Z:-1.48 [[ 9.97013922e-01 -7.72201314e-02 5.38333441e-04 4.43479323e+01] [ 7.72201192e-02 9.97014068e-01 4.34437117e-05 -2.14791536e+00] [-5.40080743e-04 -1.74381298e-06 9.99999854e-01 -1.47805634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38907232899999 meters 0.07594511063451481 Centerline is valid? [True, True] Translation: X:44.38, Y:-2.14, Z:-1.47 [[ 9.97160126e-01 -7.53004807e-02 1.23306400e-03 4.43752425e+01] [ 7.53004185e-02 9.97160889e-01 9.68884767e-05 -2.14147217e+00] [-1.23685895e-03 -3.76309016e-06 9.99999235e-01 -1.47356816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41907232899999 meters 0.07639786606029303 Centerline is valid? [True, True] Translation: X:44.40, Y:-2.13, Z:-1.48 [[ 9.97552130e-01 -6.99220045e-02 8.12659758e-04 4.44029917e+01] [ 6.99219718e-02 9.97552461e-01 6.86451147e-05 -2.12686419e+00] [-8.15470546e-04 -1.16543077e-05 9.99999667e-01 -1.47583826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44907232899999 meters 0.07687349825114755 Centerline is valid? [True, True] Translation: X:44.43, Y:-2.12, Z:-1.48 [[ 9.97767654e-01 -6.67808738e-02 -1.50434963e-04 4.44312704e+01] [ 6.67808713e-02 9.97767666e-01 -2.16507935e-05 -2.11752672e+00] [ 1.51545000e-04 1.15562836e-05 9.99999988e-01 -1.47764152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47907232899999 meters 0.0773357638274078 Centerline is valid? [True, True] Translation: X:44.46, Y:-2.11, Z:-1.48 [[ 9.97939919e-01 -6.41487787e-02 -9.22653995e-04 4.44597699e+01] [ 6.41487238e-02 9.97940346e-01 -8.90639294e-05 -2.10846961e+00] [ 9.26466989e-04 2.96933743e-05 9.99999570e-01 -1.48016130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50907232899999 meters 0.07851266184814075 Centerline is valid? [True, True] Translation: X:44.49, Y:-2.09, Z:-1.48 [[ 9.98249408e-01 -5.91391913e-02 -8.22349894e-04 4.44865767e+01] [ 5.91391501e-02 9.98249746e-01 -7.42480951e-05 -2.09299151e+00] [ 8.25301545e-04 2.54850431e-05 9.99999659e-01 -1.48337619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53907232899999 meters 0.0791239600893996 Centerline is valid? [True, True] Translation: X:44.51, Y:-2.08, Z:-1.48 [[ 9.98402182e-01 -5.65066069e-02 -2.92234961e-04 4.45145673e+01] [ 5.65065994e-02 9.98402225e-01 -3.39956928e-05 -2.08461691e+00] [ 2.93689016e-04 1.74281701e-05 9.99999957e-01 -1.48422580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.569072329 meters 0.07934662298397743 Centerline is valid? [True, True] Translation: X:44.54, Y:-2.08, Z:-1.48 [[ 9.98547493e-01 -5.38747053e-02 6.47647675e-04 4.45427676e+01] [ 5.38746852e-02 9.98547703e-01 4.84166773e-05 -2.07841090e+00] [-6.49315533e-04 -1.34545372e-05 9.99999789e-01 -1.48279301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599072329 meters 0.07959198098324015 Centerline is valid? [True, True] Translation: X:44.57, Y:-2.07, Z:-1.48 [[ 9.98666835e-01 -5.16133234e-02 7.85641355e-04 4.45707211e+01] [ 5.16132874e-02 9.98667144e-01 6.60377919e-05 -2.07299284e+00] [-7.88002638e-04 -2.54002196e-05 9.99999689e-01 -1.48204045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.629072329 meters 0.08136332355954752 Centerline is valid? [True, True] Translation: X:44.60, Y:-2.06, Z:-1.48 [[ 9.98889972e-01 -4.71022251e-02 4.51214944e-04 4.45994520e+01] [ 4.71022123e-02 9.98890074e-01 3.90889784e-05 -2.06136721e+00] [-4.52555307e-04 -1.77923665e-05 9.99999897e-01 -1.48374493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659072329 meters 0.08173673982389472 Centerline is valid? [True, True] Translation: X:44.63, Y:-2.06, Z:-1.48 [[ 9.98983906e-01 -4.50668268e-02 3.70933573e-04 4.46281970e+01] [ 4.50668184e-02 9.98983974e-01 3.08650413e-05 -2.05552458e+00] [-3.71947684e-04 -1.41168835e-05 9.99999931e-01 -1.48496716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.689072329 meters 0.08277213613189054 Centerline is valid? [True, True] Translation: X:44.66, Y:-2.05, Z:-1.49 [[ 9.99155591e-01 -4.10744810e-02 9.95485174e-04 4.46568067e+01] [ 4.10744157e-02 9.99156086e-01 8.58894479e-05 -2.04578441e+00] [-9.98172935e-04 -4.49279502e-05 9.99999501e-01 -1.48623834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719072329 meters 0.083274341540752 Centerline is valid? [True, True] Translation: X:44.69, Y:-2.04, Z:-1.49 [[ 9.99200125e-01 -3.99786825e-02 9.03115245e-04 4.46850831e+01] [ 3.99786343e-02 9.99200532e-01 7.13615696e-05 -2.04022524e+00] [-9.05246175e-04 -3.51991752e-05 9.99999590e-01 -1.48801084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74907232899999 meters 0.0842047589968646 Centerline is valid? [True, True] Translation: X:44.71, Y:-2.03, Z:-1.49 [[ 9.99249626e-01 -3.87291304e-02 4.88472005e-04 4.47127024e+01] [ 3.87291154e-02 9.99249746e-01 4.02204602e-05 -2.03492128e+00] [-4.89663230e-04 -2.12721912e-05 9.99999880e-01 -1.49023115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77907232899999 meters 0.08413322451967106 Centerline is valid? [True, True] Translation: X:44.74, Y:-2.03, Z:-1.49 [[ 9.99253747e-01 -3.86241438e-02 3.53842239e-04 4.47413199e+01] [ 3.86241381e-02 9.99253809e-01 2.30143645e-05 -2.03205450e+00] [-3.54467115e-04 -9.33033846e-06 9.99999937e-01 -1.49151663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80907232899999 meters 0.08391982188951506 Centerline is valid? [True, True] Translation: X:44.77, Y:-2.03, Z:-1.49 [[ 9.99222258e-01 -3.93294957e-02 2.84091748e-03 4.47707882e+01] [ 3.93289579e-02 9.99226287e-01 2.44959706e-04 -2.03048278e+00] [-2.84835356e-03 -1.33038866e-04 9.99995935e-01 -1.48989938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83907232899999 meters 0.0840514277121263 Centerline is valid? [True, True] Translation: X:44.80, Y:-2.03, Z:-1.49 [[ 9.99172178e-01 -4.04812242e-02 4.02845311e-03 4.47990113e+01] [ 4.04801360e-02 9.99180282e-01 3.51322685e-04 -2.02845392e+00] [-4.03937288e-03 -1.87959523e-04 9.99991824e-01 -1.48997707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86907232899999 meters 0.0840514277121263 Centerline is valid? [True, True] Translation: X:44.83, Y:-2.03, Z:-1.49 [[ 9.99160444e-01 -4.07698318e-02 4.02847431e-03 4.48264738e+01] [ 4.07687468e-02 9.99168547e-01 3.51098303e-04 -2.02579675e+00] [-4.03943904e-03 -1.86567687e-04 9.99991824e-01 -1.49086919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89907232899999 meters 0.08247326330475993 Centerline is valid? [True, True] Translation: X:44.86, Y:-2.03, Z:-1.49 [[ 9.99058964e-01 -4.33334677e-02 1.84315469e-03 4.48557082e+01] [ 4.33332518e-02 9.99060661e-01 1.56947829e-04 -2.02895382e+00] [-1.84822444e-03 -7.69302488e-05 9.99998289e-01 -1.49184152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.929072329 meters 0.08360179551457353 Centerline is valid? [True, True] Translation: X:44.88, Y:-2.02, Z:-1.50 [[ 9.99019228e-01 -4.42715220e-02 7.83921343e-04 4.48821809e+01] [ 4.42714836e-02 9.99019535e-01 6.62448565e-05 -2.02406762e+00] [-7.86085496e-04 -3.14745245e-05 9.99999691e-01 -1.49634601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.959072329 meters 0.08319105603668936 Centerline is valid? [True, True] Translation: X:44.91, Y:-2.02, Z:-1.50 [[ 9.98955138e-01 -4.57002792e-02 3.40338528e-04 4.49111455e+01] [ 4.57002742e-02 9.98955196e-01 2.24923382e-05 -2.02322763e+00] [-3.41010847e-04 -6.91527279e-06 9.99999942e-01 -1.49802285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.989072329 meters 0.08198308695946314 Centerline is valid? [True, True] Translation: X:44.94, Y:-2.03, Z:-1.50 [[ 9.98858637e-01 -4.77637380e-02 2.21621140e-04 4.49409153e+01] [ 4.77637365e-02 9.98858661e-01 1.22636945e-05 -2.02506504e+00] [-2.21953955e-04 -1.66424344e-06 9.99999975e-01 -1.49780205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019072329 meters 0.08066535802961494 Centerline is valid? [True, True] Translation: X:44.97, Y:-2.03, Z:-1.50 [[ 9.98702143e-01 -5.09138082e-02 1.34690214e-03 4.49713306e+01] [ 5.09136918e-02 9.98703050e-01 1.20555565e-04 -2.02967271e+00] [-1.35129322e-03 -5.18233403e-05 9.99999086e-01 -1.49609164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.049072329 meters 0.0806605938349266 Centerline is valid? [True, True] Translation: X:45.00, Y:-2.03, Z:-1.50 [[ 9.98636798e-01 -5.21719818e-02 1.62202107e-03 4.49993983e+01] [ 5.21718170e-02 9.98638113e-01 1.43766507e-04 -2.02913275e+00] [-1.62731265e-03 -5.89467378e-05 9.99998674e-01 -1.49611364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079072329 meters 0.08021361030891448 Centerline is valid? [True, True] Translation: X:45.03, Y:-2.03, Z:-1.50 [[ 9.98566222e-01 -5.34829938e-02 2.25162478e-03 4.50285700e+01] [ 5.34826880e-02 9.98568758e-01 1.95848309e-04 -2.03013717e+00] [-2.25887671e-03 -7.51445601e-05 9.99997446e-01 -1.49591177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.109072329 meters 0.08036248791651604 Centerline is valid? [True, True] Translation: X:45.06, Y:-2.03, Z:-1.50 [[ 9.98515267e-01 -5.44265071e-02 2.23971177e-03 4.50569483e+01] [ 5.44262056e-02 9.98517776e-01 1.95404524e-04 -2.02960301e+00] [-2.24702720e-03 -7.32153872e-05 9.99997473e-01 -1.49769679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13907232899999 meters 0.08017286713155938 Centerline is valid? [True, True] Translation: X:45.09, Y:-2.03, Z:-1.50 [[ 9.98455534e-01 -5.55545057e-02 4.93997055e-04 4.50858647e+01] [ 5.55544944e-02 9.98455656e-01 3.67012100e-05 -2.03078922e+00] [-4.95273071e-04 -9.20076967e-06 9.99999877e-01 -1.50048060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16907232899999 meters 0.07974388430313947 Centerline is valid? [True, True] Translation: X:45.11, Y:-2.03, Z:-1.50 [[ 9.98447505e-01 -5.57002900e-02 -2.40088597e-04 4.51149686e+01] [ 5.57002843e-02 9.98447534e-01 -3.06091813e-05 -2.03016731e+00] [ 2.41420808e-04 1.71886576e-05 9.99999971e-01 -1.50079399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19907232899999 meters 0.08040961358899686 Centerline is valid? [True, True] Translation: X:45.14, Y:-2.03, Z:-1.50 [[ 9.98471089e-01 -5.52752779e-02 -3.58700341e-04 4.51422854e+01] [ 5.52752686e-02 9.98471153e-01 -3.59270652e-05 -2.02673927e+00] [ 3.60137822e-04 1.60448782e-05 9.99999935e-01 -1.50360838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22907232899999 meters 0.08118491485994406 Centerline is valid? [True, True] Translation: X:45.17, Y:-2.03, Z:-1.51 [[ 9.98558186e-01 -5.36767125e-02 -5.99642155e-04 4.51697165e+01] [ 5.36766859e-02 9.98558366e-01 -6.03240366e-05 -2.02601008e+00] [ 6.02015686e-04 2.80502570e-05 9.99999818e-01 -1.50558175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25907232899999 meters 0.08126778822727075 Centerline is valid? [True, True] Translation: X:45.20, Y:-2.03, Z:-1.51 [[ 9.98593538e-01 -5.30097239e-02 -9.56989741e-04 4.51987678e+01] [ 5.30096558e-02 9.98593995e-01 -9.64603121e-05 -2.02586421e+00] [ 9.60757543e-04 4.55949475e-05 9.99999537e-01 -1.50601460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28907232899999 meters 0.08181510711773607 Centerline is valid? [True, True] Translation: X:45.23, Y:-2.03, Z:-1.51 [[ 9.98727973e-01 -5.04019754e-02 -1.44136979e-03 4.52285568e+01] [ 5.04018344e-02 9.98729011e-01 -1.33976169e-04 -2.02761425e+00] [ 1.44629049e-03 6.11580660e-05 9.99998952e-01 -1.50562136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.319072329 meters 0.08215640707425992 Centerline is valid? [True, True] Translation: X:45.26, Y:-2.03, Z:-1.51 [[ 9.98778182e-01 -4.94149674e-02 -5.51759670e-04 4.52561602e+01] [ 4.94149443e-02 9.98778334e-01 -5.53792891e-05 -2.02563517e+00] [ 5.53822170e-04 2.80464523e-05 9.99999846e-01 -1.50644475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.349072329 meters 0.082234260895637 Centerline is valid? [True, True] Translation: X:45.28, Y:-2.02, Z:-1.51 [[ 9.98819984e-01 -4.85591145e-02 8.06952410e-04 4.52844235e+01] [ 4.85590777e-02 9.98820310e-01 6.50945657e-05 -2.02441425e+00] [-8.09161390e-04 -2.58328884e-05 9.99999672e-01 -1.50628046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379072329 meters 0.08310865675598068 Centerline is valid? [True, True] Translation: X:45.31, Y:-2.02, Z:-1.51 [[ 9.98888093e-01 -4.71021221e-02 1.99182671e-03 4.53121175e+01] [ 4.71018535e-02 9.98890075e-01 1.81567743e-04 -2.02300152e+00] [-1.99816815e-03 -8.75471271e-05 9.99998000e-01 -1.50867823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.409072329 meters 0.08354535468920019 Centerline is valid? [True, True] Translation: X:45.34, Y:-2.02, Z:-1.51 [[ 9.98906376e-01 -4.67443163e-02 1.01059945e-03 4.53408495e+01] [ 4.67442534e-02 9.98906886e-01 8.57466804e-05 -2.02227198e+00] [-1.01350292e-03 -3.84131891e-05 9.99999486e-01 -1.51067139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439072329 meters 0.08397028452546669 Centerline is valid? [True, True] Translation: X:45.37, Y:-2.02, Z:-1.51 [[ 9.98940662e-01 -4.59421659e-02 2.62133573e-03 4.53692414e+01] [ 4.59417072e-02 9.98944095e-01 2.34951948e-04 -2.02200340e+00] [-2.62936205e-03 -1.14274416e-04 9.99996537e-01 -1.51078312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.469072329 meters 0.0842802766360761 Centerline is valid? [True, True] Translation: X:45.40, Y:-2.02, Z:-1.51 [[ 9.98967301e-01 -4.53255235e-02 3.15087109e-03 4.53973814e+01] [ 4.53248306e-02 9.98972259e-01 2.91002867e-04 -2.02179936e+00] [-3.16082267e-03 -1.47889650e-04 9.99994994e-01 -1.51133922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49907232899999 meters 0.08457666293743678 Centerline is valid? [True, True] Translation: X:45.43, Y:-2.03, Z:-1.51 [[ 9.99023144e-01 -4.40832752e-02 3.06975426e-03 4.54265344e+01] [ 4.40826256e-02 9.99027850e-01 2.78972087e-04 -2.02572122e+00] [-3.07906800e-03 -1.43376743e-04 9.99995249e-01 -1.51104417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52907232899999 meters 0.08566817046485728 Centerline is valid? [True, True] Translation: X:45.45, Y:-2.02, Z:-1.51 [[ 9.99032276e-01 -4.38937038e-02 2.80256876e-03 4.54546904e+01] [ 4.38931482e-02 9.99036198e-01 2.59492248e-04 -2.02435308e+00] [-2.81125771e-03 -1.36227565e-04 9.99996039e-01 -1.51347337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55907232899999 meters 0.0859887488747314 Centerline is valid? [True, True] Translation: X:45.48, Y:-2.02, Z:-1.51 [[ 9.99040125e-01 -4.37101924e-02 2.87186679e-03 4.54836002e+01] [ 4.37096204e-02 9.99044244e-01 2.61666249e-04 -2.02474181e+00] [-2.88055947e-03 -1.35886875e-04 9.99995842e-01 -1.51438225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58907232899999 meters 0.08597430534964368 Centerline is valid? [True, True] Translation: X:45.51, Y:-2.03, Z:-1.52 [[ 9.99095416e-01 -4.24742052e-02 2.07153239e-03 4.55132229e+01] [ 4.24738965e-02 9.99097558e-01 1.92832159e-04 -2.02727657e+00] [-2.07785335e-03 -1.04671674e-04 9.99997836e-01 -1.51520418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61907232899999 meters 0.08745768320398674 Centerline is valid? [True, True] Translation: X:45.54, Y:-2.02, Z:-1.52 [[ 9.99108811e-01 -4.21995807e-02 8.82254801e-04 4.55403149e+01] [ 4.21995268e-02 9.99109200e-01 7.95559824e-05 -2.02352587e+00] [-8.84826117e-04 -4.22543479e-05 9.99999608e-01 -1.51956880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64907232899999 meters 0.0863734023517098 Centerline is valid? [True, True] Translation: X:45.57, Y:-2.03, Z:-1.52 [[ 9.99080447e-01 -4.28682105e-02 7.60125631e-04 4.55694458e+01] [ 4.28681744e-02 9.99080735e-01 6.37323556e-05 -2.02689463e+00] [-7.62158967e-04 -3.10885521e-05 9.99999709e-01 -1.51908087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679072329 meters 0.08457315255794222 Centerline is valid? [True, True] Translation: X:45.60, Y:-2.04, Z:-1.52 [[ 9.98982646e-01 -4.50962305e-02 -5.33525158e-05 4.55997348e+01] [ 4.50962298e-02 9.98982647e-01 -1.32330621e-05 -2.03841530e+00] [ 5.38949986e-05 1.08136021e-05 9.99999998e-01 -1.51735528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.709072329 meters 0.08613584871576403 Centerline is valid? [True, True] Translation: X:45.63, Y:-2.04, Z:-1.52 [[ 9.98915302e-01 -4.65621527e-02 4.30113605e-04 4.56273436e+01] [ 4.65621407e-02 9.98915395e-01 3.78000831e-05 -2.03576996e+00] [-4.31407154e-04 -1.77320713e-05 9.99999907e-01 -1.52069805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739072329 meters 0.08359765531618868 Centerline is valid? [True, True] Translation: X:45.66, Y:-2.05, Z:-1.52 [[ 9.98785019e-01 -4.92777854e-02 4.30223027e-04 4.56587111e+01] [ 4.92777726e-02 9.98785112e-01 4.01340104e-05 -2.04661481e+00] [-4.31678069e-04 -1.88848158e-05 9.99999907e-01 -1.51905173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.769072329 meters 0.082767058565324 Centerline is valid? [True, True] Translation: X:45.69, Y:-2.05, Z:-1.52 [[ 9.98682828e-01 -5.13081588e-02 2.87350709e-04 4.56882828e+01] [ 5.13081537e-02 9.98682869e-01 2.48781186e-05 -2.04976793e+00] [-2.88248681e-04 -1.01019155e-05 9.99999958e-01 -1.52015133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799072329 meters 0.08211018091110583 Centerline is valid? [True, True] Translation: X:45.72, Y:-2.05, Z:-1.52 [[ 9.98550043e-01 -5.38311538e-02 1.35603006e-04 4.57180821e+01] [ 5.38311531e-02 9.98550052e-01 8.96150000e-06 -2.05275602e+00] [-1.35888796e-04 -1.64884004e-06 9.99999991e-01 -1.52112197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.829072329 meters 0.08150972669534579 Centerline is valid? [True, True] Translation: X:45.75, Y:-2.06, Z:-1.52 [[ 9.98373048e-01 -5.70172764e-02 -5.35179973e-04 4.57480252e+01] [ 5.70172533e-02 9.98373191e-01 -5.84445435e-05 -2.05652232e+00] [ 5.37641686e-04 2.78349650e-05 9.99999855e-01 -1.52303920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859072329 meters 0.07954398275740905 Centerline is valid? [True, True] Translation: X:45.78, Y:-2.07, Z:-1.52 [[ 9.97988032e-01 -6.33939188e-02 1.04810560e-03 4.57802674e+01] [ 6.33938493e-02 9.97988582e-01 9.94371884e-05 -2.07204629e+00] [-1.05230113e-03 -3.27936758e-05 9.99999446e-01 -1.51898422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88907232899999 meters 0.07903956903472394 Centerline is valid? [True, True] Translation: X:45.81, Y:-2.08, Z:-1.52 [[ 9.97797909e-01 -6.62777465e-02 2.56770199e-03 4.58109340e+01] [ 6.62773390e-02 9.97801210e-01 2.43543931e-04 -2.07733579e+00] [-2.57819770e-03 -7.28271695e-05 9.99996674e-01 -1.51826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91907232899999 meters 0.07852089509236308 Centerline is valid? [True, True] Translation: X:45.84, Y:-2.08, Z:-1.52 [[ 9.97591216e-01 -6.93268832e-02 2.35575993e-03 4.58402783e+01] [ 6.93265655e-02 9.97593996e-01 2.16314875e-04 -2.08232178e+00] [-2.36508840e-03 -5.24770737e-05 9.99997202e-01 -1.51857841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94907232899999 meters 0.07809638062933481 Centerline is valid? [True, True] Translation: X:45.87, Y:-2.09, Z:-1.52 [[ 9.97272831e-01 -7.37918006e-02 1.29252514e-03 4.58703429e+01] [ 7.37917131e-02 9.97273668e-01 1.15334386e-04 -2.09066747e+00] [-1.29751202e-03 -1.96422059e-05 9.99999158e-01 -1.52223576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97907232899999 meters 0.07813279268200966 Centerline is valid? [True, True] Translation: X:45.90, Y:-2.09, Z:-1.52 [[ 9.97177121e-01 -7.50831515e-02 -5.57063049e-04 4.58991348e+01] [ 7.50831288e-02 9.97177276e-01 -6.16090337e-05 -2.09289230e+00] [ 5.60116414e-04 1.96090822e-05 9.99999843e-01 -1.52465484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00907232899999 meters 0.07824973252024739 Centerline is valid? [True, True] Translation: X:45.93, Y:-2.09, Z:-1.53 [[ 9.97063341e-01 -7.65588275e-02 -1.85490011e-03 4.59284449e+01] [ 7.65586130e-02 9.97065065e-01 -1.86448748e-04 -2.09472688e+00] [ 1.86373040e-03 4.38926318e-05 9.99998262e-01 -1.52798845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03907232899999 meters 0.07836264268478248 Centerline is valid? [True, True] Translation: X:45.96, Y:-2.10, Z:-1.53 [[ 9.96941199e-01 -7.81069974e-02 -2.74631080e-03 4.59577789e+01] [ 7.81065382e-02 9.96944980e-01 -2.74236390e-04 -2.10132890e+00] [ 2.75934055e-03 5.88927259e-05 9.99996191e-01 -1.52921118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.069072329 meters 0.07803780232213675 Centerline is valid? [True, True] Translation: X:45.99, Y:-2.10, Z:-1.53 [[ 9.96866321e-01 -7.90809679e-02 -1.93338365e-03 4.59877322e+01] [ 7.90807458e-02 9.96868195e-01 -1.91168151e-04 -2.10439645e+00] [ 1.94244643e-03 3.76756707e-05 9.99998113e-01 -1.52754737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099072329 meters 0.07816354890614534 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.11, Z:-1.53 [[ 9.96848800e-01 -7.93170260e-02 -1.13084454e-03 4.60159832e+01] [ 7.93169497e-02 9.96849441e-01 -1.12297240e-04 -2.10580071e+00] [ 1.13618883e-03 2.22482298e-05 9.99999354e-01 -1.52852333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.129072329 meters 0.07773044167626074 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.11, Z:-1.53 [[ 9.96810781e-01 -7.97831645e-02 1.70671646e-03 4.60455534e+01] [ 7.97830029e-02 9.96812242e-01 1.62644740e-04 -2.11083437e+00] [-1.71425218e-03 -2.59590662e-05 9.99998530e-01 -1.52537768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159072329 meters 0.07775736317385595 Centerline is valid? [True, True] Translation: X:46.07, Y:-2.11, Z:-1.53 [[ 9.96803008e-01 -7.97990738e-02 3.98376397e-03 4.60739084e+01] [ 7.97982004e-02 9.96810967e-01 3.77961049e-04 -2.10898425e+00] [-4.00122055e-03 -5.88555150e-05 9.99991993e-01 -1.52692978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.189072329 meters 0.0775752845327439 Centerline is valid? [True, True] Translation: X:46.10, Y:-2.11, Z:-1.53 [[ 9.96845242e-01 -7.92496364e-02 4.36569979e-03 4.61017144e+01] [ 7.92485782e-02 9.96854799e-01 4.15131958e-04 -2.10818117e+00] [-4.38486784e-03 -6.78468163e-05 9.99990384e-01 -1.52658167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219072329 meters 0.0780684503959558 Centerline is valid? [True, True] Translation: X:46.13, Y:-2.11, Z:-1.53 [[ 9.97136449e-01 -7.55211615e-02 3.93156519e-03 4.61309604e+01] [ 7.55202468e-02 9.97144196e-01 3.80819555e-04 -2.10797085e+00] [-3.94909735e-03 -8.28162851e-05 9.99992199e-01 -1.52887751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24907232899999 meters 0.07850645121820249 Centerline is valid? [True, True] Translation: X:46.16, Y:-2.11, Z:-1.53 [[ 9.97239626e-01 -7.41906380e-02 2.97966470e-03 4.61589459e+01] [ 7.41901105e-02 9.97244075e-01 2.87315416e-04 -2.10630536e+00] [-2.99276908e-03 -6.54606648e-05 9.99995520e-01 -1.53152062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27907232899999 meters 0.07888941570386429 Centerline is valid? [True, True] Translation: X:46.19, Y:-2.11, Z:-1.53 [[ 9.97388363e-01 -7.21292337e-02 3.71856168e-03 4.61865109e+01] [ 7.21283938e-02 9.97395290e-01 3.59660487e-04 -2.10508935e+00] [-3.73481794e-03 -9.05073034e-05 9.99993021e-01 -1.53266298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30907232899999 meters 0.07884765268205712 Centerline is valid? [True, True] Translation: X:46.21, Y:-2.11, Z:-1.53 [[ 9.97493201e-01 -7.05420747e-02 5.57934844e-03 4.62149219e+01] [ 7.05401779e-02 9.97508795e-01 5.36273673e-04 -2.10512286e+00] [-5.60327899e-03 -1.41361112e-04 9.99984292e-01 -1.53086632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33907232899999 meters 0.07939564958951768 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.10, Z:-1.53 [[ 9.97680685e-01 -6.76169860e-02 7.82261605e-03 4.62427110e+01] [ 6.76130825e-02 9.97711326e-01 7.62681920e-04 -2.10245727e+00] [-7.85628289e-03 -2.32001836e-04 9.99969112e-01 -1.53306332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36907232899999 meters 0.07851629640186285 Centerline is valid? [True, True] Translation: X:46.27, Y:-2.10, Z:-1.53 [[ 9.97735266e-01 -6.67752143e-02 8.08762696e-03 4.62724851e+01] [ 6.67710411e-02 9.97768015e-01 7.85216664e-04 -2.10463980e+00] [-8.12200851e-03 -2.43419085e-04 9.99966986e-01 -1.53103394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39907232899999 meters 0.08043442069953921 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.10, Z:-1.54 [[ 9.97896993e-01 -6.44489082e-02 6.92315962e-03 4.63006739e+01] [ 6.44457584e-02 9.97920982e-01 6.77328477e-04 -2.10158130e+00] [-6.95241933e-03 -2.29735778e-04 9.99975805e-01 -1.53763394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.429072329 meters 0.07955994783300174 Centerline is valid? [True, True] Translation: X:46.33, Y:-2.11, Z:-1.54 [[ 9.97951371e-01 -6.37031806e-02 5.91319482e-03 4.63303072e+01] [ 6.37008965e-02 9.97968870e-01 5.74008510e-04 -2.10638140e+00] [-5.93775052e-03 -1.96156769e-04 9.99982352e-01 -1.53598311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.459072329 meters 0.08037736425808517 Centerline is valid? [True, True] Translation: X:46.36, Y:-2.11, Z:-1.54 [[ 9.98096571e-01 -6.14657648e-02 5.01939136e-03 4.63584781e+01] [ 6.14640656e-02 9.98109176e-01 4.92216787e-04 -2.10508162e+00] [-5.04015505e-03 -1.82767688e-04 9.99987282e-01 -1.53744017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.489072329 meters 0.0820571956418839 Centerline is valid? [True, True] Translation: X:46.39, Y:-2.10, Z:-1.54 [[ 9.98140607e-01 -6.07243293e-02 5.28051958e-03 4.63858084e+01] [ 6.07224381e-02 9.98154556e-01 5.17879230e-04 -2.10003637e+00] [-5.30222255e-03 -1.96270266e-04 9.99985924e-01 -1.54176739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519072329 meters 0.08078396801735017 Centerline is valid? [True, True] Translation: X:46.42, Y:-2.11, Z:-1.54 [[ 9.98256129e-01 -5.86779115e-02 6.45012860e-03 4.64150358e+01] [ 5.86750394e-02 9.98276935e-01 6.33772738e-04 -2.10675937e+00] [-6.47620307e-03 -2.54205970e-04 9.99978997e-01 -1.53906205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.549072329 meters 0.08163714797981048 Centerline is valid? [True, True] Translation: X:46.44, Y:-2.10, Z:-1.54 [[ 9.98314741e-01 -5.77099181e-02 6.10278393e-03 4.64423795e+01] [ 5.77073264e-02 9.98333363e-01 6.00059129e-04 -2.10414993e+00] [-6.12724217e-03 -2.46872530e-04 9.99981198e-01 -1.54220442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579072329 meters 0.07996653365483106 Centerline is valid? [True, True] Translation: X:46.47, Y:-2.11, Z:-1.54 [[ 9.98373134e-01 -5.67858073e-02 5.14369633e-03 4.64714771e+01] [ 5.67839615e-02 9.98386362e-01 5.04300247e-04 -2.10997959e+00] [-5.16403336e-03 -2.11400364e-04 9.99986644e-01 -1.54004374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.609072329 meters 0.08242539497617495 Centerline is valid? [True, True] Translation: X:46.50, Y:-2.11, Z:-1.55 [[ 9.98471298e-01 -5.51126762e-02 4.20245584e-03 4.64997044e+01] [ 5.51114202e-02 9.98480125e-01 4.14178010e-04 -2.10629537e+00] [-4.21889509e-03 -1.81941545e-04 9.99991084e-01 -1.54565836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63907232899999 meters 0.08067470894861403 Centerline is valid? [True, True] Translation: X:46.53, Y:-2.11, Z:-1.54 [[ 9.98462314e-01 -5.51012502e-02 6.07120591e-03 4.65296827e+01] [ 5.50986540e-02 9.98480739e-01 5.94185523e-04 -2.11248540e+00] [-6.09472253e-03 -2.58756579e-04 9.99981394e-01 -1.54184133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66907232899999 meters 0.08322472066569925 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.11, Z:-1.55 [[ 9.98486009e-01 -5.45658838e-02 6.94652510e-03 4.65576289e+01] [ 5.45624298e-02 9.98510126e-01 6.85910180e-04 -2.11027371e+00] [-6.97360294e-03 -3.05852429e-04 9.99975637e-01 -1.54502945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69907232899999 meters 0.08128068812870524 Centerline is valid? [True, True] Translation: X:46.59, Y:-2.12, Z:-1.54 [[ 9.98537907e-01 -5.36698784e-02 6.44921624e-03 4.65872290e+01] [ 5.36668982e-02 9.98558692e-01 6.34400419e-04 -2.11665808e+00] [-6.47396912e-03 -2.87363436e-04 9.99979002e-01 -1.54226858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72907232899999 meters 0.081767694658062 Centerline is valid? [True, True] Translation: X:46.61, Y:-2.12, Z:-1.54 [[ 9.98537841e-01 -5.34915649e-02 7.79954093e-03 4.66146573e+01] [ 5.34871403e-02 9.98568238e-01 7.74926146e-04 -2.11512244e+00] [-7.82982585e-03 -3.56617940e-04 9.99969283e-01 -1.54446014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75907232899999 meters 0.0821614829148822 Centerline is valid? [True, True] Translation: X:46.64, Y:-2.12, Z:-1.55 [[ 9.98632366e-01 -5.18530802e-02 6.68250857e-03 4.66438095e+01] [ 5.18497883e-02 9.98654674e-01 6.65036293e-04 -2.11571223e+00] [-6.70800260e-03 -3.17640112e-04 9.99977451e-01 -1.54773310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78907232899999 meters 0.0821614829148822 Centerline is valid? [True, True] Translation: X:46.67, Y:-2.11, Z:-1.55 [[ 9.98617486e-01 -5.21387938e-02 6.68306732e-03 4.66713171e+01] [ 5.21355456e-02 9.98639800e-01 6.59447062e-04 -2.11277593e+00] [-6.70835978e-03 -3.10110006e-04 9.99977451e-01 -1.54862880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.819072329 meters 0.08337996294102948 Centerline is valid? [True, True] Translation: X:46.70, Y:-2.11, Z:-1.55 [[ 9.98678401e-01 -5.09383470e-02 6.83640764e-03 4.66987732e+01] [ 5.09348780e-02 9.98701745e-01 6.80692238e-04 -2.10946056e+00] [-6.86220558e-03 -3.31581046e-04 9.99976400e-01 -1.55176128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.849072329 meters 0.08417003195540244 Centerline is valid? [True, True] Translation: X:46.73, Y:-2.11, Z:-1.55 [[ 9.98735352e-01 -4.97896656e-02 6.97757037e-03 4.67273887e+01] [ 4.97860361e-02 9.98759666e-01 6.93009211e-04 -2.10746909e+00] [-7.00342054e-03 -3.44747228e-04 9.99975416e-01 -1.55362903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879072329 meters 0.08391235499879487 Centerline is valid? [True, True] Translation: X:46.76, Y:-2.11, Z:-1.55 [[ 9.98799530e-01 -4.84764244e-02 7.03818287e-03 4.67565529e+01] [ 4.84726873e-02 9.98824263e-01 7.00689896e-04 -2.10786979e+00] [-7.06387475e-03 -3.58689101e-04 9.99974986e-01 -1.55470175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.909072329 meters 0.0848212247630586 Centerline is valid? [True, True] Translation: X:46.79, Y:-2.11, Z:-1.56 [[ 9.98935275e-01 -4.56667404e-02 6.54713206e-03 4.67864365e+01] [ 4.56634003e-02 9.98956666e-01 6.58822605e-04 -2.10827316e+00] [-6.57038750e-03 -3.59156828e-04 9.99978350e-01 -1.55808900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939072329 meters 0.08533792522410649 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.11, Z:-1.56 [[ 9.98946956e-01 -4.55546091e-02 5.45495454e-03 4.68147906e+01] [ 4.55522990e-02 9.98961805e-01 5.47045958e-04 -2.10709661e+00] [-5.47421170e-03 -2.97984174e-04 9.99984972e-01 -1.56065168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.969072329 meters 0.08557388533756174 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.11, Z:-1.56 [[ 9.98959701e-01 -4.53899779e-02 4.38917919e-03 4.68436833e+01] [ 4.53885008e-02 9.98969316e-01 4.35604889e-04 -2.10633646e+00] [-4.40442743e-03 -2.35933466e-04 9.99990273e-01 -1.56314404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99907232899999 meters 0.08555693835548182 Centerline is valid? [True, True] Translation: X:46.87, Y:-2.11, Z:-1.56 [[ 9.98954275e-01 -4.55398537e-02 4.05924225e-03 4.68731368e+01] [ 4.55385900e-02 9.98962499e-01 4.03265417e-04 -2.10558247e+00] [-4.07339543e-03 -2.17991544e-04 9.99991680e-01 -1.56456960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02907232899999 meters 0.0853513508713714 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.11, Z:-1.57 [[ 9.98853846e-01 -4.74098366e-02 6.58038381e-03 4.69026758e+01] [ 4.74064772e-02 9.98875459e-01 6.65659732e-04 -2.10671465e+00] [-6.60454272e-03 -3.52943969e-04 9.99978127e-01 -1.56547336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05907232899999 meters 0.08298490321679323 Centerline is valid? [True, True] Translation: X:46.93, Y:-2.11, Z:-1.56 [[ 9.98791684e-01 -4.85567306e-02 7.57733988e-03 4.69327644e+01] [ 4.85523468e-02 9.98820349e-01 7.61529688e-04 -2.11282684e+00] [-7.60537866e-03 -3.92711885e-04 9.99971002e-01 -1.56273205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08907232899999 meters 0.08369272402956111 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.12, Z:-1.56 [[ 9.98548195e-01 -5.32436112e-02 8.16214719e-03 4.69623247e+01] [ 5.32386134e-02 9.98581476e-01 8.28526014e-04 -2.11506590e+00] [-8.19468270e-03 -3.92781757e-04 9.99966346e-01 -1.56483466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11907232899999 meters 0.08086903304540297 Centerline is valid? [True, True] Translation: X:46.99, Y:-2.12, Z:-1.56 [[ 9.98384457e-01 -5.60140388e-02 9.53429231e-03 4.69934057e+01] [ 5.60073401e-02 9.98429887e-01 9.68358596e-04 -2.12233691e+00] [-9.57356407e-03 -4.32803820e-04 9.99954079e-01 -1.56175840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14907232899999 meters 0.08023232492418061 Centerline is valid? [True, True] Translation: X:47.02, Y:-2.12, Z:-1.56 [[ 9.98240333e-01 -5.84813261e-02 9.80675196e-03 4.70223750e+01] [ 5.84743676e-02 9.98288414e-01 9.95032843e-04 -2.12388868e+00] [-9.84815770e-03 -4.19838297e-04 9.99951418e-01 -1.56355856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.179072329 meters 0.07922967094833712 Centerline is valid? [True, True] Translation: X:47.05, Y:-2.13, Z:-1.57 [[ 9.97986531e-01 -6.28206097e-02 8.74384327e-03 4.70512389e+01] [ 6.28152337e-02 9.98024778e-01 8.88381114e-04 -2.12714138e+00] [-8.78238088e-03 -3.37345828e-04 9.99961377e-01 -1.56656882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.209072329 meters 0.07901935302555606 Centerline is valid? [True, True] Translation: X:47.08, Y:-2.13, Z:-1.57 [[ 9.97859841e-01 -6.48967407e-02 8.00937421e-03 4.70787570e+01] [ 6.48923052e-02 9.97891942e-01 8.12694884e-04 -2.12648983e+00] [-8.04523124e-03 -2.91208832e-04 9.99967594e-01 -1.56903769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239072329 meters 0.07948179365223458 Centerline is valid? [True, True] Translation: X:47.11, Y:-2.13, Z:-1.58 [[ 9.97580673e-01 -6.91611805e-02 7.03786093e-03 4.71077592e+01] [ 6.91578504e-02 9.97605473e-01 7.15725828e-04 -2.12742148e+00] [-7.07050903e-03 -2.27270919e-04 9.99974978e-01 -1.57534338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.269072329 meters 0.07794048189310114 Centerline is valid? [True, True] Translation: X:47.14, Y:-2.13, Z:-1.57 [[ 9.97446853e-01 -7.11140270e-02 6.52466456e-03 4.71375513e+01] [ 7.11112406e-02 9.97468174e-01 6.58351165e-04 -2.13271046e+00] [-6.55496324e-03 -1.92693306e-04 9.99978497e-01 -1.57347215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299072329 meters 0.07743616196752001 Centerline is valid? [True, True] Translation: X:47.17, Y:-2.13, Z:-1.57 [[ 9.97291056e-01 -7.31790534e-02 7.44155321e-03 4.71672530e+01] [ 7.31754612e-02 9.97318797e-01 7.54221565e-04 -2.13355913e+00] [-7.47679412e-03 -2.07639333e-04 9.99972027e-01 -1.57443965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.329072329 meters 0.07704467608129391 Centerline is valid? [True, True] Translation: X:47.20, Y:-2.13, Z:-1.58 [[ 9.97146932e-01 -7.51132805e-02 7.48267237e-03 4.71963052e+01] [ 7.51096932e-02 9.97174988e-01 7.59671670e-04 -2.13326573e+00] [-7.51859516e-03 -1.95483050e-04 9.99971716e-01 -1.57574356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359072329 meters 0.07722641432029806 Centerline is valid? [True, True] Translation: X:47.22, Y:-2.13, Z:-1.58 [[ 9.97033716e-01 -7.65931900e-02 7.56654735e-03 4.72245523e+01] [ 7.65895496e-02 9.97062409e-01 7.70136839e-04 -2.13072795e+00] [-7.60330717e-03 -1.88333940e-04 9.99971077e-01 -1.57861568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38907232899999 meters 0.07724534844148934 Centerline is valid? [True, True] Translation: X:47.25, Y:-2.13, Z:-1.58 [[ 9.97003188e-01 -7.69803705e-02 7.65932544e-03 4.72528116e+01] [ 7.69766430e-02 9.97032591e-01 7.80723735e-04 -2.12837122e+00] [-7.69669749e-03 -1.88794893e-04 9.99970362e-01 -1.57921457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41907232899999 meters 0.07738890118000107 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.13, Z:-1.58 [[ 9.97009067e-01 -7.68967912e-02 7.73330355e-03 4.72809366e+01] [ 7.68929718e-02 9.97039039e-01 7.90441890e-04 -2.12571278e+00] [-7.77118799e-03 -1.93441039e-04 9.99969785e-01 -1.58028967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44907232899999 meters 0.07799435734911092 Centerline is valid? [True, True] Translation: X:47.31, Y:-2.12, Z:-1.58 [[ 9.97066950e-01 -7.62249552e-02 6.87412586e-03 4.73081331e+01] [ 7.62218824e-02 9.97090629e-01 7.08281882e-04 -2.12144668e+00] [-6.90811523e-03 -1.82245643e-04 9.99976122e-01 -1.58279813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47907232899999 meters 0.07830192402750133 Centerline is valid? [True, True] Translation: X:47.34, Y:-2.12, Z:-1.58 [[ 9.97145517e-01 -7.52280794e-02 6.44619571e-03 4.73367944e+01] [ 7.52253789e-02 9.97166338e-01 6.60715269e-04 -2.11673277e+00] [-6.47763371e-03 -1.73911754e-04 9.99979005e-01 -1.58376919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50907232899999 meters 0.07773979478038225 Centerline is valid? [True, True] Translation: X:47.37, Y:-2.12, Z:-1.58 [[ 9.97192149e-01 -7.45708518e-02 6.85614767e-03 4.73662564e+01] [ 7.45677698e-02 9.97215700e-01 7.04413386e-04 -2.11509750e+00] [-6.88958680e-03 -1.91187857e-04 9.99976248e-01 -1.58165407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53907232899999 meters 0.08012586492583466 Centerline is valid? [True, True] Translation: X:47.39, Y:-2.10, Z:-1.59 [[ 9.97435969e-01 -7.11937633e-02 7.27569155e-03 4.73933624e+01] [ 7.11901533e-02 9.97462477e-01 7.54289068e-04 -2.10455615e+00] [-7.31092999e-03 -2.34397451e-04 9.99973247e-01 -1.58530354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.569072329 meters 0.0783401888480572 Centerline is valid? [True, True] Translation: X:47.42, Y:-2.11, Z:-1.58 [[ 9.97429233e-01 -7.12341119e-02 7.78634684e-03 4.74225303e+01] [ 7.12300156e-02 9.97459594e-01 8.02489251e-04 -2.10772038e+00] [-7.82373097e-03 -2.45804630e-04 9.99969364e-01 -1.58042509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599072329 meters 0.07847822778642467 Centerline is valid? [True, True] Translation: X:47.45, Y:-2.10, Z:-1.58 [[ 9.97481107e-01 -7.05323768e-02 7.52489783e-03 4.74513945e+01] [ 7.05285100e-02 9.97509460e-01 7.78335592e-04 -2.10449909e+00] [-7.56105463e-03 -2.45655217e-04 9.99971385e-01 -1.58105348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.629072329 meters 0.07996345091748157 Centerline is valid? [True, True] Translation: X:47.48, Y:-2.10, Z:-1.59 [[ 9.97543413e-01 -6.97198415e-02 6.80319924e-03 4.74783539e+01] [ 6.97166265e-02 9.97566584e-01 7.08864174e-04 -2.09545865e+00] [-6.83606613e-03 -2.32826686e-04 9.99976607e-01 -1.58639970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659072329 meters 0.07977278161467997 Centerline is valid? [True, True] Translation: X:47.51, Y:-2.09, Z:-1.59 [[ 9.97560616e-01 -6.95484513e-02 5.98588027e-03 4.75073302e+01] [ 6.95459827e-02 9.97578554e-01 6.19819750e-04 -2.09213887e+00] [-6.01449329e-03 -2.02013845e-04 9.99981892e-01 -1.58763505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.689072329 meters 0.08023489705396471 Centerline is valid? [True, True] Translation: X:47.53, Y:-2.09, Z:-1.59 [[ 9.97567127e-01 -6.95006144e-02 5.43058358e-03 4.75349306e+01] [ 6.94985553e-02 9.97581891e-01 5.67190391e-04 -2.08762622e+00] [-5.45687192e-03 -1.88392775e-04 9.99985093e-01 -1.59030408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719072329 meters 0.08031424065109305 Centerline is valid? [True, True] Translation: X:47.56, Y:-2.09, Z:-1.59 [[ 9.97539196e-01 -6.99808527e-02 4.27005717e-03 4.75630857e+01] [ 6.99795900e-02 9.97548324e-01 4.44589549e-04 -2.08579852e+00] [-4.29070113e-03 -1.44678651e-04 9.99990784e-01 -1.59072084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74907232899999 meters 0.0797363346980411 Centerline is valid? [True, True] Translation: X:47.59, Y:-2.08, Z:-1.59 [[ 9.97490389e-01 -7.06216854e-02 5.04998270e-03 4.75918636e+01] [ 7.06199367e-02 9.97503158e-01 5.23999012e-04 -2.08425352e+00] [-5.07437938e-03 -1.66054519e-04 9.99987111e-01 -1.58967818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77907232899999 meters 0.0798859869807368 Centerline is valid? [True, True] Translation: X:47.62, Y:-2.08, Z:-1.59 [[ 9.97395055e-01 -7.19213761e-02 5.51540978e-03 4.76190387e+01] [ 7.19192748e-02 9.97410288e-01 5.78641574e-04 -2.07928229e+00] [-5.54274316e-03 -1.80469973e-04 9.99984623e-01 -1.59197408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80907232899999 meters 0.07884607970947052 Centerline is valid? [True, True] Translation: X:47.65, Y:-2.08, Z:-1.59 [[ 9.97381884e-01 -7.21523688e-02 4.83866756e-03 4.76486210e+01] [ 7.21507768e-02 9.97393610e-01 5.03015154e-04 -2.07856606e+00] [-4.86234984e-03 -1.52584579e-04 9.99988167e-01 -1.59055372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83907232899999 meters 0.07988754194451306 Centerline is valid? [True, True] Translation: X:47.68, Y:-2.07, Z:-1.60 [[ 9.97295708e-01 -7.34317684e-02 3.00771605e-03 4.76753172e+01] [ 7.34311556e-02 9.97300239e-01 3.13849442e-04 -2.06986792e+00] [-3.02264245e-03 -9.21406365e-05 9.99995428e-01 -1.59585678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86907232899999 meters 0.07866538080099442 Centerline is valid? [True, True] Translation: X:47.71, Y:-2.07, Z:-1.59 [[ 9.97206126e-01 -7.46363788e-02 3.05818130e-03 4.77051762e+01] [ 7.46357493e-02 9.97210812e-01 3.19601871e-04 -2.07105953e+00] [-3.07350538e-03 -9.04592910e-05 9.99995273e-01 -1.59222577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89907232899999 meters 0.07821995977275889 Centerline is valid? [True, True] Translation: X:47.73, Y:-2.07, Z:-1.59 [[ 9.97062710e-01 -7.64465722e-02 4.67704023e-03 4.77343411e+01] [ 7.64450973e-02 9.97073670e-01 4.93558935e-04 -2.06939081e+00] [-4.70108456e-03 -1.34572413e-04 9.99988941e-01 -1.59123053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.929072329 meters 0.07841840817968106 Centerline is valid? [True, True] Translation: X:47.76, Y:-2.06, Z:-1.59 [[ 9.96740185e-01 -8.04617072e-02 5.90911740e-03 4.77632244e+01] [ 8.04594115e-02 9.96757690e-01 6.25599876e-04 -2.06405878e+00] [-5.94029504e-03 -1.48116428e-04 9.99982345e-01 -1.59449570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959072329 meters 0.07777836045404546 Centerline is valid? [True, True] Translation: X:47.79, Y:-2.06, Z:-1.59 [[ 9.96599774e-01 -8.21718105e-02 6.05668578e-03 4.77917073e+01] [ 8.21694610e-02 9.96618169e-01 6.36164849e-04 -2.06143003e+00] [-6.08847791e-03 -1.36327139e-04 9.99981456e-01 -1.59482147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.989072329 meters 0.07733569268504101 Centerline is valid? [True, True] Translation: X:47.82, Y:-2.06, Z:-1.60 [[ 9.96396246e-01 -8.47651073e-02 3.06564890e-03 4.78198296e+01] [ 8.47645136e-02 9.96400960e-01 3.23336692e-04 -2.05777336e+00] [-3.08202318e-03 -6.23132281e-05 9.99995249e-01 -1.59796275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019072329 meters 0.07729521013694805 Centerline is valid? [True, True] Translation: X:47.85, Y:-2.05, Z:-1.60 [[ 9.96259405e-01 -8.63681634e-02 2.78186819e-03 4.78489803e+01] [ 8.63676938e-02 9.96263288e-01 2.88730445e-04 -2.05405585e+00] [-2.79641027e-03 -4.73868812e-05 9.99996089e-01 -1.59972781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.049072329 meters 0.07726214301921916 Centerline is valid? [True, True] Translation: X:47.88, Y:-2.05, Z:-1.60 [[ 9.96080133e-01 -8.84213936e-02 2.45480403e-03 4.78766761e+01] [ 8.84210233e-02 9.96083157e-01 2.59190281e-04 -2.05186636e+00] [-2.46810692e-03 -4.11180048e-05 9.99996953e-01 -1.60036069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079072329 meters 0.07654339759428487 Centerline is valid? [True, True] Translation: X:47.91, Y:-2.05, Z:-1.60 [[ 9.95687145e-01 -9.27652411e-02 1.31096572e-03 4.79060438e+01] [ 9.27651476e-02 9.95688008e-01 1.32062429e-04 -2.05293860e+00] [-1.31756365e-03 -9.88093423e-06 9.99999132e-01 -1.59772549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.109072329 meters 0.07663390089485822 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.05, Z:-1.60 [[ 9.95498943e-01 -9.47465192e-02 2.22537643e-03 4.79332761e+01] [ 9.47462297e-02 9.95501430e-01 2.35382305e-04 -2.04883386e+00] [-2.23766707e-03 -2.34768093e-05 9.99997496e-01 -1.60133456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13907232899999 meters 0.07599883925268829 Centerline is valid? [True, True] Translation: X:47.96, Y:-2.05, Z:-1.60 [[ 9.95314885e-01 -9.66704583e-02 1.76154297e-03 4.79618801e+01] [ 9.66702923e-02 9.95316443e-01 1.79319532e-04 -2.04613031e+00] [-1.77062758e-03 -8.19052561e-06 9.99998432e-01 -1.59875225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16907232899999 meters 0.07614709331530052 Centerline is valid? [True, True] Translation: X:47.99, Y:-2.04, Z:-1.60 [[ 9.95228463e-01 -9.75490234e-02 2.12008216e-03 4.79891050e+01] [ 9.75487658e-02 9.95230721e-01 2.24801436e-04 -2.04055538e+00] [-2.13190006e-03 -1.69173891e-05 9.99997727e-01 -1.60236333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19907232899999 meters 0.07648054608955082 Centerline is valid? [True, True] Translation: X:48.02, Y:-2.04, Z:-1.60 [[ 9.94901673e-01 -1.00835861e-01 1.67017824e-03 4.80165338e+01] [ 1.00835716e-01 9.94903075e-01 1.70758763e-04 -2.03704101e+00] [-1.67888407e-03 -1.47455982e-06 9.99998591e-01 -1.60308514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22907232899999 meters 0.07655709057023906 Centerline is valid? [True, True] Translation: X:48.05, Y:-2.03, Z:-1.60 [[ 9.94759239e-01 -1.02238995e-01 1.11514680e-03 4.80453853e+01] [ 1.02238933e-01 9.94759864e-01 1.12559363e-04 -2.03434517e+00] [-1.12081124e-03 2.04195339e-06 9.99999372e-01 -1.60358548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25907232899999 meters 0.07628447096328879 Centerline is valid? [True, True] Translation: X:48.07, Y:-2.03, Z:-1.60 [[ 9.94592396e-01 -1.03854115e-01 5.37880862e-04 4.80741055e+01] [ 1.03854103e-01 9.94592541e-01 4.98479880e-05 -2.03181385e+00] [-5.40149212e-04 6.28270488e-06 9.99999854e-01 -1.59956561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28907232899999 meters 0.0764865524704058 Centerline is valid? [True, True] Translation: X:48.10, Y:-2.03, Z:-1.60 [[ 9.94304310e-01 -1.06577992e-01 2.67661283e-04 4.81013850e+01] [ 1.06577990e-01 9.94304346e-01 2.01686707e-05 -2.02653188e+00] [-2.68286313e-04 8.47300533e-06 9.99999964e-01 -1.60023983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319072329 meters 0.0772838991553486 Centerline is valid? [True, True] Translation: X:48.13, Y:-2.02, Z:-1.61 [[ 9.94163495e-01 -1.07878992e-01 -1.03390992e-03 4.81287671e+01] [ 1.07878930e-01 9.94164032e-01 -1.15273396e-04 -2.02245257e+00] [ 1.04031164e-03 3.06350629e-06 9.99999459e-01 -1.60642091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.349072329 meters 0.07715074173366598 Centerline is valid? [True, True] Translation: X:48.16, Y:-2.02, Z:-1.60 [[ 9.94006405e-01 -1.09302941e-01 -2.03339110e-03 4.81573854e+01] [ 1.09302700e-01 9.94008484e-01 -2.29791198e-04 -2.01824763e+00] [ 2.04632486e-03 6.15878565e-06 9.99997906e-01 -1.60265245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379072329 meters 0.07742578613271174 Centerline is valid? [True, True] Translation: X:48.19, Y:-2.01, Z:-1.60 [[ 9.93915420e-01 -1.10108554e-01 -2.87110764e-03 4.81860639e+01] [ 1.10108084e-01 9.93919567e-01 -3.21736157e-04 -2.01034431e+00] [ 2.88907596e-03 3.64636734e-06 9.99995827e-01 -1.60351439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.409072329 meters 0.07747166575314218 Centerline is valid? [True, True] Translation: X:48.21, Y:-2.00, Z:-1.60 [[ 9.93819177e-01 -1.10989730e-01 -2.17314391e-03 4.82144985e+01] [ 1.10989456e-01 9.93821553e-01 -2.46284806e-04 -2.00459344e+00] [ 2.18705234e-03 3.56650283e-06 9.99997608e-01 -1.60277824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439072329 meters 0.07806721070682793 Centerline is valid? [True, True] Translation: X:48.24, Y:-2.00, Z:-1.60 [[ 9.93709496e-01 -1.11960753e-01 -2.49566973e-03 4.82417728e+01] [ 1.11960412e-01 9.93712629e-01 -2.76316049e-04 -2.00011381e+00] [ 2.51091508e-03 -4.83832906e-06 9.99996848e-01 -1.60364385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.469072329 meters 0.07788090474794897 Centerline is valid? [True, True] Translation: X:48.27, Y:-2.00, Z:-1.60 [[ 9.93678965e-01 -1.12225020e-01 -2.76775484e-03 4.82706940e+01] [ 1.12224585e-01 9.93682819e-01 -3.12245014e-04 -1.99651859e+00] [ 2.78531214e-03 -3.38836971e-07 9.99996121e-01 -1.59950197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49907232899999 meters 0.07816542456117785 Centerline is valid? [True, True] Translation: X:48.30, Y:-1.99, Z:-1.60 [[ 9.93632723e-01 -1.12596578e-01 -4.00275858e-03 4.82979965e+01] [ 1.12595708e-01 9.93640785e-01 -4.42741346e-04 -1.99295478e+00] [ 4.02715534e-03 -1.07711466e-05 9.99991891e-01 -1.60028084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52907232899999 meters 0.0783746397864503 Centerline is valid? [True, True] Translation: X:48.33, Y:-1.98, Z:-1.60 [[ 9.93632540e-01 -1.12543687e-01 -5.31919957e-03 4.83263048e+01] [ 1.12542119e-01 9.93646777e-01 -5.94156623e-04 -1.98392940e+00] [ 5.35227408e-03 -8.26063689e-06 9.99985676e-01 -1.60257384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55907232899999 meters 0.07855016024349988 Centerline is valid? [True, True] Translation: X:48.35, Y:-1.98, Z:-1.61 [[ 9.93703718e-01 -1.11899253e-01 -5.61052739e-03 4.83537715e+01] [ 1.11897528e-01 9.93719557e-01 -6.21336036e-04 -1.97762467e+00] [ 5.64481783e-03 -1.03802182e-05 9.99984068e-01 -1.60530984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58907232899999 meters 0.07839823976430947 Centerline is valid? [True, True] Translation: X:48.38, Y:-1.97, Z:-1.61 [[ 9.93803174e-01 -1.11064511e-01 -4.46383837e-03 4.83814086e+01] [ 1.11063407e-01 9.93813199e-01 -4.95311104e-04 -1.97208135e+00] [ 4.49123298e-03 -3.52734924e-06 9.99989914e-01 -1.60598008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61907232899999 meters 0.07792425183968754 Centerline is valid? [True, True] Translation: X:48.41, Y:-1.97, Z:-1.60 [[ 9.93889642e-01 -1.10287224e-01 -4.48416962e-03 4.84088539e+01] [ 1.10286065e-01 9.93899758e-01 -5.05700889e-04 -1.96694380e+00] [ 4.51258744e-03 8.06945418e-06 9.99989818e-01 -1.60357205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64907232899999 meters 0.07782709795100642 Centerline is valid? [True, True] Translation: X:48.44, Y:-1.96, Z:-1.60 [[ 9.94165872e-01 -1.07796706e-01 -3.75346120e-03 4.84377834e+01] [ 1.07795872e-01 9.94172958e-01 -4.24569375e-04 -1.96108626e+00] [ 3.77735681e-03 1.74847608e-05 9.99992866e-01 -1.60318877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.679072329 meters 0.07782709795100642 Centerline is valid? [True, True] Translation: X:48.47, Y:-1.96, Z:-1.60 [[ 9.94133973e-01 -1.08090501e-01 -3.75320424e-03 4.84652508e+01] [ 1.08089660e-01 9.94141058e-01 -4.26872717e-04 -1.95783569e+00] [ 3.77735532e-03 1.86861007e-05 9.99992866e-01 -1.60408040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.709072329 meters 0.07732613811768337 Centerline is valid? [True, True] Translation: X:48.49, Y:-1.95, Z:-1.60 [[ 9.94615067e-01 -1.03598410e-01 -2.87031329e-03 4.84923365e+01] [ 1.03597890e-01 9.94619208e-01 -3.29673137e-04 -1.94744437e+00] [ 2.88902234e-03 3.05394697e-05 9.99995826e-01 -1.60352711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739072329 meters 0.07730477845441963 Centerline is valid? [True, True] Translation: X:48.52, Y:-1.94, Z:-1.61 [[ 9.94933652e-01 -1.00468746e-01 -3.61365691e-03 4.85202226e+01] [ 1.00467912e-01 9.94940214e-01 -4.12222943e-04 -1.93924218e+00] [ 3.63678810e-03 4.70779149e-05 9.99993386e-01 -1.60523054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.769072329 meters 0.07840739671030689 Centerline is valid? [True, True] Translation: X:48.55, Y:-1.92, Z:-1.61 [[ 9.95519545e-01 -9.44912444e-02 -3.49864516e-03 4.85465582e+01] [ 9.44904423e-02 9.95525691e-01 -3.94234654e-04 -1.92379333e+00] [ 3.52024287e-03 6.18797746e-05 9.99993802e-01 -1.61444001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799072329 meters 0.0782747018841427 Centerline is valid? [True, True] Translation: X:48.58, Y:-1.92, Z:-1.61 [[ 9.95874030e-01 -9.05940869e-02 -5.25628829e-03 4.85754792e+01] [ 9.05922349e-02 9.95887895e-01 -5.89847122e-04 -1.91907675e+00] [ 5.28811055e-03 1.11234527e-04 9.99986012e-01 -1.61144999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.829072329 meters 0.07887923841731805 Centerline is valid? [True, True] Translation: X:48.60, Y:-1.91, Z:-1.61 [[ 9.96114225e-01 -8.79043496e-02 -5.41072287e-03 4.86031155e+01] [ 8.79023389e-02 9.96128911e-01 -6.08773982e-04 -1.91320814e+00] [ 5.44329136e-03 1.30793228e-04 9.99985177e-01 -1.61311870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859072329 meters 0.07913499319380023 Centerline is valid? [True, True] Translation: X:48.63, Y:-1.91, Z:-1.61 [[ 9.96418520e-01 -8.43952103e-02 -5.25186153e-03 4.86320618e+01] [ 8.43932714e-02 9.96432350e-01 -5.90099666e-04 -1.90820012e+00] [ 5.28292631e-03 1.44764461e-04 9.99986035e-01 -1.61170294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88907232899999 meters 0.0802879087826503 Centerline is valid? [True, True] Translation: X:48.66, Y:-1.90, Z:-1.61 [[ 9.96998769e-01 -7.73101452e-02 -4.07382090e-03 4.86597364e+01] [ 7.73089197e-02 9.97007082e-01 -4.57678899e-04 -1.89605330e+00] [ 4.09701151e-03 1.41362606e-04 9.99991597e-01 -1.61343794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91907232899999 meters 0.08142381526444394 Centerline is valid? [True, True] Translation: X:48.69, Y:-1.89, Z:-1.62 [[ 9.97278264e-01 -7.36308054e-02 -3.81682387e-03 4.86877585e+01] [ 7.36296995e-02 9.97285557e-01 -4.29629711e-04 -1.88652417e+00] [ 3.83809730e-03 1.47428777e-04 9.99992624e-01 -1.61660002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94907232899999 meters 0.08250053630232168 Centerline is valid? [True, True] Translation: X:48.72, Y:-1.88, Z:-1.62 [[ 9.97559008e-01 -6.97101518e-02 -4.06449151e-03 4.87173939e+01] [ 6.97088727e-02 9.97567274e-01 -4.55695530e-04 -1.87801659e+00] [ 4.08637032e-03 1.71252060e-04 9.99991636e-01 -1.61866842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97907232899999 meters 0.08532075585266503 Centerline is valid? [True, True] Translation: X:48.75, Y:-1.87, Z:-1.62 [[ 9.98026039e-01 -6.26319143e-02 -4.61176351e-03 4.87459049e+01] [ 6.26301889e-02 9.98036668e-01 -5.17723705e-04 -1.86716393e+00] [ 4.63513512e-03 2.27866118e-04 9.99989232e-01 -1.62150576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00907232899999 meters 0.08639974707696141 Centerline is valid? [True, True] Translation: X:48.78, Y:-1.86, Z:-1.62 [[ 9.98186215e-01 -6.00453520e-02 -4.34007609e-03 4.87755277e+01] [ 6.00437965e-02 9.98195624e-01 -4.87920329e-04 -1.86267079e+00] [ 4.36154231e-03 2.26440700e-04 9.99990463e-01 -1.62173494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03907232899999 meters 0.08740299549874933 Centerline is valid? [True, True] Translation: X:48.80, Y:-1.86, Z:-1.62 [[ 9.98326559e-01 -5.77120082e-02 -3.66136120e-03 4.88048495e+01] [ 5.77108845e-02 9.98333253e-01 -4.11908116e-04 -1.85845738e+00] [ 3.67903069e-03 1.99918419e-04 9.99993212e-01 -1.62062375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.069072329 meters 0.08985101282437377 Centerline is valid? [True, True] Translation: X:48.83, Y:-1.85, Z:-1.62 [[ 9.98661691e-01 -5.16349937e-02 -2.94184933e-03 4.88347041e+01] [ 5.16342445e-02 9.98666008e-01 -3.30107968e-04 -1.84961394e+00] [ 2.95497005e-03 1.77766014e-04 9.99995618e-01 -1.62117496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099072329 meters 0.09052030544049293 Centerline is valid? [True, True] Translation: X:48.86, Y:-1.84, Z:-1.62 [[ 9.98786657e-01 -4.91850005e-02 -2.45974874e-03 4.88640136e+01] [ 4.91844665e-02 9.98789673e-01 -2.77172446e-04 -1.84397302e+00] [ 2.47040436e-03 1.55854711e-04 9.99996936e-01 -1.62257561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.129072329 meters 0.09221494358241686 Centerline is valid? [True, True] Translation: X:48.89, Y:-1.84, Z:-1.63 [[ 9.98882466e-01 -4.72023426e-02 -2.39974390e-03 4.88920878e+01] [ 4.72018269e-02 9.98885336e-01 -2.71090957e-04 -1.83679969e+00] [ 2.40986512e-03 1.57515708e-04 9.99997084e-01 -1.62607480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159072329 meters 0.09478203926350683 Centerline is valid? [True, True] Translation: X:48.92, Y:-1.83, Z:-1.63 [[ 9.99060400e-01 -4.31539656e-02 -4.00659127e-03 4.89216927e+01] [ 4.31525061e-02 9.99068395e-01 -4.50065202e-04 -1.83176239e+00] [ 4.02228081e-03 2.76747867e-04 9.99991872e-01 -1.62874715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.189072329 meters 0.09714995131601858 Centerline is valid? [True, True] Translation: X:48.95, Y:-1.83, Z:-1.63 [[ 9.99082561e-01 -4.26463383e-02 -3.91478023e-03 4.89486678e+01] [ 4.26449210e-02 9.99090193e-01 -4.44829042e-04 -1.82666133e+00] [ 3.93018886e-03 2.77475445e-04 9.99992238e-01 -1.63136537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219072329 meters 0.09813295886553963 Centerline is valid? [True, True] Translation: X:48.98, Y:-1.82, Z:-1.63 [[ 9.99107996e-01 -4.20116675e-02 -4.26979630e-03 4.89769615e+01] [ 4.20099850e-02 9.99117074e-01 -4.83014584e-04 -1.82463024e+00] [ 4.28631864e-03 3.03209655e-04 9.99990768e-01 -1.63215199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24907232899999 meters 0.0994962823126273 Centerline is valid? [True, True] Translation: X:49.00, Y:-1.82, Z:-1.63 [[ 9.99140929e-01 -4.13452446e-02 -2.82408038e-03 4.90038265e+01] [ 4.13444997e-02 9.99144899e-01 -3.21666430e-04 -1.82336188e+00] [ 2.83496488e-03 2.04629906e-04 9.99995961e-01 -1.63288971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27907232899999 meters 0.09484014505237029 Centerline is valid? [True, True] Translation: X:49.03, Y:-1.83, Z:-1.63 [[ 9.99159289e-01 -4.09438054e-02 -2.07846869e-03 4.90342561e+01] [ 4.09433896e-02 9.99161438e-01 -2.42250135e-04 -1.83054369e+00] [ 2.08664441e-03 1.56946919e-04 9.99997811e-01 -1.62985986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30907232899999 meters 0.09402676968394993 Centerline is valid? [True, True] Translation: X:49.06, Y:-1.83, Z:-1.63 [[ 9.99138533e-01 -4.14854899e-02 -1.07087586e-03 4.90632344e+01] [ 4.14853755e-02 9.99139103e-01 -1.28818169e-04 -1.83015340e+00] [ 1.07529803e-03 8.42815089e-05 9.99999418e-01 -1.63061273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33907232899999 meters 0.10112987500979564 Centerline is valid? [True, False] Translation: X:49.07, Y:-1.83, Z:-1.63 [[ 9.99408165e-01 -3.40139319e-02 -5.13542990e-03 4.90715275e+01] [ 3.39866461e-02 9.99408180e-01 -5.31020156e-03 -1.83180136e+00] [ 5.31301149e-03 5.13252275e-03 9.99972714e-01 -1.62613498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36907232899999 meters 0.09616595013869103 Centerline is valid? [False, True] Translation: X:49.08, Y:-1.84, Z:-1.62 [[ 9.99610204e-01 -2.70534694e-02 -6.89566862e-03 4.90801190e+01] [ 2.69707001e-02 9.99566269e-01 -1.18260351e-02 -1.83613567e+00] [ 7.21261303e-03 1.16354444e-02 9.99906293e-01 -1.62365396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39907232899999 meters 0.10171343018031068 Centerline is valid? [True, False] Translation: X:49.08, Y:-1.84, Z:-1.62 [[ 9.99722140e-01 -2.22998741e-02 -7.63929022e-03 4.90810060e+01] [ 2.22550253e-02 9.99734879e-01 -5.90635490e-03 -1.84183956e+00] [ 7.76897586e-03 5.73470116e-03 9.99953377e-01 -1.62264456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.429072329 meters 0.0966716521893202 Centerline is valid? [False, True] Translation: X:49.09, Y:-1.84, Z:-1.62 [[ 9.99789258e-01 -1.59015775e-02 -1.29838410e-02 4.90905346e+01] [ 1.57529880e-02 9.99810153e-01 -1.14673688e-02 -1.84449649e+00] [ 1.31637253e-02 1.12604179e-02 9.99849948e-01 -1.61857295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459072329 meters 0.0900649710238796 Centerline is valid? [True, True] Translation: X:49.12, Y:-1.87, Z:-1.61 [[ 9.99747848e-01 -1.78936602e-02 -1.35667824e-02 4.91217898e+01] [ 1.78793065e-02 9.99839458e-01 -1.17856542e-03 -1.86506205e+00] [ 1.35856932e-02 9.35703583e-04 9.99907272e-01 -1.60934827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.489072329 meters 0.08904905301279474 Centerline is valid? [True, True] Translation: X:49.15, Y:-1.87, Z:-1.61 [[ 9.99718806e-01 -1.88147388e-02 -1.44330708e-02 4.91509818e+01] [ 1.87985347e-02 9.99822501e-01 -1.25757074e-03 -1.86511059e+00] [ 1.44541698e-02 9.85896536e-04 9.99895047e-01 -1.61103562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519072329 meters 0.08890519373012397 Centerline is valid? [True, True] Translation: X:49.18, Y:-1.86, Z:-1.61 [[ 9.99692240e-01 -2.01477901e-02 -1.44738578e-02 4.91803103e+01] [ 2.01315891e-02 9.99796540e-01 -1.26417146e-03 -1.86347684e+00] [ 1.44963833e-02 9.72400640e-04 9.99894449e-01 -1.61312909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.549072329 meters 0.0879765751047727 Centerline is valid? [True, True] Translation: X:49.21, Y:-1.87, Z:-1.62 [[ 9.99610838e-01 -2.23328990e-02 -1.67156715e-02 4.92101292e+01] [ 2.23115380e-02 9.99749996e-01 -1.46332682e-03 -1.86666912e+00] [ 1.67441729e-02 1.08980500e-03 9.99859213e-01 -1.61544710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579072329 meters 0.08747612771217422 Centerline is valid? [True, True] Translation: X:49.24, Y:-1.87, Z:-1.62 [[ 9.99555321e-01 -2.45307432e-02 -1.69529889e-02 4.92398453e+01] [ 2.45091309e-02 9.99698508e-01 -1.48145782e-03 -1.86757148e+00] [ 1.69842190e-02 1.06529602e-03 9.99855190e-01 -1.61616461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.609072329 meters 0.08875393205169722 Centerline is valid? [True, True] Translation: X:49.27, Y:-1.86, Z:-1.62 [[ 9.99489502e-01 -2.65752453e-02 -1.77339428e-02 4.92675425e+01] [ 2.65518735e-02 9.99646232e-01 -1.55211157e-03 -1.86432516e+00] [ 1.77689169e-02 1.08044982e-03 9.99841537e-01 -1.61859020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63907232899999 meters 0.08497374465319942 Centerline is valid? [True, True] Translation: X:49.30, Y:-1.87, Z:-1.62 [[ 9.99370903e-01 -3.06789892e-02 -1.77931879e-02 4.92989199e+01] [ 3.06561283e-02 9.99528779e-01 -1.55621388e-03 -1.87388721e+00] [ 1.78325464e-02 1.00976463e-03 9.99840478e-01 -1.61654493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66907232899999 meters 0.08434376029770331 Centerline is valid? [True, True] Translation: X:49.33, Y:-1.87, Z:-1.62 [[ 9.99315291e-01 -3.28718738e-02 -1.69820493e-02 4.93278846e+01] [ 3.28513379e-02 9.99459143e-01 -1.48689608e-03 -1.87400699e+00] [ 1.70217415e-02 9.27994945e-04 9.99854689e-01 -1.61713813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69907232899999 meters 0.08383289187369196 Centerline is valid? [True, True] Translation: X:49.36, Y:-1.87, Z:-1.62 [[ 9.99245474e-01 -3.54549492e-02 -1.58565495e-02 4.93567583e+01] [ 3.54373554e-02 9.99370934e-01 -1.38925067e-03 -1.87392882e+00] [ 1.58958304e-02 8.26288262e-04 9.99873312e-01 -1.61831461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72907232899999 meters 0.08296307997127031 Centerline is valid? [True, True] Translation: X:49.39, Y:-1.88, Z:-1.62 [[ 9.99131108e-01 -3.87576190e-02 -1.53256674e-02 4.93854993e+01] [ 3.87415727e-02 9.99248361e-01 -1.34263678e-03 -1.87520369e+00] [ 1.53661854e-02 7.47729713e-04 9.99881654e-01 -1.61891270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75907232899999 meters 0.0828703172454892 Centerline is valid? [True, True] Translation: X:49.41, Y:-1.87, Z:-1.62 [[ 9.99097086e-01 -3.98582506e-02 -1.47082728e-02 4.94142763e+01] [ 3.98434835e-02 9.99205093e-01 -1.29578465e-03 -1.87388751e+00] [ 1.47482288e-02 7.08585847e-04 9.99890988e-01 -1.62064661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78907232899999 meters 0.08262403020520348 Centerline is valid? [True, True] Translation: X:49.44, Y:-1.87, Z:-1.62 [[ 9.99079435e-01 -4.05691095e-02 -1.39438167e-02 4.94434846e+01] [ 4.05558558e-02 9.99176513e-01 -1.23207880e-03 -1.87319803e+00] [ 1.39823185e-02 6.65441166e-04 9.99902021e-01 -1.61955635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.819072329 meters 0.08234706039970241 Centerline is valid? [True, True] Translation: X:49.47, Y:-1.87, Z:-1.62 [[ 9.99084119e-01 -4.16331272e-02 -9.87958742e-03 4.94722197e+01] [ 4.16265403e-02 9.99132860e-01 -8.71506618e-04 -1.87150720e+00] [ 9.90730398e-03 4.59455378e-04 9.99950816e-01 -1.61838823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.849072329 meters 0.08253379452485048 Centerline is valid? [True, True] Translation: X:49.50, Y:-1.87, Z:-1.62 [[ 9.99073028e-01 -4.19002270e-02 -9.87197214e-03 4.95004251e+01] [ 4.18936001e-02 9.99121693e-01 -8.77208732e-04 -1.86827883e+00] [ 9.90005676e-03 4.62823131e-04 9.99950886e-01 -1.61914240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879072329 meters 0.08265664181066736 Centerline is valid? [True, True] Translation: X:49.53, Y:-1.87, Z:-1.62 [[ 9.99041944e-01 -4.25484459e-02 -1.02383857e-02 4.95282078e+01] [ 4.25413764e-02 9.99094294e-01 -9.07388160e-04 -1.86589659e+00] [ 1.02677207e-02 4.70963811e-04 9.99947175e-01 -1.62104260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.909072329 meters 0.08252125223731945 Centerline is valid? [True, True] Translation: X:49.56, Y:-1.86, Z:-1.62 [[ 9.98998759e-01 -4.36333355e-02 -9.87982658e-03 4.95576381e+01] [ 4.36267614e-02 9.99047512e-01 -8.80053939e-04 -1.86481032e+00] [ 9.90881585e-03 4.48147956e-04 9.99950806e-01 -1.62137063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939072329 meters 0.08267615381262965 Centerline is valid? [True, True] Translation: X:49.59, Y:-1.86, Z:-1.62 [[ 9.98968593e-01 -4.44204951e-02 -9.41113402e-03 4.95855479e+01] [ 4.44145766e-02 9.99012835e-01 -8.37052200e-04 -1.86468597e+00] [ 9.43902595e-03 4.18197326e-04 9.99955364e-01 -1.62325789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.969072329 meters 0.08070681073106958 Centerline is valid? [True, True] Translation: X:49.61, Y:-1.87, Z:-1.62 [[ 9.98914959e-01 -4.57279407e-02 -8.82382275e-03 4.96147534e+01] [ 4.57227446e-02 9.98953856e-01 -7.89818621e-04 -1.86851166e+00] [ 8.85070854e-03 3.85512243e-04 9.99960757e-01 -1.62050525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99907232899999 meters 0.08223681559830164 Centerline is valid? [True, True] Translation: X:49.64, Y:-1.86, Z:-1.62 [[ 9.98872689e-01 -4.67718714e-02 -8.10817782e-03 4.96419238e+01] [ 4.67675228e-02 9.98905538e-01 -7.25206171e-04 -1.86264444e+00] [ 8.13322297e-03 3.45189247e-04 9.99966865e-01 -1.62320151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02907232899999 meters 0.08226373817240236 Centerline is valid? [True, True] Translation: X:49.67, Y:-1.86, Z:-1.63 [[ 9.98843114e-01 -4.77805942e-02 -5.42669924e-03 4.96699182e+01] [ 4.77786610e-02 9.98857830e-01 -4.85388485e-04 -1.86020757e+00] [ 5.44369317e-03 2.25546522e-04 9.99985158e-01 -1.62550354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05907232899999 meters 0.08239499812392664 Centerline is valid? [True, True] Translation: X:49.70, Y:-1.86, Z:-1.63 [[ 9.98855986e-01 -4.75028629e-02 -5.49514786e-03 4.96985525e+01] [ 4.75008548e-02 9.98871074e-01 -4.95438386e-04 -1.85679374e+00] [ 5.51247899e-03 2.33847376e-04 9.99984779e-01 -1.62634806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08907232899999 meters 0.08361758905005985 Centerline is valid? [True, True] Translation: X:49.73, Y:-1.85, Z:-1.63 [[ 9.98889428e-01 -4.67901449e-02 -5.53100666e-03 4.97257469e+01] [ 4.67881058e-02 9.98904713e-01 -4.97567716e-04 -1.85178893e+00] [ 5.54822989e-03 2.38229807e-04 9.99984580e-01 -1.62801905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11907232899999 meters 0.08193630503452677 Centerline is valid? [True, True] Translation: X:49.76, Y:-1.86, Z:-1.62 [[ 9.98888442e-01 -4.67371553e-02 -6.12524142e-03 4.97550065e+01] [ 4.67346341e-02 9.98907186e-01 -5.54173890e-04 -1.85558006e+00] [ 6.14444819e-03 2.67296977e-04 9.99981087e-01 -1.62498115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14907232899999 meters 0.08189533535948751 Centerline is valid? [True, True] Translation: X:49.78, Y:-1.85, Z:-1.63 [[ 9.98866266e-01 -4.72517659e-02 -5.78381521e-03 4.97838285e+01] [ 4.72495171e-02 9.98882980e-01 -5.24903867e-04 -1.85400777e+00] [ 5.80215721e-03 2.51026291e-04 9.99983136e-01 -1.62521849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.179072329 meters 0.08254115842907749 Centerline is valid? [True, True] Translation: X:49.81, Y:-1.85, Z:-1.63 [[ 9.98851612e-01 -4.75433044e-02 -5.92387033e-03 4.98107544e+01] [ 4.75409496e-02 9.98869145e-01 -5.37764436e-04 -1.85078377e+00] [ 5.94273839e-03 2.55520452e-04 9.99982309e-01 -1.62674224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.209072329 meters 0.08286638725800287 Centerline is valid? [True, True] Translation: X:49.84, Y:-1.85, Z:-1.63 [[ 9.98840852e-01 -4.73960224e-02 -8.40054900e-03 4.98395426e+01] [ 4.73912695e-02 9.98876110e-01 -7.64053960e-04 -1.84813723e+00] [ 8.42732082e-03 3.65055627e-04 9.99964423e-01 -1.62993712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239072329 meters 0.08302175798864356 Centerline is valid? [True, True] Translation: X:49.87, Y:-1.85, Z:-1.63 [[ 9.98854964e-01 -4.74119022e-02 -6.39323182e-03 4.98685211e+01] [ 4.74091342e-02 9.98875384e-01 -5.83895486e-04 -1.84536582e+00] [ 6.41372548e-03 2.80129319e-04 9.99979393e-01 -1.62954946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.269072329 meters 0.08142289048458493 Centerline is valid? [True, True] Translation: X:49.90, Y:-1.85, Z:-1.63 [[ 9.98905222e-01 -4.64631018e-02 -5.43477903e-03 4.98978064e+01] [ 4.64610757e-02 9.98919977e-01 -4.98532932e-04 -1.84794800e+00] [ 5.45207273e-03 2.45481470e-04 9.99985107e-01 -1.62681608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299072329 meters 0.08423167629270982 Centerline is valid? [True, True] Translation: X:49.93, Y:-1.84, Z:-1.63 [[ 9.98938989e-01 -4.57942297e-02 -4.87693395e-03 4.99252408e+01] [ 4.57925988e-02 9.98950869e-01 -4.45599462e-04 -1.83846938e+00] [ 4.89222330e-03 2.21799196e-04 9.99988008e-01 -1.62988500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.329072329 meters 0.08268801634650333 Centerline is valid? [True, True] Translation: X:49.95, Y:-1.84, Z:-1.63 [[ 9.98976753e-01 -4.50356481e-02 -4.15182050e-03 4.99541396e+01] [ 4.50344440e-02 9.98985361e-01 -3.83082983e-04 -1.83986253e+00] [ 4.16486029e-03 1.95716066e-04 9.99991308e-01 -1.62732809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359072329 meters 0.08345754684955818 Centerline is valid? [True, True] Translation: X:49.98, Y:-1.84, Z:-1.63 [[ 9.99038173e-01 -4.36835516e-02 -3.80475268e-03 4.99822344e+01] [ 4.36825379e-02 9.99045401e-01 -3.49177952e-04 -1.83596008e+00] [ 3.81637400e-03 1.82640850e-04 9.99992701e-01 -1.62758844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38907232899999 meters 0.08486254488700362 Centerline is valid? [True, True] Translation: X:50.01, Y:-1.83, Z:-1.63 [[ 9.99129405e-01 -4.13723031e-02 -5.36331731e-03 5.00105518e+01] [ 4.13702601e-02 9.99143764e-01 -4.91349983e-04 -1.83055165e+00] [ 5.37905333e-03 2.69040384e-04 9.99985497e-01 -1.63032269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41907232899999 meters 0.08526563942166937 Centerline is valid? [True, True] Translation: X:50.04, Y:-1.83, Z:-1.63 [[ 9.99128230e-01 -4.11755023e-02 -6.88177382e-03 5.00390330e+01] [ 4.11721035e-02 9.99151868e-01 -6.34888083e-04 -1.82741900e+00] [ 6.90207900e-03 3.50997502e-04 9.99976119e-01 -1.63271356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44907232899999 meters 0.08590951518539794 Centerline is valid? [True, True] Translation: X:50.07, Y:-1.82, Z:-1.63 [[ 9.99128327e-01 -4.09415481e-02 -8.14712786e-03 5.00669600e+01] [ 4.09367972e-02 9.99161457e-01 -7.49116453e-04 -1.82415812e+00] [ 8.17096614e-03 4.14946147e-04 9.99966531e-01 -1.63461852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47907232899999 meters 0.08628157650018074 Centerline is valid? [True, True] Translation: X:50.10, Y:-1.82, Z:-1.64 [[ 9.99136249e-01 -4.05729128e-02 -8.97741435e-03 5.00954114e+01] [ 4.05670893e-02 9.99176472e-01 -8.29910784e-04 -1.82181020e+00] [ 9.00369310e-03 4.65006379e-04 9.99959358e-01 -1.63676721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50907232899999 meters 0.08383218042038028 Centerline is valid? [True, True] Translation: X:50.13, Y:-1.83, Z:-1.64 [[ 9.99092246e-01 -4.14717536e-02 -9.73533775e-03 5.01253232e+01] [ 4.14649246e-02 9.99139553e-01 -9.02349586e-04 -1.82678242e+00] [ 9.76438302e-03 4.97855429e-04 9.99952203e-01 -1.63562540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53907232899999 meters 0.08656932580030156 Centerline is valid? [True, True] Translation: X:50.15, Y:-1.82, Z:-1.64 [[ 9.99078914e-01 -4.18485931e-02 -9.48782007e-03 5.01521191e+01] [ 4.18421399e-02 9.99123849e-01 -8.77725684e-04 -1.81786791e+00] [ 9.51623889e-03 4.79926528e-04 9.99954604e-01 -1.64078469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.569072329 meters 0.0843087246759621 Centerline is valid? [True, True] Translation: X:50.18, Y:-1.82, Z:-1.64 [[ 9.98991087e-01 -4.38332447e-02 -9.77014573e-03 5.01818134e+01] [ 4.38264932e-02 9.99038748e-01 -9.04165784e-04 -1.82318009e+00] [ 9.80038668e-03 4.75062333e-04 9.99951862e-01 -1.63944756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599072329 meters 0.0843087246759621 Centerline is valid? [True, True] Translation: X:50.21, Y:-1.82, Z:-1.64 [[ 9.98978932e-01 -4.41094978e-02 -9.76958523e-03 5.02093655e+01] [ 4.41027004e-02 9.99026588e-01 -9.10219104e-04 -1.82043553e+00] [ 9.80022470e-03 4.78424618e-04 9.99951862e-01 -1.63989596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.629072329 meters 0.08627453430659848 Centerline is valid? [True, True] Translation: X:50.24, Y:-1.82, Z:-1.64 [[ 9.99001516e-01 -4.37297294e-02 -9.14775643e-03 5.02368581e+01] [ 4.37237726e-02 9.99043297e-01 -8.50251168e-04 -1.81529681e+00] [ 9.17618600e-03 4.49427784e-04 9.99957797e-01 -1.64229146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659072329 meters 0.08415690641584117 Centerline is valid? [True, True] Translation: X:50.27, Y:-1.82, Z:-1.64 [[ 9.98964085e-01 -4.48251778e-02 -7.83971375e-03 5.02661109e+01] [ 4.48208328e-02 9.98994775e-01 -7.29137390e-04 -1.81897953e+00] [ 7.86451679e-03 3.76999566e-04 9.99969003e-01 -1.63878363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.689072329 meters 0.08595257057017298 Centerline is valid? [True, True] Translation: X:50.29, Y:-1.81, Z:-1.64 [[ 9.98934731e-01 -4.57157630e-02 -6.28273980e-03 5.02941872e+01] [ 4.57129617e-02 9.98954443e-01 -5.88829603e-04 -1.81301940e+00] [ 6.30308963e-03 3.00999697e-04 9.99980090e-01 -1.64014902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719072329 meters 0.08362137784257695 Centerline is valid? [True, True] Translation: X:50.32, Y:-1.82, Z:-1.64 [[ 9.98917564e-01 -4.61307134e-02 -5.97137427e-03 5.03232446e+01] [ 4.61281803e-02 9.98935371e-01 -5.61326830e-04 -1.81675255e+00] [ 5.99091138e-03 2.85270601e-04 9.99982014e-01 -1.63837796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74907232899999 meters 0.08696706103453644 Centerline is valid? [True, True] Translation: X:50.35, Y:-1.81, Z:-1.64 [[ 9.98925102e-01 -4.58845040e-02 -6.57673469e-03 5.03506276e+01] [ 4.58814414e-02 9.98946702e-01 -6.15868692e-04 -1.80676541e+00] [ 6.59806626e-03 3.13456628e-04 9.99978183e-01 -1.64295186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77907232899999 meters 0.08402577295465805 Centerline is valid? [True, True] Translation: X:50.38, Y:-1.82, Z:-1.64 [[ 9.98918104e-01 -4.58750839e-02 -7.62220754e-03 5.03799516e+01] [ 4.58709665e-02 9.98947118e-01 -7.14223717e-04 -1.81511234e+00] [ 7.64694733e-03 3.63812974e-04 9.99970695e-01 -1.64039556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80907232899999 meters 0.0857606519214039 Centerline is valid? [True, True] Translation: X:50.41, Y:-1.81, Z:-1.64 [[ 9.98928466e-01 -4.56272776e-02 -7.75053111e-03 5.04076959e+01] [ 4.56230080e-02 9.98958464e-01 -7.26881661e-04 -1.81055022e+00] [ 7.77562428e-03 3.72500240e-04 9.99969700e-01 -1.64293466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83907232899999 meters 0.08443025587198469 Centerline is valid? [True, True] Translation: X:50.44, Y:-1.81, Z:-1.64 [[ 9.98921519e-01 -4.59961560e-02 -6.33659019e-03 5.04375022e+01] [ 4.59932848e-02 9.98941570e-01 -5.98164182e-04 -1.81321834e+00] [ 6.35739660e-03 3.06078477e-04 9.99979745e-01 -1.64063225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86907232899999 meters 0.08424676528400174 Centerline is valid? [True, True] Translation: X:50.47, Y:-1.81, Z:-1.64 [[ 9.98944346e-01 -4.55376348e-02 -6.04292166e-03 5.04664109e+01] [ 4.55350034e-02 9.98962580e-01 -5.72395366e-04 -1.81258023e+00] [ 6.06271815e-03 2.96626656e-04 9.99981578e-01 -1.64013427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89907232899999 meters 0.08485313061879246 Centerline is valid? [True, True] Translation: X:50.49, Y:-1.81, Z:-1.64 [[ 9.98915024e-01 -4.62465490e-02 -5.48008172e-03 5.04938678e+01] [ 4.62444000e-02 9.98930021e-01 -5.18277536e-04 -1.80932927e+00] [ 5.49818669e-03 2.64292127e-04 9.99984850e-01 -1.64237532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.929072329 meters 0.08429003408558297 Centerline is valid? [True, True] Translation: X:50.52, Y:-1.81, Z:-1.64 [[ 9.98920152e-01 -4.61313346e-02 -5.51632487e-03 5.05225586e+01] [ 4.61291377e-02 9.98935347e-01 -5.24884460e-04 -1.80881140e+00] [ 5.53466552e-03 2.69854355e-04 9.99984647e-01 -1.64311390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.959072329 meters 0.08565445081706174 Centerline is valid? [True, True] Translation: X:50.55, Y:-1.81, Z:-1.65 [[ 9.98912516e-01 -4.62240421e-02 -6.09281042e-03 5.05498328e+01] [ 4.62213785e-02 9.98931054e-01 -5.77324106e-04 -1.80505184e+00] [ 6.11298379e-03 2.95078179e-04 9.99981272e-01 -1.64570820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.989072329 meters 0.08587324314950923 Centerline is valid? [True, True] Translation: X:50.58, Y:-1.80, Z:-1.65 [[ 9.98903607e-01 -4.62701013e-02 -7.11775971e-03 5.05785432e+01] [ 4.62664399e-02 9.98928905e-01 -6.78285179e-04 -1.80469131e+00] [ 7.14152023e-03 3.48228110e-04 9.99974438e-01 -1.64608852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019072329 meters 0.08575598434222081 Centerline is valid? [True, True] Translation: X:50.61, Y:-1.81, Z:-1.65 [[ 9.98899718e-01 -4.63962111e-02 -6.83703077e-03 5.06075148e+01] [ 4.63928180e-02 9.98923059e-01 -6.54132844e-04 -1.80745744e+00] [ 6.86001698e-03 3.36223989e-04 9.99976413e-01 -1.64527205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.049072329 meters 0.0849767455548224 Centerline is valid? [True, True] Translation: X:50.64, Y:-1.81, Z:-1.64 [[ 9.98911128e-01 -4.62607808e-02 -6.04136399e-03 5.06357223e+01] [ 4.62581151e-02 9.98929352e-01 -5.80310421e-04 -1.80803196e+00] [ 6.06174143e-03 3.00216426e-04 9.99981582e-01 -1.64437758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079072329 meters 0.08713069235689666 Centerline is valid? [True, True] Translation: X:50.66, Y:-1.80, Z:-1.65 [[ 9.98953278e-01 -4.54317093e-02 -5.32051708e-03 5.06625091e+01] [ 4.54296339e-02 9.98967411e-01 -5.10348169e-04 -1.80062547e+00] [ 5.33820917e-03 2.68104833e-04 9.99985716e-01 -1.64685404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.109072329 meters 0.08603583903088238 Centerline is valid? [True, True] Translation: X:50.69, Y:-1.80, Z:-1.65 [[ 9.99012577e-01 -4.41415398e-02 -5.03929643e-03 5.06921356e+01] [ 4.41396471e-02 9.99025252e-01 -4.86239260e-04 -1.80279208e+00] [ 5.05584774e-03 2.63326370e-04 9.99987184e-01 -1.64510632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13907232899999 meters 0.089241889524782 Centerline is valid? [True, True] Translation: X:50.72, Y:-1.80, Z:-1.65 [[ 9.99044911e-01 -4.33217598e-02 -5.70004826e-03 5.07192583e+01] [ 4.33193396e-02 9.99061127e-01 -5.47428262e-04 -1.79531022e+00] [ 5.71841219e-03 2.99983092e-04 9.99983605e-01 -1.64833523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16907232899999 meters 0.08805336317839599 Centerline is valid? [True, True] Translation: X:50.75, Y:-1.80, Z:-1.65 [[ 9.99095056e-01 -4.19586788e-02 -6.96698608e-03 5.07497866e+01] [ 4.19550365e-02 9.99119276e-01 -6.68185934e-04 -1.80177468e+00] [ 6.98888629e-03 3.75281108e-04 9.99975507e-01 -1.64662675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19907232899999 meters 0.08795846580555448 Centerline is valid? [True, True] Translation: X:50.78, Y:-1.80, Z:-1.65 [[ 9.99114288e-01 -4.16027583e-02 -6.31271762e-03 5.07784891e+01] [ 4.15997296e-02 9.99134170e-01 -6.10383455e-04 -1.80077692e+00] [ 6.33264552e-03 3.47235485e-04 9.99979888e-01 -1.64583159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22907232899999 meters 0.09001082030651548 Centerline is valid? [True, True] Translation: X:50.81, Y:-1.79, Z:-1.65 [[ 9.99168674e-01 -4.02185964e-02 -6.66529594e-03 5.08067254e+01] [ 4.02152090e-02 9.99190835e-01 -6.41515781e-04 -1.79367130e+00] [ 6.68570348e-03 3.72936204e-04 9.99977581e-01 -1.64828123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25907232899999 meters 0.09228516502499173 Centerline is valid? [True, True] Translation: X:50.83, Y:-1.79, Z:-1.65 [[ 9.99256790e-01 -3.81214393e-02 -5.71166259e-03 5.08346401e+01] [ 3.81189156e-02 9.99273059e-01 -5.50111031e-04 -1.78563072e+00] [ 5.72848157e-03 3.31979799e-04 9.99983537e-01 -1.65083464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28907232899999 meters 0.09309430300680618 Centerline is valid? [True, True] Translation: X:50.86, Y:-1.78, Z:-1.65 [[ 9.99276692e-01 -3.76152569e-02 -5.58437565e-03 5.08633709e+01] [ 3.76128132e-02 9.99292241e-01 -5.42012843e-04 -1.78271634e+00] [ 5.60081121e-03 3.31576723e-04 9.99984260e-01 -1.65117813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.319072329 meters 0.09220883809605647 Centerline is valid? [True, True] Translation: X:50.89, Y:-1.78, Z:-1.65 [[ 9.99295305e-01 -3.71442705e-02 -5.40339010e-03 5.08927041e+01] [ 3.71419678e-02 9.99309861e-01 -5.25913873e-04 -1.78407241e+00] [ 5.41919570e-03 3.24850722e-04 9.99985263e-01 -1.64940230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.349072329 meters 0.09465228779874597 Centerline is valid? [True, True] Translation: X:50.92, Y:-1.78, Z:-1.65 [[ 9.99324107e-01 -3.63670036e-02 -5.36378589e-03 5.09199060e+01] [ 3.63647320e-02 9.99338449e-01 -5.20455021e-04 -1.78051458e+00] [ 5.37916486e-03 3.25050613e-04 9.99985479e-01 -1.64820705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379072329 meters 0.09374234008610574 Centerline is valid? [True, True] Translation: X:50.95, Y:-1.78, Z:-1.65 [[ 9.99345950e-01 -3.57584191e-02 -5.38593351e-03 5.09490817e+01] [ 3.57561017e-02 9.99360408e-01 -5.25964825e-04 -1.78069462e+00] [ 5.40129638e-03 3.33040831e-04 9.99985357e-01 -1.64855025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.409072329 meters 0.09364619080796056 Centerline is valid? [True, True] Translation: X:50.98, Y:-1.78, Z:-1.65 [[ 9.99352495e-01 -3.55643346e-02 -5.45616744e-03 5.09780522e+01] [ 3.55619469e-02 9.99367331e-01 -5.34047072e-04 -1.77741096e+00] [ 5.47170852e-03 3.39669336e-04 9.99984972e-01 -1.64909105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439072329 meters 0.09518310111323156 Centerline is valid? [True, True] Translation: X:51.01, Y:-1.77, Z:-1.65 [[ 9.99380705e-01 -3.48751035e-02 -4.68339306e-03 5.10051180e+01] [ 3.48733438e-02 9.99391636e-01 -4.56906433e-04 -1.77057875e+00] [ 4.69647850e-03 2.93297897e-04 9.99988928e-01 -1.65074510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.469072329 meters 0.09589690339364708 Centerline is valid? [True, True] Translation: X:51.03, Y:-1.77, Z:-1.65 [[ 9.99401348e-01 -3.43714039e-02 -3.94358823e-03 5.10338257e+01] [ 3.43701387e-02 9.99409097e-01 -3.88164286e-04 -1.76632524e+00] [ 3.95459970e-03 2.52390236e-04 9.99992149e-01 -1.65064815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49907232899999 meters 0.09678528863644009 Centerline is valid? [True, True] Translation: X:51.06, Y:-1.76, Z:-1.65 [[ 9.99403872e-01 -3.43025877e-02 -3.90292532e-03 5.10619856e+01] [ 3.43013527e-02 9.99411462e-01 -3.82958221e-04 -1.76363139e+00] [ 3.91376476e-03 2.48854311e-04 9.99992310e-01 -1.65135419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52907232899999 meters 0.09203619451423369 Centerline is valid? [True, True] Translation: X:51.09, Y:-1.77, Z:-1.65 [[ 9.99382644e-01 -3.49612422e-02 -3.47012722e-03 5.10920741e+01] [ 3.49602594e-02 9.99388644e-01 -3.43499523e-04 -1.77217051e+00] [ 3.48001490e-03 2.21970914e-04 9.99993920e-01 -1.64785058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55907232899999 meters 0.09591108776046267 Centerline is valid? [True, True] Translation: X:51.12, Y:-1.76, Z:-1.65 [[ 9.99317558e-01 -3.67534394e-02 -3.68830932e-03 5.11194220e+01] [ 3.67523516e-02 9.99324338e-01 -3.62307522e-04 -1.76186260e+00] [ 3.69913331e-03 2.26506227e-04 9.99993133e-01 -1.65091354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58907232899999 meters 0.08921541564438688 Centerline is valid? [True, True] Translation: X:51.15, Y:-1.77, Z:-1.65 [[ 9.99153144e-01 -4.07945255e-02 -5.36677053e-03 5.11507748e+01] [ 4.07922870e-02 9.99167510e-01 -5.25958042e-04 -1.77372158e+00] [ 5.38375895e-03 3.06589788e-04 9.99985460e-01 -1.65069347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61907232899999 meters 0.09373916671738595 Centerline is valid? [True, True] Translation: X:51.18, Y:-1.76, Z:-1.66 [[ 9.99044650e-01 -4.33321419e-02 -5.66674693e-03 5.11781311e+01] [ 4.33296821e-02 9.99060673e-01 -5.56191255e-04 -1.76141928e+00] [ 5.68552496e-03 3.10121556e-04 9.99983789e-01 -1.65781669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64907232899999 meters 0.08730192875332177 Centerline is valid? [True, True] Translation: X:51.21, Y:-1.77, Z:-1.65 [[ 9.98915350e-01 -4.61228400e-02 -6.38806844e-03 5.12090726e+01] [ 4.61197720e-02 9.98935721e-01 -6.26833226e-04 -1.77486759e+00] [ 6.41018108e-03 3.31537072e-04 9.99979400e-01 -1.65431891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.679072329 meters 0.08640585004791736 Centerline is valid? [True, True] Translation: X:51.24, Y:-1.78, Z:-1.66 [[ 9.98664694e-01 -5.13499508e-02 -5.65778615e-03 5.12392542e+01] [ 5.13476276e-02 9.98680686e-01 -5.55203786e-04 -1.77800874e+00] [ 5.67883144e-03 2.63948523e-04 9.99983840e-01 -1.65529265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.709072329 meters 0.08545146379042212 Centerline is valid? [True, True] Translation: X:51.27, Y:-1.78, Z:-1.65 [[ 9.98530481e-01 -5.39634880e-02 -4.98207253e-03 5.12690886e+01] [ 5.39617172e-02 9.98542885e-01 -4.89266135e-04 -1.77994535e+00] [ 5.00121558e-03 2.19705960e-04 9.99987470e-01 -1.65411013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739072329 meters 0.08498241830889477 Centerline is valid? [True, True] Translation: X:51.30, Y:-1.78, Z:-1.65 [[ 9.98414876e-01 -5.60971386e-02 -4.56587160e-03 5.12974467e+01] [ 5.60956695e-02 9.98425297e-01 -4.49285056e-04 -1.77966952e+00] [ 4.58388531e-03 1.92447259e-04 9.99989475e-01 -1.65435042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.769072329 meters 0.08341906010731955 Centerline is valid? [True, True] Translation: X:51.33, Y:-1.78, Z:-1.65 [[ 9.98213214e-01 -5.96981076e-02 -2.55243102e-03 5.13278232e+01] [ 5.96976610e-02 9.98216473e-01 -2.50865878e-04 -1.78104807e+00] [ 2.56285491e-03 9.80434730e-05 9.99996711e-01 -1.65488287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799072329 meters 0.08135186604208725 Centerline is valid? [True, True] Translation: X:51.36, Y:-1.78, Z:-1.65 [[ 9.98125142e-01 -6.11975413e-02 -1.03001978e-03 5.13571669e+01] [ 6.11974682e-02 9.98125673e-01 -1.02358101e-04 -1.78409614e+00] [ 1.03435325e-03 3.91315910e-05 9.99999464e-01 -1.65353956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.829072329 meters 0.0838468608635604 Centerline is valid? [True, True] Translation: X:51.38, Y:-1.77, Z:-1.66 [[ 9.98103161e-01 -6.15591579e-02 -7.42046512e-04 5.13846032e+01] [ 6.15591196e-02 9.98103436e-01 -7.44081567e-05 -1.77433476e+00] [ 7.45219676e-04 2.85872864e-05 9.99999722e-01 -1.65772646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859072329 meters 0.08181733132187408 Centerline is valid? [True, True] Translation: X:51.41, Y:-1.78, Z:-1.66 [[ 9.98074034e-01 -6.20023704e-02 -1.98218613e-03 5.14142297e+01] [ 6.20020966e-02 9.98075999e-01 -1.99339940e-04 -1.78260240e+00] [ 1.99073195e-03 7.60563225e-05 9.99998016e-01 -1.65530352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88907232899999 meters 0.08408384126318334 Centerline is valid? [True, True] Translation: X:51.44, Y:-1.78, Z:-1.66 [[ 9.98080915e-01 -6.19035409e-02 -1.56152489e-03 5.14404763e+01] [ 6.19033704e-02 9.98082135e-01 -1.57297956e-04 -1.77593556e+00] [ 1.56826740e-03 6.03324340e-05 9.99998768e-01 -1.65805067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91907232899999 meters 0.0819568902829173 Centerline is valid? [True, True] Translation: X:51.47, Y:-1.78, Z:-1.65 [[ 9.98098967e-01 -6.16041698e-02 -1.83789950e-03 5.14703272e+01] [ 6.16039316e-02 9.98100657e-01 -1.85952648e-04 -1.78198089e+00] [ 1.84586416e-03 7.23773109e-05 9.99998294e-01 -1.65442825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94907232899999 meters 0.08241868311409467 Centerline is valid? [True, True] Translation: X:51.50, Y:-1.78, Z:-1.66 [[ 9.98134411e-01 -6.10237142e-02 -1.95040489e-03 5.14974426e+01] [ 6.10234477e-02 9.98136314e-01 -1.95884215e-04 -1.77812312e+00] [ 1.95872353e-03 7.64983449e-05 9.99998079e-01 -1.65561500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97907232899999 meters 0.08267382811384114 Centerline is valid? [True, True] Translation: X:51.53, Y:-1.78, Z:-1.66 [[ 9.98162204e-01 -6.05836149e-02 -1.35632087e-03 5.15265008e+01] [ 6.05834821e-02 9.98163124e-01 -1.38780965e-04 -1.77540583e+00] [ 1.36223733e-03 5.63552722e-05 9.99999071e-01 -1.65679258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00907232899999 meters 0.08384003202636596 Centerline is valid? [True, True] Translation: X:51.55, Y:-1.77, Z:-1.66 [[ 9.98209422e-01 -5.98114624e-02 -7.34195453e-04 5.15544030e+01] [ 5.98114232e-02 9.98209691e-01 -7.51705129e-05 -1.77059018e+00] [ 7.37377074e-04 3.11226393e-05 9.99999728e-01 -1.65793586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03907232899999 meters 0.08469795329670379 Centerline is valid? [True, True] Translation: X:51.58, Y:-1.77, Z:-1.66 [[ 9.98363876e-01 -5.71624608e-02 -1.42278656e-03 5.15838816e+01] [ 5.71623157e-02 9.98364888e-01 -1.42529727e-04 -1.77062368e+00] [ 1.42860750e-03 6.09667556e-05 9.99998978e-01 -1.65780097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.069072329 meters 0.08376282169899654 Centerline is valid? [True, True] Translation: X:51.61, Y:-1.77, Z:-1.66 [[ 9.98356441e-01 -5.72962689e-02 -1.24648019e-03 5.16119529e+01] [ 5.72961523e-02 9.98357218e-01 -1.29074908e-04 -1.77303864e+00] [ 1.25182801e-03 5.74442465e-05 9.99999215e-01 -1.65739629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099072329 meters 0.08531161214943354 Centerline is valid? [True, True] Translation: X:51.64, Y:-1.77, Z:-1.66 [[ 9.98392441e-01 -5.66544738e-02 -1.67488672e-03 5.16391333e+01] [ 5.66542701e-02 9.98393843e-01 -1.68852190e-04 -1.76858054e+00] [ 1.68176282e-03 7.36912656e-05 9.99998583e-01 -1.65944290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.129072329 meters 0.08610401459645649 Centerline is valid? [True, True] Translation: X:51.67, Y:-1.77, Z:-1.66 [[ 9.98423799e-01 -5.60839752e-02 -2.12244815e-03 5.16673212e+01] [ 5.60836474e-02 9.98426051e-01 -2.13711011e-04 -1.76840613e+00] [ 2.13109328e-03 9.43395265e-05 9.99997725e-01 -1.66155331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159072329 meters 0.08519452049745957 Centerline is valid? [True, True] Translation: X:51.70, Y:-1.77, Z:-1.66 [[ 9.98455890e-01 -5.55297142e-02 -1.51244876e-03 5.16961195e+01] [ 5.55295463e-02 9.98457033e-01 -1.52854141e-04 -1.77086482e+00] [ 1.51860305e-03 6.86325235e-05 9.99998845e-01 -1.66042569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.189072329 meters 0.08556230583846797 Centerline is valid? [True, True] Translation: X:51.72, Y:-1.77, Z:-1.66 [[ 9.98440363e-01 -5.58205404e-02 -9.52808719e-04 5.17246220e+01] [ 5.58204708e-02 9.98440817e-01 -9.95338065e-05 -1.76971107e+00] [ 9.56879147e-04 4.61923386e-05 9.99999541e-01 -1.66108570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219072329 meters 0.08679081004452618 Centerline is valid? [True, True] Translation: X:51.75, Y:-1.77, Z:-1.66 [[ 9.98453635e-01 -5.55668171e-02 -1.63328897e-03 5.17525317e+01] [ 5.55666207e-02 9.98454968e-01 -1.65457523e-04 -1.76670308e+00] [ 1.63995943e-03 7.44453166e-05 9.99998652e-01 -1.66301447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24907232899999 meters 0.08662080627837511 Centerline is valid? [True, True] Translation: X:51.78, Y:-1.77, Z:-1.66 [[ 9.98470736e-01 -5.52569115e-02 -1.69227530e-03 5.17817001e+01] [ 5.52566954e-02 9.98472166e-01 -1.74213757e-04 -1.77042217e+00] [ 1.69931629e-03 8.04377972e-05 9.99998553e-01 -1.66396994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27907232899999 meters 0.08655956071307362 Centerline is valid? [True, True] Translation: X:51.81, Y:-1.77, Z:-1.67 [[ 9.98458321e-01 -5.54760615e-02 -1.84052449e-03 5.18095717e+01] [ 5.54758049e-02 9.98460014e-01 -1.90185976e-04 -1.77001916e+00] [ 1.84824088e-03 8.77881929e-05 9.99998288e-01 -1.66503494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30907232899999 meters 0.08667172488334966 Centerline is valid? [True, True] Translation: X:51.84, Y:-1.77, Z:-1.67 [[ 9.98439162e-01 -5.58337965e-02 -1.35155803e-03 5.18376449e+01] [ 5.58336608e-02 9.98440075e-01 -1.37926204e-04 -1.76897773e+00] [ 1.35715064e-03 6.22484915e-05 9.99999077e-01 -1.66595316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33907232899999 meters 0.08577801477881343 Centerline is valid? [True, True] Translation: X:51.87, Y:-1.77, Z:-1.67 [[ 9.98429607e-01 -5.60152344e-02 -7.82637413e-04 5.18665522e+01] [ 5.60151859e-02 9.98429913e-01 -8.37455175e-05 -1.77097385e+00] [ 7.86099629e-04 3.97744239e-05 9.99999690e-01 -1.66584009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36907232899999 meters 0.08646603976693386 Centerline is valid? [True, True] Translation: X:51.89, Y:-1.77, Z:-1.67 [[ 9.98312128e-01 -5.80589684e-02 -1.43202577e-03 5.18944184e+01] [ 5.80588177e-02 9.98313153e-01 -1.46605599e-04 -1.77310934e+00] [ 1.43812193e-03 6.32164250e-05 9.99998964e-01 -1.66838181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39907232899999 meters 0.08576771238293979 Centerline is valid? [True, True] Translation: X:51.92, Y:-1.78, Z:-1.67 [[ 9.98196935e-01 -6.00004604e-02 -1.68043591e-03 5.19239698e+01] [ 6.00002516e-02 9.98198347e-01 -1.74479469e-04 -1.77535664e+00] [ 1.68787720e-03 7.33382935e-05 9.99998573e-01 -1.66921857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.429072329 meters 0.08424890647601631 Centerline is valid? [True, True] Translation: X:51.95, Y:-1.78, Z:-1.67 [[ 9.98017717e-01 -6.29117506e-02 -1.65767520e-03 5.19545105e+01] [ 6.29115564e-02 9.98019092e-01 -1.69085665e-04 -1.78326840e+00] [ 1.66502897e-03 6.44635620e-05 9.99998612e-01 -1.66853871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.459072329 meters 0.08422588521331784 Centerline is valid? [True, True] Translation: X:51.98, Y:-1.78, Z:-1.67 [[ 9.97946704e-01 -6.39866313e-02 -2.84393749e-03 5.19828074e+01] [ 6.39860599e-02 9.97950750e-01 -2.91527376e-04 -1.78348011e+00] [ 2.85676341e-03 1.08956429e-04 9.99995914e-01 -1.66971484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.489072329 meters 0.08422588521331784 Centerline is valid? [True, True] Translation: X:52.01, Y:-1.78, Z:-1.67 [[ 9.97929760e-01 -6.42503470e-02 -2.84362919e-03 5.20103447e+01] [ 6.42497681e-02 9.97933806e-01 -2.94549279e-04 -1.78046868e+00] [ 2.85667860e-03 1.11236975e-04 9.99995913e-01 -1.67016263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519072329 meters 0.08424540357351079 Centerline is valid? [True, True] Translation: X:52.04, Y:-1.78, Z:-1.67 [[ 9.97760483e-01 -6.68749700e-02 -1.32568940e-03 5.20397838e+01] [ 6.68748484e-02 9.97761362e-01 -1.35886561e-04 -1.77971106e+00] [ 1.33180907e-03 4.69269627e-05 9.99999112e-01 -1.67137787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.549072329 meters 0.08252342681617769 Centerline is valid? [True, True] Translation: X:52.07, Y:-1.79, Z:-1.67 [[ 9.97511134e-01 -7.05073640e-02 -4.99756970e-04 5.20708026e+01] [ 7.05073471e-02 9.97511259e-01 -5.12995752e-05 -1.78728790e+00] [ 5.02130202e-04 1.59353592e-05 9.99999874e-01 -1.67020372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579072329 meters 0.08214737520593453 Centerline is valid? [True, True] Translation: X:52.10, Y:-1.79, Z:-1.67 [[ 9.97388239e-01 -7.22176341e-02 -1.14674188e-03 5.21002008e+01] [ 7.22175425e-02 9.97388897e-01 -1.21073643e-04 -1.78816696e+00] [ 1.15249127e-03 3.79425475e-05 9.99999335e-01 -1.67106461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.609072329 meters 0.0814815864121562 Centerline is valid? [True, True] Translation: X:52.13, Y:-1.79, Z:-1.67 [[ 9.97228546e-01 -7.43919512e-02 -1.03143894e-03 5.21297397e+01] [ 7.43918776e-02 9.97229079e-01 -1.09579769e-04 -1.79032435e+00] [ 1.03673276e-03 3.25453947e-05 9.99999462e-01 -1.67180914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63907232899999 meters 0.08216492594900775 Centerline is valid? [True, True] Translation: X:52.16, Y:-1.79, Z:-1.68 [[ 9.97059971e-01 -7.65139005e-02 -4.12768899e-03 5.21580647e+01] [ 7.65127959e-02 9.97068509e-01 -4.25099601e-04 -1.78942632e+00] [ 4.14811474e-03 1.08028770e-04 9.99991391e-01 -1.67861523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66907232899999 meters 0.0818178325413474 Centerline is valid? [True, True] Translation: X:52.19, Y:-1.79, Z:-1.68 [[ 9.96945247e-01 -7.79808666e-02 -4.37719809e-03 5.21873080e+01] [ 7.79796250e-02 9.96954850e-01 -4.53887379e-04 -1.78902457e+00] [ 4.39926339e-03 1.11168600e-04 9.99990317e-01 -1.67979961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69907232899999 meters 0.08088583149331245 Centerline is valid? [True, True] Translation: X:52.22, Y:-1.79, Z:-1.68 [[ 9.96833502e-01 -7.94130361e-02 -4.06671833e-03 5.22170854e+01] [ 7.94119706e-02 9.96841793e-01 -4.23050139e-04 -1.79108657e+00] [ 4.08747049e-03 9.87644354e-05 9.99991641e-01 -1.67914748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72907232899999 meters 0.08037787894911323 Centerline is valid? [True, True] Translation: X:52.25, Y:-1.79, Z:-1.68 [[ 9.96671645e-01 -8.14102414e-02 -4.24320385e-03 5.22465990e+01] [ 8.14090960e-02 9.96680673e-01 -4.42247280e-04 -1.79480000e+00] [ 4.26512273e-03 9.53399341e-05 9.99990900e-01 -1.67855254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75907232899999 meters 0.0800220807137825 Centerline is valid? [True, True] Translation: X:52.28, Y:-1.79, Z:-1.68 [[ 9.96554579e-01 -8.28713259e-02 -3.36361083e-03 5.22753616e+01] [ 8.28706093e-02 9.96560253e-01 -3.52112897e-04 -1.79498333e+00] [ 3.38122093e-03 7.21552406e-05 9.99994281e-01 -1.67821498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78907232899999 meters 0.07976294912851585 Centerline is valid? [True, True] Translation: X:52.30, Y:-1.79, Z:-1.68 [[ 9.96491845e-01 -8.36567657e-02 -2.35547235e-03 5.23049238e+01] [ 8.36564133e-02 9.96494628e-01 -2.47936632e-04 -1.79378058e+00] [ 2.36795712e-03 5.00164635e-05 9.99997195e-01 -1.67863657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819072329 meters 0.07993520773259123 Centerline is valid? [True, True] Translation: X:52.33, Y:-1.79, Z:-1.68 [[ 9.96423024e-01 -8.44380378e-02 -3.37269638e-03 5.23323845e+01] [ 8.44373311e-02 9.96428730e-01 -3.51648927e-04 -1.79066154e+00] [ 3.39034411e-03 6.56096062e-05 9.99994251e-01 -1.68141884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.849072329 meters 0.07990322707341105 Centerline is valid? [True, True] Translation: X:52.36, Y:-1.79, Z:-1.68 [[ 9.96475163e-01 -8.37690550e-02 -4.47157761e-03 5.23611832e+01] [ 8.37677917e-02 9.96485191e-01 -4.69412007e-04 -1.78961027e+00] [ 4.49518307e-03 9.31832242e-05 9.99989892e-01 -1.68232450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879072329 meters 0.08051175169263627 Centerline is valid? [True, True] Translation: X:52.39, Y:-1.79, Z:-1.68 [[ 9.96545779e-01 -8.29032656e-02 -4.85365381e-03 5.23883704e+01] [ 8.29017721e-02 9.96557594e-01 -5.08452801e-04 -1.78570893e+00] [ 4.87909796e-03 1.04319991e-04 9.99988092e-01 -1.68299716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.909072329 meters 0.08093336798277248 Centerline is valid? [True, True] Translation: X:52.42, Y:-1.78, Z:-1.68 [[ 9.96670575e-01 -8.13768714e-02 -5.05662255e-03 5.24156076e+01] [ 8.13752274e-02 9.96683396e-01 -5.30340471e-04 -1.78152814e+00] [ 5.08300919e-03 1.17090932e-04 9.99987075e-01 -1.68331752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939072329 meters 0.08187045987085388 Centerline is valid? [True, True] Translation: X:52.44, Y:-1.78, Z:-1.68 [[ 9.96865539e-01 -7.89599405e-02 -4.94225854e-03 5.24433237e+01] [ 7.89583432e-02 9.96877782e-01 -5.17772335e-04 -1.77632854e+00] [ 4.96771101e-03 1.25916851e-04 9.99987653e-01 -1.68383300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.969072329 meters 0.08168575349426684 Centerline is valid? [True, True] Translation: X:52.47, Y:-1.77, Z:-1.68 [[ 9.96997537e-01 -7.72583518e-02 -5.20182572e-03 5.24723240e+01] [ 7.72565395e-02 9.97011096e-01 -5.48751468e-04 -1.77493877e+00] [ 5.22867359e-03 1.45228808e-04 9.99986320e-01 -1.68175658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99907232899999 meters 0.08295733047459458 Centerline is valid? [True, True] Translation: X:52.50, Y:-1.77, Z:-1.68 [[ 9.97135565e-01 -7.54170449e-02 -5.73889480e-03 5.24994463e+01] [ 7.54148226e-02 9.97152065e-01 -6.02957278e-04 -1.76726086e+00] [ 5.76802406e-03 1.68432413e-04 9.99983351e-01 -1.68484730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02907232899999 meters 0.08415624272870281 Centerline is valid? [True, True] Translation: X:52.53, Y:-1.76, Z:-1.69 [[ 9.97529739e-01 -7.00346110e-02 -5.43805835e-03 5.25292743e+01] [ 7.00325429e-02 9.97544544e-01 -5.70031105e-04 -1.75799130e+00] [ 5.46462735e-03 1.87781925e-04 9.99985051e-01 -1.68587995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05907232899999 meters 0.0846079331962454 Centerline is valid? [True, True] Translation: X:52.56, Y:-1.75, Z:-1.69 [[ 9.97740589e-01 -6.69676256e-02 -5.39022307e-03 5.25579598e+01] [ 6.69655428e-02 9.97755128e-01 -5.66147261e-04 -1.75267190e+00] [ 5.41603625e-03 2.03908887e-04 9.99985312e-01 -1.68535797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08907232899999 meters 0.08637415586249017 Centerline is valid? [True, True] Translation: X:52.59, Y:-1.74, Z:-1.69 [[ 9.97928465e-01 -6.40982590e-02 -5.49464962e-03 5.25860567e+01] [ 6.40960499e-02 9.97943567e-01 -5.77378742e-04 -1.74362945e+00] [ 5.52035921e-03 2.23997346e-04 9.99984738e-01 -1.68769202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11907232899999 meters 0.08845870961132202 Centerline is valid? [True, True] Translation: X:52.62, Y:-1.73, Z:-1.69 [[ 9.98217009e-01 -5.92414377e-02 -7.29757760e-03 5.26155449e+01] [ 5.92374176e-02 9.98243628e-01 -7.65990037e-04 -1.73496078e+00] [ 7.33013869e-03 3.32334632e-04 9.99973079e-01 -1.68913764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14907232899999 meters 0.08882853986198293 Centerline is valid? [True, True] Translation: X:52.65, Y:-1.73, Z:-1.69 [[ 9.98314734e-01 -5.74994274e-02 -7.84271293e-03 5.26453267e+01] [ 5.74947258e-02 9.98345470e-01 -8.23820846e-04 -1.73151362e+00] [ 7.87710615e-03 3.71517859e-04 9.99968906e-01 -1.68877139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.179072329 meters 0.08908390385619082 Centerline is valid? [True, True] Translation: X:52.67, Y:-1.73, Z:-1.69 [[ 9.98364008e-01 -5.65173286e-02 -8.66600613e-03 5.26740954e+01] [ 5.65115048e-02 9.98401528e-01 -9.15633172e-04 -1.72835672e+00] [ 8.70390290e-03 4.24406157e-04 9.99962030e-01 -1.68925032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.209072329 meters 0.09012767754618993 Centerline is valid? [True, True] Translation: X:52.70, Y:-1.72, Z:-1.69 [[ 9.98483291e-01 -5.45441609e-02 -7.48684363e-03 5.27010924e+01] [ 5.45397688e-02 9.98511287e-01 -7.89708069e-04 -1.72137088e+00] [ 7.51877183e-03 3.80179590e-04 9.99971661e-01 -1.69043885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239072329 meters 0.09018909917093706 Centerline is valid? [True, True] Translation: X:52.73, Y:-1.72, Z:-1.69 [[ 9.98479012e-01 -5.46683195e-02 -7.14401358e-03 5.27285920e+01] [ 5.46642880e-02 9.98504502e-01 -7.58523167e-04 -1.71672185e+00] [ 7.17479691e-03 3.66847047e-04 9.99974194e-01 -1.69170189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.269072329 meters 0.09012354090617589 Centerline is valid? [True, True] Translation: X:52.76, Y:-1.71, Z:-1.69 [[ 9.98490660e-01 -5.44600858e-02 -7.10640310e-03 5.27576539e+01] [ 5.44560828e-02 9.98515881e-01 -7.55722635e-04 -1.71266609e+00] [ 7.13701307e-03 3.67595117e-04 9.99974464e-01 -1.69270484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299072329 meters 0.09141484189757138 Centerline is valid? [True, True] Translation: X:52.78, Y:-1.71, Z:-1.69 [[ 9.98463183e-01 -5.48925925e-02 -7.62066558e-03 5.27849212e+01] [ 5.48880179e-02 9.98492189e-01 -8.08299521e-04 -1.70608882e+00] [ 7.65354471e-03 3.88774084e-04 9.99970636e-01 -1.69468994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.329072329 meters 0.09201439654437893 Centerline is valid? [True, True] Translation: X:52.81, Y:-1.70, Z:-1.69 [[ 9.98463752e-01 -5.49171877e-02 -7.36465335e-03 5.28117914e+01] [ 5.49128945e-02 9.98490841e-01 -7.84041655e-04 -1.70138489e+00] [ 7.39659628e-03 3.78422740e-04 9.99972573e-01 -1.69433980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359072329 meters 0.09147924871538253 Centerline is valid? [True, True] Translation: X:52.84, Y:-1.70, Z:-1.69 [[ 9.98448119e-01 -5.52600999e-02 -6.90472026e-03 5.28404106e+01] [ 5.52563164e-02 9.98471930e-01 -7.37677302e-04 -1.69877000e+00] [ 6.93493348e-03 3.55003107e-04 9.99975890e-01 -1.69374956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38907232899999 meters 0.09178998463422591 Centerline is valid? [True, True] Translation: X:52.87, Y:-1.69, Z:-1.69 [[ 9.98432000e-01 -5.54317739e-02 -7.80130540e-03 5.28676922e+01] [ 5.54269668e-02 9.98462398e-01 -8.31221403e-04 -1.69482685e+00] [ 7.83538617e-03 3.97515352e-04 9.99969224e-01 -1.69469328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41907232899999 meters 0.09049093307356236 Centerline is valid? [True, True] Translation: X:52.90, Y:-1.70, Z:-1.69 [[ 9.98366120e-01 -5.64364492e-02 -8.94526196e-03 5.28968003e+01] [ 5.64301298e-02 9.98406092e-01 -9.57481546e-04 -1.69501265e+00] [ 8.98504089e-03 4.51134842e-04 9.99959532e-01 -1.69382843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44907232899999 meters 0.09195770235622525 Centerline is valid? [True, True] Translation: X:52.92, Y:-1.69, Z:-1.70 [[ 9.98344356e-01 -5.68150334e-02 -8.97766866e-03 5.29245172e+01] [ 5.68086894e-02 9.98384621e-01 -9.60289146e-04 -1.68770121e+00] [ 9.01772518e-03 4.48689660e-04 9.99959239e-01 -1.69604039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47907232899999 meters 0.09217527107751962 Centerline is valid? [True, True] Translation: X:52.95, Y:-1.68, Z:-1.70 [[ 9.98347136e-01 -5.68702164e-02 -8.29305868e-03 5.29525072e+01] [ 5.68647679e-02 9.98381492e-01 -8.91504420e-04 -1.68201501e+00] [ 8.33033635e-03 4.18448026e-04 9.99965215e-01 -1.69647164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50907232899999 meters 0.09038415109763237 Centerline is valid? [True, True] Translation: X:52.98, Y:-1.68, Z:-1.70 [[ 9.98309990e-01 -5.74873613e-02 -8.50691058e-03 5.29815121e+01] [ 5.74816373e-02 9.98346143e-01 -9.16043185e-04 -1.67946167e+00] [ 8.54550228e-03 4.25503915e-04 9.99963396e-01 -1.69535621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53907232899999 meters 0.09081715895405856 Centerline is valid? [True, True] Translation: X:53.01, Y:-1.67, Z:-1.70 [[ 9.98265972e-01 -5.81907570e-02 -8.88176119e-03 5.30091201e+01] [ 5.81845528e-02 9.98305387e-01 -9.55552255e-04 -1.67445023e+00] [ 8.92231435e-03 4.37113997e-04 9.99960100e-01 -1.69784262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.569072329 meters 0.09128831175045553 Centerline is valid? [True, True] Translation: X:53.04, Y:-1.67, Z:-1.70 [[ 9.98202035e-01 -5.90101028e-02 -1.05121393e-02 5.30367211e+01] [ 5.90014472e-02 9.98257255e-01 -1.13189275e-03 -1.66995901e+00] [ 1.05606124e-02 5.09626218e-04 9.99944105e-01 -1.70031108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599072329 meters 0.09169839572547447 Centerline is valid? [True, True] Translation: X:53.06, Y:-1.67, Z:-1.70 [[ 9.98134889e-01 -5.97563498e-02 -1.24869051e-02 5.30644235e+01] [ 5.97441955e-02 9.98212815e-01 -1.34446227e-03 -1.66524015e+00] [ 1.25449289e-02 5.95934600e-04 9.99921132e-01 -1.70238515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.629072329 meters 0.09321202445236496 Centerline is valid? [True, True] Translation: X:53.09, Y:-1.66, Z:-1.71 [[ 9.98117815e-01 -6.00171981e-02 -1.26000936e-02 5.30915938e+01] [ 6.00048307e-02 9.98197163e-01 -1.35763927e-03 -1.65713875e+00] [ 1.26588594e-02 5.99017461e-04 9.99919694e-01 -1.70559125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659072329 meters 0.09135731959257193 Centerline is valid? [True, True] Translation: X:53.12, Y:-1.65, Z:-1.70 [[ 9.98133310e-01 -5.97219775e-02 -1.27742611e-02 5.31208203e+01] [ 5.97091730e-02 9.98214859e-01 -1.38176266e-03 -1.65425502e+00] [ 1.28339789e-02 6.16442771e-04 9.99917451e-01 -1.70266148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.689072329 meters 0.09080456404325654 Centerline is valid? [True, True] Translation: X:53.15, Y:-1.65, Z:-1.70 [[ 9.98132254e-01 -5.95838562e-02 -1.34821179e-02 5.31500056e+01] [ 5.95695396e-02 9.98223088e-01 -1.46135110e-03 -1.65051487e+00] [ 1.35452344e-02 6.55498109e-04 9.99908044e-01 -1.70190349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719072329 meters 0.09014973356439507 Centerline is valid? [True, True] Translation: X:53.18, Y:-1.65, Z:-1.70 [[ 9.98120272e-01 -6.00281342e-02 -1.23509687e-02 5.31792555e+01] [ 6.00161123e-02 9.98196506e-01 -1.34204425e-03 -1.64740189e+00] [ 1.24092542e-02 5.98264450e-04 9.99922823e-01 -1.70060650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74907232899999 meters 0.09045003562388634 Centerline is valid? [True, True] Translation: X:53.21, Y:-1.64, Z:-1.70 [[ 9.98068961e-01 -6.09715079e-02 -1.18669332e-02 5.32064653e+01] [ 6.09604923e-02 9.98139349e-01 -1.28811915e-03 -1.64253224e+00] [ 1.19233915e-02 5.62217658e-04 9.99928756e-01 -1.70042697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77907232899999 meters 0.08934720464704864 Centerline is valid? [True, True] Translation: X:53.23, Y:-1.64, Z:-1.70 [[ 9.97938159e-01 -6.30697005e-02 -1.19014440e-02 5.32349456e+01] [ 6.30587633e-02 9.98008979e-01 -1.29238631e-03 -1.63993490e+00] [ 1.19592584e-02 5.39231271e-04 9.99928340e-01 -1.70120454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80907232899999 meters 0.08910842582030216 Centerline is valid? [True, True] Translation: X:53.26, Y:-1.64, Z:-1.70 [[ 9.97820544e-01 -6.46485572e-02 -1.32183833e-02 5.32638867e+01] [ 6.46351282e-02 9.97907923e-01 -1.44107408e-03 -1.63536178e+00] [ 1.32838927e-02 5.83561423e-04 9.99911595e-01 -1.70319203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83907232899999 meters 0.0895999055834881 Centerline is valid? [True, True] Translation: X:53.29, Y:-1.63, Z:-1.71 [[ 9.97695821e-01 -6.66066524e-02 -1.29074921e-02 5.32915058e+01] [ 6.65940341e-02 9.97779164e-01 -1.40541618e-03 -1.62915119e+00] [ 1.29724368e-02 5.42615876e-04 9.99915707e-01 -1.70611370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86907232899999 meters 0.08817712846679164 Centerline is valid? [True, True] Translation: X:53.32, Y:-1.63, Z:-1.71 [[ 9.97563981e-01 -6.83337851e-02 -1.40212939e-02 5.33207737e+01] [ 6.83189820e-02 9.97662352e-01 -1.53259816e-03 -1.62842879e+00] [ 1.40932452e-02 5.70944196e-04 9.99900522e-01 -1.70566869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89907232899999 meters 0.08714478884574182 Centerline is valid? [True, True] Translation: X:53.35, Y:-1.63, Z:-1.70 [[ 9.97375549e-01 -7.14376828e-02 -1.17758987e-02 5.33493774e+01] [ 7.14274786e-02 9.97444967e-01 -1.28538261e-03 -1.62687836e+00] [ 1.18376356e-02 4.40886434e-04 9.99929836e-01 -1.70175114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.929072329 meters 0.08575029552696412 Centerline is valid? [True, True] Translation: X:53.38, Y:-1.63, Z:-1.70 [[ 9.97262919e-01 -7.32362587e-02 -1.01548343e-02 5.33791852e+01] [ 7.32287116e-02 9.97314552e-01 -1.11354305e-03 -1.62734552e+00] [ 1.02091157e-02 3.66869763e-04 9.99947818e-01 -1.69812428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.959072329 meters 0.08446210728024048 Centerline is valid? [True, True] Translation: X:53.41, Y:-1.63, Z:-1.70 [[ 9.97129370e-01 -7.50494236e-02 -1.00301463e-02 5.34087372e+01] [ 7.50421229e-02 9.97179755e-01 -1.10278430e-03 -1.62745246e+00] [ 1.00846221e-02 3.46935142e-04 9.99949089e-01 -1.69585254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.989072329 meters 0.08477985119442448 Centerline is valid? [True, True] Translation: X:53.44, Y:-1.62, Z:-1.70 [[ 9.96934683e-01 -7.74549093e-02 -1.10442093e-02 5.34360613e+01] [ 7.74462273e-02 9.96995793e-01 -1.21227981e-03 -1.62074233e+00] [ 1.11049273e-02 3.53231446e-04 9.99938276e-01 -1.70023522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019072329 meters 0.0847802495911294 Centerline is valid? [True, True] Translation: X:53.46, Y:-1.62, Z:-1.70 [[ 9.96811085e-01 -7.89396757e-02 -1.16699641e-02 5.34643393e+01] [ 7.89300248e-02 9.96879329e-01 -1.28597382e-03 -1.61615946e+00] [ 1.17350604e-02 3.60762394e-04 9.99931077e-01 -1.70287122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.049072329 meters 0.08480667092257498 Centerline is valid? [True, True] Translation: X:53.49, Y:-1.61, Z:-1.71 [[ 9.96699180e-01 -8.03767064e-02 -1.14162156e-02 5.34923870e+01] [ 8.03675338e-02 9.96764501e-01 -1.26071517e-03 -1.61135336e+00] [ 1.14806106e-02 3.39060685e-04 9.99934038e-01 -1.70554556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079072329 meters 0.08417096444847075 Centerline is valid? [True, True] Translation: X:53.52, Y:-1.61, Z:-1.70 [[ 9.96551066e-01 -8.22476935e-02 -1.10131615e-02 5.35215524e+01] [ 8.22392422e-02 9.96611871e-01 -1.21883462e-03 -1.60904433e+00] [ 1.10760938e-02 3.08916887e-04 9.99938610e-01 -1.70451207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.109072329 meters 0.08288209715556971 Centerline is valid? [True, True] Translation: X:53.55, Y:-1.61, Z:-1.70 [[ 9.96492286e-01 -8.30612249e-02 -1.01958866e-02 5.35512388e+01] [ 8.30539934e-02 9.96544407e-01 -1.13136341e-03 -1.60968226e+00] [ 1.02546262e-02 2.80585806e-04 9.99947381e-01 -1.69970011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13907232899999 meters 0.08242508082645722 Centerline is valid? [True, True] Translation: X:53.58, Y:-1.61, Z:-1.70 [[ 9.96469227e-01 -8.34260180e-02 -9.44348534e-03 5.35804097e+01] [ 8.34198051e-02 9.96513940e-01 -1.05058770e-03 -1.60725182e+00] [ 9.49821113e-03 2.59104609e-04 9.99954857e-01 -1.69779812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16907232899999 meters 0.08325536176648585 Centerline is valid? [True, True] Translation: X:53.61, Y:-1.60, Z:-1.70 [[ 9.96532114e-01 -8.26423203e-02 -9.69498191e-03 5.36071548e+01] [ 8.26357530e-02 9.96579236e-01 -1.07672023e-03 -1.59875640e+00] [ 9.75080032e-03 2.71834153e-04 9.99952423e-01 -1.69954769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19907232899999 meters 0.08394958119970598 Centerline is valid? [True, True] Translation: X:53.63, Y:-1.59, Z:-1.70 [[ 9.96623595e-01 -8.14543787e-02 -1.03244278e-02 5.36342487e+01] [ 8.14468597e-02 9.96677025e-01 -1.14735854e-03 -1.59178895e+00] [ 1.03835773e-02 3.02592372e-04 9.99946043e-01 -1.70240684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22907232899999 meters 0.08385699704889038 Centerline is valid? [True, True] Translation: X:53.66, Y:-1.59, Z:-1.70 [[ 9.96791201e-01 -7.93268921e-02 -1.07025997e-02 5.36623111e+01] [ 7.93186799e-02 9.96848599e-01 -1.19028173e-03 -1.58646219e+00] [ 1.07632929e-02 3.37546269e-04 9.99942017e-01 -1.70213957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25907232899999 meters 0.0846397134042253 Centerline is valid? [True, True] Translation: X:53.69, Y:-1.58, Z:-1.70 [[ 9.96822438e-01 -7.89192660e-02 -1.08063047e-02 5.36898377e+01] [ 7.89108601e-02 9.96880951e-01 -1.20271350e-03 -1.57909656e+00] [ 1.08675166e-02 3.46157004e-04 9.99940887e-01 -1.70448950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28907232899999 meters 0.08503609532367848 Centerline is valid? [True, True] Translation: X:53.72, Y:-1.57, Z:-1.70 [[ 9.96934025e-01 -7.74648917e-02 -1.10336276e-02 5.37182688e+01] [ 7.74559842e-02 9.96995010e-01 -1.23299994e-03 -1.57364373e+00] [ 1.10959859e-02 3.74599106e-04 9.99938367e-01 -1.70382560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.319072329 meters 0.08603002710275544 Centerline is valid? [True, True] Translation: X:53.75, Y:-1.57, Z:-1.70 [[ 9.97150443e-01 -7.45597734e-02 -1.14818954e-02 5.37469646e+01] [ 7.45499644e-02 9.97216457e-01 -1.28054350e-03 -1.56617545e+00] [ 1.15454121e-02 4.20919626e-04 9.99933261e-01 -1.70431294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.349072329 meters 0.08657323055746362 Centerline is valid? [True, True] Translation: X:53.78, Y:-1.56, Z:-1.71 [[ 9.97236825e-01 -7.32583584e-02 -1.23259030e-02 5.37759028e+01] [ 7.32468830e-02 9.97312884e-01 -1.38047383e-03 -1.56088472e+00] [ 1.23939131e-02 4.73825362e-04 9.99923080e-01 -1.70527135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379072329 meters 0.08718946855065456 Centerline is valid? [True, True] Translation: X:53.80, Y:-1.56, Z:-1.71 [[ 9.97322852e-01 -7.22045479e-02 -1.15599796e-02 5.38042210e+01] [ 7.21943496e-02 9.97389739e-01 -1.29763557e-03 -1.55536128e+00] [ 1.16235002e-02 4.59596398e-04 9.99932339e-01 -1.70620134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.409072329 meters 0.08718946855065456 Centerline is valid? [True, True] Translation: X:53.83, Y:-1.55, Z:-1.71 [[ 9.97303684e-01 -7.24688715e-02 -1.15595756e-02 5.38317279e+01] [ 7.24586492e-02 9.97370569e-01 -1.30123642e-03 -1.55207225e+00] [ 1.16234796e-02 4.60136647e-04 9.99932339e-01 -1.70664795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439072329 meters 0.08768731728262895 Centerline is valid? [True, True] Translation: X:53.86, Y:-1.55, Z:-1.71 [[ 9.97383431e-01 -7.14951214e-02 -1.07116517e-02 5.38596710e+01] [ 7.14863069e-02 9.97440855e-01 -1.20400991e-03 -1.54717566e+00] [ 1.07703199e-02 4.35123110e-04 9.99941904e-01 -1.70702910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.469072329 meters 0.08858885593484958 Centerline is valid? [True, True] Translation: X:53.89, Y:-1.54, Z:-1.71 [[ 9.97547075e-01 -6.94568130e-02 -8.69389073e-03 5.38872259e+01] [ 6.94509121e-02 9.97584890e-01 -9.79175533e-04 -1.54121573e+00] [ 8.74090444e-03 3.72975048e-04 9.99961728e-01 -1.70543461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49907232899999 meters 0.08892539660970457 Centerline is valid? [True, True] Translation: X:53.91, Y:-1.54, Z:-1.70 [[ 9.97561120e-01 -6.93730303e-02 -7.69386314e-03 5.39147244e+01] [ 6.93684050e-02 9.97590734e-01 -8.66722006e-04 -1.53731965e+00] [ 7.73545371e-03 3.30897160e-04 9.99970026e-01 -1.70494473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52907232899999 meters 0.08909915575123006 Centerline is valid? [True, True] Translation: X:53.94, Y:-1.53, Z:-1.70 [[ 9.97578243e-01 -6.92177730e-02 -6.82269818e-03 5.39424119e+01] [ 6.92140996e-02 9.97601529e-01 -7.73358872e-04 -1.53425678e+00] [ 6.85986432e-03 2.99259074e-04 9.99976426e-01 -1.70447458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55907232899999 meters 0.08912140064126814 Centerline is valid? [True, True] Translation: X:53.97, Y:-1.53, Z:-1.70 [[ 9.97532687e-01 -6.99711474e-02 -5.70760938e-03 5.39709715e+01] [ 6.99685807e-02 9.97548985e-01 -6.48381657e-04 -1.53170929e+00] [ 5.73898795e-03 2.47428569e-04 9.99983501e-01 -1.70494361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58907232899999 meters 0.08947688669319792 Centerline is valid? [True, True] Translation: X:54.00, Y:-1.53, Z:-1.71 [[ 9.97496419e-01 -7.04910538e-02 -5.64851703e-03 5.39990533e+01] [ 7.04885589e-02 9.97512383e-01 -6.39817014e-04 -1.52826521e+00] [ 5.67956706e-03 2.40059355e-04 9.99983842e-01 -1.70640088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61907232899999 meters 0.08595762409932803 Centerline is valid? [True, True] Translation: X:54.03, Y:-1.54, Z:-1.70 [[ 9.97257118e-01 -7.38698403e-02 -4.63542465e-03 5.40301382e+01] [ 7.38681972e-02 9.97267875e-01 -5.24907820e-04 -1.53647954e+00] [ 4.66153494e-03 1.81057598e-04 9.99989119e-01 -1.70378882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64907232899999 meters 0.0878715570231493 Centerline is valid? [True, True] Translation: X:54.06, Y:-1.53, Z:-1.71 [[ 9.97146616e-01 -7.54056577e-02 -3.55138272e-03 5.40572874e+01] [ 7.54046989e-02 9.97152931e-01 -4.03299637e-04 -1.52852577e+00] [ 3.57168277e-03 1.34357924e-04 9.99993612e-01 -1.70756566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679072329 meters 0.08506655675303885 Centerline is valid? [True, True] Translation: X:54.09, Y:-1.54, Z:-1.70 [[ 9.97035929e-01 -7.68759216e-02 -3.07388738e-03 5.40876177e+01] [ 7.68751996e-02 9.97040661e-01 -3.52524736e-04 -1.53558477e+00] [ 3.09189137e-03 1.15174122e-04 9.99995213e-01 -1.70259993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.709072329 meters 0.08533241271081433 Centerline is valid? [True, True] Translation: X:54.11, Y:-1.53, Z:-1.70 [[ 9.96972474e-01 -7.77369051e-02 -1.69123616e-03 5.41149904e+01] [ 7.77366888e-02 9.96973906e-01 -1.93337497e-04 -1.53300956e+00] [ 1.70114778e-03 6.12810642e-05 9.99998551e-01 -1.70254960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739072329 meters 0.08352957872450595 Centerline is valid? [True, True] Translation: X:54.15, Y:-1.54, Z:-1.70 [[ 9.96773179e-01 -8.02677481e-02 -5.64014467e-04 5.41451001e+01] [ 8.02677225e-02 9.96773338e-01 -6.78236486e-05 -1.53762778e+00] [ 5.67638635e-04 2.23326372e-05 9.99999839e-01 -1.70007759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.769072329 meters 0.08338742575753386 Centerline is valid? [True, True] Translation: X:54.17, Y:-1.54, Z:-1.70 [[ 9.96675082e-01 -8.14696871e-02 -1.21323921e-03 5.41744204e+01] [ 8.14695766e-02 9.96675819e-01 -1.40289713e-04 -1.53567754e+00] [ 1.22063555e-03 4.09811759e-05 9.99999254e-01 -1.70154827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799072329 meters 0.0832331342128777 Centerline is valid? [True, True] Translation: X:54.20, Y:-1.53, Z:-1.70 [[ 9.96516455e-01 -8.33458255e-02 -2.90315407e-03 5.42025031e+01] [ 8.33452087e-02 9.96520680e-01 -3.33022775e-04 -1.53418880e+00] [ 2.92080913e-03 8.98986938e-05 9.99995730e-01 -1.70407393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.829072329 meters 0.08323814028706275 Centerline is valid? [True, True] Translation: X:54.23, Y:-1.54, Z:-1.71 [[ 9.96185608e-01 -8.71616933e-02 -4.13191649e-03 5.42310808e+01] [ 8.71604831e-02 9.96194171e-01 -4.72401845e-04 -1.53514324e+00] [ 4.15736647e-03 1.10460082e-04 9.99991352e-01 -1.70987647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859072329 meters 0.08248381532333232 Centerline is valid? [True, True] Translation: X:54.26, Y:-1.54, Z:-1.71 [[ 9.96025278e-01 -8.89782793e-02 -4.06335482e-03 5.42603866e+01] [ 8.89771090e-02 9.96033561e-01 -4.68238264e-04 -1.53627152e+00] [ 4.08890081e-03 1.04831582e-04 9.99991635e-01 -1.70937792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88907232899999 meters 0.08122694727130148 Centerline is valid? [True, True] Translation: X:54.29, Y:-1.54, Z:-1.71 [[ 9.95706780e-01 -9.25325272e-02 -2.39584228e-03 5.42905581e+01] [ 9.25321259e-02 9.95709661e-01 -2.78077529e-04 -1.54000987e+00] [ 2.41129452e-03 5.51913014e-05 9.99997091e-01 -1.70949655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91907232899999 meters 0.0811596352808942 Centerline is valid? [True, True] Translation: X:54.32, Y:-1.54, Z:-1.71 [[ 9.95507709e-01 -9.46680899e-02 -1.53450529e-03 5.43186573e+01] [ 9.46679280e-02 9.95508891e-01 -1.78004169e-04 -1.53787482e+00] [ 1.54446497e-03 3.19360860e-05 9.99998807e-01 -1.71191068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94907232899999 meters 0.0808370806203455 Centerline is valid? [True, True] Translation: X:54.35, Y:-1.54, Z:-1.71 [[ 9.95316779e-01 -9.66634330e-02 -8.30380310e-04 5.43468554e+01] [ 9.66633860e-02 9.95317126e-01 -9.66241439e-05 -1.53832179e+00] [ 8.35831765e-04 1.59042593e-05 9.99999651e-01 -1.71243727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97907232899999 meters 0.08047198719876951 Centerline is valid? [True, True] Translation: X:54.38, Y:-1.54, Z:-1.71 [[ 9.95043274e-01 -9.94421949e-02 -3.64663814e-04 5.43752131e+01] [ 9.94421855e-02 9.95043341e-01 -4.38387296e-05 -1.54260959e+00] [ 3.67215719e-04 7.35846644e-06 9.99999933e-01 -1.71121538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00907232899999 meters 0.0801243134965961 Centerline is valid? [True, True] Translation: X:54.40, Y:-1.54, Z:-1.71 [[ 9.94991343e-01 -9.99605355e-02 -3.44594304e-04 5.44035862e+01] [ 9.99605262e-02 9.94991403e-01 -4.40465840e-05 -1.54285583e+00] [ 3.47271290e-04 9.38014182e-06 9.99999940e-01 -1.70907211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03907232899999 meters 0.07999568154211353 Centerline is valid? [True, True] Translation: X:54.43, Y:-1.54, Z:-1.71 [[ 9.94918396e-01 -1.00683438e-01 -4.80858240e-04 5.44320402e+01] [ 1.00683421e-01 9.94918512e-01 -6.00293731e-05 -1.54140015e+00] [ 4.84458729e-04 1.13098749e-05 9.99999883e-01 -1.70936079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.069072329 meters 0.08019728449661091 Centerline is valid? [True, True] Translation: X:54.46, Y:-1.54, Z:-1.71 [[ 9.94924279e-01 -1.00622869e-01 -8.46961442e-04 5.44594567e+01] [ 1.00622821e-01 9.94924639e-01 -9.92268959e-05 -1.53675326e+00] [ 8.52647303e-04 1.34995983e-05 9.99999636e-01 -1.71187278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099072329 meters 0.08077075490601152 Centerline is valid? [True, True] Translation: X:54.49, Y:-1.53, Z:-1.72 [[ 9.95055015e-01 -9.93128168e-02 -1.57541292e-03 5.44867350e+01] [ 9.93126508e-02 9.95056262e-01 -1.83426752e-04 -1.53217153e+00] [ 1.58584112e-03 2.60612754e-05 9.99998742e-01 -1.71526604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.129072329 meters 0.08107394127112165 Centerline is valid? [True, True] Translation: X:54.52, Y:-1.53, Z:-1.72 [[ 9.95168692e-01 -9.81203909e-02 -3.41506385e-03 5.45155898e+01] [ 9.81195982e-02 9.95174550e-01 -3.99305260e-04 -1.52872892e+00] [ 3.43776462e-03 6.22914005e-05 9.99994089e-01 -1.71658180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159072329 meters 0.0814677900544349 Centerline is valid? [True, True] Translation: X:54.54, Y:-1.53, Z:-1.72 [[ 9.95201613e-01 -9.77597657e-02 -4.09602824e-03 5.45429982e+01] [ 9.77586341e-02 9.95210040e-01 -4.76068290e-04 -1.52504025e+00] [ 4.12294875e-03 7.33618044e-05 9.99991498e-01 -1.71940804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.189072329 meters 0.08198382227203616 Centerline is valid? [True, True] Translation: X:54.57, Y:-1.52, Z:-1.72 [[ 9.95243697e-01 -9.72564849e-02 -5.58205369e-03 5.45722500e+01] [ 9.72543576e-02 9.95259346e-01 -6.51932827e-04 -1.52333265e+00] [ 5.61899580e-03 1.05952992e-04 9.99984208e-01 -1.71997121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219072329 meters 0.08165974185382865 Centerline is valid? [True, True] Translation: X:54.60, Y:-1.52, Z:-1.72 [[ 9.95247748e-01 -9.71902266e-02 -5.99830935e-03 5.46017104e+01] [ 9.71877606e-02 9.95265817e-01 -7.01933616e-04 -1.52232833e+00] [ 6.03813335e-03 1.15635597e-04 9.99981764e-01 -1.71816478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24907232899999 meters 0.08183401340126759 Centerline is valid? [True, True] Translation: X:54.63, Y:-1.52, Z:-1.72 [[ 9.95356368e-01 -9.60267453e-02 -6.67566156e-03 5.46304130e+01] [ 9.60236562e-02 9.95378745e-01 -7.82465140e-04 -1.51820721e+00] [ 6.71994921e-03 1.37810229e-04 9.99977411e-01 -1.71853049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27907232899999 meters 0.08198189720386205 Centerline is valid? [True, True] Translation: X:54.66, Y:-1.51, Z:-1.72 [[ 9.95433683e-01 -9.52197855e-02 -6.70633716e-03 5.46577024e+01] [ 9.52166631e-02 9.95456263e-01 -7.84064693e-04 -1.51379936e+00] [ 6.75052380e-03 1.41929360e-04 9.99977205e-01 -1.71925640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30907232899999 meters 0.08203171723409763 Centerline is valid? [True, True] Translation: X:54.69, Y:-1.51, Z:-1.72 [[ 9.95454480e-01 -9.50378578e-02 -6.17931402e-03 5.46857380e+01] [ 9.50351730e-02 9.95473650e-01 -7.27336685e-04 -1.50940948e+00] [ 6.22046879e-03 1.36778386e-04 9.99980643e-01 -1.71955753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33907232899999 meters 0.08242336396894351 Centerline is valid? [True, True] Translation: X:54.71, Y:-1.50, Z:-1.72 [[ 9.95484598e-01 -9.47503450e-02 -5.72594149e-03 5.47126985e+01] [ 9.47480436e-02 9.95501058e-01 -6.72460159e-04 -1.50451426e+00] [ 5.76389664e-03 1.26901977e-04 9.99983381e-01 -1.72110465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36907232899999 meters 0.08227231173699955 Centerline is valid? [True, True] Translation: X:54.74, Y:-1.50, Z:-1.72 [[ 9.95449831e-01 -9.51085145e-02 -5.83133822e-03 5.47406359e+01] [ 9.51061111e-02 9.95466902e-01 -6.88714917e-04 -1.50169247e+00] [ 5.87040685e-03 1.30985247e-04 9.99982760e-01 -1.72078351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39907232899999 meters 0.08201839689999595 Centerline is valid? [True, True] Translation: X:54.77, Y:-1.50, Z:-1.72 [[ 9.95456930e-01 -9.50289957e-02 -5.91523398e-03 5.47696085e+01] [ 9.50265155e-02 9.95474496e-01 -6.99576075e-04 -1.49925727e+00] [ 5.95494458e-03 1.34293778e-04 9.99982260e-01 -1.72043943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.429072329 meters 0.08214262344284151 Centerline is valid? [True, True] Translation: X:54.80, Y:-1.49, Z:-1.72 [[ 9.95522262e-01 -9.43060433e-02 -6.46492520e-03 5.47980506e+01] [ 9.43030575e-02 9.95543242e-01 -7.65814119e-04 -1.49429680e+00] [ 6.50833349e-03 1.52722792e-04 9.99978809e-01 -1.72124518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459072329 meters 0.08288249367828907 Centerline is valid? [True, True] Translation: X:54.83, Y:-1.48, Z:-1.73 [[ 9.95694612e-01 -9.23584042e-02 -7.88441210e-03 5.48251135e+01] [ 9.23539273e-02 9.95725808e-01 -9.30815556e-04 -1.48333284e+00] [ 7.93668125e-03 1.98651613e-04 9.99968484e-01 -1.72553813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.489072329 meters 0.08295942095145836 Centerline is valid? [True, True] Translation: X:54.85, Y:-1.48, Z:-1.73 [[ 9.95853020e-01 -9.05408971e-02 -8.89426234e-03 5.48539040e+01] [ 9.05350834e-02 9.95892708e-01 -1.05495263e-03 -1.47755064e+00] [ 8.95324736e-03 2.45334983e-04 9.99959889e-01 -1.72504986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519072329 meters 0.08389326131286046 Centerline is valid? [True, True] Translation: X:54.88, Y:-1.47, Z:-1.73 [[ 9.96043938e-01 -8.83270770e-02 -9.73662735e-03 5.48819304e+01] [ 8.83200333e-02 9.96091484e-01 -1.15188389e-03 -1.47009970e+00] [ 9.80031413e-03 2.87387712e-04 9.99951934e-01 -1.72632522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.549072329 meters 0.08561471685747137 Centerline is valid? [True, True] Translation: X:54.91, Y:-1.46, Z:-1.73 [[ 9.96299068e-01 -8.52734950e-02 -1.07980861e-02 5.49097777e+01] [ 8.52646478e-02 9.96357520e-01 -1.27789988e-03 -1.45978350e+00] [ 1.08677253e-02 3.52475446e-04 9.99940882e-01 -1.72762068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579072329 meters 0.08503515357890784 Centerline is valid? [True, True] Translation: X:54.94, Y:-1.46, Z:-1.73 [[ 9.96340815e-01 -8.48353862e-02 -1.03893254e-02 5.49380665e+01] [ 8.48271148e-02 9.96394919e-01 -1.23502288e-03 -1.45539306e+00] [ 1.04566447e-02 3.49207203e-04 9.99945267e-01 -1.72607047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.609072329 meters 0.08556124677530842 Centerline is valid? [True, True] Translation: X:54.97, Y:-1.45, Z:-1.73 [[ 9.96429685e-01 -8.38193767e-02 -1.01091316e-02 5.49658894e+01] [ 8.38114681e-02 9.96480902e-01 -1.20419040e-03 -1.44717652e+00] [ 1.01744910e-02 3.52629907e-04 9.99948176e-01 -1.72736909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63907232899999 meters 0.08694937521708677 Centerline is valid? [True, True] Translation: X:54.99, Y:-1.43, Z:-1.73 [[ 9.96557004e-01 -8.22757673e-02 -1.02389096e-02 5.49925785e+01] [ 8.22675900e-02 9.96609532e-01 -1.21800125e-03 -1.43435637e+00] [ 1.03044069e-02 3.71477259e-04 9.99946839e-01 -1.73121381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66907232899999 meters 0.08702217064560826 Centerline is valid? [True, True] Translation: X:55.02, Y:-1.43, Z:-1.73 [[ 9.96642061e-01 -8.11103938e-02 -1.12119131e-02 5.50207800e+01] [ 8.11004590e-02 9.96705033e-01 -1.33868174e-03 -1.42876663e+00] [ 1.12835512e-02 4.24895226e-04 9.99936248e-01 -1.73170041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69907232899999 meters 0.0870155540977416 Centerline is valid? [True, True] Translation: X:55.05, Y:-1.42, Z:-1.73 [[ 9.96737861e-01 -7.98456434e-02 -1.17605344e-02 5.50492495e+01] [ 7.98345928e-02 9.96807132e-01 -1.40687519e-03 -1.42102913e+00] [ 1.18353175e-02 4.63388286e-04 9.99929853e-01 -1.73086808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72907232899999 meters 0.08957670486263343 Centerline is valid? [True, True] Translation: X:55.08, Y:-1.41, Z:-1.73 [[ 9.96805235e-01 -7.89826349e-02 -1.18771179e-02 5.50755804e+01] [ 7.89713069e-02 9.96875877e-01 -1.42048383e-03 -1.40883851e+00] [ 1.19522059e-02 4.77994192e-04 9.99928456e-01 -1.73429521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75907232899999 meters 0.08735355543560148 Centerline is valid? [True, True] Translation: X:55.11, Y:-1.41, Z:-1.73 [[ 9.96763880e-01 -7.96019354e-02 -1.11936922e-02 5.51053279e+01] [ 7.95918618e-02 9.96826630e-01 -1.34325589e-03 -1.40937436e+00] [ 1.12650962e-02 4.47982155e-04 9.99936446e-01 -1.72774086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78907232899999 meters 0.08796130850811049 Centerline is valid? [True, True] Translation: X:55.13, Y:-1.40, Z:-1.73 [[ 9.96876008e-01 -7.81819833e-02 -1.12161899e-02 5.51325896e+01] [ 7.81717967e-02 9.96938996e-01 -1.34443284e-03 -1.39941667e+00] [ 1.12869675e-02 4.63443128e-04 9.99936193e-01 -1.72691377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819072329 meters 0.08849186390723479 Centerline is valid? [True, True] Translation: X:55.16, Y:-1.39, Z:-1.73 [[ 9.96914808e-01 -7.75809758e-02 -1.19188085e-02 5.51603681e+01] [ 7.75694192e-02 9.96985928e-01 -1.42955074e-03 -1.39188205e+00] [ 1.19937903e-02 5.00605247e-04 9.99927947e-01 -1.72806539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.849072329 meters 0.08858224828163522 Centerline is valid? [True, True] Translation: X:55.19, Y:-1.39, Z:-1.73 [[ 9.96923341e-01 -7.74368053e-02 -1.21405608e-02 5.51888772e+01] [ 7.74247405e-02 9.96997128e-01 -1.46134180e-03 -1.38513036e+00] [ 1.22172659e-02 5.16865978e-04 9.99925233e-01 -1.72872598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879072329 meters 0.0890498826176766 Centerline is valid? [True, True] Translation: X:55.22, Y:-1.38, Z:-1.73 [[ 9.96957158e-01 -7.68783956e-02 -1.28894477e-02 5.52172974e+01] [ 7.68647141e-02 9.97040320e-01 -1.55423340e-03 -1.37810318e+00] [ 1.29707861e-02 5.58760398e-04 9.99915720e-01 -1.73055051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.909072329 meters 0.08982547824624892 Centerline is valid? [True, True] Translation: X:55.24, Y:-1.37, Z:-1.73 [[ 9.97037474e-01 -7.57582989e-02 -1.33024648e-02 5.52437511e+01] [ 7.57436463e-02 9.97126036e-01 -1.60259868e-03 -1.36676382e+00] [ 1.33856442e-02 5.90273752e-04 9.99910234e-01 -1.73192680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939072329 meters 0.08969368394233093 Centerline is valid? [True, True] Translation: X:55.27, Y:-1.36, Z:-1.73 [[ 9.97045973e-01 -7.57704743e-02 -1.25763042e-02 5.52725574e+01] [ 7.57573111e-02 9.97125127e-01 -1.52046557e-03 -1.36009873e+00] [ 1.26553553e-02 5.63227082e-04 9.99919759e-01 -1.73213129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.969072329 meters 0.08885572794008617 Centerline is valid? [True, True] Translation: X:55.30, Y:-1.35, Z:-1.73 [[ 9.97135940e-01 -7.47732499e-02 -1.13524136e-02 5.53016854e+01] [ 7.47624230e-02 9.97200425e-01 -1.37570834e-03 -1.35498982e+00] [ 1.14234978e-02 5.23034281e-04 9.99934613e-01 -1.72725134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99907232899999 meters 0.09061904122563734 Centerline is valid? [True, True] Translation: X:55.33, Y:-1.35, Z:-1.73 [[ 9.97125984e-01 -7.49735569e-02 -1.08966835e-02 5.53287191e+01] [ 7.49635968e-02 9.97185397e-01 -1.32020548e-03 -1.34557828e+00] [ 1.09649942e-02 4.99556599e-04 9.99939758e-01 -1.72928413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02907232899999 meters 0.08970246771267534 Centerline is valid? [True, True] Translation: X:55.36, Y:-1.34, Z:-1.73 [[ 9.97150291e-01 -7.47434947e-02 -1.02326321e-02 5.53572526e+01] [ 7.47346478e-02 9.97202679e-01 -1.24478130e-03 -1.34270197e+00] [ 1.02970474e-02 4.76501882e-04 9.99946870e-01 -1.72508098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05907232899999 meters 0.08809514143145272 Centerline is valid? [True, True] Translation: X:55.39, Y:-1.34, Z:-1.72 [[ 9.97212527e-01 -7.40275974e-02 -9.33226736e-03 5.53859582e+01] [ 7.40201861e-02 9.97256095e-01 -1.13753516e-03 -1.33823180e+00] [ 9.39086949e-03 4.43588143e-04 9.99955806e-01 -1.72057934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08907232899999 meters 0.0920855801623099 Centerline is valid? [True, True] Translation: X:55.41, Y:-1.32, Z:-1.73 [[ 9.97250577e-01 -7.33598458e-02 -1.04699820e-02 5.54118277e+01] [ 7.33505027e-02 9.97305410e-01 -1.27411945e-03 -1.32194941e+00] [ 1.05352389e-02 5.02637913e-04 9.99944377e-01 -1.72719339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11907232899999 meters 0.08855657096342318 Centerline is valid? [True, True] Translation: X:55.44, Y:-1.32, Z:-1.72 [[ 9.97277193e-01 -7.30028814e-02 -1.04297593e-02 5.54416854e+01] [ 7.29935377e-02 9.97331600e-01 -1.27425434e-03 -1.32447254e+00] [ 1.04949527e-02 5.09479764e-04 9.99944797e-01 -1.72288167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14907232899999 meters 0.0899809892816549 Centerline is valid? [True, True] Translation: X:55.47, Y:-1.31, Z:-1.72 [[ 9.97299465e-01 -7.25681349e-02 -1.12978928e-02 5.54688773e+01] [ 7.25571643e-02 9.97363303e-01 -1.37844820e-03 -1.31495722e+00] [ 1.13681351e-02 5.54982595e-04 9.99935227e-01 -1.72485292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.179072329 meters 0.088088397894617 Centerline is valid? [True, True] Translation: X:55.50, Y:-1.32, Z:-1.72 [[ 9.97285657e-01 -7.25045739e-02 -1.28220833e-02 5.54980336e+01] [ 7.24903663e-02 9.97367877e-01 -1.56997773e-03 -1.31564393e+00] [ 1.29021646e-02 6.36238757e-04 9.99916561e-01 -1.72301434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.209072329 meters 0.08788847701062191 Centerline is valid? [True, True] Translation: X:55.53, Y:-1.31, Z:-1.72 [[ 9.97219029e-01 -7.33905088e-02 -1.29630931e-02 5.55266180e+01] [ 7.33760209e-02 9.97303078e-01 -1.59036674e-03 -1.31126228e+00] [ 1.30448504e-02 6.34763790e-04 9.99914711e-01 -1.72359380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239072329 meters 0.08808957756551593 Centerline is valid? [True, True] Translation: X:55.55, Y:-1.31, Z:-1.73 [[ 9.97076080e-01 -7.50451595e-02 -1.44053557e-02 5.55542465e+01] [ 7.50274657e-02 9.97179905e-01 -1.76556897e-03 -1.30553805e+00] [ 1.44972286e-02 6.79609256e-04 9.99894679e-01 -1.72580329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.269072329 meters 0.08767351131999533 Centerline is valid? [True, True] Translation: X:55.58, Y:-1.30, Z:-1.73 [[ 9.97007707e-01 -7.59486701e-02 -1.44024711e-02 5.55835450e+01] [ 7.59309978e-02 9.97111502e-01 -1.77070406e-03 -1.30217856e+00] [ 1.44953523e-02 6.71811588e-04 9.99894711e-01 -1.72682631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299072329 meters 0.08767351131999533 Centerline is valid? [True, True] Translation: X:55.61, Y:-1.30, Z:-1.73 [[ 9.96986832e-01 -7.62223280e-02 -1.44018823e-02 5.56110239e+01] [ 7.62046151e-02 9.97090620e-01 -1.77549358e-03 -1.29860576e+00] [ 1.44953140e-02 6.72653821e-04 9.99894711e-01 -1.72727328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.329072329 meters 0.08724034099899641 Centerline is valid? [True, True] Translation: X:55.64, Y:-1.30, Z:-1.73 [[ 9.96858721e-01 -7.79932317e-02 -1.37748583e-02 5.56391572e+01] [ 7.79772274e-02 9.96953698e-01 -1.69596503e-03 -1.29529866e+00] [ 1.38651697e-02 6.16512272e-04 9.99903684e-01 -1.72684674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359072329 meters 0.0866574903686337 Centerline is valid? [True, True] Translation: X:55.67, Y:-1.29, Z:-1.73 [[ 9.96812518e-01 -7.87300068e-02 -1.28991962e-02 5.56684278e+01] [ 7.87159561e-02 9.96895810e-01 -1.59417614e-03 -1.29329743e+00] [ 1.29846641e-02 5.73722173e-04 9.99915531e-01 -1.72563346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38907232899999 meters 0.08661639000062614 Centerline is valid? [True, True] Translation: X:55.70, Y:-1.29, Z:-1.72 [[ 9.96728291e-01 -7.99391504e-02 -1.19351031e-02 5.56957869e+01] [ 7.99272226e-02 9.96799612e-01 -1.47381718e-03 -1.28999821e+00] [ 1.20147218e-02 5.15055643e-04 9.99927688e-01 -1.72483390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41907232899999 meters 0.08503028454433972 Centerline is valid? [True, True] Translation: X:55.72, Y:-1.29, Z:-1.72 [[ 9.96745434e-01 -7.97687911e-02 -1.16395919e-02 5.57247360e+01] [ 7.97573686e-02 9.96813262e-01 -1.44299619e-03 -1.29093764e+00] [ 1.17176057e-02 5.09956643e-04 9.99931216e-01 -1.72141620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44907232899999 meters 0.08653801422629719 Centerline is valid? [True, True] Translation: X:55.75, Y:-1.28, Z:-1.72 [[ 9.96790889e-01 -7.91946935e-02 -1.16671908e-02 5.57517918e+01] [ 7.91831963e-02 9.96859034e-01 -1.44481948e-03 -1.28150893e+00] [ 1.17449666e-02 5.16337437e-04 9.99930892e-01 -1.72495020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47907232899999 meters 0.08609255946387659 Centerline is valid? [True, True] Translation: X:55.78, Y:-1.28, Z:-1.73 [[ 9.96778625e-01 -7.93915831e-02 -1.13731735e-02 5.57796167e+01] [ 7.93805993e-02 9.96843377e-01 -1.41466725e-03 -1.27769697e+00] [ 1.14495853e-02 5.07300753e-04 9.99934323e-01 -1.72574716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50907232899999 meters 0.0878538847602577 Centerline is valid? [True, True] Translation: X:55.81, Y:-1.27, Z:-1.73 [[ 9.96775806e-01 -7.93106084e-02 -1.21581452e-02 5.58069473e+01] [ 7.92980640e-02 9.96849805e-01 -1.51115545e-03 -1.26916819e+00] [ 1.22396953e-02 5.42165815e-04 9.99924945e-01 -1.73007821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53907232899999 meters 0.08843661514995306 Centerline is valid? [True, True] Translation: X:55.83, Y:-1.27, Z:-1.73 [[ 9.96805778e-01 -7.88261250e-02 -1.28328724e-02 5.58348921e+01] [ 7.88121070e-02 9.96888212e-01 -1.59521326e-03 -1.26689927e+00] [ 1.29186837e-02 5.78732088e-04 9.99916383e-01 -1.72989825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.569072329 meters 0.08641652818348272 Centerline is valid? [True, True] Translation: X:55.86, Y:-1.27, Z:-1.73 [[ 9.96786917e-01 -7.91312134e-02 -1.24134343e-02 5.58649502e+01] [ 7.91180498e-02 9.96864051e-01 -1.54872850e-03 -1.27083651e+00] [ 1.24970591e-02 5.61625596e-04 9.99921751e-01 -1.72505539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599072329 meters 0.08617928249232783 Centerline is valid? [True, True] Translation: X:55.89, Y:-1.27, Z:-1.72 [[ 9.96788968e-01 -7.89981359e-02 -1.30784915e-02 5.58939802e+01] [ 7.89834724e-02 9.96874585e-01 -1.63474283e-03 -1.26955795e+00] [ 1.31667574e-02 5.96508951e-04 9.99913137e-01 -1.72374641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.629072329 meters 0.08586626833121358 Centerline is valid? [True, True] Translation: X:55.92, Y:-1.27, Z:-1.73 [[ 9.96702608e-01 -8.01673044e-02 -1.25345231e-02 5.59230109e+01] [ 8.01538869e-02 9.96781265e-01 -1.56998227e-03 -1.26750938e+00] [ 1.26200390e-02 5.60114677e-04 9.99920207e-01 -1.72603923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659072329 meters 0.08724693279513897 Centerline is valid? [True, True] Translation: X:55.95, Y:-1.26, Z:-1.73 [[ 9.96654103e-01 -8.07474213e-02 -1.26669666e-02 5.59501499e+01] [ 8.07337844e-02 9.96734440e-01 -1.58508381e-03 -1.26034728e+00] [ 1.27535933e-02 5.57128138e-04 9.99918514e-01 -1.73088191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.689072329 meters 0.086098533234859 Centerline is valid? [True, True] Translation: X:55.98, Y:-1.26, Z:-1.73 [[ 9.96624326e-01 -8.11107716e-02 -1.26884071e-02 5.59789762e+01] [ 8.10970404e-02 9.96704936e-01 -1.59382783e-03 -1.25986624e+00] [ 1.27758746e-02 5.59455322e-04 9.99918229e-01 -1.73043360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719072329 meters 0.09007120738380474 Centerline is valid? [True, True] Translation: X:56.01, Y:-1.25, Z:-1.74 [[ 9.96733023e-01 -7.99543466e-02 -1.14272825e-02 5.60060784e+01] [ 7.99431497e-02 9.96798393e-01 -1.43401836e-03 -1.24892053e+00] [ 1.15053529e-02 5.15800494e-04 9.99933678e-01 -1.73634456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74907232899999 meters 0.08869497701665162 Centerline is valid? [True, True] Translation: X:56.04, Y:-1.25, Z:-1.73 [[ 9.96819272e-01 -7.89298871e-02 -1.10187140e-02 5.60353607e+01] [ 7.89193600e-02 9.96880037e-01 -1.38762283e-03 -1.25074411e+00] [ 1.10938609e-02 5.13619322e-04 9.99938329e-01 -1.73218425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77907232899999 meters 0.08728569175822314 Centerline is valid? [True, True] Translation: X:56.07, Y:-1.25, Z:-1.73 [[ 9.96878209e-01 -7.83225517e-02 -9.97064074e-03 5.60650011e+01] [ 7.83138724e-02 9.96927958e-01 -1.25856229e-03 -1.25271919e+00] [ 1.00385843e-02 4.73793832e-04 9.99949500e-01 -1.72826363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80907232899999 meters 0.08677663173342352 Centerline is valid? [True, True] Translation: X:56.09, Y:-1.25, Z:-1.73 [[ 9.96927283e-01 -7.77843935e-02 -9.25094946e-03 5.60936080e+01] [ 7.77769015e-02 9.96970105e-01 -1.16743709e-03 -1.25229072e+00] [ 9.31372845e-03 4.44339706e-04 9.99956528e-01 -1.72650860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83907232899999 meters 0.08677523597101178 Centerline is valid? [True, True] Translation: X:56.12, Y:-1.25, Z:-1.73 [[ 9.96979847e-01 -7.71504306e-02 -8.88798820e-03 5.61223387e+01] [ 7.71434531e-02 9.97019368e-01 -1.12573445e-03 -1.24990397e+00] [ 8.94834728e-03 4.36684454e-04 9.99959867e-01 -1.72598920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86907232899999 meters 0.08920291464959382 Centerline is valid? [True, True] Translation: X:56.15, Y:-1.24, Z:-1.73 [[ 9.97068398e-01 -7.60476926e-02 -8.44740874e-03 5.61491960e+01] [ 7.60413640e-02 9.97104092e-01 -1.06831327e-03 -1.24259482e+00] [ 8.50418858e-03 4.22828918e-04 9.99963749e-01 -1.72733088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89907232899999 meters 0.08962910613043817 Centerline is valid? [True, True] Translation: X:56.18, Y:-1.24, Z:-1.73 [[ 9.97234357e-01 -7.40016418e-02 -6.88433955e-03 5.61779857e+01] [ 7.39973845e-02 9.97258055e-01 -8.71417496e-04 -1.24332349e+00] [ 6.92994940e-03 3.59584345e-04 9.99975923e-01 -1.72544873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.929072329 meters 0.08894676937619785 Centerline is valid? [True, True] Translation: X:56.21, Y:-1.24, Z:-1.73 [[ 9.97351916e-01 -7.24033933e-02 -6.84873761e-03 5.62078113e+01] [ 7.23991462e-02 9.97375362e-01 -8.66366040e-04 -1.24291274e+00] [ 6.89349000e-03 3.68229074e-04 9.99976172e-01 -1.72536766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.959072329 meters 0.09065566846575825 Centerline is valid? [True, True] Translation: X:56.24, Y:-1.24, Z:-1.73 [[ 9.97489559e-01 -7.04876892e-02 -6.78708754e-03 5.62351329e+01] [ 7.04834670e-02 9.97512577e-01 -8.59582818e-04 -1.23570879e+00] [ 6.83079519e-03 3.79047426e-04 9.99976598e-01 -1.72824877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.989072329 meters 0.09053903239811191 Centerline is valid? [True, True] Translation: X:56.26, Y:-1.23, Z:-1.73 [[ 9.97649507e-01 -6.82282405e-02 -6.35354014e-03 5.62645786e+01] [ 6.82244965e-02 9.97669670e-01 -8.04418794e-04 -1.23249837e+00] [ 6.39361837e-03 3.69060937e-04 9.99979493e-01 -1.72940008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019072329 meters 0.09238500271375177 Centerline is valid? [True, True] Translation: X:56.29, Y:-1.23, Z:-1.73 [[ 9.97916992e-01 -6.39770438e-02 -8.28344924e-03 5.62944028e+01] [ 6.39705364e-02 9.97951237e-01 -1.04845429e-03 -1.22737642e+00] [ 8.33355542e-03 5.16373663e-04 9.99965142e-01 -1.73289026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.049072329 meters 0.09472704395637109 Centerline is valid? [True, True] Translation: X:56.32, Y:-1.22, Z:-1.74 [[ 9.98005851e-01 -6.24550991e-02 -9.14783573e-03 5.63225193e+01] [ 6.24470897e-02 9.98047603e-01 -1.15886786e-03 -1.22163396e+00] [ 9.20235273e-03 5.85301186e-04 9.99957486e-01 -1.73570663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079072329 meters 0.09527538440222272 Centerline is valid? [True, True] Translation: X:56.35, Y:-1.22, Z:-1.74 [[ 9.98036582e-01 -6.19689749e-02 -9.10096902e-03 5.63515308e+01] [ 6.19609806e-02 9.98077901e-01 -1.15802313e-03 -1.22039137e+00] [ 9.15523756e-03 5.91844485e-04 9.99957915e-01 -1.73541095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.109072329 meters 0.09557919269381358 Centerline is valid? [True, True] Translation: X:56.38, Y:-1.22, Z:-1.73 [[ 9.97980924e-01 -6.29779776e-02 -8.23704271e-03 5.63802624e+01] [ 6.29714748e-02 9.98014778e-01 -1.04669850e-03 -1.22343450e+00] [ 8.28660931e-03 5.25886412e-04 9.99965527e-01 -1.73375430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13907232899999 meters 0.0948448525502321 Centerline is valid? [True, True] Translation: X:56.41, Y:-1.22, Z:-1.73 [[ 9.97909084e-01 -6.42175502e-02 -7.31886576e-03 5.64099094e+01] [ 6.42124212e-02 9.97935816e-01 -9.33880627e-04 -1.22338775e+00] [ 7.36372980e-03 4.61965871e-04 9.99972781e-01 -1.73324004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16907232899999 meters 0.0949269561618468 Centerline is valid? [True, True] Translation: X:56.44, Y:-1.22, Z:-1.73 [[ 9.97856783e-01 -6.51542398e-02 -6.06343269e-03 5.64383095e+01] [ 6.51507454e-02 9.97875134e-01 -7.72270056e-04 -1.22110542e+00] [ 6.10086538e-03 3.75577754e-04 9.99981319e-01 -1.73400782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19907232899999 meters 0.09266391646039741 Centerline is valid? [True, True] Translation: X:56.47, Y:-1.23, Z:-1.73 [[ 9.97793099e-01 -6.61348289e-02 -5.92579188e-03 5.64683434e+01] [ 6.61314833e-02 9.97810629e-01 -7.58962568e-04 -1.22643870e+00] [ 5.96301198e-03 3.65406206e-04 9.99982154e-01 -1.73463953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22907232899999 meters 0.09103129386164777 Centerline is valid? [True, True] Translation: X:56.50, Y:-1.23, Z:-1.73 [[ 9.97736125e-01 -6.69805919e-02 -6.01873738e-03 5.64980302e+01] [ 6.69771468e-02 9.97754211e-01 -7.72371175e-04 -1.22945880e+00] [ 6.05695444e-03 3.67504766e-04 9.99981589e-01 -1.73340406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25907232899999 meters 0.09245424614624008 Centerline is valid? [True, True] Translation: X:56.53, Y:-1.23, Z:-1.73 [[ 9.97666101e-01 -6.80759137e-02 -5.29349503e-03 5.65258585e+01] [ 6.80732681e-02 9.97680094e-01 -6.78565147e-04 -1.22638945e+00] [ 5.32740856e-03 3.16635938e-04 9.99985759e-01 -1.73429370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28907232899999 meters 0.09050705127539567 Centerline is valid? [True, True] Translation: X:56.56, Y:-1.23, Z:-1.73 [[ 9.97594700e-01 -6.91943948e-02 -4.11708263e-03 5.65560096e+01] [ 6.91927917e-02 9.97603166e-01 -5.30706562e-04 -1.23065319e+00] [ 4.14393658e-03 2.44557613e-04 9.99991384e-01 -1.73120211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319072329 meters 0.09075650516507279 Centerline is valid? [True, True] Translation: X:56.58, Y:-1.23, Z:-1.73 [[ 9.97390537e-01 -7.21332551e-02 -2.98507169e-03 5.65849466e+01] [ 7.21324305e-02 9.97394990e-01 -3.83148034e-04 -1.23139832e+00] [ 3.00493326e-03 1.66827747e-04 9.99995471e-01 -1.73290792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.349072329 meters 0.08890164687982317 Centerline is valid? [True, True] Translation: X:56.61, Y:-1.23, Z:-1.73 [[ 9.97372581e-01 -7.23579101e-02 -3.50262895e-03 5.66146432e+01] [ 7.23567627e-02 9.97378711e-01 -4.53377254e-04 -1.23392796e+00] [ 3.52625298e-03 1.98747150e-04 9.99993763e-01 -1.73299885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379072329 meters 0.09099017597645606 Centerline is valid? [True, True] Translation: X:56.64, Y:-1.23, Z:-1.74 [[ 9.97426689e-01 -7.15739140e-02 -4.14427749e-03 5.66420513e+01] [ 7.15723129e-02 9.97435271e-01 -5.33545073e-04 -1.22712944e+00] [ 4.17183644e-03 2.35556570e-04 9.99991270e-01 -1.73610946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.409072329 meters 0.09193520389459665 Centerline is valid? [True, True] Translation: X:56.67, Y:-1.22, Z:-1.74 [[ 9.97557895e-01 -6.96900264e-02 -4.64171358e-03 5.66713824e+01] [ 6.96880000e-02 9.97568657e-01 -5.97072086e-04 -1.22431859e+00] [ 4.67203796e-03 2.72142237e-04 9.99989049e-01 -1.73801607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439072329 meters 0.09412219448217675 Centerline is valid? [True, True] Translation: X:56.70, Y:-1.22, Z:-1.74 [[ 9.97682746e-01 -6.79011466e-02 -4.30963793e-03 5.66992878e+01] [ 6.78993820e-02 9.97692020e-01 -5.54620766e-04 -1.21773874e+00] [ 4.33735076e-03 2.60713817e-04 9.99990560e-01 -1.73899164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.469072329 meters 0.09527801821150839 Centerline is valid? [True, True] Translation: X:56.73, Y:-1.21, Z:-1.74 [[ 9.97862733e-01 -6.51961622e-02 -4.40757528e-03 5.67290917e+01] [ 6.51942923e-02 9.97872428e-01 -5.66741981e-04 -1.21462956e+00] [ 4.43514725e-03 2.78181950e-04 9.99990126e-01 -1.73861810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49907232899999 meters 0.0945162985828102 Centerline is valid? [True, True] Translation: X:56.76, Y:-1.21, Z:-1.74 [[ 9.97906428e-01 -6.45722945e-02 -3.63048724e-03 5.67575958e+01] [ 6.45710166e-02 9.97913005e-01 -4.68248411e-04 -1.21369636e+00] [ 3.65314631e-03 2.32843847e-04 9.99993300e-01 -1.73860587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52907232899999 meters 0.0986269260735501 Centerline is valid? [True, True] Translation: X:56.78, Y:-1.20, Z:-1.74 [[ 9.97980251e-01 -6.34065578e-02 -3.87647775e-03 5.67848945e+01] [ 6.34050937e-02 9.97987748e-01 -4.99534551e-04 -1.20292114e+00] [ 3.90035107e-03 2.52737181e-04 9.99992362e-01 -1.74070539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55907232899999 meters 0.09528904858959032 Centerline is valid? [True, True] Translation: X:56.82, Y:-1.21, Z:-1.74 [[ 9.98081406e-01 -6.18169617e-02 -3.48871589e-03 5.68155777e+01] [ 6.18157665e-02 9.98087476e-01 -4.49507263e-04 -1.20655807e+00] [ 3.50983081e-03 2.32987194e-04 9.99993813e-01 -1.73931116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58907232899999 meters 0.10244488719093094 Centerline is valid? [True, False] Translation: X:56.83, Y:-1.21, Z:-1.73 [[ 9.98598345e-01 -5.15859148e-02 -1.18422734e-02 5.68276277e+01] [ 5.15668346e-02 9.98667717e-01 -1.91112594e-03 -1.20869805e+00] [ 1.19250834e-02 1.29777865e-03 9.99928051e-01 -1.73438749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61907232899999 meters 0.0965267833138842 Centerline is valid? [False, True] Translation: X:56.84, Y:-1.21, Z:-1.73 [[ 9.98878774e-01 -4.25092629e-02 -2.08364236e-02 5.68399611e+01] [ 4.24521397e-02 9.99093452e-01 -3.17640612e-03 -1.21074845e+00] [ 2.09525610e-02 2.28829389e-03 9.99777852e-01 -1.72862590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64907232899999 meters 0.09980837138633836 Centerline is valid? [True, True] Translation: X:56.87, Y:-1.20, Z:-1.73 [[ 9.98917737e-01 -4.17142982e-02 -2.05735582e-02 5.68670231e+01] [ 4.16749943e-02 9.99128490e-01 -2.33565484e-03 -1.20201111e+00] [ 2.06530584e-02 1.47572412e-03 9.99785614e-01 -1.72965147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.679072329 meters 0.09878250009881329 Centerline is valid? [True, True] Translation: X:56.90, Y:-1.20, Z:-1.73 [[ 9.98898693e-01 -4.23745661e-02 -2.01444021e-02 5.68963713e+01] [ 4.23369281e-02 9.99100763e-01 -2.29141285e-03 -1.20366085e+00] [ 2.02233851e-02 1.43603720e-03 9.99794455e-01 -1.72814074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.709072329 meters 0.10067735444640108 Centerline is valid? [True, False] Translation: X:56.91, Y:-1.21, Z:-1.72 [[ 9.98951700e-01 -3.44569508e-02 -3.01366902e-02 5.69106942e+01] [ 3.43611768e-02 9.99402667e-01 -3.69027292e-03 -1.20674760e+00] [ 3.02458441e-02 2.65087226e-03 9.99538975e-01 -1.72201798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739072329 meters 0.09809082540756124 Centerline is valid? [False, True] Translation: X:56.91, Y:-1.21, Z:-1.73 [[ 9.99393756e-01 -3.20348909e-02 -1.36340096e-02 5.69084571e+01] [ 3.19726418e-02 9.99477412e-01 -4.75951942e-03 -1.20608937e+00] [ 1.37793553e-02 4.32071868e-03 9.99895725e-01 -1.73012476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.769072329 meters 0.0989374081141324 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.20, Z:-1.73 [[ 9.99340528e-01 -3.37853352e-02 -1.33063835e-02 5.69366326e+01] [ 3.37701340e-02 9.99428694e-01 -1.36550588e-03 -1.20103331e+00] [ 1.33449156e-02 9.15247017e-04 9.99910534e-01 -1.73011968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799072329 meters 0.09724457273358252 Centerline is valid? [True, True] Translation: X:56.97, Y:-1.20, Z:-1.73 [[ 9.99276103e-01 -3.53579718e-02 -1.40386593e-02 5.69658709e+01] [ 3.53411906e-02 9.99374265e-01 -1.44172100e-03 -1.20070939e+00] [ 1.40808512e-02 9.44534403e-04 9.99900414e-01 -1.73073621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.829072329 meters 0.09627278672132945 Centerline is valid? [True, True] Translation: X:57.00, Y:-1.20, Z:-1.73 [[ 9.99198001e-01 -3.73485324e-02 -1.44375462e-02 5.69957644e+01] [ 3.73309868e-02 9.99301855e-01 -1.48296019e-03 -1.20053650e+00] [ 1.44828531e-02 9.42803010e-04 9.99894673e-01 -1.73140856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859072329 meters 0.09377680142136623 Centerline is valid? [True, True] Translation: X:57.03, Y:-1.21, Z:-1.73 [[ 9.98893896e-01 -4.40212779e-02 -1.65260768e-02 5.70253368e+01] [ 4.39991852e-02 9.99030124e-01 -1.69823361e-03 -1.20529942e+00] [ 1.65848070e-02 9.69221277e-04 9.99861993e-01 -1.73332857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88907232899999 meters 0.0895501281014656 Centerline is valid? [True, True] Translation: X:57.06, Y:-1.21, Z:-1.73 [[ 9.98706069e-01 -4.79516832e-02 -1.69358556e-02 5.70568322e+01] [ 4.79290435e-02 9.98849227e-01 -1.74038957e-03 -1.21262953e+00] [ 1.69998209e-02 9.26418266e-04 9.99855063e-01 -1.73116852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91907232899999 meters 0.08912636100907609 Centerline is valid? [True, True] Translation: X:57.09, Y:-1.21, Z:-1.73 [[ 9.98502575e-01 -5.22939070e-02 -1.60609936e-02 5.70859047e+01] [ 5.22740984e-02 9.98631410e-01 -1.65097113e-03 -1.21123672e+00] [ 1.61253484e-02 8.08924970e-04 9.99869651e-01 -1.73207162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94907232899999 meters 0.08404414286069056 Centerline is valid? [True, True] Translation: X:57.12, Y:-1.22, Z:-1.73 [[ 9.98022825e-01 -6.10682647e-02 -1.48696662e-02 5.71168145e+01] [ 6.10522512e-02 9.98133400e-01 -1.52891945e-03 -1.22174006e+00] [ 1.49352789e-02 6.18069912e-04 9.99888271e-01 -1.72935092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97907232899999 meters 0.08190120988430177 Centerline is valid? [True, True] Translation: X:57.15, Y:-1.23, Z:-1.73 [[ 9.97765802e-01 -6.50827149e-02 -1.50879181e-02 5.71472336e+01] [ 6.50666777e-02 9.97879712e-01 -1.55190563e-03 -1.22589539e+00] [ 1.51569296e-02 5.66717662e-04 9.99884967e-01 -1.72915476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00907232899999 meters 0.08121738606298394 Centerline is valid? [True, True] Translation: X:57.18, Y:-1.23, Z:-1.73 [[ 9.97516823e-01 -6.87462922e-02 -1.53014678e-02 5.71764407e+01] [ 6.87302203e-02 9.97634040e-01 -1.57437849e-03 -1.22663595e+00] [ 1.53734978e-02 5.18795780e-04 9.99881686e-01 -1.73034784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03907232899999 meters 0.07959093755308176 Centerline is valid? [True, True] Translation: X:57.21, Y:-1.23, Z:-1.73 [[ 9.97210591e-01 -7.28158822e-02 -1.63976903e-02 5.72064016e+01] [ 7.27978983e-02 9.97345278e-01 -1.69177180e-03 -1.22982211e+00] [ 1.64773469e-02 4.93335366e-04 9.99864118e-01 -1.73138347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.069072329 meters 0.07798658944221461 Centerline is valid? [True, True] Translation: X:57.24, Y:-1.24, Z:-1.73 [[ 9.96586303e-01 -8.05749150e-02 -1.79839678e-02 5.72365441e+01] [ 8.05545544e-02 9.96748475e-01 -1.85488089e-03 -1.23561491e+00] [ 1.80749494e-02 3.99858370e-04 9.99836555e-01 -1.73375192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099072329 meters 0.07698048286740138 Centerline is valid? [True, True] Translation: X:57.27, Y:-1.24, Z:-1.73 [[ 9.96216515e-01 -8.51962253e-02 -1.71539740e-02 5.72666093e+01] [ 8.51783033e-02 9.96364145e-01 -1.77403223e-03 -1.23795076e+00] [ 1.72427455e-02 3.06173811e-04 9.99851286e-01 -1.73365021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.129072329 meters 0.07525239065675812 Centerline is valid? [True, True] Translation: X:57.30, Y:-1.25, Z:-1.73 [[ 9.95508581e-01 -9.33780892e-02 -1.55948119e-02 5.72979207e+01] [ 9.33642920e-02 9.95630710e-01 -1.61203894e-03 -1.24656217e+00] [ 1.56772027e-02 1.48800024e-04 9.99877094e-01 -1.73077400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159072329 meters 0.07458565714778381 Centerline is valid? [True, True] Translation: X:57.33, Y:-1.25, Z:-1.73 [[ 9.95214264e-01 -9.66359298e-02 -1.44936258e-02 5.73276674e+01] [ 9.66242955e-02 9.95319792e-01 -1.50247666e-03 -1.24802095e+00] [ 1.45709858e-02 9.48498228e-05 9.99893833e-01 -1.72941820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.189072329 meters 0.07434927500125868 Centerline is valid? [True, True] Translation: X:57.36, Y:-1.25, Z:-1.73 [[ 9.94897451e-01 -9.98682281e-02 -1.43317832e-02 5.73554246e+01] [ 9.98571809e-02 9.95000671e-01 -1.48615146e-03 -1.24856238e+00] [ 1.44085532e-02 4.74368321e-05 9.99896190e-01 -1.72905315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219072329 meters 0.07434927500125868 Centerline is valid? [True, True] Translation: X:57.38, Y:-1.25, Z:-1.73 [[ 9.94871406e-01 -1.00127419e-01 -1.43312924e-02 5.73829594e+01] [ 1.00116331e-01 9.94974622e-01 -1.49088004e-03 -1.24548397e+00] [ 1.44085502e-02 4.84375237e-05 9.99896190e-01 -1.72920801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24907232899999 meters 0.07427808284047914 Centerline is valid? [True, True] Translation: X:57.41, Y:-1.24, Z:-1.73 [[ 9.94657354e-01 -1.02192334e-01 -1.46108212e-02 5.74099860e+01] [ 1.02181019e-01 9.94764659e-01 -1.52076827e-03 -1.24402501e+00] [ 1.46897395e-02 1.96947389e-05 9.99892100e-01 -1.73105584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27907232899999 meters 0.07430170865314897 Centerline is valid? [True, True] Translation: X:57.44, Y:-1.24, Z:-1.73 [[ 9.94279196e-01 -1.05622631e-01 -1.58978176e-02 5.74389795e+01] [ 1.05609606e-01 9.94406285e-01 -1.65897418e-03 -1.24188860e+00] [ 1.59841150e-02 -2.94787477e-05 9.99872245e-01 -1.73402808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30907232899999 meters 0.07441086632660099 Centerline is valid? [True, True] Translation: X:57.47, Y:-1.24, Z:-1.73 [[ 9.94131563e-01 -1.06889875e-01 -1.66430368e-02 5.74669326e+01] [ 1.06875755e-01 9.94270864e-01 -1.73809883e-03 -1.24022713e+00] [ 1.67334718e-02 -5.08382178e-05 9.99859984e-01 -1.73491467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33907232899999 meters 0.07421758438484682 Centerline is valid? [True, True] Translation: X:57.50, Y:-1.24, Z:-1.73 [[ 9.93957865e-01 -1.08439140e-01 -1.69916298e-02 5.74960730e+01] [ 1.08424569e-01 9.94103087e-01 -1.77914996e-03 -1.23813625e+00] [ 1.70843611e-02 -7.39100305e-05 9.99854049e-01 -1.73230004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36907232899999 meters 0.0740597724362405 Centerline is valid? [True, True] Translation: X:57.52, Y:-1.24, Z:-1.73 [[ 9.93868857e-01 -1.09275654e-01 -1.68382354e-02 5.75230149e+01] [ 1.09261442e-01 9.94011481e-01 -1.76440966e-03 -1.23679035e+00] [ 1.69302063e-02 -8.61780764e-05 9.99856670e-01 -1.73248859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39907232899999 meters 0.07385696931094327 Centerline is valid? [True, True] Translation: X:57.55, Y:-1.23, Z:-1.73 [[ 9.93691603e-01 -1.11059275e-01 -1.55831676e-02 5.75522372e+01] [ 1.11047254e-01 9.93813779e-01 -1.63724412e-03 -1.23380252e+00] [ 1.56685978e-02 -1.03552246e-04 9.99877235e-01 -1.73113811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.429072329 meters 0.07384489943599722 Centerline is valid? [True, True] Translation: X:57.58, Y:-1.23, Z:-1.73 [[ 9.93610781e-01 -1.11934139e-01 -1.44348044e-02 5.75804623e+01] [ 1.11923867e-01 9.93715622e-01 -1.52009385e-03 -1.22911004e+00] [ 1.45142411e-02 -1.05217489e-04 9.99894657e-01 -1.73073382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.459072329 meters 0.07388176168811869 Centerline is valid? [True, True] Translation: X:57.61, Y:-1.22, Z:-1.73 [[ 9.93686338e-01 -1.11124622e-01 -1.54524784e-02 5.76084479e+01] [ 1.11112747e-01 9.93806474e-01 -1.62761773e-03 -1.22344567e+00] [ 1.55376415e-02 -9.96258192e-05 9.99879279e-01 -1.73137950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.489072329 meters 0.07357416025132044 Centerline is valid? [True, True] Translation: X:57.64, Y:-1.22, Z:-1.73 [[ 9.93740094e-01 -1.10730331e-01 -1.48128374e-02 5.76365888e+01] [ 1.10719310e-01 9.93850485e-01 -1.56454462e-03 -1.21841390e+00] [ 1.48949882e-02 -8.53164214e-05 9.99889060e-01 -1.73069395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519072329 meters 0.07349253859654346 Centerline is valid? [True, True] Translation: X:57.66, Y:-1.21, Z:-1.73 [[ 9.93779910e-01 -1.10491716e-01 -1.38950223e-02 5.76642770e+01] [ 1.10481990e-01 9.93877042e-01 -1.46798134e-03 -1.21486790e+00] [ 1.39721435e-02 -7.62993537e-05 9.99902382e-01 -1.72964819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.549072329 meters 0.07331917900288198 Centerline is valid? [True, True] Translation: X:57.69, Y:-1.21, Z:-1.73 [[ 9.93876793e-01 -1.09581104e-01 -1.41739895e-02 5.76925942e+01] [ 1.09570823e-01 9.93977856e-01 -1.50224825e-03 -1.20998329e+00] [ 1.42532497e-02 -6.00060245e-05 9.99898415e-01 -1.72890154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579072329 meters 0.07329840957656031 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.21, Z:-1.73 [[ 9.93922183e-01 -1.09124037e-01 -1.45134171e-02 5.77205064e+01] [ 1.09113207e-01 9.94028139e-01 -1.53836045e-03 -1.20508950e+00] [ 1.45946171e-02 -5.45949070e-05 9.99893491e-01 -1.73000173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60907232899999 meters 0.07339428571522265 Centerline is valid? [True, True] Translation: X:57.75, Y:-1.20, Z:-1.73 [[ 9.94127554e-01 -1.07210439e-01 -1.47081068e-02 5.77475797e+01] [ 1.07199033e-01 9.94236351e-01 -1.56395025e-03 -1.19625066e+00] [ 1.47910063e-02 -2.19287993e-05 9.99890607e-01 -1.73144051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63907232899999 meters 0.07333849340603556 Centerline is valid? [True, True] Translation: X:57.78, Y:-1.19, Z:-1.73 [[ 9.94226889e-01 -1.06346444e-01 -1.42592725e-02 5.77754128e+01] [ 1.06335632e-01 9.94329138e-01 -1.51642182e-03 -1.19066400e+00] [ 1.43396762e-02 -8.60140492e-06 9.99897182e-01 -1.73216279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66907232899999 meters 0.07347307890302755 Centerline is valid? [True, True] Translation: X:57.80, Y:-1.19, Z:-1.73 [[ 9.94262868e-01 -1.06053028e-01 -1.39321669e-02 5.78030202e+01] [ 1.06042613e-01 9.94360475e-01 -1.48628390e-03 -1.18551529e+00] [ 1.40112210e-02 3.53509417e-07 9.99901838e-01 -1.73219208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69907232899999 meters 0.07391230880928262 Centerline is valid? [True, True] Translation: X:57.83, Y:-1.18, Z:-1.73 [[ 9.94478650e-01 -1.03943679e-01 -1.44196281e-02 5.78300792e+01] [ 1.03932299e-01 9.94583184e-01 -1.53839767e-03 -1.17813841e+00] [ 1.45014264e-02 3.12385409e-05 9.99894848e-01 -1.73243353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72907232899999 meters 0.07419614713772868 Centerline is valid? [True, True] Translation: X:57.86, Y:-1.17, Z:-1.73 [[ 9.94526279e-01 -1.03417491e-01 -1.49098577e-02 5.78583148e+01] [ 1.03405203e-01 9.94638035e-01 -1.59479750e-03 -1.17283187e+00] [ 1.49948416e-02 4.43111556e-05 9.99887570e-01 -1.73327801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75907232899999 meters 0.07437593089059526 Centerline is valid? [True, True] Translation: X:57.89, Y:-1.17, Z:-1.73 [[ 9.94546271e-01 -1.03210612e-01 -1.50094520e-02 5.78866094e+01] [ 1.03198070e-01 9.94659523e-01 -1.60980286e-03 -1.16803692e+00] [ 1.50954431e-02 5.20769591e-05 9.99886056e-01 -1.73075915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78907232899999 meters 0.07460611584441217 Centerline is valid? [True, True] Translation: X:57.91, Y:-1.16, Z:-1.73 [[ 9.94512272e-01 -1.03669546e-01 -1.40700723e-02 5.79139917e+01] [ 1.03658567e-01 9.94611795e-01 -1.50928527e-03 -1.16484007e+00] [ 1.41507268e-02 4.25191854e-05 9.99899873e-01 -1.73314305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.819072329 meters 0.07440686661044058 Centerline is valid? [True, True] Translation: X:57.94, Y:-1.16, Z:-1.73 [[ 9.94451092e-01 -1.04339814e-01 -1.34249514e-02 5.79433629e+01] [ 1.04329826e-01 9.94541704e-01 -1.44412955e-03 -1.16212976e+00] [ 1.35023543e-02 3.54933602e-05 9.99908838e-01 -1.72970257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.849072329 meters 0.07455722913490895 Centerline is valid? [True, True] Translation: X:57.97, Y:-1.16, Z:-1.73 [[ 9.94422851e-01 -1.04727094e-01 -1.24671303e-02 5.79709812e+01] [ 1.04718507e-01 9.94500998e-01 -1.34138210e-03 -1.15772992e+00] [ 1.25390525e-02 2.83617521e-05 9.99921383e-01 -1.73182912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879072329 meters 0.07463626282034423 Centerline is valid? [True, True] Translation: X:58.00, Y:-1.15, Z:-1.73 [[ 9.94332897e-01 -1.05522103e-01 -1.29296831e-02 5.80001608e+01] [ 1.05512884e-01 9.94416957e-01 -1.39499154e-03 -1.15429473e+00] [ 1.30046985e-02 2.28378272e-05 9.99915435e-01 -1.72829075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.909072329 meters 0.07471283591255831 Centerline is valid? [True, True] Translation: X:58.03, Y:-1.15, Z:-1.73 [[ 9.94247491e-01 -1.06211592e-01 -1.38211405e-02 5.80292125e+01] [ 1.06201081e-01 9.94343551e-01 -1.49434295e-03 -1.15051505e+00] [ 1.39016784e-02 1.79266652e-05 9.99903367e-01 -1.72968001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939072329 meters 0.07496652706272541 Centerline is valid? [True, True] Translation: X:58.06, Y:-1.15, Z:-1.73 [[ 9.94077187e-01 -1.07698841e-01 -1.45432731e-02 5.80584780e+01] [ 1.07687313e-01 9.94183564e-01 -1.57574453e-03 -1.14761623e+00] [ 1.46283889e-02 2.85689254e-07 9.99892999e-01 -1.73091333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.969072329 meters 0.07528320421484784 Centerline is valid? [True, True] Translation: X:58.09, Y:-1.15, Z:-1.73 [[ 9.93772146e-01 -1.10320430e-01 -1.56947582e-02 5.80872479e+01] [ 1.10307275e-01 9.93896072e-01 -1.70406362e-03 -1.14682474e+00] [ 1.57869515e-02 -3.77950449e-05 9.99875378e-01 -1.73120365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99907232899999 meters 0.07537430579191645 Centerline is valid? [True, True] Translation: X:58.12, Y:-1.15, Z:-1.73 [[ 9.93621765e-01 -1.11797294e-01 -1.47361045e-02 5.81154755e+01] [ 1.11785852e-01 9.93731031e-01 -1.60043629e-03 -1.14588202e+00] [ 1.48226488e-02 -5.70596707e-05 9.99890137e-01 -1.73103061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02907232899999 meters 0.0752984362766171 Centerline is valid? [True, True] Translation: X:58.14, Y:-1.14, Z:-1.73 [[ 9.93469788e-01 -1.13214857e-01 -1.41483494e-02 5.81436026e+01] [ 1.13204386e-01 9.93570527e-01 -1.54137673e-03 -1.14350741e+00] [ 1.42318897e-02 -7.03439937e-05 9.99898719e-01 -1.72900172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05907232899999 meters 0.07526914314407404 Centerline is valid? [True, True] Translation: X:58.17, Y:-1.14, Z:-1.73 [[ 9.93294719e-01 -1.14840366e-01 -1.33150640e-02 5.81718873e+01] [ 1.14831190e-01 9.93383956e-01 -1.45417526e-03 -1.14029104e+00] [ 1.33939689e-02 -8.45600349e-05 9.99910293e-01 -1.72880296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08907232899999 meters 0.07526596259070342 Centerline is valid? [True, True] Translation: X:58.20, Y:-1.14, Z:-1.73 [[ 9.93197733e-01 -1.15626416e-01 -1.37402957e-02 5.82008420e+01] [ 1.15616677e-01 9.93292768e-01 -1.50369681e-03 -1.13612827e+00] [ 1.38220035e-02 -9.51390778e-05 9.99904467e-01 -1.72853623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11907232899999 meters 0.07579822788285011 Centerline is valid? [True, True] Translation: X:58.23, Y:-1.13, Z:-1.73 [[ 9.93109327e-01 -1.16214051e-01 -1.51049546e-02 5.82289463e+01] [ 1.16202332e-01 9.93224185e-01 -1.65418923e-03 -1.13468989e+00] [ 1.51948462e-02 -1.12440195e-04 9.99884545e-01 -1.73281850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14907232899999 meters 0.07573355686084945 Centerline is valid? [True, True] Translation: X:58.26, Y:-1.13, Z:-1.73 [[ 9.92996264e-01 -1.16796393e-01 -1.78051162e-02 5.82573893e+01] [ 1.16780121e-01 9.93155871e-01 -1.95451157e-03 -1.13057043e+00] [ 1.79115355e-02 -1.38460925e-04 9.99839566e-01 -1.73325380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.179072329 meters 0.0762229879456054 Centerline is valid? [True, True] Translation: X:58.29, Y:-1.13, Z:-1.74 [[ 9.92922498e-01 -1.17493976e-01 -1.73227685e-02 5.82855918e+01] [ 1.17478668e-01 9.93073585e-01 -1.90218724e-03 -1.12797665e+00] [ 1.74262793e-02 -1.46331264e-04 9.99848140e-01 -1.73761388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.209072329 meters 0.07584943755901173 Centerline is valid? [True, True] Translation: X:58.31, Y:-1.12, Z:-1.74 [[ 9.92921747e-01 -1.17467869e-01 -1.75414808e-02 5.83135716e+01] [ 1.17452069e-01 9.93076674e-01 -1.93183805e-03 -1.12098403e+00] [ 1.76469643e-02 -1.42119192e-04 9.99844270e-01 -1.73689298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239072329 meters 0.07584535046388029 Centerline is valid? [True, True] Translation: X:58.34, Y:-1.12, Z:-1.74 [[ 9.92859178e-01 -1.18055791e-01 -1.71313649e-02 5.83414619e+01] [ 1.18040730e-01 9.93006953e-01 -1.89119700e-03 -1.11807966e+00] [ 1.72348312e-02 -1.44506520e-04 9.99851459e-01 -1.73686623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.269072329 meters 0.07589998665503465 Centerline is valid? [True, True] Translation: X:58.37, Y:-1.11, Z:-1.74 [[ 9.92887188e-01 -1.17746269e-01 -1.76308803e-02 5.83689769e+01] [ 1.17730187e-01 9.93043703e-01 -1.95089730e-03 -1.11442008e+00] [ 1.77379455e-02 -1.38665904e-04 9.99842661e-01 -1.73582244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299072329 meters 0.07565438161323405 Centerline is valid? [True, True] Translation: X:58.40, Y:-1.11, Z:-1.73 [[ 9.92984431e-01 -1.16791201e-01 -1.84860703e-02 5.83979203e+01] [ 1.16773278e-01 9.93156483e-01 -2.04972804e-03 -1.11012093e+00] [ 1.85989508e-02 -1.23331005e-04 9.99827017e-01 -1.73443613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.329072329 meters 0.07606656026941087 Centerline is valid? [True, True] Translation: X:58.43, Y:-1.11, Z:-1.74 [[ 9.93123943e-01 -1.15410169e-01 -1.96297494e-02 5.84256629e+01] [ 1.15389676e-01 9.93317916e-01 -2.17725464e-03 -1.10522214e+00] [ 1.97498591e-02 -1.02786709e-04 9.99804947e-01 -1.73808792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35907232899999 meters 0.07553668373953006 Centerline is valid? [True, True] Translation: X:58.45, Y:-1.10, Z:-1.74 [[ 9.93322070e-01 -1.13708867e-01 -1.95335379e-02 5.84540555e+01] [ 1.13688140e-01 9.93514111e-01 -2.17194865e-03 -1.09859885e+00] [ 1.96538153e-02 -6.32870566e-05 9.99806843e-01 -1.73603691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38907232899999 meters 0.07532805276726745 Centerline is valid? [True, True] Translation: X:58.48, Y:-1.09, Z:-1.73 [[ 9.93585370e-01 -1.11559680e-01 -1.85081221e-02 5.84821217e+01] [ 1.11540614e-01 9.93757736e-01 -2.06249895e-03 -1.09141485e+00] [ 1.86226813e-02 -1.51385243e-05 9.99826583e-01 -1.73442347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41907232899999 meters 0.07539207995356449 Centerline is valid? [True, True] Translation: X:58.51, Y:-1.08, Z:-1.74 [[ 9.93914000e-01 -1.08755449e-01 -1.75274934e-02 5.85095433e+01] [ 1.08737901e-01 9.94068534e-01 -1.95391827e-03 -1.08299326e+00] [ 1.76360289e-02 3.61238849e-05 9.99844472e-01 -1.73672596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44907232899999 meters 0.07585725429535338 Centerline is valid? [True, True] Translation: X:58.54, Y:-1.07, Z:-1.74 [[ 9.94804640e-01 -1.00424601e-01 -1.66921391e-02 5.85360294e+01] [ 1.00407490e-01 9.94944656e-01 -1.86215256e-03 -1.06717845e+00] [ 1.67947605e-02 1.76462217e-04 9.99858942e-01 -1.73762282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47907232899999 meters 0.07643364574964327 Centerline is valid? [True, True] Translation: X:58.56, Y:-1.06, Z:-1.74 [[ 9.95221673e-01 -9.61788128e-02 -1.68361869e-02 5.85637757e+01] [ 9.61607734e-02 9.95364040e-01 -1.87963782e-03 -1.05936731e+00] [ 1.69389164e-02 2.51675540e-04 9.99856495e-01 -1.73603469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50907232899999 meters 0.07842413084494024 Centerline is valid? [True, True] Translation: X:58.59, Y:-1.05, Z:-1.74 [[ 9.95833055e-01 -8.93533562e-02 -1.82346754e-02 5.85909716e+01] [ 8.93310410e-02 9.95999909e-01 -2.03629178e-03 -1.04599224e+00] [ 1.83436846e-02 3.98884127e-04 9.99831661e-01 -1.73851791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53907232899999 meters 0.07846002117906486 Centerline is valid? [True, True] Translation: X:58.62, Y:-1.04, Z:-1.74 [[ 9.96127561e-01 -8.62187511e-02 -1.72107095e-02 5.86193743e+01] [ 8.61983154e-02 9.96276135e-01 -1.92707804e-03 -1.04064540e+00] [ 1.73127694e-02 4.36081380e-04 9.99850028e-01 -1.73513408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.569072329 meters 0.07904788091205185 Centerline is valid? [True, True] Translation: X:58.65, Y:-1.03, Z:-1.73 [[ 9.96337416e-01 -8.40115333e-02 -1.59315950e-02 5.86478792e+01] [ 8.39936796e-02 9.96464684e-01 -1.78766270e-03 -1.03318316e+00] [ 1.60254561e-02 4.42961949e-04 9.99871486e-01 -1.73400702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599072329 meters 0.07984582469427338 Centerline is valid? [True, True] Translation: X:58.68, Y:-1.03, Z:-1.73 [[ 9.96580139e-01 -8.13196998e-02 -1.46674337e-02 5.86752561e+01] [ 8.13042689e-02 9.96687968e-01 -1.64628740e-03 -1.02578532e+00] [ 1.47527303e-02 4.48132353e-04 9.99891072e-01 -1.73274904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.629072329 meters 0.08102772606933109 Centerline is valid? [True, True] Translation: X:58.70, Y:-1.02, Z:-1.73 [[ 9.96862188e-01 -7.79840267e-02 -1.35746242e-02 5.87030333e+01] [ 7.79704937e-02 9.96954502e-01 -1.52414230e-03 -1.01755477e+00] [ 1.36521414e-02 4.60939684e-04 9.99906699e-01 -1.73141034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659072329 meters 0.08128356997507943 Centerline is valid? [True, True] Translation: X:58.73, Y:-1.01, Z:-1.73 [[ 9.96875017e-01 -7.78108815e-02 -1.36259831e-02 5.87316492e+01] [ 7.77971736e-02 9.96968027e-01 -1.53400105e-03 -1.01322533e+00] [ 1.37040314e-02 4.69144353e-04 9.99905985e-01 -1.73291860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.689072329 meters 0.0816209717028384 Centerline is valid? [True, True] Translation: X:58.76, Y:-1.01, Z:-1.74 [[ 9.96849363e-01 -7.78977389e-02 -1.49428766e-02 5.87600823e+01] [ 7.78812138e-02 9.96961221e-01 -1.68551670e-03 -1.00890819e+00] [ 1.50287664e-02 5.16436883e-04 9.99886928e-01 -1.73503589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719072329 meters 0.08045870867300046 Centerline is valid? [True, True] Translation: X:58.79, Y:-1.01, Z:-1.74 [[ 9.96752204e-01 -7.89527876e-02 -1.58587565e-02 5.87890080e+01] [ 7.89342424e-02 9.96878213e-01 -1.79293149e-03 -1.00946245e+00] [ 1.59508058e-02 5.35309484e-04 9.99872635e-01 -1.73559521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74907232899999 meters 0.07994709375237401 Centerline is valid? [True, True] Translation: X:58.82, Y:-1.01, Z:-1.74 [[ 9.96639303e-01 -8.04852529e-02 -1.52388915e-02 5.88183797e+01] [ 8.04682532e-02 9.96755677e-01 -1.72643098e-03 -1.00800418e+00] [ 1.53284039e-02 4.94381988e-04 9.99882391e-01 -1.73553331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77907232899999 meters 0.07932117046570684 Centerline is valid? [True, True] Translation: X:58.85, Y:-1.01, Z:-1.73 [[ 9.96530803e-01 -8.19772994e-02 -1.43555150e-02 5.88480680e+01] [ 8.19623219e-02 9.96634097e-01 -1.62956109e-03 -1.00758513e+00] [ 1.44407828e-02 4.47296473e-04 9.99895626e-01 -1.73402307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80907232899999 meters 0.07913907301421362 Centerline is valid? [True, True] Translation: X:58.88, Y:-1.01, Z:-1.73 [[ 9.96318413e-01 -8.45125995e-02 -1.43958338e-02 5.88762339e+01] [ 8.44977956e-02 9.96422325e-01 -1.63459069e-03 -1.00715843e+00] [ 1.44824737e-02 4.12156582e-04 9.99895039e-01 -1.73489999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83907232899999 meters 0.0789221222676468 Centerline is valid? [True, True] Translation: X:58.91, Y:-1.01, Z:-1.74 [[ 9.96205417e-01 -8.57138577e-02 -1.50963925e-02 5.89053681e+01] [ 8.56976501e-02 9.96319708e-01 -1.71844700e-03 -1.00588490e+00] [ 1.51881281e-02 4.18200844e-04 9.99884566e-01 -1.73592412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86907232899999 meters 0.07807488193567819 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.01, Z:-1.73 [[ 9.96130100e-01 -8.64359519e-02 -1.59264239e-02 5.89338671e+01] [ 8.64179304e-02 9.96257315e-01 -1.81759597e-03 -1.00654202e+00] [ 1.60239220e-02 4.34233466e-04 9.99871514e-01 -1.73436579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89907232899999 meters 0.07828370369960319 Centerline is valid? [True, True] Translation: X:58.96, Y:-1.00, Z:-1.74 [[ 9.95966292e-01 -8.83176578e-02 -1.58472936e-02 5.89619839e+01] [ 8.83000339e-02 9.96092279e-01 -1.80975214e-03 -1.00392922e+00] [ 1.59451998e-02 4.03135575e-04 9.99872786e-01 -1.73756568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.929072329 meters 0.07824204464956744 Centerline is valid? [True, True] Translation: X:58.99, Y:-1.00, Z:-1.74 [[ 9.95915079e-01 -8.88866491e-02 -1.58845522e-02 5.89901082e+01] [ 8.88689343e-02 9.96041668e-01 -1.81902959e-03 -1.00198059e+00] [ 1.59833633e-02 3.99955776e-04 9.99872178e-01 -1.73827156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.959072329 meters 0.07756562922905448 Centerline is valid? [True, True] Translation: X:59.02, Y:-1.00, Z:-1.74 [[ 9.95820698e-01 -9.00850000e-02 -1.50276773e-02 5.90192558e+01] [ 9.00692281e-02 9.95934014e-01 -1.72442877e-03 -1.00243047e+00] [ 1.51219201e-02 3.63690572e-04 9.99885591e-01 -1.73715595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.989072329 meters 0.07732879174524736 Centerline is valid? [True, True] Translation: X:59.05, Y:-1.00, Z:-1.74 [[ 9.95800897e-01 -9.01818772e-02 -1.57417564e-02 5.90481922e+01] [ 9.01645222e-02 9.95925239e-01 -1.81018704e-03 -1.00194126e+00] [ 1.58408586e-02 3.83237935e-04 9.99874452e-01 -1.73606593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019072329 meters 0.07774554896822007 Centerline is valid? [True, True] Translation: X:59.08, Y:-1.00, Z:-1.74 [[ 9.95819678e-01 -9.00306445e-02 -1.54159962e-02 5.90750613e+01] [ 9.00139636e-02 9.95938924e-01 -1.77393596e-03 -9.98692520e-01] [ 1.55130993e-02 3.78865415e-04 9.99879593e-01 -1.73771166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.049072329 meters 0.07813645984972797 Centerline is valid? [True, True] Translation: X:59.10, Y:-0.99, Z:-1.74 [[ 9.95894009e-01 -8.90544638e-02 -1.62611578e-02 5.91034453e+01] [ 8.90357022e-02 9.96026669e-01 -1.87554489e-03 -9.94981580e-01] [ 1.63635725e-02 4.20020319e-04 9.99866020e-01 -1.73889222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079072329 meters 0.07790468755661573 Centerline is valid? [True, True] Translation: X:59.13, Y:-0.99, Z:-1.74 [[ 9.95945876e-01 -8.85424196e-02 -1.58761595e-02 5.91322024e+01] [ 8.85244088e-02 9.96072318e-01 -1.83503196e-03 -9.92978688e-01] [ 1.59762812e-02 4.22164876e-04 9.99872282e-01 -1.73856055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10907232899999 meters 0.07790468755661573 Centerline is valid? [True, True] Translation: X:59.16, Y:-0.99, Z:-1.74 [[ 9.95921817e-01 -8.88127148e-02 -1.58756392e-02 5.91597066e+01] [ 8.87946667e-02 9.96048253e-01 -1.83953025e-03 -9.89592717e-01] [ 1.59762764e-02 4.22356220e-04 9.99872282e-01 -1.73871478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13907232899999 meters 0.07909976360966019 Centerline is valid? [True, True] Translation: X:59.19, Y:-0.98, Z:-1.74 [[ 9.96155181e-01 -8.60523120e-02 -1.64272390e-02 5.91874245e+01] [ 8.60326133e-02 9.96290503e-01 -1.90340247e-03 -9.83516226e-01] [ 1.65300944e-02 4.82805933e-04 9.99863252e-01 -1.74219652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16907232899999 meters 0.07911325956363523 Centerline is valid? [True, True] Translation: X:59.22, Y:-0.98, Z:-1.74 [[ 9.96212862e-01 -8.54525449e-02 -1.60560510e-02 5.92162147e+01] [ 8.54335722e-02 9.96342123e-01 -1.86512699e-03 -9.81187863e-01] [ 1.61566997e-02 4.86337711e-04 9.99869354e-01 -1.74194068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19907232899999 meters 0.07946831160807213 Centerline is valid? [True, True] Translation: X:59.25, Y:-0.98, Z:-1.74 [[ 9.96294111e-01 -8.46214735e-02 -1.54029447e-02 5.92453260e+01] [ 8.46038570e-02 9.96413053e-01 -1.79292092e-03 -9.77407181e-01] [ 1.54994147e-02 4.83128025e-04 9.99879760e-01 -1.74174418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22907232899999 meters 0.08005164928588397 Centerline is valid? [True, True] Translation: X:59.27, Y:-0.97, Z:-1.74 [[ 9.96486052e-01 -8.26077213e-02 -1.38388018e-02 5.92739988e+01] [ 8.25932603e-02 9.96582033e-01 -1.61422318e-03 -9.73752669e-01] [ 1.39248485e-02 4.65559123e-04 9.99902936e-01 -1.74110352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25907232899999 meters 0.08035634994826045 Centerline is valid? [True, True] Translation: X:59.30, Y:-0.97, Z:-1.74 [[ 9.96522262e-01 -8.22480352e-02 -1.33656830e-02 5.93026622e+01] [ 8.22344713e-02 9.96611786e-01 -1.56219843e-03 -9.69374990e-01] [ 1.34488850e-02 4.57645643e-04 9.99909455e-01 -1.74205070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28907232899999 meters 0.0809964880914526 Centerline is valid? [True, True] Translation: X:59.33, Y:-0.96, Z:-1.74 [[ 9.96650144e-01 -8.07413996e-02 -1.30122076e-02 5.93313985e+01] [ 8.07283752e-02 9.96734973e-01 -1.52395164e-03 -9.64344885e-01] [ 1.30927684e-02 4.68392244e-04 9.99914176e-01 -1.74197931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.319072329 meters 0.08212171516419159 Centerline is valid? [True, True] Translation: X:59.36, Y:-0.96, Z:-1.74 [[ 9.96793308e-01 -7.88898037e-02 -1.33977281e-02 5.93596868e+01] [ 7.88758344e-02 9.96883214e-01 -1.56870511e-03 -9.57950372e-01] [ 1.34797251e-02 5.06917773e-04 9.99909016e-01 -1.74335769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.349072329 meters 0.08435004893591581 Centerline is valid? [True, True] Translation: X:59.39, Y:-0.95, Z:-1.74 [[ 9.97111630e-01 -7.46583423e-02 -1.39474026e-02 5.93883011e+01] [ 7.46427850e-02 9.97208998e-01 -1.63341174e-03 -9.49790848e-01] [ 1.40304232e-02 5.87620870e-04 9.99901396e-01 -1.74456023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379072329 meters 0.08519485089702232 Centerline is valid? [True, True] Translation: X:59.42, Y:-0.95, Z:-1.74 [[ 9.97231312e-01 -7.30951750e-02 -1.36676843e-02 5.94167558e+01] [ 7.30800314e-02 9.97324788e-01 -1.60482764e-03 -9.45181526e-01] [ 1.37484255e-02 6.01549576e-04 9.99905305e-01 -1.74459457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.409072329 meters 0.08628847805304722 Centerline is valid? [True, True] Translation: X:59.44, Y:-0.94, Z:-1.74 [[ 9.97340659e-01 -7.16466810e-02 -1.33552491e-02 5.94447268e+01] [ 7.16320781e-02 9.97429889e-01 -1.56920087e-03 -9.40637477e-01] [ 1.34333526e-02 6.08363585e-04 9.99909583e-01 -1.74407335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439072329 meters 0.08871576656039612 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.93, Z:-1.74 [[ 9.97550452e-01 -6.88932224e-02 -1.21168766e-02 5.94721890e+01] [ 6.88809932e-02 9.97623867e-01 -1.42421362e-03 -9.33104198e-01] [ 1.21862039e-02 5.86102453e-04 9.99925574e-01 -1.74393597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.469072329 meters 0.08891519575845938 Centerline is valid? [True, True] Translation: X:59.50, Y:-0.93, Z:-1.74 [[ 9.97628953e-01 -6.80266485e-02 -1.04329770e-02 5.95005359e+01] [ 6.80175010e-02 9.97683371e-01 -1.22952785e-03 -9.29360474e-01] [ 1.04924483e-02 5.16987558e-04 9.99944819e-01 -1.74292166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49907232899999 meters 0.0905634336810931 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.92, Z:-1.74 [[ 9.97733693e-01 -6.65819917e-02 -9.71161538e-03 5.95275054e+01] [ 6.65739968e-02 9.97780834e-01 -1.14456607e-03 -9.22548364e-01] [ 9.76627118e-03 4.95431080e-04 9.99952186e-01 -1.74362356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52907232899999 meters 0.09163357907509574 Centerline is valid? [True, True] Translation: X:59.56, Y:-0.92, Z:-1.74 [[ 9.97821225e-01 -6.52815462e-02 -9.54586594e-03 5.95556290e+01] [ 6.52737555e-02 9.97866759e-01 -1.12576428e-03 -9.17764469e-01] [ 9.59899395e-03 5.00216973e-04 9.99953803e-01 -1.74442785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55907232899999 meters 0.09248307962896526 Centerline is valid? [True, True] Translation: X:59.58, Y:-0.91, Z:-1.75 [[ 9.97818775e-01 -6.51802549e-02 -1.04511643e-02 5.95827163e+01] [ 6.51708932e-02 9.97873354e-01 -1.23419949e-03 -9.13124564e-01] [ 1.05093838e-02 5.50395709e-04 9.99944623e-01 -1.74710125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58907232899999 meters 0.0923832106656516 Centerline is valid? [True, True] Translation: X:59.61, Y:-0.91, Z:-1.75 [[ 9.97774914e-01 -6.57291143e-02 -1.11760851e-02 5.96111853e+01] [ 6.57184060e-02 9.97837332e-01 -1.32310363e-03 -9.10043676e-01] [ 1.12388814e-02 5.85685112e-04 9.99936670e-01 -1.74841910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61907232899999 meters 0.09246743322711 Centerline is valid? [True, True] Translation: X:59.64, Y:-0.91, Z:-1.75 [[ 9.97770480e-01 -6.57008564e-02 -1.17245988e-02 5.96403451e+01] [ 6.56890425e-02 9.97839174e-01 -1.39030402e-03 -9.07140636e-01] [ 1.17906082e-02 6.17026635e-04 9.99930298e-01 -1.74881202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64907232899999 meters 0.09220562947679703 Centerline is valid? [True, True] Translation: X:59.67, Y:-0.91, Z:-1.75 [[ 9.97665138e-01 -6.72605708e-02 -1.18443414e-02 5.96683700e+01] [ 6.72486164e-02 9.97735260e-01 -1.40513505e-03 -9.06597786e-01] [ 1.19120272e-02 6.05338684e-04 9.99928866e-01 -1.74995996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.679072329 meters 0.08657046430452467 Centerline is valid? [True, True] Translation: X:59.70, Y:-0.92, Z:-1.75 [[ 9.97503939e-01 -6.96389319e-02 -1.16751896e-02 5.96992756e+01] [ 6.96274791e-02 9.97572101e-01 -1.38506202e-03 -9.16609882e-01] [ 1.17432976e-02 5.68690802e-04 9.99930883e-01 -1.74675437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.709072329 meters 0.0898511329265968 Centerline is valid? [True, True] Translation: X:59.73, Y:-0.91, Z:-1.75 [[ 9.97339484e-01 -7.20107335e-02 -1.13317155e-02 5.97274093e+01] [ 7.20000931e-02 9.97403719e-01 -1.34469175e-03 -9.07169385e-01] [ 1.13991274e-02 5.25229599e-04 9.99934890e-01 -1.75042205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739072329 meters 0.08588301748447359 Centerline is valid? [True, True] Translation: X:59.76, Y:-0.91, Z:-1.75 [[ 9.97106990e-01 -7.51305605e-02 -1.15346670e-02 5.97589600e+01] [ 7.51197429e-02 9.97173581e-01 -1.36885888e-03 -9.14987955e-01] [ 1.16049083e-02 4.98417538e-04 9.99932537e-01 -1.74904047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.769072329 meters 0.08379814152059256 Centerline is valid? [True, True] Translation: X:59.79, Y:-0.92, Z:-1.75 [[ 9.96950064e-01 -7.72956890e-02 -1.07678501e-02 5.97890859e+01] [ 7.72863510e-02 9.97008113e-01 -1.28126970e-03 -9.17440628e-01] [ 1.08346705e-02 4.45154065e-04 9.99941204e-01 -1.74771088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799072329 meters 0.08222154730877944 Centerline is valid? [True, True] Translation: X:59.82, Y:-0.92, Z:-1.75 [[ 9.96779075e-01 -7.95159572e-02 -1.04253629e-02 5.98189800e+01] [ 7.95073004e-02 9.96833509e-01 -1.24286574e-03 -9.18267781e-01] [ 1.04911787e-02 4.09970106e-04 9.99944882e-01 -1.74830476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.829072329 meters 0.0813153009303855 Centerline is valid? [True, True] Translation: X:59.85, Y:-0.92, Z:-1.75 [[ 9.96520016e-01 -8.27220681e-02 -1.02428647e-02 5.98484360e+01] [ 8.27138876e-02 9.96572588e-01 -1.22044069e-03 -9.20443356e-01] [ 1.03087155e-02 3.68966420e-04 9.99946796e-01 -1.74838232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85907232899999 meters 0.08009531653681536 Centerline is valid? [True, True] Translation: X:59.88, Y:-0.92, Z:-1.75 [[ 9.96394741e-01 -8.42713420e-02 -9.79090707e-03 5.98780626e+01] [ 8.42639078e-02 9.96442785e-01 -1.17008998e-03 -9.22121015e-01] [ 9.85468377e-03 3.40851416e-04 9.99951383e-01 -1.74660672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88907232899999 meters 0.08023909348491995 Centerline is valid? [True, True] Translation: X:59.91, Y:-0.92, Z:-1.75 [[ 9.96247039e-01 -8.60483180e-02 -9.35545127e-03 5.99063430e+01] [ 8.60415872e-02 9.96290916e-01 -1.12031889e-03 -9.18995245e-01] [ 9.41715267e-03 3.11156502e-04 9.99955609e-01 -1.74758639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91907232899999 meters 0.08176483833150758 Centerline is valid? [True, True] Translation: X:59.93, Y:-0.91, Z:-1.75 [[ 9.96110638e-01 -8.74951867e-02 -1.04013891e-02 5.99338375e+01] [ 8.74869471e-02 9.96164887e-01 -1.24541697e-03 -9.11827650e-01] [ 1.04704665e-02 3.30587316e-04 9.99945129e-01 -1.75300325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94907232899999 meters 0.07972815528067352 Centerline is valid? [True, True] Translation: X:59.96, Y:-0.91, Z:-1.75 [[ 9.96037642e-01 -8.83373515e-02 -1.02727331e-02 5.99635913e+01] [ 8.83293261e-02 9.96090563e-01 -1.23321290e-03 -9.13831800e-01] [ 1.03415112e-02 3.20942883e-04 9.99946474e-01 -1.75105176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97907232899999 meters 0.08068880956556586 Centerline is valid? [True, True] Translation: X:59.99, Y:-0.91, Z:-1.75 [[ 9.96080492e-01 -8.78663917e-02 -1.01563513e-02 5.99910221e+01] [ 8.78585225e-02 9.96132217e-01 -1.21925577e-03 -9.07839594e-01] [ 1.02242003e-02 3.22154870e-04 9.99947680e-01 -1.75296788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00907232899999 meters 0.08031873365432148 Centerline is valid? [True, True] Translation: X:60.02, Y:-0.91, Z:-1.75 [[ 9.96145754e-01 -8.74023132e-02 -7.38056003e-03 6.00206140e+01] [ 8.73981273e-02 9.96173066e-01 -8.88410344e-04 -9.06660653e-01] [ 7.42996423e-03 2.39939066e-04 9.99972369e-01 -1.74950081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03907232899999 meters 0.08009761280332586 Centerline is valid? [True, True] Translation: X:60.05, Y:-0.90, Z:-1.75 [[ 9.96111113e-01 -8.78194013e-02 -7.09946436e-03 6.00490675e+01] [ 8.78155232e-02 9.96136386e-01 -8.56741977e-04 -9.04382008e-01] [ 7.14727334e-03 2.29967028e-04 9.99974431e-01 -1.74904870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.069072329 meters 0.08035545785697093 Centerline is valid? [True, True] Translation: X:60.08, Y:-0.90, Z:-1.75 [[ 9.96071843e-01 -8.82817343e-02 -6.87153352e-03 6.00767850e+01] [ 8.82781150e-02 9.96095521e-01 -8.28837762e-04 -8.99846067e-01] [ 6.91787500e-03 2.18975931e-04 9.99976047e-01 -1.74987459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099072329 meters 0.08013879788186713 Centerline is valid? [True, True] Translation: X:60.11, Y:-0.90, Z:-1.75 [[ 9.96029848e-01 -8.86911342e-02 -7.64359330e-03 6.01050771e+01] [ 8.86866458e-02 9.96059147e-01 -9.24837007e-04 -8.95809185e-01] [ 7.69549587e-03 2.43280612e-04 9.99970360e-01 -1.75204043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.129072329 meters 0.08037178857216626 Centerline is valid? [True, True] Translation: X:60.13, Y:-0.89, Z:-1.75 [[ 9.95979155e-01 -8.93112970e-02 -7.00101291e-03 6.01329044e+01] [ 8.93075490e-02 9.96003737e-01 -8.46780903e-04 -8.91027416e-01] [ 7.04866213e-03 2.18132825e-04 9.99975134e-01 -1.75379320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159072329 meters 0.08030186664996566 Centerline is valid? [True, True] Translation: X:60.16, Y:-0.89, Z:-1.75 [[ 9.95945699e-01 -8.96829926e-02 -7.00898784e-03 6.01609881e+01] [ 8.96792261e-02 9.95970337e-01 -8.50468867e-04 -8.88217499e-01] [ 7.05701658e-03 2.18460204e-04 9.99975075e-01 -1.75480549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.189072329 meters 0.08003183438956321 Centerline is valid? [True, True] Translation: X:60.19, Y:-0.89, Z:-1.75 [[ 9.95752812e-01 -9.18425806e-02 -6.42483567e-03 6.01890833e+01] [ 9.18394629e-02 9.95773521e-01 -7.79240501e-04 -8.85989519e-01] [ 6.46924870e-03 1.85877463e-04 9.99979057e-01 -1.75490082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219072329 meters 0.07854105912756525 Centerline is valid? [True, True] Translation: X:60.22, Y:-0.89, Z:-1.75 [[ 9.95447596e-01 -9.50879699e-02 -6.50850298e-03 6.02187683e+01] [ 9.50848377e-02 9.95468859e-01 -7.89696460e-04 -8.89179734e-01] [ 6.55410267e-03 1.67241493e-04 9.99978508e-01 -1.75290070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24907232899999 meters 0.07753401190375175 Centerline is valid? [True, True] Translation: X:60.25, Y:-0.89, Z:-1.75 [[ 9.95236536e-01 -9.71974340e-02 -7.54299673e-03 6.02480064e+01] [ 9.71932681e-02 9.95265104e-01 -9.17777785e-04 -8.89727435e-01] [ 7.59648707e-03 1.80277480e-04 9.99971130e-01 -1.75352545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27907232899999 meters 0.07783542379908445 Centerline is valid? [True, True] Translation: X:60.28, Y:-0.89, Z:-1.76 [[ 9.95089104e-01 -9.86648671e-02 -7.93212527e-03 6.02754929e+01] [ 9.86603088e-02 9.95120702e-01 -9.64883760e-04 -8.85180733e-01] [ 7.98862220e-03 1.77559388e-04 9.99968075e-01 -1.75568005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30907232899999 meters 0.07697922470440192 Centerline is valid? [True, True] Translation: X:60.30, Y:-0.88, Z:-1.75 [[ 9.94969991e-01 -9.98599137e-02 -7.91922480e-03 6.03048327e+01] [ 9.98553873e-02 9.95001492e-01 -9.65908548e-04 -8.84805699e-01] [ 7.97609603e-03 1.70272761e-04 9.99968176e-01 -1.75480707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33907232899999 meters 0.07633789594551166 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.88, Z:-1.76 [[ 9.94654300e-01 -1.03016058e-01 -7.10745661e-03 6.03327959e+01] [ 1.03012491e-01 9.94679685e-01 -8.67155383e-04 -8.82697430e-01] [ 7.15897363e-03 1.30363023e-04 9.99974366e-01 -1.75534365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36907232899999 meters 0.07668307930997327 Centerline is valid? [True, True] Translation: X:60.36, Y:-0.88, Z:-1.76 [[ 9.94627012e-01 -1.03290492e-01 -6.94123433e-03 6.03605322e+01] [ 1.03287093e-01 9.94651225e-01 -8.47265495e-04 -8.77274842e-01] [ 6.99162170e-03 1.25773229e-04 9.99975550e-01 -1.75697787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39907232899999 meters 0.0762297899575261 Centerline is valid? [True, True] Translation: X:60.39, Y:-0.88, Z:-1.76 [[ 9.94523888e-01 -1.04260384e-01 -7.21167409e-03 6.03886279e+01] [ 1.04256721e-01 9.94550027e-01 -8.83026356e-04 -8.75388076e-01] [ 7.26443533e-03 1.26325309e-04 9.99973606e-01 -1.75617254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.429072329 meters 0.07574879525217104 Centerline is valid? [True, True] Translation: X:60.42, Y:-0.87, Z:-1.76 [[ 9.94381333e-01 -1.05555093e-01 -7.99289367e-03 6.04165254e+01] [ 1.05550639e-01 9.94413448e-01 -9.78190516e-04 -8.72070059e-01] [ 8.05149395e-03 1.29039351e-04 9.99967578e-01 -1.75704513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.459072329 meters 0.07533338596603824 Centerline is valid? [True, True] Translation: X:60.45, Y:-0.87, Z:-1.76 [[ 9.94279043e-01 -1.06537659e-01 -7.67534942e-03 6.04455949e+01] [ 1.06533561e-01 9.94308661e-01 -9.41922560e-04 -8.70143494e-01] [ 7.73201663e-03 1.18851552e-04 9.99970100e-01 -1.75609511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.489072329 meters 0.07509182695334166 Centerline is valid? [True, True] Translation: X:60.47, Y:-0.87, Z:-1.76 [[ 9.94105564e-01 -1.08141973e-01 -7.70984976e-03 6.04737046e+01] [ 1.08137889e-01 9.94135455e-01 -9.45955721e-04 -8.67420575e-01] [ 7.76693252e-03 1.06652971e-04 9.99969831e-01 -1.75662783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519072329 meters 0.07439895848159962 Centerline is valid? [True, True] Translation: X:60.50, Y:-0.87, Z:-1.76 [[ 9.93718475e-01 -1.11695776e-01 -6.90255010e-03 6.05027220e+01] [ 1.11692570e-01 9.93742446e-01 -8.49324741e-04 -8.66221704e-01] [ 6.95422300e-03 7.30261228e-05 9.99975816e-01 -1.75632947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.549072329 meters 0.07412713642991874 Centerline is valid? [True, True] Translation: X:60.53, Y:-0.86, Z:-1.76 [[ 9.93634863e-01 -1.12401786e-01 -7.45641016e-03 6.05309134e+01] [ 1.12398049e-01 9.93662837e-01 -9.19617134e-04 -8.62643421e-01] [ 7.51252427e-03 7.56776891e-05 9.99971778e-01 -1.75614960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579072329 meters 0.07393728365359575 Centerline is valid? [True, True] Translation: X:60.56, Y:-0.86, Z:-1.76 [[ 9.93507761e-01 -1.13548392e-01 -7.00650147e-03 6.05598165e+01] [ 1.13545110e-01 9.93532465e-01 -8.65684581e-04 -8.59092933e-01] [ 7.05948377e-03 6.45103672e-05 9.99975079e-01 -1.75526097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60907232899999 meters 0.0735600236178204 Centerline is valid? [True, True] Translation: X:60.59, Y:-0.86, Z:-1.75 [[ 9.93172418e-01 -1.16495320e-01 -6.11458323e-03 6.05872869e+01] [ 1.16492877e-01 9.93191240e-01 -7.55315723e-04 -8.56713500e-01] [ 6.16094125e-03 3.78533492e-05 9.99981021e-01 -1.75482996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63907232899999 meters 0.07349641603873595 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.85, Z:-1.75 [[ 9.92974115e-01 -1.18107537e-01 -7.28130551e-03 6.06155667e+01] [ 1.18104095e-01 9.93000810e-01 -9.02383469e-04 -8.53881743e-01] [ 7.33692055e-03 3.60914300e-05 9.99973084e-01 -1.75472017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66907232899999 meters 0.0735463848533276 Centerline is valid? [True, True] Translation: X:60.64, Y:-0.85, Z:-1.76 [[ 9.92761544e-01 -1.19805415e-01 -8.43673919e-03 6.06427046e+01] [ 1.19800861e-01 9.92797392e-01 -1.04500378e-03 -8.50011368e-01] [ 8.50116978e-03 2.67109507e-05 9.99963864e-01 -1.75745624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69907232899999 meters 0.07389970800417021 Centerline is valid? [True, True] Translation: X:60.67, Y:-0.84, Z:-1.76 [[ 9.92546602e-01 -1.21296504e-01 -1.17643959e-02 6.06697711e+01] [ 1.21287730e-01 9.92616320e-01 -1.45902437e-03 -8.44983248e-01] [ 1.18545059e-02 2.12727999e-05 9.99929733e-01 -1.76273921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72907232899999 meters 0.07384624222830175 Centerline is valid? [True, True] Translation: X:60.70, Y:-0.84, Z:-1.76 [[ 9.92364015e-01 -1.22752127e-01 -1.20655127e-02 6.06972081e+01] [ 1.22742975e-01 9.92437361e-01 -1.49891586e-03 -8.41548762e-01] [ 1.21582607e-02 6.51323385e-06 9.99926086e-01 -1.76130685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75907232899999 meters 0.07399808406633422 Centerline is valid? [True, True] Translation: X:60.72, Y:-0.84, Z:-1.76 [[ 9.92263106e-01 -1.23557423e-01 -1.21446507e-02 6.07239663e+01] [ 1.23548198e-01 9.92337424e-01 -1.50981750e-03 -8.38349694e-01] [ 1.22381406e-02 -2.31350695e-06 9.99925111e-01 -1.76305899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78907232899999 meters 0.07376014840213398 Centerline is valid? [True, True] Translation: X:60.75, Y:-0.83, Z:-1.76 [[ 9.92093429e-01 -1.24857693e-01 -1.26958457e-02 6.07526585e+01] [ 1.24847670e-01 9.92174660e-01 -1.58211667e-03 -8.34945759e-01] [ 1.27940359e-02 -1.54392049e-05 9.99918153e-01 -1.76103918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.819072329 meters 0.07390746867531252 Centerline is valid? [True, True] Translation: X:60.78, Y:-0.83, Z:-1.76 [[ 9.91677980e-01 -1.28114207e-01 -1.27096375e-02 6.07806703e+01] [ 1.28104426e-01 9.91759420e-01 -1.58405608e-03 -8.32664248e-01] [ 1.28078428e-02 -5.72872959e-05 9.99917975e-01 -1.76070056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.849072329 meters 0.07400121583672513 Centerline is valid? [True, True] Translation: X:60.81, Y:-0.83, Z:-1.76 [[ 9.91479961e-01 -1.29655167e-01 -1.25309570e-02 6.08082387e+01] [ 1.29645769e-01 9.91559142e-01 -1.56283121e-03 -8.29823504e-01] [ 1.26278141e-02 -7.50697336e-05 9.99920263e-01 -1.76058013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879072329 meters 0.07432858355123978 Centerline is valid? [True, True] Translation: X:60.84, Y:-0.83, Z:-1.76 [[ 9.91037576e-01 -1.32974415e-01 -1.27408229e-02 6.08374574e+01] [ 1.32964926e-01 9.91119464e-01 -1.59275529e-03 -8.27401821e-01] [ 1.28394733e-02 -1.15602227e-04 9.99917564e-01 -1.76044142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.909072329 meters 0.07446775679913356 Centerline is valid? [True, True] Translation: X:60.87, Y:-0.82, Z:-1.76 [[ 9.90813937e-01 -1.34513481e-01 -1.39235536e-02 6.08659054e+01] [ 1.34502254e-01 9.90911753e-01 -1.74389964e-03 -8.22800926e-01] [ 1.40315910e-02 -1.44869285e-04 9.99901542e-01 -1.75958743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939072329 meters 0.07474503018894005 Centerline is valid? [True, True] Translation: X:60.89, Y:-0.82, Z:-1.76 [[ 9.90585699e-01 -1.36199559e-01 -1.37714446e-02 6.08936696e+01] [ 1.36188734e-01 9.90681408e-01 -1.72517159e-03 -8.18479741e-01] [ 1.38780817e-02 -1.66585297e-04 9.99903681e-01 -1.76111042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.969072329 meters 0.07464745590331757 Centerline is valid? [True, True] Translation: X:60.92, Y:-0.81, Z:-1.76 [[ 9.90481707e-01 -1.36881023e-01 -1.44766600e-02 6.09219627e+01] [ 1.36869069e-01 9.90587479e-01 -1.81795177e-03 -8.12323903e-01] [ 1.45892412e-02 -1.80759007e-04 9.99893555e-01 -1.75948946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99907232899999 meters 0.07519295557037504 Centerline is valid? [True, True] Translation: X:60.95, Y:-0.81, Z:-1.76 [[ 9.90230122e-01 -1.38683890e-01 -1.45287253e-02 6.09492189e+01] [ 1.38672039e-01 9.90336678e-01 -1.82486528e-03 -8.08258169e-01] [ 1.46414089e-02 -2.07691383e-04 9.99892787e-01 -1.76135778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02907232899999 meters 0.07519295557037504 Centerline is valid? [True, True] Translation: X:60.98, Y:-0.80, Z:-1.76 [[ 9.90193649e-01 -1.38944131e-01 -1.45281216e-02 6.09766836e+01] [ 1.38932237e-01 9.90300200e-01 -1.82966736e-03 -8.04588651e-01] [ 1.46414232e-02 -2.06699427e-04 9.99892787e-01 -1.76151263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05907232899999 meters 0.07497629696867136 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.80, Z:-1.76 [[ 9.90105809e-01 -1.39497252e-01 -1.51988332e-02 6.10047804e+01] [ 1.39484246e-01 9.90222433e-01 -1.91766167e-03 -7.98988689e-01] [ 1.53177341e-02 -2.21309819e-04 9.99882652e-01 -1.75883847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08907232899999 meters 0.07516510539871159 Centerline is valid? [True, True] Translation: X:61.03, Y:-0.80, Z:-1.76 [[ 9.90041737e-01 -1.39946105e-01 -1.52461992e-02 6.10327405e+01] [ 1.39933064e-01 9.90159096e-01 -1.92407664e-03 -7.95427708e-01] [ 1.53654298e-02 -2.28531190e-04 9.99881919e-01 -1.75878301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11907232899999 meters 0.07550612444934279 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.79, Z:-1.76 [[ 9.89816850e-01 -1.41403520e-01 -1.63599343e-02 6.10611051e+01] [ 1.41388626e-01 9.89952006e-01 -2.06928297e-03 -7.90217417e-01] [ 1.64881537e-02 -2.64897485e-04 9.99864026e-01 -1.75799454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14907232899999 meters 0.07526199225532625 Centerline is valid? [True, True] Translation: X:61.09, Y:-0.78, Z:-1.76 [[ 9.89772105e-01 -1.41615914e-01 -1.72079670e-02 6.10893167e+01] [ 1.41599397e-01 9.89921641e-01 -2.18064100e-03 -7.82956742e-01] [ 1.73433524e-02 -2.78300125e-04 9.99849554e-01 -1.75830327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.179072329 meters 0.07542861626308962 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.78, Z:-1.76 [[ 9.89661337e-01 -1.42356980e-01 -1.74622149e-02 6.11176881e+01] [ 1.42340013e-01 9.89815339e-01 -2.21701410e-03 -7.77252901e-01] [ 1.75999756e-02 -2.91478767e-04 9.99845066e-01 -1.75907293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.209072329 meters 0.07552084969890949 Centerline is valid? [True, True] Translation: X:61.15, Y:-0.77, Z:-1.76 [[ 9.89532018e-01 -1.43051023e-01 -1.90470498e-02 6.11459571e+01] [ 1.43030879e-01 9.89715261e-01 -2.42276847e-03 -7.67666911e-01] [ 1.91977354e-02 -3.26909295e-04 9.99815653e-01 -1.75967178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239072329 meters 0.0753618970454675 Centerline is valid? [True, True] Translation: X:61.17, Y:-0.76, Z:-1.76 [[ 9.89498175e-01 -1.43272204e-01 -1.91425758e-02 6.11735965e+01] [ 1.43251792e-01 9.89683267e-01 -2.44040778e-03 -7.62228850e-01] [ 1.92947296e-02 -3.27429250e-04 9.99813786e-01 -1.75994669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.269072329 meters 0.07528048969079884 Centerline is valid? [True, True] Translation: X:61.20, Y:-0.76, Z:-1.76 [[ 9.89427007e-01 -1.43639298e-01 -2.00486681e-02 6.12015303e+01] [ 1.43616970e-01 9.89630047e-01 -2.55657746e-03 -7.56923763e-01] [ 2.02079894e-02 -3.49782188e-04 9.99795737e-01 -1.75902892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299072329 meters 0.07588211932747839 Centerline is valid? [True, True] Translation: X:61.23, Y:-0.75, Z:-1.76 [[ 9.89207004e-01 -1.44654165e-01 -2.33382910e-02 6.12297602e+01] [ 1.44624168e-01 9.89482181e-01 -2.97701718e-03 -7.51775903e-01] [ 2.35234610e-02 -4.30394668e-04 9.99723192e-01 -1.76169615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.329072329 meters 0.07617446471518957 Centerline is valid? [True, True] Translation: X:61.26, Y:-0.75, Z:-1.76 [[ 9.89070371e-01 -1.45432088e-01 -2.42756922e-02 6.12577042e+01] [ 1.45399811e-01 9.89368128e-01 -3.09888454e-03 -7.46450380e-01] [ 2.44682734e-02 -4.64666174e-04 9.99700499e-01 -1.76262068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35907232899999 meters 0.07666800631824823 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.74, Z:-1.77 [[ 9.88956379e-01 -1.46074058e-01 -2.50529436e-02 6.12851728e+01] [ 1.46039833e-01 9.89273534e-01 -3.20024828e-03 -7.42135078e-01] [ 2.52516874e-02 -4.93821753e-04 9.99681003e-01 -1.76525265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38907232899999 meters 0.07681582333061196 Centerline is valid? [True, True] Translation: X:61.31, Y:-0.74, Z:-1.76 [[ 9.88671146e-01 -1.47886823e-01 -2.56681075e-02 6.13131240e+01] [ 1.47851450e-01 9.89004137e-01 -3.28102852e-03 -7.36378937e-01] [ 2.58710854e-02 -5.51208672e-04 9.99665135e-01 -1.76311301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41907232899999 meters 0.07682956669486274 Centerline is valid? [True, True] Translation: X:61.34, Y:-0.73, Z:-1.76 [[ 9.88557455e-01 -1.48605298e-01 -2.58963980e-02 6.13416256e+01] [ 1.48569354e-01 9.88896427e-01 -3.31728479e-03 -7.32095489e-01] [ 2.61018215e-02 -5.68084505e-04 9.99659128e-01 -1.76255837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44907232899999 meters 0.07668840846469381 Centerline is valid? [True, True] Translation: X:61.37, Y:-0.73, Z:-1.76 [[ 9.88609466e-01 -1.48262764e-01 -2.58742262e-02 6.13703288e+01] [ 1.48226601e-01 9.88947849e-01 -3.32070972e-03 -7.26213628e-01] [ 2.60805979e-02 -5.52363547e-04 9.99659691e-01 -1.76171396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47907232899999 meters 0.0763065550480218 Centerline is valid? [True, True] Translation: X:61.40, Y:-0.72, Z:-1.76 [[ 9.88631346e-01 -1.47989951e-01 -2.65901440e-02 6.13981653e+01] [ 1.47951622e-01 9.88988707e-01 -3.41403182e-03 -7.20004028e-01] [ 2.68025946e-02 -5.58836055e-04 9.99640590e-01 -1.76079100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50907232899999 meters 0.07635037105997587 Centerline is valid? [True, True] Translation: X:61.42, Y:-0.71, Z:-1.76 [[ 9.88928435e-01 -1.45915347e-01 -2.70048534e-02 6.14248349e+01] [ 1.45874975e-01 9.89296949e-01 -3.46961831e-03 -7.10632758e-01] [ 2.72220896e-02 -5.08128123e-04 9.99629281e-01 -1.76320939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53907232899999 meters 0.07629236297611365 Centerline is valid? [True, True] Translation: X:61.45, Y:-0.70, Z:-1.77 [[ 9.89224075e-01 -1.43739422e-01 -2.78335881e-02 6.14523287e+01] [ 1.43695607e-01 9.89615464e-01 -3.57841770e-03 -7.03458997e-01] [ 2.80589089e-02 -4.59707416e-04 9.99606166e-01 -1.76509810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.569072329 meters 0.07580058120537808 Centerline is valid? [True, True] Translation: X:61.48, Y:-0.70, Z:-1.76 [[ 9.89420444e-01 -1.42489852e-01 -2.72731847e-02 6.14802598e+01] [ 1.42447107e-01 9.89796179e-01 -3.51378302e-03 -6.95696753e-01] [ 2.74955724e-02 -4.08377483e-04 9.99621842e-01 -1.76244235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599072329 meters 0.07566699555561147 Centerline is valid? [True, True] Translation: X:61.51, Y:-0.69, Z:-1.76 [[ 9.89818216e-01 -1.39418541e-01 -2.86769769e-02 6.15071880e+01] [ 1.39369948e-01 9.90233486e-01 -3.69614930e-03 -6.89749902e-01] [ 2.89122146e-02 -3.38192895e-04 9.99581897e-01 -1.76423647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.629072329 meters 0.0746231909413804 Centerline is valid? [True, True] Translation: X:61.54, Y:-0.68, Z:-1.76 [[ 9.90588033e-01 -1.34179421e-01 -2.70413078e-02 6.15355882e+01] [ 1.34134083e-01 9.90957040e-01 -3.49184641e-03 -6.78549501e-01] [ 2.72653082e-02 -1.68179761e-04 9.99628218e-01 -1.76032918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659072329 meters 0.07419852316192972 Centerline is valid? [True, True] Translation: X:61.56, Y:-0.67, Z:-1.76 [[ 9.90994147e-01 -1.31210219e-01 -2.67297306e-02 6.15639301e+01] [ 1.31164669e-01 9.91354564e-01 -3.45797045e-03 -6.69047411e-01] [ 2.69523615e-02 -7.91677774e-05 9.99636716e-01 -1.75934831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.689072329 meters 0.07428382115588499 Centerline is valid? [True, True] Translation: X:61.59, Y:-0.65, Z:-1.76 [[ 9.91725807e-01 -1.25218153e-01 -2.82902544e-02 6.15912735e+01] [ 1.25164491e-01 9.92129228e-01 -3.66675048e-03 -6.52410945e-01] [ 2.85267320e-02 9.54757787e-05 9.99593025e-01 -1.76027280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719072329 meters 0.07482976397583034 Centerline is valid? [True, True] Translation: X:61.62, Y:-0.64, Z:-1.76 [[ 9.92072966e-01 -1.22275915e-01 -2.89798277e-02 6.16182431e+01] [ 1.22218303e-01 9.92496129e-01 -3.75772412e-03 -6.42469714e-01] [ 2.92218460e-02 1.86071136e-04 9.99572933e-01 -1.76434829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74907232899999 meters 0.07523428716874687 Centerline is valid? [True, True] Translation: X:61.65, Y:-0.63, Z:-1.76 [[ 9.92478107e-01 -1.19017124e-01 -2.86728356e-02 6.16465168e+01] [ 1.18959146e-01 9.92892160e-01 -3.72554194e-03 -6.33230190e-01] [ 2.89124370e-02 2.86622771e-04 9.99581907e-01 -1.76380234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77907232899999 meters 0.07581540954960612 Centerline is valid? [True, True] Translation: X:61.67, Y:-0.62, Z:-1.76 [[ 9.93159216e-01 -1.13500459e-01 -2.74302237e-02 6.16745331e+01] [ 1.13445113e-01 9.93537849e-01 -3.57059048e-03 -6.21479691e-01] [ 2.76582291e-02 4.34340003e-04 9.99617344e-01 -1.76138377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80907232899999 meters 0.07597377062917131 Centerline is valid? [True, True] Translation: X:61.70, Y:-0.62, Z:-1.76 [[ 9.93460577e-01 -1.10603268e-01 -2.83372343e-02 6.17032571e+01] [ 1.10543010e-01 9.93864495e-01 -3.68907265e-03 -6.15324535e-01] [ 2.85713946e-02 5.32465059e-04 9.99591613e-01 -1.75803161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83907232899999 meters 0.07603329540702773 Centerline is valid? [True, True] Translation: X:61.73, Y:-0.61, Z:-1.76 [[ 9.93619338e-01 -1.09222909e-01 -2.81241598e-02 6.17313145e+01] [ 1.09162773e-01 9.94017115e-01 -3.66937698e-03 -6.09340256e-01] [ 2.83566762e-02 5.75852641e-04 9.99597703e-01 -1.75663987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86907232899999 meters 0.07710032205042104 Centerline is valid? [True, True] Translation: X:61.76, Y:-0.60, Z:-1.76 [[ 9.93935019e-01 -1.06184992e-01 -2.85993993e-02 6.17589582e+01] [ 1.06121538e-01 9.94346164e-01 -3.73177695e-03 -5.98169508e-01] [ 2.88339617e-02 6.74131540e-04 9.99583988e-01 -1.75953992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89907232899999 meters 0.07779388065631757 Centerline is valid? [True, True] Translation: X:61.79, Y:-0.59, Z:-1.76 [[ 9.94031693e-01 -1.05125930e-01 -2.91467273e-02 6.17858187e+01] [ 1.05059490e-01 9.94458656e-01 -3.80586003e-03 -5.91153960e-01] [ 2.93853098e-02 7.21005194e-04 9.99567899e-01 -1.76163466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.929072329 meters 0.07759261073149085 Centerline is valid? [True, True] Translation: X:61.81, Y:-0.59, Z:-1.76 [[ 9.94082037e-01 -1.04821619e-01 -2.85189877e-02 6.18131873e+01] [ 1.04757630e-01 9.94490777e-01 -3.73277946e-03 -5.85971645e-01] [ 2.87531462e-02 7.23107436e-04 9.99586281e-01 -1.76119449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959072329 meters 0.07810300709491075 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.58, Z:-1.76 [[ 9.94182403e-01 -1.03741940e-01 -2.89647993e-02 6.18418210e+01] [ 1.03675281e-01 9.94603948e-01 -3.79781153e-03 -5.80496782e-01] [ 2.92024961e-02 7.72783683e-04 9.99573217e-01 -1.76183422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.989072329 meters 0.07804510121013081 Centerline is valid? [True, True] Translation: X:61.87, Y:-0.58, Z:-1.76 [[ 9.94179628e-01 -1.03874713e-01 -2.85816742e-02 6.18702660e+01] [ 1.03809629e-01 9.94590095e-01 -3.75563231e-03 -5.77489428e-01] [ 2.88171652e-02 7.66720143e-04 9.99584405e-01 -1.76105857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019072329 meters 0.07800954898661201 Centerline is valid? [True, True] Translation: X:61.90, Y:-0.57, Z:-1.76 [[ 9.94167086e-01 -1.03701542e-01 -2.96276239e-02 6.18993517e+01] [ 1.03631323e-01 9.94608133e-01 -3.89997142e-03 -5.74272969e-01] [ 2.98723087e-02 8.06873359e-04 9.99553397e-01 -1.76078984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.049072329 meters 0.07737453871483559 Centerline is valid? [True, True] Translation: X:61.93, Y:-0.57, Z:-1.76 [[ 9.94113038e-01 -1.04214582e-01 -2.96409839e-02 6.19272923e+01] [ 1.04144267e-01 9.94554513e-01 -3.91042733e-03 -5.72700059e-01] [ 2.98870979e-02 8.00468253e-04 9.99552960e-01 -1.75864751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079072329 meters 0.07718818281669838 Centerline is valid? [True, True] Translation: X:61.96, Y:-0.57, Z:-1.76 [[ 9.94205866e-01 -1.03268394e-01 -2.98384904e-02 6.19555347e+01] [ 1.03196664e-01 9.94653176e-01 -3.93811483e-03 -5.69617090e-01] [ 3.00856320e-02 8.36064194e-04 9.99546975e-01 -1.75835136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10907232899999 meters 0.07891724104568815 Centerline is valid? [True, True] Translation: X:61.98, Y:-0.56, Z:-1.76 [[ 9.94277348e-01 -1.02561638e-01 -2.98942315e-02 6.19820772e+01] [ 1.02489240e-01 9.94726278e-01 -3.94816424e-03 -5.60649954e-01] [ 3.01415079e-02 8.61733208e-04 9.99545270e-01 -1.76471491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13907232899999 meters 0.07819399723419249 Centerline is valid? [True, True] Translation: X:62.01, Y:-0.56, Z:-1.76 [[ 9.94356567e-01 -1.01852521e-01 -2.96830182e-02 6.20113019e+01] [ 1.01780580e-01 9.94799116e-01 -3.92851481e-03 -5.57831110e-01] [ 2.99287694e-02 8.85189702e-04 9.99551642e-01 -1.76306295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16907232899999 meters 0.07996538472083314 Centerline is valid? [True, True] Translation: X:62.04, Y:-0.55, Z:-1.77 [[ 9.94407270e-01 -1.01258797e-01 -3.00139433e-02 6.20382205e+01] [ 1.01184920e-01 9.94859698e-01 -3.97403703e-03 -5.49451718e-01] [ 3.02620688e-02 9.14852863e-04 9.99541580e-01 -1.76871184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19907232899999 meters 0.07952864039109528 Centerline is valid? [True, True] Translation: X:62.07, Y:-0.55, Z:-1.76 [[ 9.94604340e-01 -9.90673435e-02 -3.07874659e-02 6.20681747e+01] [ 9.89885349e-02 9.95080221e-01 -4.07723171e-03 -5.49340553e-01] [ 3.10399188e-02 1.00762622e-03 9.99517638e-01 -1.76405258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22907232899999 meters 0.08145905132750458 Centerline is valid? [True, True] Translation: X:62.10, Y:-0.54, Z:-1.77 [[ 9.94619959e-01 -9.86989957e-02 -3.14586163e-02 6.20950219e+01] [ 9.86164324e-02 9.95116786e-01 -4.16913991e-03 -5.42266635e-01] [ 3.17164871e-02 1.04437326e-03 9.99496360e-01 -1.76907169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25907232899999 meters 0.08060844929453763 Centerline is valid? [True, True] Translation: X:62.12, Y:-0.54, Z:-1.76 [[ 9.94833704e-01 -9.70760112e-02 -2.97010099e-02 6.21231849e+01] [ 9.70014182e-02 9.95276423e-01 -3.94548940e-03 -5.41959090e-01] [ 2.99437273e-02 1.04406575e-03 9.99551041e-01 -1.76439277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28907232899999 meters 0.0814297268846011 Centerline is valid? [True, True] Translation: X:62.15, Y:-0.54, Z:-1.76 [[ 9.94984987e-01 -9.60002213e-02 -2.80861763e-02 6.21509004e+01] [ 9.59330529e-02 9.95380791e-01 -3.73239665e-03 -5.35653041e-01] [ 2.83147513e-02 1.01928599e-03 9.99598537e-01 -1.76498968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.319072329 meters 0.08131793677341922 Centerline is valid? [True, True] Translation: X:62.18, Y:-0.53, Z:-1.76 [[ 9.95127193e-01 -9.51693541e-02 -2.57810702e-02 6.21799529e+01] [ 9.51123137e-02 9.95460630e-01 -3.43257559e-03 -5.31103821e-01] [ 2.59907164e-02 9.63752074e-04 9.99661720e-01 -1.76405450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.349072329 meters 0.08287610654665864 Centerline is valid? [True, True] Translation: X:62.21, Y:-0.52, Z:-1.76 [[ 9.95448227e-01 -9.20904015e-02 -2.45394789e-02 6.22080887e+01] [ 9.20377810e-02 9.95750154e-01 -3.26761876e-03 -5.24556044e-01] [ 2.47361063e-02 9.94186112e-04 9.99693521e-01 -1.76341825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379072329 meters 0.08372944582025954 Centerline is valid? [True, True] Translation: X:62.24, Y:-0.52, Z:-1.76 [[ 9.95507481e-01 -9.13255030e-02 -2.49901621e-02 6.22352343e+01] [ 9.12706211e-02 9.95820557e-01 -3.33040104e-03 -5.20768456e-01] [ 2.51898677e-02 1.03457153e-03 9.99682150e-01 -1.76413968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.409072329 meters 0.08287602974775835 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.52, Z:-1.76 [[ 9.95557607e-01 -9.06236620e-02 -2.55421794e-02 6.22644915e+01] [ 9.05659173e-02 9.95884622e-01 -3.41096349e-03 -5.20637229e-01] [ 2.57461776e-02 1.08255975e-03 9.99667926e-01 -1.76184155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439072329 meters 0.0849656116928461 Centerline is valid? [True, True] Translation: X:62.29, Y:-0.51, Z:-1.76 [[ 9.95719341e-01 -8.91058748e-02 -2.45588644e-02 6.22920551e+01] [ 8.90519988e-02 9.96021575e-01 -3.28094200e-03 -5.13491612e-01] [ 2.47535100e-02 1.07988144e-03 9.99693002e-01 -1.76428640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.469072329 meters 0.08589473486888197 Centerline is valid? [True, True] Translation: X:62.32, Y:-0.51, Z:-1.76 [[ 9.95850721e-01 -8.77945977e-02 -2.39468149e-02 6.23199155e+01] [ 8.77429481e-02 9.96138006e-01 -3.20115230e-03 -5.07708732e-01] [ 2.41353763e-02 1.08670569e-03 9.99708109e-01 -1.76493218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49907232899999 meters 0.0860776673602145 Centerline is valid? [True, True] Translation: X:62.35, Y:-0.50, Z:-1.76 [[ 9.95930241e-01 -8.71070512e-02 -2.31369003e-02 6.23479795e+01] [ 8.70586066e-02 9.96198384e-01 -3.09481951e-03 -5.03541012e-01] [ 2.33185233e-02 1.06795804e-03 9.99727516e-01 -1.76484815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52907232899999 meters 0.08731935102443053 Centerline is valid? [True, True] Translation: X:62.38, Y:-0.50, Z:-1.77 [[ 9.96012172e-01 -8.61639001e-02 -2.31416235e-02 6.23753817e+01] [ 8.61151375e-02 9.96280377e-01 -3.09734870e-03 -4.97692574e-01] [ 2.33224251e-02 1.09215291e-03 9.99727399e-01 -1.76581657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55907232899999 meters 0.0884732395867826 Centerline is valid? [True, True] Translation: X:62.40, Y:-0.50, Z:-1.77 [[ 9.96123430e-01 -8.49509970e-02 -2.28350511e-02 6.24043564e+01] [ 8.49030624e-02 9.96384510e-01 -3.06230085e-03 -4.95379990e-01] [ 2.30126367e-02 1.11166386e-03 9.99734556e-01 -1.76532849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58907232899999 meters 0.08836263999614806 Centerline is valid? [True, True] Translation: X:62.43, Y:-0.49, Z:-1.77 [[ 9.96056738e-01 -8.57755536e-02 -2.26611946e-02 6.24330364e+01] [ 8.57284421e-02 9.96313890e-01 -3.04410955e-03 -4.93891935e-01] [ 2.28387731e-02 1.08939692e-03 9.99738568e-01 -1.76606952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61907232899999 meters 0.08788779752501659 Centerline is valid? [True, True] Translation: X:62.46, Y:-0.49, Z:-1.77 [[ 9.95922079e-01 -8.71344459e-02 -2.33837703e-02 6.24624107e+01] [ 8.70845313e-02 9.96195957e-01 -3.14642303e-03 -4.92711338e-01] [ 2.35689792e-02 1.09722749e-03 9.99721611e-01 -1.76728110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64907232899999 meters 0.0875210858199691 Centerline is valid? [True, True] Translation: X:62.49, Y:-0.49, Z:-1.77 [[ 9.95796937e-01 -8.88097860e-02 -2.23893308e-02 6.24920638e+01] [ 8.87643451e-02 9.96048085e-01 -3.01725284e-03 -4.91766755e-01] [ 2.25688117e-02 1.01719685e-03 9.99744774e-01 -1.76915743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.679072329 meters 0.0883607394012413 Centerline is valid? [True, True] Translation: X:62.52, Y:-0.49, Z:-1.77 [[ 9.95713392e-01 -8.97420083e-02 -2.23877674e-02 6.25201201e+01] [ 8.96966942e-02 9.95964542e-01 -3.02212097e-03 -4.87254896e-01] [ 2.25686337e-02 1.00105760e-03 9.99744795e-01 -1.77092077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.709072329 meters 0.08682463108186225 Centerline is valid? [True, True] Translation: X:62.55, Y:-0.49, Z:-1.77 [[ 9.95654708e-01 -9.06710985e-02 -2.12239063e-02 6.25496272e+01] [ 9.06305731e-02 9.95880459e-01 -2.86555802e-03 -4.88656290e-01] [ 2.13962968e-02 9.29571543e-04 9.99770641e-01 -1.76882383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739072329 meters 0.08572589975351705 Centerline is valid? [True, True] Translation: X:62.58, Y:-0.49, Z:-1.77 [[ 9.95533076e-01 -9.22513523e-02 -2.00893521e-02 6.25798343e+01] [ 9.22152625e-02 9.95735387e-01 -2.71745684e-03 -4.91512876e-01] [ 2.02543678e-02 8.52773292e-04 9.99794496e-01 -1.76715712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.769072329 meters 0.08617687631830581 Centerline is valid? [True, True] Translation: X:62.61, Y:-0.49, Z:-1.77 [[ 9.95424998e-01 -9.35793780e-02 -1.92865864e-02 6.26081488e+01] [ 9.35463549e-02 9.95611506e-01 -2.60934212e-03 -4.88477887e-01] [ 1.94461280e-02 7.93214510e-04 9.99810592e-01 -1.76792420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799072329 meters 0.08535296606237776 Centerline is valid? [True, True] Translation: X:62.64, Y:-0.49, Z:-1.77 [[ 9.95364939e-01 -9.41704958e-02 -1.95078256e-02 6.26364334e+01] [ 9.41367037e-02 9.95555766e-01 -2.64538432e-03 -4.88540036e-01] [ 1.96702454e-02 7.96720405e-04 9.99806205e-01 -1.76684205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.829072329 meters 0.08264634487291384 Centerline is valid? [True, True] Translation: X:62.67, Y:-0.50, Z:-1.76 [[ 9.95219240e-01 -9.59934910e-02 -1.79976060e-02 6.26669209e+01] [ 9.59650023e-02 9.95381713e-01 -2.44193210e-03 -4.95099967e-01] [ 1.81488975e-02 7.03117508e-04 9.99835048e-01 -1.76369383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85907232899999 meters 0.08243137609752366 Centerline is valid? [True, True] Translation: X:62.70, Y:-0.49, Z:-1.76 [[ 9.95088003e-01 -9.73295503e-02 -1.80782853e-02 6.26954876e+01] [ 9.73009328e-02 9.95251972e-01 -2.45797059e-03 -4.93055788e-01] [ 1.82316823e-02 6.86863022e-04 9.99833553e-01 -1.76408556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88907232899999 meters 0.08321983087848701 Centerline is valid? [True, True] Translation: X:62.72, Y:-0.49, Z:-1.76 [[ 9.95105709e-01 -9.76902507e-02 -1.48742181e-02 6.27233344e+01] [ 9.76709095e-02 9.95216711e-01 -2.02298405e-03 -4.89407215e-01] [ 1.50006962e-02 5.60304575e-04 9.99887326e-01 -1.76314896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91907232899999 meters 0.08321983087848701 Centerline is valid? [True, True] Translation: X:62.75, Y:-0.49, Z:-1.76 [[ 9.95079978e-01 -9.79521036e-02 -1.48735502e-02 6.27507577e+01] [ 9.79327183e-02 9.95190972e-01 -2.02789049e-03 -4.85465592e-01] [ 1.50006590e-02 5.61306023e-04 9.99887326e-01 -1.76330385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94907232899999 meters 0.08249899959885709 Centerline is valid? [True, True] Translation: X:62.78, Y:-0.48, Z:-1.76 [[ 9.95060372e-01 -9.82881893e-02 -1.39387396e-02 6.27801855e+01] [ 9.82711513e-02 9.95157855e-01 -1.90370906e-03 -4.84070632e-01] [ 1.40583584e-02 5.24529451e-04 9.99901039e-01 -1.76090001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97907232899999 meters 0.08265286514880998 Centerline is valid? [True, True] Translation: X:62.81, Y:-0.48, Z:-1.76 [[ 9.95044703e-01 -9.85133937e-02 -1.34592404e-02 6.28080699e+01] [ 9.84974757e-02 9.95135596e-01 -1.84210801e-03 -4.81147825e-01] [ 1.35752416e-02 5.07278607e-04 9.99907723e-01 -1.76096201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00907232899999 meters 0.08510899622658408 Centerline is valid? [True, True] Translation: X:62.83, Y:-0.47, Z:-1.76 [[ 9.95067968e-01 -9.82179585e-02 -1.38914412e-02 6.28346611e+01] [ 9.82009718e-02 9.95164787e-01 -1.90133837e-03 -4.72903572e-01] [ 1.40110187e-02 5.27807879e-04 9.99901702e-01 -1.76452888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03907232899999 meters 0.0831731280454929 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.48, Z:-1.77 [[ 9.94986009e-01 -9.86106056e-02 -1.66970353e-02 6.28647899e+01] [ 9.85860393e-02 9.95125896e-01 -2.29007053e-03 -4.77144876e-01] [ 1.68414775e-02 6.32493555e-04 9.99857972e-01 -1.76579276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.069072329 meters 0.08377328489565537 Centerline is valid? [True, True] Translation: X:62.89, Y:-0.47, Z:-1.77 [[ 9.95004814e-01 -9.81796967e-02 -1.80600864e-02 6.28920052e+01] [ 9.81508560e-02 9.95168461e-01 -2.47858107e-03 -4.71757293e-01] [ 1.82161747e-02 6.93587158e-04 9.99833831e-01 -1.76805346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099072329 meters 0.08422072554942185 Centerline is valid? [True, True] Translation: X:62.92, Y:-0.47, Z:-1.77 [[ 9.95057284e-01 -9.76015351e-02 -1.83014201e-02 6.29205013e+01] [ 9.75717296e-02 9.95225313e-01 -2.51663835e-03 -4.66478521e-01] [ 1.84596644e-02 7.18498104e-04 9.99829348e-01 -1.77012212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.129072329 meters 0.08414947309480672 Centerline is valid? [True, True] Translation: X:62.95, Y:-0.46, Z:-1.77 [[ 9.95057438e-01 -9.79489799e-02 -1.63307480e-02 6.29491160e+01] [ 9.79252284e-02 9.95191232e-01 -2.24968817e-03 -4.62253639e-01] [ 1.64725719e-02 6.39376720e-04 9.99864114e-01 -1.77011691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159072329 meters 0.08448759905979777 Centerline is valid? [True, True] Translation: X:62.98, Y:-0.46, Z:-1.77 [[ 9.95119660e-01 -9.78171879e-02 -1.29869209e-02 6.29767787e+01] [ 9.78021498e-02 9.95204269e-01 -1.78955891e-03 -4.58934653e-01] [ 1.30996887e-02 5.10676470e-04 9.99914065e-01 -1.76636335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.189072329 meters 0.08450746556606589 Centerline is valid? [True, True] Translation: X:63.01, Y:-0.46, Z:-1.77 [[ 9.95124747e-01 -9.78158868e-02 -1.26012236e-02 6.30051720e+01] [ 9.78016727e-02 9.95204402e-01 -1.74081725e-03 -4.56226987e-01] [ 1.27110728e-02 4.99909579e-04 9.99919086e-01 -1.76516409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219072329 meters 0.08577576365617154 Centerline is valid? [True, True] Translation: X:63.03, Y:-0.45, Z:-1.76 [[ 9.95170967e-01 -9.74803758e-02 -1.15031300e-02 6.30318005e+01] [ 9.74685015e-02 9.95237341e-01 -1.58974077e-03 -4.51016857e-01] [ 1.16033130e-02 4.60871017e-04 9.99932573e-01 -1.76403579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24907232899999 meters 0.08555134964268778 Centerline is valid? [True, True] Translation: X:63.06, Y:-0.45, Z:-1.76 [[ 9.95157509e-01 -9.76579610e-02 -1.11559072e-02 6.30597869e+01] [ 9.76467613e-02 9.95219936e-01 -1.54554017e-03 -4.47578370e-01] [ 1.12535156e-02 4.48717691e-04 9.99936577e-01 -1.76423869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27907232899999 meters 0.08478576563128432 Centerline is valid? [True, True] Translation: X:63.09, Y:-0.45, Z:-1.77 [[ 9.95171533e-01 -9.73728912e-02 -1.23344963e-02 6.30889996e+01] [ 9.73591445e-02 9.95247842e-01 -1.71152290e-03 -4.46000051e-01] [ 1.24425367e-02 5.02382865e-04 9.99922462e-01 -1.76623729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30907232899999 meters 0.08698441810101191 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.44, Z:-1.77 [[ 9.95167608e-01 -9.74800677e-02 -1.17927086e-02 6.31153221e+01] [ 9.74674861e-02 9.95237361e-01 -1.63832533e-03 -4.36807545e-01] [ 1.18962483e-02 4.81002637e-04 9.99929121e-01 -1.76932278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33907232899999 meters 0.08582615689541616 Centerline is valid? [True, True] Translation: X:63.14, Y:-0.44, Z:-1.77 [[ 9.95195261e-01 -9.72235077e-02 -1.15750604e-02 6.31440610e+01] [ 9.72113557e-02 9.95262459e-01 -1.60922713e-03 -4.37138428e-01] [ 1.16766778e-02 4.76267895e-04 9.99931712e-01 -1.76804226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36907232899999 meters 0.08677299852017434 Centerline is valid? [True, True] Translation: X:63.17, Y:-0.43, Z:-1.77 [[ 9.95310893e-01 -9.61882778e-02 -1.02000892e-02 6.31710562e+01] [ 9.61787697e-02 9.95363064e-01 -1.41976340e-03 -4.32246987e-01] [ 1.02893567e-02 4.32073949e-04 9.99946970e-01 -1.76681097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39907232899999 meters 0.08772898534888268 Centerline is valid? [True, True] Translation: X:63.20, Y:-0.43, Z:-1.77 [[ 9.95517057e-01 -9.41494743e-02 -9.03694550e-03 6.31988633e+01] [ 9.41419228e-02 9.95557992e-01 -1.25834827e-03 -4.26469238e-01] [ 9.11527614e-03 4.01951736e-04 9.99958374e-01 -1.76618804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.429072329 meters 0.08844495116093486 Centerline is valid? [True, True] Translation: X:63.23, Y:-0.42, Z:-1.77 [[ 9.95581299e-01 -9.34812238e-02 -8.89599704e-03 6.32260902e+01] [ 9.34738728e-02 9.95620961e-01 -1.23945529e-03 -4.20023664e-01] [ 8.97290693e-03 4.02435213e-04 9.99959662e-01 -1.76709992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.459072329 meters 0.08923699616145446 Centerline is valid? [True, True] Translation: X:63.25, Y:-0.41, Z:-1.77 [[ 9.95691830e-01 -9.23079024e-02 -8.77670151e-03 6.32538427e+01] [ 9.23006954e-02 9.95730428e-01 -1.22355918e-03 -4.14109977e-01] [ 8.85217293e-03 4.08192222e-04 9.99960735e-01 -1.76834427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.489072329 meters 0.09088786442081301 Centerline is valid? [True, True] Translation: X:63.28, Y:-0.41, Z:-1.77 [[ 9.95930315e-01 -8.94728573e-02 -1.08358858e-02 6.32832719e+01] [ 8.94617073e-02 9.95989117e-01 -1.51033644e-03 -4.08042496e-01] [ 1.09275585e-02 5.34793003e-04 9.99940149e-01 -1.77036341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519072329 meters 0.09005357107677596 Centerline is valid? [True, True] Translation: X:63.31, Y:-0.41, Z:-1.77 [[ 9.96000254e-01 -8.87138475e-02 -1.06465085e-02 6.33122724e+01] [ 8.87030004e-02 9.96057009e-01 -1.48768412e-03 -4.06408065e-01] [ 1.07365076e-02 5.37356513e-04 9.99942218e-01 -1.76867308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.549072329 meters 0.09212894800111451 Centerline is valid? [True, True] Translation: X:63.34, Y:-0.40, Z:-1.77 [[ 9.96192605e-01 -8.65880063e-02 -1.01396022e-02 6.33399340e+01] [ 8.65780625e-02 9.96244063e-01 -1.41638980e-03 -3.98175369e-01] [ 1.02241609e-02 5.33129933e-04 9.99947590e-01 -1.76935553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579072329 meters 0.09216070811797361 Centerline is valid? [True, True] Translation: X:63.37, Y:-0.39, Z:-1.77 [[ 9.96182088e-01 -8.67940684e-02 -9.38281893e-03 6.33688711e+01] [ 8.67855324e-02 9.96226152e-01 -1.31387413e-03 -3.93455775e-01] [ 9.46144607e-03 4.94564936e-04 9.99955117e-01 -1.76933538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60907232899999 meters 0.09272899471922885 Centerline is valid? [True, True] Translation: X:63.40, Y:-0.39, Z:-1.77 [[ 9.96262546e-01 -8.58814754e-02 -9.23641569e-03 6.33968357e+01] [ 8.58731651e-02 9.96305238e-01 -1.29332973e-03 -3.88312544e-01] [ 9.31336240e-03 4.95335720e-04 9.99956507e-01 -1.76904730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63907232899999 meters 0.09310965652120468 Centerline is valid? [True, True] Translation: X:63.43, Y:-0.38, Z:-1.77 [[ 9.96311334e-01 -8.51252109e-02 -1.08362588e-02 6.34257460e+01] [ 8.51136917e-02 9.96370085e-01 -1.52062653e-03 -3.83658961e-01] [ 1.09263678e-02 5.92703456e-04 9.99940130e-01 -1.77081848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66907232899999 meters 0.09328999294384598 Centerline is valid? [True, True] Translation: X:63.45, Y:-0.38, Z:-1.77 [[ 9.96310880e-01 -8.51441939e-02 -1.07282893e-02 6.34540226e+01] [ 8.51328771e-02 9.96368466e-01 -1.50798649e-03 -3.79874315e-01] [ 1.08177254e-02 5.89093219e-04 9.99941313e-01 -1.77173530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69907232899999 meters 0.0940695782049883 Centerline is valid? [True, True] Translation: X:63.48, Y:-0.37, Z:-1.77 [[ 9.96248492e-01 -8.57381348e-02 -1.17437356e-02 6.34811050e+01] [ 8.57245950e-02 9.96317501e-01 -1.65243179e-03 -3.74544877e-01] [ 1.18421658e-02 6.39505700e-04 9.99929675e-01 -1.77414450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72907232899999 meters 0.093777538534069 Centerline is valid? [True, True] Translation: X:63.51, Y:-0.37, Z:-1.78 [[ 9.96200976e-01 -8.62824872e-02 -1.17875878e-02 6.35097221e+01] [ 8.62688487e-02 9.96270508e-01 -1.66157976e-03 -3.71163090e-01] [ 1.18869914e-02 6.38365742e-04 9.99929143e-01 -1.77532286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75907232899999 meters 0.0947872021928795 Centerline is valid? [True, True] Translation: X:63.54, Y:-0.36, Z:-1.78 [[ 9.96238004e-01 -8.58719035e-02 -1.16556696e-02 6.35369300e+01] [ 8.58585389e-02 9.96305983e-01 -1.64312330e-03 -3.64236900e-01] [ 1.17537115e-02 6.36203115e-04 9.99930720e-01 -1.77525349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78907232899999 meters 0.09525376726020968 Centerline is valid? [True, True] Translation: X:63.57, Y:-0.36, Z:-1.77 [[ 9.96285657e-01 -8.54833159e-02 -1.03678135e-02 6.35657152e+01] [ 8.54726873e-02 9.96339437e-01 -1.46476383e-03 -3.58207599e-01] [ 1.04550743e-02 5.73158313e-04 9.99945180e-01 -1.77439052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819072329 meters 0.09579271045854519 Centerline is valid? [True, True] Translation: X:63.59, Y:-0.35, Z:-1.77 [[ 9.96338538e-01 -8.49438185e-02 -9.69877963e-03 6.35938437e+01] [ 8.49344699e-02 9.96385594e-01 -1.37250066e-03 -3.51997653e-01] [ 9.78030975e-03 5.43714595e-04 9.99952024e-01 -1.77262248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.849072329 meters 0.09604281104370842 Centerline is valid? [True, True] Translation: X:63.62, Y:-0.35, Z:-1.77 [[ 9.96418620e-01 -8.40792767e-02 -8.97823060e-03 6.36225784e+01] [ 8.40712112e-02 9.96458936e-01 -1.27266748e-03 -3.46436552e-01] [ 9.05344308e-03 5.13298855e-04 9.99958885e-01 -1.77115020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879072329 meters 0.09586278475554263 Centerline is valid? [True, True] Translation: X:63.65, Y:-0.34, Z:-1.77 [[ 9.96544487e-01 -8.24638864e-02 -9.93950643e-03 6.36513807e+01] [ 8.24539275e-02 9.96593882e-01 -1.40830677e-03 -3.40670978e-01] [ 1.00217858e-02 5.83889000e-04 9.99949610e-01 -1.77180205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.909072329 meters 0.096404947531313 Centerline is valid? [True, True] Translation: X:63.68, Y:-0.33, Z:-1.77 [[ 9.96606678e-01 -8.16803746e-02 -1.01708444e-02 6.36796549e+01] [ 8.16698714e-02 9.96658390e-01 -1.44445713e-03 -3.34017638e-01] [ 1.02548412e-02 6.08904063e-04 9.99947232e-01 -1.77222476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939072329 meters 0.09971594179166544 Centerline is valid? [True, True] Translation: X:63.71, Y:-0.32, Z:-1.78 [[ 9.96798797e-01 -7.90159066e-02 -1.21919604e-02 6.37073928e+01] [ 7.90006274e-02 9.96873064e-01 -1.73053414e-03 -3.21580078e-01] [ 1.22905766e-02 7.61821829e-04 9.99924178e-01 -1.77611029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.969072329 meters 0.0998263691244707 Centerline is valid? [True, True] Translation: X:63.74, Y:-0.32, Z:-1.78 [[ 9.96845115e-01 -7.83108217e-02 -1.29318245e-02 6.37353445e+01] [ 7.82935456e-02 9.96928655e-01 -1.83761729e-03 -3.16581569e-01] [ 1.30360117e-02 8.19341432e-04 9.99914692e-01 -1.77678448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99907232899999 meters 0.09904857299858381 Centerline is valid? [True, True] Translation: X:63.77, Y:-0.31, Z:-1.78 [[ 9.96926544e-01 -7.71144768e-02 -1.38138821e-02 6.37652082e+01] [ 7.70946502e-02 9.97021846e-01 -1.96287624e-03 -3.13549773e-01] [ 1.39241084e-02 8.91867024e-04 9.99902657e-01 -1.77606907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02907232899999 meters 0.0988857900288783 Centerline is valid? [True, True] Translation: X:63.79, Y:-0.31, Z:-1.78 [[ 9.96929447e-01 -7.71711013e-02 -1.32777228e-02 6.37932035e+01] [ 7.71527237e-02 9.97017492e-01 -1.89156360e-03 -3.06886323e-01] [ 1.33840959e-02 8.61342976e-04 9.99910058e-01 -1.77569082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05907232899999 meters 0.09788950773555503 Centerline is valid? [True, True] Translation: X:63.82, Y:-0.30, Z:-1.78 [[ 9.96932220e-01 -7.72888603e-02 -1.23523521e-02 6.38210377e+01] [ 7.72729206e-02 9.97008419e-01 -1.76323749e-03 -3.03521033e-01] [ 1.24516776e-02 8.03325945e-04 9.99922152e-01 -1.77546111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08907232899999 meters 0.09756995167203089 Centerline is valid? [True, True] Translation: X:63.85, Y:-0.30, Z:-1.77 [[ 9.97021681e-01 -7.60533958e-02 -1.27924868e-02 6.38504542e+01] [ 7.60362106e-02 9.97103387e-01 -1.82513269e-03 -2.99010766e-01] [ 1.28942394e-02 8.47004645e-04 9.99916507e-01 -1.77475772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11907232899999 meters 0.09814309786138943 Centerline is valid? [True, True] Translation: X:63.88, Y:-0.29, Z:-1.77 [[ 9.97130226e-01 -7.46073027e-02 -1.28476711e-02 6.38786409e+01] [ 7.45898343e-02 9.97212611e-01 -1.83417276e-03 -2.90353869e-01] [ 1.29487024e-02 8.70603436e-04 9.99915783e-01 -1.77475779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14907232899999 meters 0.09869596330726942 Centerline is valid? [True, True] Translation: X:63.91, Y:-0.28, Z:-1.77 [[ 9.97133564e-01 -7.46221882e-02 -1.24973497e-02 6.39067546e+01] [ 7.46056106e-02 9.97211515e-01 -1.78812534e-03 -2.83284672e-01] [ 1.25959348e-02 8.50627396e-04 9.99920306e-01 -1.77437949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179072329 meters 0.10024091464038988 Centerline is valid? [True, False] Translation: X:63.92, Y:-0.28, Z:-1.77 [[ 9.97617215e-01 -6.57143748e-02 -2.10122319e-02 6.39186752e+01] [ 6.56466378e-02 9.97835319e-01 -3.89811794e-03 -2.83225850e-01] [ 2.12229095e-02 2.50944719e-03 9.99771619e-01 -1.76915761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.209072329 meters 0.10290928839648973 Centerline is valid? [False, False] Translation: X:63.93, Y:-0.28, Z:-1.76 [[ 9.98017666e-01 -5.57764040e-02 -2.91501553e-02 6.39288552e+01] [ 5.56273666e-02 9.98434170e-01 -5.89956149e-03 -2.82315779e-01] [ 2.94335674e-02 4.26632022e-03 9.99557634e-01 -1.76212060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239072329 meters 0.10106244707976127 Centerline is valid? [False, False] Translation: X:63.94, Y:-0.28, Z:-1.76 [[ 9.98079646e-01 -4.96950474e-02 -3.69786670e-02 6.39395733e+01] [ 4.92991110e-02 9.98717349e-01 -1.15435947e-02 -2.80536089e-01] [ 3.75048958e-02 9.69841154e-03 9.99249380e-01 -1.75639047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.269072329 meters 0.10297975661542874 Centerline is valid? [False, False] Translation: X:63.94, Y:-0.28, Z:-1.76 [[ 9.98626018e-01 -4.81621473e-02 -2.06514756e-02 6.39372218e+01] [ 4.79202524e-02 9.98778446e-01 -1.20525913e-02 -2.77979792e-01] [ 2.12067273e-02 1.10464073e-02 9.99714085e-01 -1.76290561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299072329 meters 0.09941460782569261 Centerline is valid? [False, True] Translation: X:63.95, Y:-0.28, Z:-1.76 [[ 9.98800314e-01 -3.92048771e-02 -2.93412676e-02 6.39491666e+01] [ 3.88059295e-02 9.99148054e-01 -1.40451348e-02 -2.78323308e-01] [ 2.98669082e-02 1.28896699e-02 9.99470772e-01 -1.75741256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.329072329 meters 0.10112143976145896 Centerline is valid? [True, False] Translation: X:63.95, Y:-0.27, Z:-1.76 [[ 9.99169057e-01 -3.84014986e-02 -1.36572262e-02 6.39476520e+01] [ 3.82310188e-02 9.99190339e-01 -1.25322165e-02 -2.73752364e-01] [ 1.41274244e-02 1.19996733e-02 9.99828197e-01 -1.76243430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35907232899999 meters 0.09873975082498913 Centerline is valid? [False, True] Translation: X:63.96, Y:-0.27, Z:-1.76 [[ 9.99294380e-01 -3.00115665e-02 -2.25842317e-02 6.39603145e+01] [ 2.96959564e-02 9.99458352e-01 -1.41828350e-02 -2.74316547e-01] [ 2.29976481e-02 1.35021669e-02 9.99644337e-01 -1.75713780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38907232899999 meters 0.0985344169079509 Centerline is valid? [True, True] Translation: X:63.99, Y:-0.28, Z:-1.75 [[ 9.99223451e-01 -3.12351143e-02 -2.40179553e-02 6.39896071e+01] [ 3.11893445e-02 9.99510898e-01 -2.27799093e-03 -2.77370185e-01] [ 2.40773614e-02 1.52711768e-03 9.99708932e-01 -1.74872241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41907232899999 meters 0.10064326296081125 Centerline is valid? [True, False] Translation: X:63.99, Y:-0.27, Z:-1.76 [[ 9.99550360e-01 -2.88167889e-02 -8.28678239e-03 6.39882284e+01] [ 2.87742982e-02 9.99572399e-01 -5.20185527e-03 -2.73447176e-01] [ 8.43313972e-03 4.96106996e-03 9.99952134e-01 -1.75621977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44907232899999 meters 0.0979058014275814 Centerline is valid? [False, True] Translation: X:64.00, Y:-0.27, Z:-1.75 [[ 9.99655664e-01 -2.00334461e-02 -1.69473744e-02 6.40003421e+01] [ 1.99200949e-02 9.99778239e-01 -6.83101527e-03 -2.73950999e-01] [ 1.70804649e-02 6.49106981e-03 9.99833048e-01 -1.75100976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47907232899999 meters 0.09695478929565615 Centerline is valid? [True, True] Translation: X:64.03, Y:-0.27, Z:-1.75 [[ 9.99619371e-01 -2.16748810e-02 -1.70678719e-02 6.40293037e+01] [ 2.16545633e-02 9.99764568e-01 -1.37434221e-03 -2.73745421e-01] [ 1.70936423e-02 1.00422178e-03 9.99853389e-01 -1.74661682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50907232899999 meters 0.0952501476804222 Centerline is valid? [True, True] Translation: X:64.06, Y:-0.27, Z:-1.74 [[ 9.99565665e-01 -2.39044502e-02 -1.72353990e-02 6.40585583e+01] [ 2.38840529e-02 9.99713771e-01 -1.38835588e-03 -2.70661888e-01] [ 1.72636536e-02 9.76101690e-04 9.99850496e-01 -1.74452743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53907232899999 meters 0.09419955901691027 Centerline is valid? [True, True] Translation: X:64.09, Y:-0.27, Z:-1.74 [[ 9.99506501e-01 -2.58851549e-02 -1.77964296e-02 6.40875336e+01] [ 2.58636977e-02 9.99664449e-01 -1.43484560e-03 -2.69366651e-01] [ 1.78275992e-02 9.73856026e-04 9.99840601e-01 -1.74419501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.569072329 meters 0.09232226235080615 Centerline is valid? [True, True] Translation: X:64.12, Y:-0.27, Z:-1.74 [[ 9.99342654e-01 -3.07314375e-02 -1.92312063e-02 6.41175961e+01] [ 3.07072711e-02 9.99527218e-01 -1.55073285e-03 -2.69514522e-01] [ 1.92697703e-02 9.59175613e-04 9.99813861e-01 -1.74316825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599072329 meters 0.09241243240549914 Centerline is valid? [True, True] Translation: X:64.15, Y:-0.27, Z:-1.74 [[ 9.99250928e-01 -3.33147061e-02 -1.96904549e-02 6.41454015e+01] [ 3.32898355e-02 9.99444476e-01 -1.58960023e-03 -2.65572288e-01] [ 1.97324734e-02 9.32917500e-04 9.99804861e-01 -1.74444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.629072329 meters 0.09140160636487088 Centerline is valid? [True, True] Translation: X:64.17, Y:-0.26, Z:-1.74 [[ 9.99175760e-01 -3.51014148e-02 -2.03885143e-02 6.41747267e+01] [ 3.50750136e-02 9.99383318e-01 -1.65117770e-03 -2.64290428e-01] [ 2.04338997e-02 9.34689320e-04 9.99790769e-01 -1.74478631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659072329 meters 0.0907874348863188 Centerline is valid? [True, True] Translation: X:64.20, Y:-0.26, Z:-1.74 [[ 9.99094484e-01 -3.71974838e-02 -2.06532925e-02 6.42030832e+01] [ 3.71708170e-02 9.99307525e-01 -1.67369452e-03 -2.61193479e-01] [ 2.07012478e-02 9.04479208e-04 9.99785297e-01 -1.74477901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.689072329 meters 0.08959020220443986 Centerline is valid? [True, True] Translation: X:64.23, Y:-0.26, Z:-1.75 [[ 9.98924735e-01 -4.15479691e-02 -2.05703569e-02 6.42319205e+01] [ 4.15224235e-02 9.99136181e-01 -1.66761004e-03 -2.58329248e-01] [ 2.06218737e-02 8.11685842e-04 9.99787017e-01 -1.74570000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719072329 meters 0.08941319768226398 Centerline is valid? [True, True] Translation: X:64.26, Y:-0.26, Z:-1.75 [[ 9.98860188e-01 -4.33264557e-02 -2.00285669e-02 6.42609288e+01] [ 4.33025664e-02 9.99060682e-01 -1.62511495e-03 -2.55615916e-01] [ 2.00801642e-02 7.55974278e-04 9.99798087e-01 -1.74543889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74907232899999 meters 0.08864848721720203 Centerline is valid? [True, True] Translation: X:64.29, Y:-0.25, Z:-1.75 [[ 9.98759456e-01 -4.58129304e-02 -1.95121866e-02 6.42897970e+01] [ 4.57907052e-02 9.98949799e-01 -1.58453881e-03 -2.54238094e-01] [ 1.95642872e-02 6.89096330e-04 9.99808364e-01 -1.74508690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77907232899999 meters 0.08766925021690293 Centerline is valid? [True, True] Translation: X:64.32, Y:-0.25, Z:-1.75 [[ 9.98538060e-01 -4.98328137e-02 -2.09387969e-02 6.43181742e+01] [ 4.98080723e-02 9.98757358e-01 -1.70178792e-03 -2.51661533e-01] [ 2.09975824e-02 6.56378891e-04 9.99779311e-01 -1.74554385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80907232899999 meters 0.08720960205426702 Centerline is valid? [True, True] Translation: X:64.35, Y:-0.25, Z:-1.75 [[ 9.98459250e-01 -5.17887216e-02 -1.99262188e-02 6.43473418e+01] [ 5.17666585e-02 9.98657891e-01 -1.62180338e-03 -2.48203729e-01] [ 1.99834668e-02 5.87790823e-04 9.99800138e-01 -1.74588543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83907232899999 meters 0.08720960205426702 Centerline is valid? [True, True] Translation: X:64.37, Y:-0.25, Z:-1.75 [[ 9.98445498e-01 -5.20533558e-02 -1.99257635e-02 6.43749179e+01] [ 5.20312341e-02 9.98644132e-01 -1.62738854e-03 -2.45744728e-01] [ 1.99834578e-02 5.88096692e-04 9.99800138e-01 -1.74594015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86907232899999 meters 0.087010793240822 Centerline is valid? [True, True] Translation: X:64.40, Y:-0.24, Z:-1.75 [[ 9.98366744e-01 -5.33506957e-02 -2.04339963e-02 6.44026271e+01] [ 5.33276755e-02 9.98575670e-01 -1.67020771e-03 -2.42165757e-01] [ 2.04939983e-02 5.77782306e-04 9.99789809e-01 -1.74578178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89907232899999 meters 0.08631504083262483 Centerline is valid? [True, True] Translation: X:64.43, Y:-0.24, Z:-1.75 [[ 9.98175839e-01 -5.67824256e-02 -2.05121909e-02 6.44303071e+01] [ 5.67599028e-02 9.98386445e-01 -1.67902557e-03 -2.39368904e-01] [ 2.05744325e-02 5.11692800e-04 9.99788193e-01 -1.74621303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.929072329 meters 0.08572563973722144 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.24, Z:-1.75 [[ 9.98024481e-01 -5.91122796e-02 -2.12808282e-02 6.44590280e+01] [ 5.90884580e-02 9.98251222e-01 -1.74700265e-03 -2.38236857e-01] [ 2.13468821e-02 4.86100086e-04 9.99772011e-01 -1.74609864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959072329 meters 0.08479302668867388 Centerline is valid? [True, True] Translation: X:64.49, Y:-0.24, Z:-1.74 [[ 9.97752745e-01 -6.34959875e-02 -2.13944010e-02 6.44869877e+01] [ 6.34728871e-02 9.97982015e-01 -1.75776232e-03 -2.39006693e-01] [ 2.14628382e-02 3.95847787e-04 9.99769568e-01 -1.74460584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.989072329 meters 0.08435699690224924 Centerline is valid? [True, True] Translation: X:64.52, Y:-0.24, Z:-1.74 [[ 9.97640403e-01 -6.54190122e-02 -2.08321469e-02 6.45157860e+01] [ 6.53974254e-02 9.97857821e-01 -1.71653071e-03 -2.37166588e-01] [ 2.08998144e-02 3.50111614e-04 9.99781514e-01 -1.74488626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019072329 meters 0.08394021106828856 Centerline is valid? [True, True] Translation: X:64.54, Y:-0.23, Z:-1.75 [[ 9.97523576e-01 -6.73320731e-02 -2.03250419e-02 6.45444316e+01] [ 6.73118289e-02 9.97730574e-01 -1.67928838e-03 -2.34856657e-01] [ 2.03919856e-02 3.07014013e-04 9.99792015e-01 -1.74518283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.049072329 meters 0.0835235618519746 Centerline is valid? [True, True] Translation: X:64.57, Y:-0.23, Z:-1.75 [[ 9.97375555e-01 -6.94998914e-02 -2.02920689e-02 6.45729986e+01] [ 6.94800695e-02 9.97581923e-01 -1.68107376e-03 -2.32849287e-01] [ 2.03598356e-02 2.66767515e-04 9.99792681e-01 -1.74657334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079072329 meters 0.08287455730576153 Centerline is valid? [True, True] Translation: X:64.60, Y:-0.23, Z:-1.75 [[ 9.97114741e-01 -7.28837532e-02 -2.12167779e-02 6.46020763e+01] [ 7.28627497e-02 9.97340420e-01 -1.76234253e-03 -2.32928463e-01] [ 2.12887964e-02 2.11344936e-04 9.99773346e-01 -1.74985179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10907232899999 meters 0.08270749400164412 Centerline is valid? [True, True] Translation: X:64.63, Y:-0.23, Z:-1.75 [[ 9.97010368e-01 -7.43184173e-02 -2.11446914e-02 6.46305695e+01] [ 7.42977803e-02 9.97234545e-01 -1.76099631e-03 -2.31690936e-01] [ 2.12170911e-02 1.84727947e-04 9.99774875e-01 -1.75041506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13907232899999 meters 0.08201189009623515 Centerline is valid? [True, True] Translation: X:64.66, Y:-0.23, Z:-1.75 [[ 9.96919046e-01 -7.57613812e-02 -2.03132842e-02 6.46599863e+01] [ 7.57425367e-02 9.97125965e-01 -1.69656967e-03 -2.31355617e-01] [ 2.03834376e-02 1.52762941e-04 9.99792224e-01 -1.74638063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16907232899999 meters 0.08128776385849928 Centerline is valid? [True, True] Translation: X:64.69, Y:-0.23, Z:-1.74 [[ 9.96805955e-01 -7.76824648e-02 -1.85289780e-02 6.46896668e+01] [ 7.76670371e-02 9.96978146e-01 -1.55187660e-03 -2.31876939e-01] [ 1.85935397e-02 1.07829013e-04 9.99827119e-01 -1.74186468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19907232899999 meters 0.0811180347828528 Centerline is valid? [True, True] Translation: X:64.72, Y:-0.23, Z:-1.74 [[ 9.96744490e-01 -7.85028968e-02 -1.83770782e-02 6.47174101e+01] [ 7.84878356e-02 9.96913881e-01 -1.54049884e-03 -2.30471964e-01] [ 1.84412980e-02 9.31066302e-05 9.99829940e-01 -1.74200361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22907232899999 meters 0.08113990284426481 Centerline is valid? [True, True] Translation: X:64.75, Y:-0.23, Z:-1.74 [[ 9.96659030e-01 -7.97025089e-02 -1.78406548e-02 6.47455264e+01] [ 7.96884789e-02 9.96818692e-01 -1.49706726e-03 -2.27934971e-01] [ 1.79032182e-02 7.03709589e-05 9.99839722e-01 -1.74469507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25907232899999 meters 0.08119165449094558 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.22, Z:-1.75 [[ 9.96664923e-01 -7.95056537e-02 -1.83815758e-02 6.47743009e+01] [ 7.94906437e-02 9.96834412e-01 -1.54694029e-03 -2.24260363e-01] [ 1.84463778e-02 8.06178327e-05 9.99829848e-01 -1.74612796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28907232899999 meters 0.0812775530085794 Centerline is valid? [True, True] Translation: X:64.80, Y:-0.22, Z:-1.75 [[ 9.96664084e-01 -7.94402208e-02 -1.87070827e-02 6.48030584e+01] [ 7.94245810e-02 9.96839628e-01 -1.57869921e-03 -2.21355519e-01] [ 1.87733736e-02 8.76305944e-05 9.99823761e-01 -1.74671198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.319072329 meters 0.0809083002776999 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.22, Z:-1.75 [[ 9.96765134e-01 -7.83233824e-02 -1.80198695e-02 6.48313254e+01] [ 7.83085966e-02 9.96927999e-01 -1.52576852e-03 -2.19377290e-01] [ 1.80840158e-02 1.09722171e-04 9.99836465e-01 -1.74509357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.349072329 meters 0.08091546105147103 Centerline is valid? [True, True] Translation: X:64.86, Y:-0.22, Z:-1.74 [[ 9.96798634e-01 -7.77909868e-02 -1.84674451e-02 6.48599751e+01] [ 7.77752830e-02 9.96969682e-01 -1.56813596e-03 -2.16892660e-01] [ 1.85334697e-02 1.26805009e-04 9.99828232e-01 -1.74468665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379072329 meters 0.08123395758984579 Centerline is valid? [True, True] Translation: X:64.89, Y:-0.21, Z:-1.75 [[ 9.96817156e-01 -7.73350725e-02 -1.93608844e-02 6.48872456e+01] [ 7.73177002e-02 9.97005148e-01 -1.64534800e-03 -2.13401942e-01] [ 1.94301445e-02 1.43172059e-04 9.99811207e-01 -1.74883705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.409072329 meters 0.08116686220123465 Centerline is valid? [True, True] Translation: X:64.92, Y:-0.21, Z:-1.75 [[ 9.96901842e-01 -7.58318743e-02 -2.08864507e-02 6.49155332e+01] [ 7.58112676e-02 9.97120600e-01 -1.77778443e-03 -2.11349037e-01] [ 2.09611230e-02 1.88848265e-04 9.99780274e-01 -1.74754003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439072329 meters 0.08152268319861453 Centerline is valid? [True, True] Translation: X:64.94, Y:-0.21, Z:-1.75 [[ 9.96979240e-01 -7.44646599e-02 -2.20773632e-02 6.49432663e+01] [ 7.44412610e-02 9.97223626e-01 -1.88094918e-03 -2.08090352e-01] [ 2.21561325e-02 2.31800529e-04 9.99754496e-01 -1.75012367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.469072329 meters 0.08127934675889087 Centerline is valid? [True, True] Translation: X:64.97, Y:-0.21, Z:-1.75 [[ 9.97003503e-01 -7.43439574e-02 -2.13773365e-02 6.49727439e+01] [ 7.43219274e-02 9.97232632e-01 -1.82428619e-03 -2.07753418e-01] [ 2.14538022e-02 2.30014873e-04 9.99769814e-01 -1.74786387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49907232899999 meters 0.0819234925129889 Centerline is valid? [True, True] Translation: X:65.00, Y:-0.20, Z:-1.75 [[ 9.97039646e-01 -7.36985933e-02 -2.19194525e-02 6.50007787e+01] [ 7.36752360e-02 9.97280529e-01 -1.87235076e-03 -2.03965982e-01] [ 2.19978328e-02 2.51887099e-04 9.99757987e-01 -1.75369345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52907232899999 meters 0.08139488673282833 Centerline is valid? [True, True] Translation: X:65.03, Y:-0.20, Z:-1.75 [[ 9.97179679e-01 -7.21662869e-02 -2.06085989e-02 6.50288106e+01] [ 7.21451868e-02 9.97392576e-01 -1.76647778e-03 -2.04940466e-01] [ 2.06823437e-02 2.74684535e-04 9.99786060e-01 -1.74922106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55907232899999 meters 0.08162197078782818 Centerline is valid? [True, True] Translation: X:65.06, Y:-0.20, Z:-1.75 [[ 9.97180106e-01 -7.22178323e-02 -2.04063750e-02 6.50560565e+01] [ 7.21971111e-02 9.97388846e-01 -1.75129051e-03 -2.01396147e-01] [ 2.04795652e-02 2.73070729e-04 9.99790234e-01 -1.75352393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58907232899999 meters 0.08135318759482624 Centerline is valid? [True, True] Translation: X:65.09, Y:-0.20, Z:-1.75 [[ 9.97342948e-01 -7.00538413e-02 -1.99875596e-02 6.50850558e+01] [ 7.00334240e-02 9.97543162e-01 -1.72050608e-03 -2.00825404e-01] [ 2.00589814e-02 3.16137369e-04 9.99798748e-01 -1.75046095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61907232899999 meters 0.08154374387773607 Centerline is valid? [True, True] Translation: X:65.11, Y:-0.20, Z:-1.75 [[ 9.97493389e-01 -6.83740460e-02 -1.82188981e-02 6.51124486e+01] [ 6.83567403e-02 9.97659704e-01 -1.57166400e-03 -2.01147931e-01] [ 1.82837215e-02 3.22339960e-04 9.99832787e-01 -1.74868070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64907232899999 meters 0.08152491543624867 Centerline is valid? [True, True] Translation: X:65.14, Y:-0.20, Z:-1.75 [[ 9.97561498e-01 -6.74769282e-02 -1.78303765e-02 6.51409922e+01] [ 6.74601846e-02 9.97720779e-01 -1.53953993e-03 -2.01659816e-01] [ 1.78936206e-02 3.32945271e-04 9.99839841e-01 -1.74671786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.679072329 meters 0.08178395165697486 Centerline is valid? [True, True] Translation: X:65.17, Y:-0.20, Z:-1.75 [[ 9.97620123e-01 -6.65487454e-02 -1.80376142e-02 6.51687542e+01] [ 6.65314299e-02 9.97783112e-01 -1.55902156e-03 -2.00124699e-01] [ 1.81013778e-02 3.55243018e-04 9.99836094e-01 -1.74723236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.709072329 meters 0.08248873842111559 Centerline is valid? [True, True] Translation: X:65.20, Y:-0.20, Z:-1.75 [[ 9.97812933e-01 -6.36488867e-02 -1.78373072e-02 6.51968324e+01] [ 6.36314634e-02 9.97972272e-01 -1.54322197e-03 -1.97721172e-01] [ 1.78993624e-02 4.04832875e-04 9.99839712e-01 -1.74921433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739072329 meters 0.08295380609861365 Centerline is valid? [True, True] Translation: X:65.23, Y:-0.19, Z:-1.75 [[ 9.97910953e-01 -6.21591230e-02 -1.76060635e-02 6.52254550e+01] [ 6.21418385e-02 9.98066159e-01 -1.52764973e-03 -1.94775060e-01] [ 1.76669735e-02 4.30385241e-04 9.99843834e-01 -1.74999558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.769072329 meters 0.08397897208935198 Centerline is valid? [True, True] Translation: X:65.25, Y:-0.19, Z:-1.75 [[ 9.98171074e-01 -5.74002670e-02 -1.89661875e-02 6.52545398e+01] [ 5.73793389e-02 9.98351091e-01 -1.64624181e-03 -1.94570023e-01] [ 1.90294087e-02 5.54963658e-04 9.99818770e-01 -1.75002965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799072329 meters 0.08561566113988744 Centerline is valid? [True, True] Translation: X:65.28, Y:-0.19, Z:-1.75 [[ 9.98283086e-01 -5.51286272e-02 -1.97917845e-02 6.52826646e+01] [ 5.51053630e-02 9.98479065e-01 -1.71931345e-03 -1.89344284e-01] [ 1.98564659e-02 6.25728061e-04 9.99802645e-01 -1.75216678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.829072329 meters 0.08662835583696772 Centerline is valid? [True, True] Translation: X:65.31, Y:-0.19, Z:-1.75 [[ 9.98438794e-01 -5.23673173e-02 -1.94329062e-02 6.53124668e+01] [ 5.23443558e-02 9.98627667e-01 -1.68870219e-03 -1.85466051e-01] [ 1.94946706e-02 6.68862816e-04 9.99809737e-01 -1.75345068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85907232899999 meters 0.08719430395935684 Centerline is valid? [True, True] Translation: X:65.34, Y:-0.18, Z:-1.75 [[ 9.98573862e-01 -4.92147980e-02 -2.06917061e-02 6.53420917e+01] [ 4.91880746e-02 9.98787914e-01 -1.79877867e-03 -1.83199229e-01] [ 2.07551525e-02 7.78428176e-04 9.99784286e-01 -1.75294996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88907232899999 meters 0.08836712228491628 Centerline is valid? [True, True] Translation: X:65.37, Y:-0.18, Z:-1.75 [[ 9.98838344e-01 -4.35897138e-02 -2.05401768e-02 6.53721788e+01] [ 4.35621863e-02 9.99049121e-01 -1.78592391e-03 -1.81163578e-01] [ 2.05984935e-02 8.89074273e-04 9.99787433e-01 -1.75235102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91907232899999 meters 0.08930914803286619 Centerline is valid? [True, True] Translation: X:65.40, Y:-0.18, Z:-1.75 [[ 9.98974057e-01 -4.07616463e-02 -1.97312549e-02 6.54013804e+01] [ 4.07356727e-02 9.99168483e-01 -1.71667418e-03 -1.79124113e-01] [ 1.97848225e-02 9.11147030e-04 9.99803846e-01 -1.75176699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94907232899999 meters 0.09055879713430229 Centerline is valid? [True, True] Translation: X:65.43, Y:-0.18, Z:-1.75 [[ 9.99102076e-01 -3.82166925e-02 -1.82900419e-02 6.54296668e+01] [ 3.81939325e-02 9.99269077e-01 -1.59222364e-03 -1.75952789e-01] [ 1.83375228e-02 8.92225323e-04 9.99831455e-01 -1.74990050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97907232899999 meters 0.09353657835933143 Centerline is valid? [True, True] Translation: X:65.46, Y:-0.17, Z:-1.75 [[ 9.99346393e-01 -3.22561162e-02 -1.63196066e-02 6.54588873e+01] [ 3.22371987e-02 9.99479236e-01 -1.42100143e-03 -1.70229802e-01] [ 1.63569440e-02 8.93974249e-04 9.99865817e-01 -1.74877641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00907232899999 meters 0.09550944864327911 Centerline is valid? [True, True] Translation: X:65.49, Y:-0.16, Z:-1.75 [[ 9.99448597e-01 -2.94292930e-02 -1.53758822e-02 6.54872529e+01] [ 2.94121483e-02 9.99566471e-01 -1.34002789e-03 -1.64707583e-01] [ 1.54086523e-02 8.87051266e-04 9.99880886e-01 -1.74962654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03907232899999 meters 0.09709643794233636 Centerline is valid? [True, True] Translation: X:65.52, Y:-0.16, Z:-1.75 [[ 9.99598060e-01 -2.33357623e-02 -1.60984656e-02 6.55175175e+01] [ 2.33161801e-02 9.99727156e-01 -1.40304759e-03 -1.63308025e-01] [ 1.61268144e-02 1.02712893e-03 9.99869427e-01 -1.75002219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.069072329 meters 0.09844578499403864 Centerline is valid? [True, True] Translation: X:65.55, Y:-0.16, Z:-1.75 [[ 9.99657693e-01 -2.04193031e-02 -1.63569070e-02 6.55476256e+01] [ 2.03986936e-02 9.99790908e-01 -1.42585739e-03 -1.59992392e-01] [ 1.63826019e-02 1.09170978e-03 9.99865200e-01 -1.75090098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099072329 meters 0.10052145876348699 Centerline is valid? [True, False] Translation: X:65.56, Y:-0.16, Z:-1.76 [[ 9.99823931e-01 -1.58119294e-02 -1.01039995e-02 6.55579367e+01] [ 1.57167957e-02 9.99832048e-01 -9.42650166e-03 -1.58638556e-01] [ 1.02513536e-02 9.26603944e-03 9.99904521e-01 -1.75599688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.129072329 meters 0.10289934319821424 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.16, Z:-1.76 [[ 9.99955088e-01 -7.84979123e-03 -5.31057881e-03 6.55714104e+01] [ 7.79312950e-03 9.99913371e-01 -1.06074523e-02 -1.60290467e-01] [ 5.39338504e-03 1.05655898e-02 9.99929637e-01 -1.75592162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159072329 meters 0.10815936929923384 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.16, Z:-1.75 [[ 9.99983750e-01 -2.42551928e-03 -5.15921448e-03 6.55697673e+01] [ 2.40153704e-03 9.99986307e-01 -4.64955535e-03 -1.64732564e-01] [ 5.17042142e-03 4.63708975e-03 9.99975882e-01 -1.75405484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.189072329 meters 0.1101773288361882 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.17, Z:-1.75 [[ 9.99981994e-01 1.85052278e-03 -5.70858877e-03 6.55713139e+01] [-1.84951554e-03 9.99998273e-01 1.81716001e-04 -1.68031139e-01] [ 5.70891518e-03 -1.71154605e-04 9.99983689e-01 -1.75424525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219072329 meters 0.11187581502835578 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.17, Z:-1.75 [[ 9.99982160e-01 2.03120773e-03 -5.61722685e-03 6.55711979e+01] [-2.02890452e-03 9.99997855e-01 4.15693878e-04 -1.69216855e-01] [ 5.61805916e-03 -4.04289645e-04 9.99984137e-01 -1.75443483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24907232899999 meters 0.11583443248490141 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.17, Z:-1.75 [[ 9.99982917e-01 2.49771045e-03 -5.28459216e-03 6.55703514e+01] [-2.49299970e-03 9.99996489e-01 8.97811816e-04 -1.71169440e-01] [ 5.28681608e-03 -8.84621992e-04 9.99985633e-01 -1.75446334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27907232899999 meters 0.11792386199943906 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.17, Z:-1.76 [[ 9.99983648e-01 2.42152805e-03 -5.18067286e-03 6.55705276e+01] [-2.41806389e-03 9.99996849e-01 6.74829474e-04 -1.71083547e-01] [ 5.18229065e-03 -6.62291241e-04 9.99986353e-01 -1.75519298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30907232899999 meters 0.11955133791068999 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.17, Z:-1.76 [[ 9.99983509e-01 2.52684715e-03 -5.15726161e-03 6.55705031e+01] [-2.52240729e-03 9.99996443e-01 8.67216942e-04 -1.72011522e-01] [ 5.15943459e-03 -8.54193926e-04 9.99986325e-01 -1.75523039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33907232899999 meters 0.11510562946339133 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.17, Z:-1.76 [[ 9.99984380e-01 -1.80520765e-03 -5.28975430e-03 6.55711258e+01] [ 1.78837962e-03 9.99993331e-01 -3.18425468e-03 -1.73720907e-01] [ 5.29546727e-03 3.17474485e-03 9.99980939e-01 -1.75562987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36907232899999 meters 0.1143001635016293 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.75 [[ 9.99984321e-01 -1.47581248e-03 -5.40189912e-03 6.55710412e+01] [ 1.46252634e-03 9.99995898e-01 -2.46265650e-03 -1.75910870e-01] [ 5.40551138e-03 2.45471747e-03 9.99982377e-01 -1.75498539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39907232899999 meters 0.11669248113493373 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.76 [[ 9.99982767e-01 -1.54957179e-03 -5.66254744e-03 6.55722379e+01] [ 1.53691173e-03 9.99996311e-01 -2.23942128e-03 -1.78012374e-01] [ 5.66599669e-03 2.23067985e-03 9.99981460e-01 -1.75580427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.429072329 meters 0.11606993249578663 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.76 [[ 9.99981749e-01 -1.79550410e-03 -5.76877556e-03 6.55731288e+01] [ 1.78099771e-03 9.99995242e-01 -2.51879219e-03 -1.78089102e-01] [ 5.77327062e-03 2.50847204e-03 9.99980188e-01 -1.75676923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459072329 meters 0.11122704742514282 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.76 [[ 9.99982198e-01 -1.76779324e-03 -5.69899371e-03 6.55730321e+01] [ 1.75353364e-03 9.99995322e-01 -2.50615191e-03 -1.78220068e-01] [ 5.70339741e-03 2.49611392e-03 9.99980620e-01 -1.75689466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.489072329 meters 0.10676040620773071 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.76 [[ 9.99984643e-01 -1.25604929e-03 -5.39776265e-03 6.55715062e+01] [ 1.24560506e-03 9.99997347e-01 -1.93784403e-03 -1.78882731e-01] [ 5.40018236e-03 1.93109079e-03 9.99983554e-01 -1.75568909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519072329 meters 0.11356425677057987 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.76 [[ 9.99977284e-01 2.97263147e-03 -6.04937242e-03 6.55728290e+01] [-2.95572626e-03 9.99991707e-01 2.80156283e-03 -1.80913235e-01] [ 6.05765027e-03 -2.78361890e-03 9.99977778e-01 -1.75504335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.549072329 meters 0.11421118711368342 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.76 [[ 9.99977284e-01 2.89506828e-03 -6.08693578e-03 6.55729645e+01] [-2.87886843e-03 9.99992296e-01 2.66849101e-03 -1.80581152e-01] [ 6.09461435e-03 -2.65090690e-03 9.99977914e-01 -1.75510413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579072329 meters 0.11773930250423023 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.18, Z:-1.76 [[ 9.99977665e-01 2.56226560e-03 -6.17290315e-03 6.55737090e+01] [-2.54904686e-03 9.99994444e-01 2.14833031e-03 -1.79589229e-01] [ 6.17837344e-03 -2.13254731e-03 9.99978640e-01 -1.75594673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60907232899999 meters 0.12626189119602962 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.18, Z:-1.76 [[ 9.99979035e-01 1.85464644e-03 -6.20394303e-03 6.55750004e+01] [-1.84931613e-03 9.99997916e-01 8.64806649e-04 -1.76829836e-01] [ 6.20553401e-03 -8.53315467e-04 9.99980381e-01 -1.75802964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63907232899999 meters 0.1322680102842341 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.17, Z:-1.76 [[ 9.99979296e-01 1.40301498e-03 -6.28005651e-03 6.55757309e+01] [-1.40241948e-03 9.99999012e-01 9.92261529e-05 -1.74881179e-01] [ 6.28018952e-03 -9.04168249e-05 9.99980275e-01 -1.75892510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66907232899999 meters 0.14608555144536553 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.17, Z:-1.76 [[ 9.99982653e-01 1.35539843e-03 -5.73209360e-03 6.55742989e+01] [-1.35934772e-03 9.99998841e-01 -6.85138254e-04 -1.70864306e-01] [ 5.73115832e-03 6.92918277e-04 9.99983337e-01 -1.75885962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69907232899999 meters 0.15500021708510767 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.17, Z:-1.76 [[ 9.99966231e-01 5.44858679e-03 -6.15227334e-03 6.55753672e+01] [-5.42692028e-03 9.99979033e-01 3.53292713e-03 -1.70792129e-01] [ 6.17139381e-03 -3.49941993e-03 9.99974834e-01 -1.75874109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72907232899999 meters 0.15500021708510767 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.17, Z:-1.76 [[ 9.99966231e-01 5.44858679e-03 -6.15227334e-03 6.55753672e+01] [-5.42692028e-03 9.99979033e-01 3.53292713e-03 -1.70792129e-01] [ 6.17139381e-03 -3.49941993e-03 9.99974834e-01 -1.75874109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75907232899999 meters 0.15981429800041194 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.17, Z:-1.76 [[ 9.99970134e-01 4.83303680e-03 -6.03105919e-03 6.55759489e+01] [-4.81908251e-03 9.99985683e-01 2.32612830e-03 -1.67452115e-01] [ 6.04221510e-03 -2.29699466e-03 9.99979108e-01 -1.76022777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78907232899999 meters 0.18315786178813467 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.16, Z:-1.76 [[ 9.99977478e-01 4.07068637e-03 -5.33601749e-03 6.55754540e+01] [-4.07053546e-03 9.99991715e-01 3.91423778e-05 -1.59935242e-01] [ 5.33613261e-03 -1.74210479e-05 9.99985763e-01 -1.76254283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819072329 meters 0.1807390813861318 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.16, Z:-1.76 [[ 9.99980517e-01 3.55067122e-03 -5.13406713e-03 6.55755420e+01] [-3.55669463e-03 9.99992997e-01 -1.16457153e-03 -1.56068829e-01] [ 5.12989617e-03 1.18280915e-03 9.99986142e-01 -1.76349035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.849072329 meters 0.18740472492321203 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.15, Z:-1.76 [[ 9.99983105e-01 3.06420036e-03 -4.93974236e-03 6.55755208e+01] [-3.07539394e-03 9.99992717e-01 -2.26002250e-03 -1.52339071e-01] [ 4.93278123e-03 2.27517597e-03 9.99985246e-01 -1.76420965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879072329 meters 0.2223758702801464 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.15, Z:-1.76 [[ 9.99985029e-01 2.91613741e-03 -4.63013592e-03 6.55744166e+01] [-2.92971050e-03 9.99991424e-01 -2.92739654e-03 -1.48534599e-01] [ 4.62155951e-03 2.94091767e-03 9.99984996e-01 -1.76364612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.909072329 meters 0.23891031075268454 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.14, Z:-1.76 [[ 9.99965509e-01 7.01888200e-03 -4.44027978e-03 6.55730361e+01] [-7.01606403e-03 9.99975176e-01 6.49897177e-04 -1.43819163e-01] [ 4.44473111e-03 -6.18721474e-04 9.99989931e-01 -1.76226458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939072329 meters 0.24682441832339408 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.14, Z:-1.76 [[ 9.99972302e-01 6.04664921e-03 -4.33978493e-03 6.55739293e+01] [-6.05155693e-03 9.99981063e-01 -1.11862823e-03 -1.38554618e-01] [ 4.33293879e-03 1.14485970e-03 9.99989957e-01 -1.76410271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.969072329 meters 0.25865528003174665 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.13, Z:-1.77 [[ 9.99980421e-01 5.10320126e-03 -3.62157848e-03 6.55730624e+01] [-5.11407908e-03 9.99982421e-01 -3.00073740e-03 -1.30129118e-01] [ 3.60620145e-03 3.01919968e-03 9.99988940e-01 -1.76529602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99907232899999 meters 0.26789009332490016 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.13, Z:-1.77 [[ 9.99983734e-01 4.32091525e-03 -3.72309368e-03 6.55740617e+01] [-4.33651930e-03 9.99981805e-01 -4.19332075e-03 -1.26652919e-01] [ 3.70490696e-03 4.20939781e-03 9.99984277e-01 -1.76637465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02907232899999 meters 0.27164299746356235 Centerline is valid? [False, False] Translation: X:65.57, Y:-0.12, Z:-1.77 [[ 9.99984635e-01 4.01641503e-03 -3.82068679e-03 6.55741579e+01] [-4.03416953e-03 9.99981048e-01 -4.65063895e-03 -1.24605029e-01] [ 3.80193548e-03 4.66598079e-03 9.99981887e-01 -1.76614528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05907232899999 meters 0.27840426049355793 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.12, Z:-1.77 [[ 9.99960829e-01 7.60061547e-03 -4.53558503e-03 6.55760102e+01] [-7.60516276e-03 9.99970594e-01 -9.86177027e-04 -1.22674033e-01] [ 4.52795611e-03 1.02063226e-03 9.99989228e-01 -1.76609756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08907232899999 meters 0.2829037846749506 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.12, Z:-1.77 [[ 9.99965706e-01 6.96839988e-03 -4.47524867e-03 6.55762634e+01] [-6.97689261e-03 9.99973885e-01 -1.88491113e-03 -1.19261038e-01] [ 4.46199698e-03 1.91606981e-03 9.99988210e-01 -1.76668420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11907232899999 meters 0.2497906337420191 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.11, Z:-1.77 [[ 9.99974219e-01 5.71018387e-03 -4.35368943e-03 6.55768210e+01] [-5.72571557e-03 9.99977259e-01 -3.56340025e-03 -1.13263625e-01] [ 4.33324275e-03 3.58823637e-03 9.99984174e-01 -1.76787281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14907232899999 meters 0.25153961079184417 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.11, Z:-1.77 [[ 9.99975345e-01 5.32264293e-03 -4.58016219e-03 6.55771545e+01] [-5.34121626e-03 9.99977524e-01 -4.05253741e-03 -1.11094691e-01] [ 4.55848904e-03 4.07690113e-03 9.99981299e-01 -1.76747366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179072329 meters 0.23790901361279826 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.11, Z:-1.77 [[ 9.99975360e-01 4.89623366e-03 -5.03053834e-03 6.55780535e+01] [-4.91876187e-03 9.99977887e-01 -4.47572016e-03 -1.09380658e-01] [ 5.00851292e-03 4.50035390e-03 9.99977331e-01 -1.76704058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.209072329 meters 0.2440443359709516 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.11, Z:-1.77 [[ 9.99971095e-01 4.86218242e-03 -5.84538258e-03 6.55787107e+01] [-4.88711681e-03 9.99978988e-01 -4.25896696e-03 -1.09457634e-01] [ 5.82455188e-03 4.28741092e-03 9.99973846e-01 -1.76518780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239072329 meters 0.25802227745881384 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.11, Z:-1.77 [[ 9.99971874e-01 4.58567909e-03 -5.93482134e-03 6.55791483e+01] [-4.61288672e-03 9.99978877e-01 -4.57886557e-03 -1.08404255e-01] [ 5.91369877e-03 4.60611344e-03 9.99971906e-01 -1.76549342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.269072329 meters 0.22265508907244705 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.10, Z:-1.77 [[ 9.99979909e-01 2.80553691e-03 -5.68431186e-03 6.55813585e+01] [-2.84056688e-03 9.99976969e-01 -6.16389687e-03 -1.03034194e-01] [ 5.66688790e-03 6.17991970e-03 9.99964847e-01 -1.76869008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299072329 meters 0.28700702059173955 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.10, Z:-1.77 [[ 9.99981809e-01 1.95695641e-03 -5.70550151e-03 6.55825604e+01] [-1.99840784e-03 9.99971587e-01 -7.26854167e-03 -9.99041102e-02] [ 5.69111518e-03 7.27981136e-03 9.99957307e-01 -1.77030434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.329072329 meters 0.34503721700358186 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.10, Z:-1.76 [[ 9.99893975e-01 -1.81432909e-03 -1.44481096e-02 6.55814295e+01] [ 1.87514193e-03 9.99989436e-01 4.19661828e-03 -9.96151554e-02] [ 1.44403430e-02 -4.22326558e-03 9.99886814e-01 -1.76486272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35907232899999 meters 0.3950027622288591 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.10, Z:-1.76 [[ 9.99887595e-01 -2.23691798e-03 -1.48254190e-02 6.55822841e+01] [ 2.29102113e-03 9.99990775e-01 3.63337256e-03 -9.76214826e-02] [ 1.48171547e-02 -3.66692950e-03 9.99883496e-01 -1.76479995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38907232899999 meters 0.4630213490816506 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.09, Z:-1.76 [[ 9.99873283e-01 -2.92435578e-03 -1.56481731e-02 6.55833873e+01] [ 2.96707590e-03 9.99991933e-01 2.70751893e-03 -9.42339055e-02] [ 1.56401292e-02 -2.75360516e-03 9.99873894e-01 -1.76380136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41907232899999 meters 0.47559778231895866 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.09, Z:-1.76 [[ 9.99866728e-01 -3.42619649e-03 -1.59620598e-02 6.55840265e+01] [ 3.45633865e-03 9.99992295e-01 1.86115879e-03 -9.11132479e-02] [ 1.59555601e-02 -1.91608103e-03 9.99870866e-01 -1.76387145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44907232899999 meters 0.48219373388903114 Centerline is valid? [False, False] Translation: X:65.58, Y:-0.09, Z:-1.77 [[ 9.99999199e-01 -1.26072998e-03 -1.15210264e-04 6.55837992e+01] [ 1.26097502e-03 9.99996889e-01 2.15217318e-03 -8.81584489e-02] [ 1.12496597e-04 -2.15231673e-03 9.99997677e-01 -1.77301035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47907232899999 meters 0.502828590521587 Centerline is valid? [False, False] Translation: X:65.61, Y:-0.08, Z:-1.78 [[ 9.99980354e-01 -5.22644194e-03 -3.46073428e-03 6.56114770e+01] [ 5.25138987e-03 9.99960006e-01 7.23944263e-03 -7.56255702e-02] [ 3.42275934e-03 -7.25747407e-03 9.99967806e-01 -1.77546605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50907232899999 meters 0.5376541175718774 Centerline is valid? [False, False] Translation: X:65.64, Y:-0.07, Z:-1.78 [[ 9.99994973e-01 -3.15881287e-03 2.75368411e-04 6.56363054e+01] [ 3.15851226e-03 9.99994423e-01 1.08534623e-03 -6.84251672e-02] [-2.78795280e-04 -1.08447102e-03 9.99999373e-01 -1.78233263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53907232899999 meters 0.5118626951580069 Centerline is valid? [False, False] Translation: X:65.62, Y:-0.06, Z:-1.78 [[ 9.99949158e-01 -9.57648720e-03 -3.15785053e-03 6.56174554e+01] [ 9.58460644e-03 9.99950774e-01 2.56609839e-03 -5.75273637e-02] [ 3.13312087e-03 -2.59623468e-03 9.99991722e-01 -1.78102945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.569072329 meters 0.4984521774944139 Centerline is valid? [False, False] Translation: X:65.62, Y:-0.05, Z:-1.78 [[ 9.99942715e-01 -1.01429277e-02 -3.41871017e-03 6.56175057e+01] [ 1.01477351e-02 9.99947542e-01 1.39180135e-03 -5.26783664e-02] [ 3.40441389e-03 -1.42641379e-03 9.99993188e-01 -1.78041126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599072329 meters 0.4911868495440704 Centerline is valid? [False, False] Translation: X:65.62, Y:-0.05, Z:-1.78 [[ 9.99968965e-01 -6.48082316e-03 -4.47980291e-03 6.56191067e+01] [ 6.50256898e-03 9.99967064e-01 4.85679072e-03 -5.02621594e-02] [ 4.44817936e-03 -4.88577022e-03 9.99978171e-01 -1.77947894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.629072329 meters 0.4879893861502774 Centerline is valid? [False, False] Translation: X:65.62, Y:-0.04, Z:-1.78 [[ 9.99979642e-01 -3.40318683e-03 -5.39757651e-03 6.56206648e+01] [ 3.44078498e-03 9.99969777e-01 6.97182368e-03 -4.19880287e-02] [ 5.37368696e-03 -6.99025365e-03 9.99961129e-01 -1.77910838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659072329 meters 0.49013796122771597 Centerline is valid? [False, False] Translation: X:65.62, Y:-0.04, Z:-1.78 [[ 9.99970498e-01 -4.47362252e-03 -6.24421797e-03 6.56230190e+01] [ 4.50677684e-03 9.99975769e-01 5.30566949e-03 -3.60186843e-02] [ 6.22033111e-03 -5.33365426e-03 9.99966429e-01 -1.77995688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.689072329 meters 0.49665004007013647 Centerline is valid? [False, False] Translation: X:65.63, Y:-0.03, Z:-1.78 [[ 9.99959588e-01 -5.41971351e-03 -7.17283826e-03 6.56256681e+01] [ 5.44707995e-03 9.99977940e-01 3.80126699e-03 -3.08999030e-02] [ 7.15207824e-03 -3.84018439e-03 9.99967050e-01 -1.78102087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719072329 meters 0.5138368093891178 Centerline is valid? [False, False] Translation: X:65.66, Y:-0.01, Z:-1.79 [[ 9.99819116e-01 -1.53285371e-02 -1.12592390e-02 6.56573576e+01] [ 1.53581371e-02 9.99878812e-01 2.54721227e-03 -1.38767202e-02] [ 1.12188295e-02 -2.71967246e-03 9.99933368e-01 -1.78514030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74907232899999 meters 0.5056673923603074 Centerline is valid? [False, False] Translation: X:65.66, Y:-0.01, Z:-1.79 [[ 9.99799658e-01 -1.60522182e-02 -1.19569749e-02 6.56591629e+01] [ 1.60689616e-02 9.99870034e-01 1.30554435e-03 -9.35380820e-03] [ 1.19344640e-02 -1.49741896e-03 9.99927661e-01 -1.78557433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77907232899999 meters 0.5222363472777858 Centerline is valid? [False, False] Translation: X:65.68, Y:-0.01, Z:-1.79 [[ 9.99910356e-01 -8.24629807e-03 -1.05488609e-02 6.56828845e+01] [ 8.25683720e-03 9.99965455e-01 9.55916226e-04 -1.06008073e-02] [ 1.05406137e-02 -1.04293076e-03 9.99943902e-01 -1.78603710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80907232899999 meters 0.5179968350717171 Centerline is valid? [False, False] Translation: X:65.68, Y:-0.01, Z:-1.79 [[ 9.99895459e-01 -8.99120105e-03 -1.13238033e-02 6.56848088e+01] [ 8.98923608e-03 9.99959571e-01 -2.24412197e-04 -6.23660006e-03] [ 1.13253632e-02 1.22596397e-04 9.99935859e-01 -1.78618876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83907232899999 meters 0.5134982964296391 Centerline is valid? [False, False] Translation: X:65.69, Y:-0.00, Z:-1.79 [[ 9.99878797e-01 -9.75627442e-03 -1.21328386e-02 6.56866841e+01] [ 9.73935101e-03 9.99951516e-01 -1.45314891e-03 -1.62217366e-03] [ 1.21464276e-02 1.33480681e-03 9.99925339e-01 -1.78612424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86907232899999 meters 0.5169932296954758 Centerline is valid? [False, False] Translation: X:65.69, Y:0.01, Z:-1.79 [[ 9.99847815e-01 -1.10726613e-02 -1.34812135e-02 6.56897790e+01] [ 1.10275503e-02 9.99933360e-01 -3.41596623e-03 5.77146930e-03] [ 1.35181390e-02 3.26678161e-03 9.99903289e-01 -1.78580478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89907232899999 meters 0.5227893877378114 Centerline is valid? [False, False] Translation: X:65.69, Y:0.01, Z:-1.79 [[ 9.99825880e-01 -1.18409123e-02 -1.44222791e-02 6.56920809e+01] [ 1.17755532e-02 9.99920047e-01 -4.60833518e-03 1.01836467e-02] [ 1.44756929e-02 4.43770246e-03 9.99885374e-01 -1.78581572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.929072329 meters 0.5121123046967615 Centerline is valid? [False, False] Translation: X:65.69, Y:0.01, Z:-1.79 [[ 9.99801371e-01 -1.26269248e-02 -1.54200847e-02 6.56946065e+01] [ 1.25383771e-02 9.99904421e-01 -5.82560131e-03 1.46785272e-02] [ 1.54921703e-02 5.63110134e-03 9.99864132e-01 -1.78592554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.959072329 meters 0.5131990791697668 Centerline is valid? [False, False] Translation: X:65.70, Y:0.02, Z:-1.79 [[ 9.99792234e-01 -1.01770676e-02 -1.76611730e-02 6.57003472e+01] [ 1.01108773e-02 9.99941537e-01 -3.83303825e-03 2.18292108e-02] [ 1.76991496e-02 3.65367192e-03 9.99836682e-01 -1.78629915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.989072329 meters 0.51789960267206 Centerline is valid? [False, False] Translation: X:65.72, Y:0.03, Z:-1.79 [[ 9.99685729e-01 -1.60524379e-02 -1.92551821e-02 6.57210436e+01] [ 1.60423921e-02 9.99871084e-01 -6.76081032e-04 3.02457412e-02] [ 1.92635525e-02 3.66969380e-04 9.99814373e-01 -1.78549156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019072329 meters 0.5151274674523537 Centerline is valid? [False, False] Translation: X:65.74, Y:0.03, Z:-1.78 [[ 9.99831398e-01 -9.58238044e-03 -1.56637597e-02 6.57409748e+01] [ 9.54201203e-03 9.99950963e-01 -2.64989464e-03 3.12410257e-02] [ 1.56883839e-02 2.49998408e-03 9.99873804e-01 -1.78475893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.049072329 meters 0.5127027999828636 Centerline is valid? [False, False] Translation: X:65.74, Y:0.04, Z:-1.78 [[ 9.99807920e-01 -1.02956749e-02 -1.66769691e-02 6.57433890e+01] [ 1.02344540e-02 9.99940587e-01 -3.75218267e-03 3.54185399e-02] [ 1.67146095e-02 3.58078228e-03 9.99853889e-01 -1.78453917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079072329 meters 0.5115006790043002 Centerline is valid? [False, False] Translation: X:65.75, Y:0.04, Z:-1.79 [[ 9.99776450e-01 -6.77818153e-03 -2.00276271e-02 6.57529541e+01] [ 6.77471631e-03 9.99977022e-01 -2.40865342e-04 3.90169881e-02] [ 2.00287995e-02 1.05130005e-04 9.99799398e-01 -1.78610693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10907232899999 meters 0.5132846473429049 Centerline is valid? [False, False] Translation: X:65.77, Y:0.05, Z:-1.78 [[ 9.99677174e-01 -1.16351292e-02 -2.25869830e-02 6.57735185e+01] [ 1.17213707e-02 9.99924495e-01 3.68956042e-03 4.66214571e-02] [ 2.25423491e-02 -3.95311974e-03 9.99738073e-01 -1.78452501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13907232899999 meters 0.518505357643871 Centerline is valid? [False, False] Translation: X:65.80, Y:0.04, Z:-1.78 [[ 9.99777094e-01 -4.26983752e-03 -2.06768023e-02 6.57961076e+01] [ 4.33310664e-03 9.99986064e-01 3.01607355e-03 4.32223478e-02] [ 2.06636360e-02 -3.10499604e-03 9.99781663e-01 -1.78416354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16907232899999 meters 0.5189421378076596 Centerline is valid? [False, False] Translation: X:65.82, Y:0.04, Z:-1.79 [[ 9.99832156e-01 -1.00260918e-04 -1.83207729e-02 6.58186136e+01] [ 7.27649647e-05 9.99998870e-01 -1.50146794e-03 4.36187236e-02] [ 1.83209028e-02 1.49988282e-03 9.99831033e-01 -1.78574858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19907232899999 meters 0.5136236834060375 Centerline is valid? [False, False] Translation: X:65.84, Y:0.04, Z:-1.79 [[ 9.99865065e-01 4.01714586e-03 -1.59284339e-02 6.58402848e+01] [-4.11616917e-03 9.99972377e-01 -6.18886053e-03 4.38096327e-02] [ 1.59031324e-02 6.25358957e-03 9.99853981e-01 -1.78658528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22907232899999 meters 0.51394631368209 Centerline is valid? [False, False] Translation: X:65.86, Y:0.06, Z:-1.78 [[ 9.99804905e-01 -3.67258464e-03 -1.94078279e-02 6.58637983e+01] [ 3.55533091e-03 9.99975241e-01 -6.07262294e-03 6.42060152e-02] [ 1.94296496e-02 6.00243695e-03 9.99793208e-01 -1.78412837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25907232899999 meters 0.5209477438457009 Centerline is valid? [False, False] Translation: X:65.88, Y:0.06, Z:-1.78 [[ 9.99847165e-01 4.84076832e-03 -1.67991967e-02 6.58845574e+01] [-4.95272561e-03 9.99965761e-01 -6.62925077e-03 6.38765667e-02] [ 1.67665309e-02 6.71143940e-03 9.99836907e-01 -1.78488637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28907232899999 meters 0.518931878751623 Centerline is valid? [False, False] Translation: X:65.90, Y:0.09, Z:-1.78 [[ 9.99826297e-01 3.58386162e-03 -1.82902086e-02 6.59034384e+01] [-3.60616592e-03 9.99992794e-01 -1.18663054e-03 8.68144457e-02] [ 1.82858241e-02 1.25238195e-03 9.99832016e-01 -1.78439841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319072329 meters 0.5195770292443337 Centerline is valid? [False, False] Translation: X:65.92, Y:0.09, Z:-1.79 [[ 9.99818286e-01 1.27707592e-02 -1.41528195e-02 6.59203928e+01] [-1.27970872e-02 9.99916545e-01 -1.77125951e-03 8.80807518e-02] [ 1.41290181e-02 1.95205252e-03 9.99898275e-01 -1.78516122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.349072329 meters 0.5257247087076606 Centerline is valid? [False, False] Translation: X:65.92, Y:0.10, Z:-1.78 [[ 9.99784993e-01 1.44297912e-02 -1.48912481e-02 6.59225299e+01] [-1.44579296e-02 9.99893888e-01 -1.78366442e-03 1.00849353e-01] [ 1.48639301e-02 1.99857754e-03 9.99887528e-01 -1.78482311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379072329 meters 0.5138858769919677 Centerline is valid? [False, False] Translation: X:65.92, Y:0.13, Z:-1.78 [[ 9.99693642e-01 1.99510637e-02 -1.46484745e-02 6.59221459e+01] [-2.00123822e-02 9.99791524e-01 -4.05140507e-03 1.32587524e-01] [ 1.45645908e-02 4.34331476e-03 9.99884497e-01 -1.78459639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.409072329 meters 0.5146848105627106 Centerline is valid? [False, False] Translation: X:65.92, Y:0.15, Z:-1.79 [[ 9.99575960e-01 2.52226897e-02 -1.45504410e-02 6.59222552e+01] [-2.52483999e-02 9.99679950e-01 -1.58595614e-03 1.48455801e-01] [ 1.45057820e-02 1.95265898e-03 9.99892879e-01 -1.78507810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439072329 meters 0.5102474822013213 Centerline is valid? [False, False] Translation: X:65.92, Y:0.17, Z:-1.79 [[ 9.99426268e-01 3.09295402e-02 -1.38020997e-02 6.59208125e+01] [-3.09241553e-02 9.99521552e-01 6.03451763e-04 1.65987940e-01] [ 1.38141606e-02 -1.76287269e-04 9.99904564e-01 -1.78598350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.469072329 meters 0.4946035494750758 Centerline is valid? [False, False] Translation: X:65.90, Y:0.22, Z:-1.79 [[ 9.99298705e-01 3.50680348e-02 -1.31274599e-02 6.58954385e+01] [-3.50651836e-02 9.99384927e-01 4.47368935e-04 2.23239041e-01] [ 1.31350739e-02 1.32615949e-05 9.99913731e-01 -1.78831620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49907232899999 meters 0.49644579080753204 Centerline is valid? [False, False] Translation: X:65.87, Y:0.26, Z:-1.79 [[ 9.99367986e-01 3.29624753e-02 -1.33080092e-02 6.58716221e+01] [-3.29784575e-02 9.99455579e-01 -9.83224727e-04 2.59510961e-01] [ 1.32683545e-02 1.42148093e-03 9.99910961e-01 -1.78871405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52907232899999 meters 0.4859233035061143 Centerline is valid? [False, False] Translation: X:65.85, Y:0.31, Z:-1.79 [[ 9.98471886e-01 5.33135878e-02 -1.45449345e-02 6.58478967e+01] [-5.33663672e-02 9.98569663e-01 -3.26477023e-03 3.08256768e-01] [ 1.43500737e-02 4.03599160e-03 9.99888887e-01 -1.78873779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55907232899999 meters 0.48860143355196434 Centerline is valid? [False, False] Translation: X:65.82, Y:0.35, Z:-1.79 [[ 9.98498366e-01 5.29904034e-02 -1.38935653e-02 6.58202707e+01] [-5.30465571e-02 9.98585169e-01 -3.70456863e-03 3.46823474e-01] [ 1.36776017e-02 4.43601153e-03 9.99896617e-01 -1.78886741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58907232899999 meters 0.477104473360397 Centerline is valid? [False, False] Translation: X:65.79, Y:0.40, Z:-1.79 [[ 9.96836777e-01 7.83201839e-02 -1.35051249e-02 6.57947031e+01] [-7.83544518e-02 9.96923504e-01 -2.02641382e-03 3.96916130e-01] [ 1.33048673e-02 3.07819047e-03 9.99906748e-01 -1.78933971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61907232899999 meters 0.47252117012557476 Centerline is valid? [False, False] Translation: X:65.76, Y:0.44, Z:-1.79 [[ 9.96858219e-01 7.85263818e-02 -1.03584728e-02 6.57601581e+01] [-7.85490136e-02 9.96908636e-01 -1.79579461e-03 4.37671039e-01] [ 1.01854337e-02 2.60380044e-03 9.99944737e-01 -1.78999142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64907232899999 meters 0.47252117012557476 Centerline is valid? [False, False] Translation: X:65.75, Y:0.45, Z:-1.79 [[ 9.97617807e-01 6.84904181e-02 -8.23244106e-03 6.57450119e+01] [-6.85102157e-02 9.97648105e-01 -2.14703939e-03 4.49106770e-01] [ 8.06602759e-03 2.70593104e-03 9.99963808e-01 -1.79096669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.679072329 meters 0.4656810790206721 Centerline is valid? [False, False] Translation: X:65.71, Y:0.49, Z:-1.79 [[ 9.97527779e-01 6.99617922e-02 -6.60887018e-03 6.57125313e+01] [-6.99791657e-02 9.97545481e-01 -2.43492675e-03 4.89156396e-01] [ 6.42229674e-03 2.89139030e-03 9.99975197e-01 -1.79082163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.709072329 meters 0.46909393207664685 Centerline is valid? [False, False] Translation: X:65.68, Y:0.53, Z:-1.79 [[ 9.97276427e-01 7.35215992e-02 -5.85689821e-03 6.56792395e+01] [-7.35389490e-02 9.97288404e-01 -2.80384912e-03 5.26718440e-01] [ 5.63487320e-03 3.22692277e-03 9.99978917e-01 -1.78984410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739072329 meters 0.46423837214890057 Centerline is valid? [False, False] Translation: X:65.64, Y:0.58, Z:-1.79 [[ 9.95009915e-01 9.97703364e-02 -1.07163237e-03 6.56447123e+01] [-9.97734264e-02 9.95004448e-01 -3.37809333e-03 5.80280600e-01] [ 7.29245466e-04 3.46815680e-03 9.99993720e-01 -1.78953233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.769072329 meters 0.6407680566051794 Centerline is valid? [False, False] Translation: X:65.61, Y:0.62, Z:-1.79 [[ 9.94585028e-01 1.03925815e-01 2.18083278e-04 6.56123317e+01] [-1.03925181e-01 9.94583133e-01 -1.98715903e-03 6.17983221e-01] [-4.23419072e-04 1.95373428e-03 9.99998002e-01 -1.78842020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799072329 meters 0.6199689061842787 Centerline is valid? [False, False] Translation: X:65.58, Y:0.66, Z:-1.79 [[ 9.94150965e-01 1.07985555e-01 1.72616513e-03 6.55795081e+01] [-1.07985518e-01 9.94152461e-01 -1.14702539e-04 6.56106665e-01] [-1.72845753e-03 -7.23691964e-05 9.99998504e-01 -1.78858750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.829072329 meters 0.5887753020985073 Centerline is valid? [False, False] Translation: X:65.54, Y:0.71, Z:-1.79 [[ 9.90392998e-01 1.38264493e-01 -2.15378146e-03 6.55397048e+01] [-1.38259011e-01 9.90392912e-01 2.51526696e-03 7.11792358e-01] [ 2.48086200e-03 -2.19332309e-03 9.99994517e-01 -1.78925843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85907232899999 meters 0.5655549590306708 Centerline is valid? [False, False] Translation: X:65.51, Y:0.76, Z:-1.79 [[ 9.90226333e-01 1.39446246e-01 -2.56004271e-03 6.55120647e+01] [-1.39442033e-01 9.90228677e-01 1.75693117e-03 7.63920076e-01] [ 2.78002516e-03 -1.38278195e-03 9.99995180e-01 -1.79056746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88907232899999 meters 0.5410501453563848 Centerline is valid? [False, False] Translation: X:65.48, Y:0.82, Z:-1.79 [[ 9.90234488e-01 1.39368842e-01 -3.46183166e-03 6.54837690e+01] [-1.39370109e-01 9.90240353e-01 -1.26433376e-04 8.17976938e-01] [ 3.41042453e-03 6.07674547e-04 9.99994000e-01 -1.79116236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91907232899999 meters 0.4713838478099897 Centerline is valid? [False, False] Translation: X:65.45, Y:0.90, Z:-1.79 [[ 9.87063242e-01 1.60136079e-01 -7.91149541e-03 6.54477649e+01] [-1.60172685e-01 9.87079950e-01 -4.22888482e-03 8.97060101e-01] [ 7.13208146e-03 5.44138223e-03 9.99959762e-01 -1.78815646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94907232899999 meters 0.45267668198192157 Centerline is valid? [False, False] Translation: X:65.41, Y:0.96, Z:-1.78 [[ 9.88265019e-01 1.52296166e-01 -1.17528650e-02 6.54058791e+01] [-1.52352538e-01 9.88317895e-01 -4.05493756e-03 9.58936751e-01] [ 1.09980154e-02 5.79793176e-03 9.99922711e-01 -1.78343973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97907232899999 meters 0.41925335762223576 Centerline is valid? [False, False] Translation: X:65.36, Y:1.02, Z:-1.78 [[ 9.89111711e-01 1.46406477e-01 -1.49387906e-02 6.53648833e+01] [-1.46468651e-01 9.89210296e-01 -3.15043376e-03 1.01602192e+00] [ 1.43163616e-02 5.30419544e-03 9.99883447e-01 -1.77950740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00907232899999 meters 0.4347695118081727 Centerline is valid? [False, False] Translation: X:65.33, Y:1.10, Z:-1.78 [[ 9.87885856e-01 1.54484192e-01 -1.47027314e-02 6.53258725e+01] [-1.54522701e-01 9.87988079e-01 -1.51342117e-03 1.10039292e+00] [ 1.42923237e-02 3.76699314e-03 9.99890764e-01 -1.77720404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03907232899999 meters 0.4382145631078044 Centerline is valid? [False, False] Translation: X:65.28, Y:1.16, Z:-1.77 [[ 9.89332502e-01 1.44399316e-01 -1.92363676e-02 6.52805555e+01] [-1.44478075e-01 9.89504147e-01 -2.76213282e-03 1.15501588e+00] [ 1.86356154e-02 5.51190114e-03 9.99811149e-01 -1.77318596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.069072329 meters 0.4365472110829418 Centerline is valid? [False, False] Translation: X:65.24, Y:1.21, Z:-1.77 [[ 9.90664092e-01 1.34195736e-01 -2.40033662e-02 6.52363566e+01] [-1.34351644e-01 9.90921116e-01 -4.99767683e-03 1.20710079e+00] [ 2.31147755e-02 8.17591068e-03 9.99699386e-01 -1.76943596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099072329 meters 0.4483041079300268 Centerline is valid? [False, False] Translation: X:65.19, Y:1.27, Z:-1.77 [[ 9.89454065e-01 1.42080501e-01 -2.81741785e-02 6.51921321e+01] [-1.42354796e-01 9.89783599e-01 -7.97119984e-03 1.27414492e+00] [ 2.67537878e-02 1.18978655e-02 9.99571246e-01 -1.76810613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.129072329 meters 0.4481016285238187 Centerline is valid? [False, False] Translation: X:65.15, Y:1.32, Z:-1.77 [[ 9.90640551e-01 1.32207548e-01 -3.39479378e-02 6.51474245e+01] [-1.32617157e-01 9.91115857e-01 -1.01018336e-02 1.32150056e+00] [ 3.23108009e-02 1.45093650e-02 9.99372548e-01 -1.76549558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159072329 meters 0.4456405077352882 Centerline is valid? [False, False] Translation: X:65.11, Y:1.36, Z:-1.76 [[ 9.91407305e-01 1.25142621e-01 -3.80904173e-02 6.51060911e+01] [-1.25714096e-01 9.91981494e-01 -1.29877526e-02 1.36417723e+00] [ 3.61596676e-02 1.76646552e-02 9.99189891e-01 -1.76432828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.189072329 meters 0.4479461032688022 Centerline is valid? [False, False] Translation: X:65.07, Y:1.42, Z:-1.77 [[ 9.90466809e-01 1.32957423e-01 -3.60253318e-02 6.50692147e+01] [-1.33619050e-01 9.90893466e-01 -1.66158856e-02 1.42103849e+00] [ 3.34880606e-02 2.12711538e-02 9.99212734e-01 -1.76661542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219072329 meters 0.44687959747768047 Centerline is valid? [False, False] Translation: X:65.03, Y:1.46, Z:-1.77 [[ 9.91162985e-01 1.27239926e-01 -3.74958468e-02 6.50259724e+01] [-1.28024240e-01 9.91583097e-01 -1.93068989e-02 1.45804824e+00] [ 3.47236395e-02 2.39366609e-02 9.99110257e-01 -1.76647795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24907232899999 meters 0.4443764111916571 Centerline is valid? [False, False] Translation: X:64.98, Y:1.49, Z:-1.77 [[ 9.91726396e-01 1.22160196e-01 -3.94416158e-02 6.49839442e+01] [-1.23087404e-01 9.92152049e-01 -2.19955054e-02 1.49336071e+00] [ 3.64451047e-02 2.66682894e-02 9.98979758e-01 -1.76693194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27907232899999 meters 0.4407348131760406 Centerline is valid? [False, False] Translation: X:64.95, Y:1.54, Z:-1.77 [[ 9.91399539e-01 1.24497465e-01 -4.03402366e-02 6.49450762e+01] [-1.25444843e-01 9.91859676e-01 -2.18626353e-02 1.54410975e+00] [ 3.72900113e-02 2.67350812e-02 9.98946791e-01 -1.76808005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30907232899999 meters 0.44388778474557666 Centerline is valid? [False, False] Translation: X:64.91, Y:1.58, Z:-1.77 [[ 9.92898982e-01 1.12795189e-01 -3.78002198e-02 6.49066569e+01] [-1.13561769e-01 9.93353436e-01 -1.87796908e-02 1.57537334e+00] [ 3.54307195e-02 2.29389957e-02 9.99108836e-01 -1.77014366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33907232899999 meters 0.43969082475772786 Centerline is valid? [False, False] Translation: X:64.87, Y:1.60, Z:-1.77 [[ 9.94204250e-01 1.01959599e-01 -3.40903154e-02 6.48703305e+01] [-1.02533044e-01 9.94608604e-01 -1.55144826e-02 1.60413029e+00] [ 3.23246706e-02 1.89199483e-02 9.99298329e-01 -1.77263705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36907232899999 meters 0.4328459127908818 Centerline is valid? [False, False] Translation: X:64.84, Y:1.64, Z:-1.77 [[ 9.93388570e-01 1.09408289e-01 -3.47703187e-02 6.48382074e+01] [-1.10000999e-01 9.93808870e-01 -1.56112214e-02 1.64173969e+00] [ 3.28470541e-02 1.93327787e-02 9.99273393e-01 -1.77326807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39907232899999 meters 0.4357601251475989 Centerline is valid? [False, False] Translation: X:64.80, Y:1.67, Z:-1.78 [[ 9.94679911e-01 9.85892647e-02 -2.98668903e-02 6.48037366e+01] [-9.90870783e-02 9.94955381e-01 -1.56697548e-02 1.66562719e+00] [ 2.81713536e-02 1.85458132e-02 9.99431052e-01 -1.77630229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.429072329 meters 0.42671876593994007 Centerline is valid? [False, False] Translation: X:64.77, Y:1.70, Z:-1.78 [[ 9.94359103e-01 1.01728776e-01 -3.00205090e-02 6.47717921e+01] [-1.02448133e-01 9.94461169e-01 -2.34811460e-02 1.69602167e+00] [ 2.74655223e-02 2.64242363e-02 9.99273438e-01 -1.77816420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.459072329 meters 0.42280827839647556 Centerline is valid? [False, False] Translation: X:64.74, Y:1.71, Z:-1.78 [[ 9.95460770e-01 9.19112816e-02 -2.47016444e-02 6.47404358e+01] [-9.24778782e-02 9.95452164e-01 -2.28655131e-02 1.71447010e+00] [ 2.24877067e-02 2.50460770e-02 9.99433338e-01 -1.78203286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.489072329 meters 0.4245006802447702 Centerline is valid? [False, False] Translation: X:64.71, Y:1.73, Z:-1.79 [[ 9.96172868e-01 8.51424452e-02 -1.97580675e-02 6.47141885e+01] [-8.55355419e-02 9.96134687e-01 -1.99838856e-02 1.73002579e+00] [ 1.79802195e-02 2.15974216e-02 9.99605054e-01 -1.78545097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519072329 meters 0.46332506681218105 Centerline is valid? [False, False] Translation: X:64.69, Y:1.74, Z:-1.79 [[ 9.96612213e-01 8.05613446e-02 -1.65519387e-02 6.46897048e+01] [-8.08035100e-02 9.96624247e-01 -1.45225022e-02 1.74203582e+00] [ 1.53261112e-02 1.58107578e-02 9.99757536e-01 -1.78652426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.549072329 meters 0.46401388917971725 Centerline is valid? [False, False] Translation: X:64.69, Y:1.75, Z:-1.79 [[ 9.95631463e-01 9.22711611e-02 -1.42836268e-02 6.46868415e+01] [-9.23500976e-02 9.95714207e-01 -4.96770481e-03 1.75279886e+00] [ 1.37640342e-02 6.26509753e-03 9.99885643e-01 -1.78686442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579072329 meters 0.47074842243645015 Centerline is valid? [False, False] Translation: X:64.66, Y:1.76, Z:-1.79 [[ 9.96381313e-01 8.44971864e-02 -9.19263978e-03 6.46641984e+01] [-8.45315866e-02 9.96414932e-01 -3.41957422e-03 1.76266036e+00] [ 8.87073914e-03 4.18426827e-03 9.99951900e-01 -1.79272375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60907232899999 meters 0.4711016054714076 Centerline is valid? [False, False] Translation: X:64.65, Y:1.77, Z:-1.80 [[ 9.96750241e-01 8.04964227e-02 -3.04694110e-03 6.46482061e+01] [-8.05114404e-02 9.96740241e-01 -5.17695941e-03 1.76928052e+00] [ 2.62028210e-03 5.40544915e-03 9.99981957e-01 -1.79892858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63907232899999 meters 0.4699976181879193 Centerline is valid? [False, False] Translation: X:64.64, Y:1.77, Z:-1.80 [[ 9.97105546e-01 7.60275800e-02 5.80751014e-04 6.46389984e+01] [-7.60171716e-02 9.97050074e-01 -1.06084829e-02 1.77336311e+00] [-1.38557512e-03 1.05336301e-02 9.99943560e-01 -1.80273253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66907232899999 meters 0.4788520361946676 Centerline is valid? [False, False] Translation: X:64.64, Y:1.78, Z:-1.80 [[ 9.97086952e-01 7.62722401e-02 3.95011330e-04 6.46408875e+01] [-7.62626311e-02 9.97021065e-01 -1.15329068e-02 1.77647808e+00] [-1.27347525e-03 1.14691863e-02 9.99933416e-01 -1.80469767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69907232899999 meters 0.4832526928393243 Centerline is valid? [False, False] Translation: X:64.61, Y:1.78, Z:-1.81 [[ 9.97878733e-01 6.50429081e-02 2.73011308e-03 6.46146647e+01] [-6.50130756e-02 9.97835548e-01 -9.87516284e-03 1.78112471e+00] [-3.36651319e-03 9.67672194e-03 9.99947512e-01 -1.80841182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72907232899999 meters 0.4825846984794435 Centerline is valid? [False, False] Translation: X:64.62, Y:1.78, Z:-1.81 [[ 9.97875432e-01 6.50990242e-02 2.59585531e-03 6.46152769e+01] [-6.50699196e-02 9.97830088e-01 -1.00509516e-02 1.78201465e+00] [-3.24452967e-03 9.86068559e-03 9.99946119e-01 -1.80880138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75907232899999 meters 0.48565776505600855 Centerline is valid? [False, False] Translation: X:64.61, Y:1.78, Z:-1.81 [[ 9.97867460e-01 6.52182995e-02 2.66546722e-03 6.46149284e+01] [-6.51886411e-02 9.97822757e-01 -1.00093659e-02 1.78209479e+00] [-3.31245767e-03 9.81426233e-03 9.99946353e-01 -1.80853650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78907232899999 meters 0.4926450162421564 Centerline is valid? [False, False] Translation: X:64.61, Y:1.78, Z:-1.81 [[ 9.98116195e-01 6.12923554e-02 2.70359041e-03 6.46137507e+01] [-6.12473319e-02 9.98018604e-01 -1.44094026e-02 1.78253254e+00] [-3.58141976e-03 1.42166704e-02 9.99892524e-01 -1.80783587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.819072329 meters 0.4952022096063589 Centerline is valid? [False, False] Translation: X:64.61, Y:1.78, Z:-1.81 [[ 9.98350718e-01 5.73453829e-02 2.71118364e-03 6.46129076e+01] [-5.72851260e-02 9.98183581e-01 -1.86534719e-02 1.78245316e+00] [-3.77594948e-03 1.84673965e-02 9.99822333e-01 -1.80754627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.849072329 meters 0.5205494231746552 Centerline is valid? [False, False] Translation: X:64.61, Y:1.78, Z:-1.81 [[ 9.98317532e-01 5.79266570e-02 2.57070231e-03 6.46147208e+01] [-5.78724127e-02 9.98167384e-01 -1.76821388e-02 1.78022066e+00] [-3.59025839e-03 1.75036164e-02 9.99840354e-01 -1.81004321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879072329 meters 0.5043954800878786 Centerline is valid? [False, False] Translation: X:64.59, Y:1.78, Z:-1.81 [[ 9.98767232e-01 4.94384790e-02 4.45574672e-03 6.45916496e+01] [-4.93712726e-02 9.98680875e-01 -1.41063165e-02 1.78239777e+00] [-5.14726387e-03 1.38689408e-02 9.99890573e-01 -1.81441871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.909072329 meters 0.5268272007656947 Centerline is valid? [False, False] Translation: X:64.59, Y:1.78, Z:-1.81 [[ 9.98545365e-01 5.37027595e-02 4.81336229e-03 6.45916536e+01] [-5.36510601e-02 9.98506687e-01 -1.02936505e-02 1.78436487e+00] [-5.35897187e-03 1.00204350e-02 9.99935434e-01 -1.81491756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939072329 meters 0.5318578025054717 Centerline is valid? [False, False] Translation: X:64.59, Y:1.79, Z:-1.81 [[ 9.98544385e-01 5.37039288e-02 4.99985660e-03 6.45909365e+01] [-5.36482691e-02 9.98502884e-01 -1.06702794e-02 1.78551924e+00] [-5.56540716e-03 1.03865140e-02 9.99930571e-01 -1.81460904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.969072329 meters 0.5034571846140757 Centerline is valid? [False, False] Translation: X:64.59, Y:1.79, Z:-1.81 [[ 9.98734724e-01 4.99979125e-02 5.39999841e-03 6.45890718e+01] [-4.99103522e-02 9.98636706e-01 -1.52868049e-02 1.78633833e+00] [-6.15694495e-03 1.49979471e-02 9.99868568e-01 -1.81407636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99907232899999 meters 0.5097278955101375 Centerline is valid? [False, False] Translation: X:64.59, Y:1.79, Z:-1.81 [[ 9.98914808e-01 4.62238950e-02 5.70600679e-03 6.45878525e+01] [-4.61033344e-02 9.98742249e-01 -1.97079122e-02 1.78661530e+00] [-6.60980653e-03 1.94234594e-02 9.99789498e-01 -1.81427326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02907232899999 meters 0.5229305067967424 Centerline is valid? [False, False] Translation: X:64.59, Y:1.79, Z:-1.82 [[ 9.98886668e-01 4.68005194e-02 5.92753441e-03 6.45885180e+01] [-4.66765440e-02 9.98718458e-01 -1.95638009e-02 1.78681347e+00] [-6.83553407e-03 1.92653431e-02 9.99791039e-01 -1.81625160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05907232899999 meters 0.5355568057281362 Centerline is valid? [False, False] Translation: X:64.59, Y:1.79, Z:-1.82 [[ 9.98673146e-01 5.11377522e-02 6.07278249e-03 6.45892679e+01] [-5.10384722e-02 9.98576234e-01 -1.55105935e-02 1.78811978e+00] [-6.85731315e-03 1.51800677e-02 9.99861262e-01 -1.81702333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08907232899999 meters 0.5287163427065446 Centerline is valid? [False, False] Translation: X:64.58, Y:1.79, Z:-1.82 [[ 9.98501138e-01 5.40665828e-02 8.50183415e-03 6.45826139e+01] [-5.39687725e-02 9.98478212e-01 -1.13415770e-02 1.78944327e+00] [-9.10209647e-03 1.08657440e-02 9.99899539e-01 -1.81877681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11907232899999 meters 0.5382024205335415 Centerline is valid? [False, False] Translation: X:64.58, Y:1.79, Z:-1.82 [[ 9.98492113e-01 5.41462272e-02 9.03804955e-03 6.45810354e+01] [-5.40335980e-02 9.98463696e-01 -1.22726389e-02 1.79232108e+00] [-9.68868145e-03 1.17657748e-02 9.99883841e-01 -1.81825759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14907232899999 meters 0.5976402222184556 Centerline is valid? [False, False] Translation: X:64.58, Y:1.80, Z:-1.82 [[ 9.98645254e-01 5.09967929e-02 1.03433248e-02 6.45760405e+01] [-5.08090135e-02 9.98552050e-01 -1.76705211e-02 1.79569608e+00] [-1.12294881e-02 1.71210479e-02 9.99790362e-01 -1.81575928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.179072329 meters 0.5453218613225372 Centerline is valid? [False, False] Translation: X:64.57, Y:1.80, Z:-1.81 [[ 9.98814817e-01 4.73835237e-02 1.11248387e-02 6.45732216e+01] [-4.71181286e-02 9.98624134e-01 -2.30156488e-02 1.79845367e+00] [-1.22000950e-02 2.24641895e-02 9.99673206e-01 -1.81489487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.209072329 meters 0.5617517154710001 Centerline is valid? [False, False] Translation: X:64.57, Y:1.81, Z:-1.81 [[ 9.98767048e-01 4.81192327e-02 1.22033920e-02 6.45711976e+01] [-4.77954286e-02 9.98529904e-01 -2.55661476e-02 1.80628859e+00] [-1.34156753e-02 2.49513594e-02 9.99598644e-01 -1.81471121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239072329 meters 0.5952856260302233 Centerline is valid? [False, False] Translation: X:64.57, Y:1.81, Z:-1.81 [[ 9.98555379e-01 5.21703192e-02 1.28613279e-02 6.45704135e+01] [-5.18643763e-02 9.98387567e-01 -2.30727498e-02 1.81201844e+00] [-1.40443025e-02 2.23723736e-02 9.99651056e-01 -1.81477260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.269072329 meters 0.584329329079096 Centerline is valid? [False, False] Translation: X:64.57, Y:1.82, Z:-1.81 [[ 9.98309286e-01 5.64332857e-02 1.39231352e-02 6.45686735e+01] [-5.61288853e-02 9.98194965e-01 -2.13625948e-02 1.82001970e+00] [-1.51035649e-02 2.05449867e-02 9.99674840e-01 -1.81435666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299072329 meters 0.591305481569524 Centerline is valid? [False, False] Translation: X:64.57, Y:1.84, Z:-1.81 [[ 9.97556503e-01 6.79591661e-02 1.62041967e-02 6.45655057e+01] [-6.77426119e-02 9.97610696e-01 -1.35587060e-02 1.83799783e+00] [-1.70869183e-02 1.24278608e-02 9.99776768e-01 -1.81380312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.329072329 meters 0.5861360033071882 Centerline is valid? [False, False] Translation: X:64.56, Y:1.85, Z:-1.81 [[ 9.97541662e-01 6.73923203e-02 1.92069815e-02 6.45572229e+01] [-6.70784848e-02 9.97610577e-01 -1.65412947e-02 1.84814700e+00] [-2.02758441e-02 1.52122553e-02 9.99678687e-01 -1.81357967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35907232899999 meters 0.5804952050446858 Centerline is valid? [False, False] Translation: X:64.55, Y:1.86, Z:-1.81 [[ 9.97491184e-01 6.77656405e-02 2.04733179e-02 6.45546617e+01] [-6.73558885e-02 9.97526892e-01 -2.00819321e-02 1.85821879e+00] [-2.17835502e-02 1.86525517e-02 9.99588695e-01 -1.81277853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38907232899999 meters 0.6034015649714228 Centerline is valid? [False, False] Translation: X:64.55, Y:1.88, Z:-1.81 [[ 9.97411448e-01 6.80046160e-02 2.33618197e-02 6.45496553e+01] [-6.73947732e-02 9.97388356e-01 -2.59694566e-02 1.88030635e+00] [-2.50668499e-02 2.43277688e-02 9.99389720e-01 -1.81365282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41907232899999 meters 0.5699790123704549 Centerline is valid? [False, False] Translation: X:64.53, Y:1.89, Z:-1.81 [[ 9.97817338e-01 6.05554280e-02 2.63363072e-02 6.45280361e+01] [-5.98785468e-02 9.97872892e-01 -2.57730861e-02 1.89145089e+00] [-2.78409873e-02 2.41398523e-02 9.99320843e-01 -1.81454616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44907232899999 meters 0.5624833963690875 Centerline is valid? [False, False] Translation: X:64.51, Y:1.90, Z:-1.82 [[ 9.97941109e-01 5.67583444e-02 2.98669368e-02 6.45078968e+01] [-5.60683988e-02 9.98151442e-01 -2.34528002e-02 1.90258481e+00] [-3.11428682e-02 2.17299221e-02 9.99278706e-01 -1.81522110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47907232899999 meters 0.541305977132328 Centerline is valid? [False, False] Translation: X:64.49, Y:1.92, Z:-1.81 [[ 9.97728050e-01 5.73401440e-02 3.53672916e-02 6.44882938e+01] [-5.65980081e-02 9.98162492e-01 -2.16403553e-02 1.92415096e+00] [-3.65431650e-02 1.95894713e-02 9.99140055e-01 -1.81450854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50907232899999 meters 0.5396344318740709 Centerline is valid? [False, False] Translation: X:64.48, Y:1.93, Z:-1.81 [[ 9.97675433e-01 5.69857454e-02 3.73678425e-02 6.44828456e+01] [-5.60628966e-02 9.98106723e-01 -2.52966429e-02 1.93452253e+00] [-3.87386429e-02 2.31428897e-02 9.98981343e-01 -1.81228699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53907232899999 meters 0.5396344318740709 Centerline is valid? [False, False] Translation: X:64.48, Y:1.94, Z:-1.81 [[ 9.97868579e-01 5.32147697e-02 3.77688564e-02 6.44811897e+01] [-5.20926019e-02 9.98188566e-01 -3.00989780e-02 1.93588384e+00] [-3.93021507e-02 2.80673464e-02 9.98833102e-01 -1.81160174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.569072329 meters 0.5358075344011767 Centerline is valid? [False, False] Translation: X:64.48, Y:1.95, Z:-1.81 [[ 9.97820003e-01 5.28643102e-02 3.95045196e-02 6.44768380e+01] [-5.15509395e-02 9.98106425e-01 -3.35568964e-02 1.94600198e+00] [-4.12036770e-02 3.14472473e-02 9.98655760e-01 -1.80997392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599072329 meters 0.4919586530425431 Centerline is valid? [False, False] Translation: X:64.47, Y:1.96, Z:-1.81 [[ 9.97773307e-01 5.14654033e-02 4.24233458e-02 6.44691738e+01] [-4.99462375e-02 9.98098396e-01 -3.61243058e-02 1.95525736e+00] [-4.42018253e-02 3.39249815e-02 9.98446440e-01 -1.81072055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.629072329 meters 0.46557446578769446 Centerline is valid? [False, False] Translation: X:64.45, Y:1.97, Z:-1.81 [[ 9.98049830e-01 4.33528339e-02 4.49117810e-02 6.44475054e+01] [-4.17167587e-02 9.98453480e-01 -3.67472392e-02 1.97343833e+00] [-4.64354210e-02 3.48020019e-02 9.98314866e-01 -1.81252344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659072329 meters 0.45149375999352126 Centerline is valid? [False, False] Translation: X:64.45, Y:1.98, Z:-1.81 [[ 9.98029624e-01 4.29197585e-02 4.57685988e-02 6.44453591e+01] [-4.11361308e-02 9.98383286e-01 -3.92254181e-02 1.98104917e+00] [-4.73781495e-02 3.72653862e-02 9.98181648e-01 -1.81117333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.689072329 meters 0.4487453001503979 Centerline is valid? [False, False] Translation: X:64.44, Y:1.99, Z:-1.81 [[ 9.97961834e-01 4.25543592e-02 4.75531681e-02 6.44413482e+01] [-4.04740424e-02 9.98216355e-01 -4.38857775e-02 1.99497940e+00] [-4.93358812e-02 4.18716620e-02 9.97904171e-01 -1.80867184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719072329 meters 0.4251957349856883 Centerline is valid? [False, False] Translation: X:64.44, Y:2.00, Z:-1.81 [[ 9.97954231e-01 4.22479815e-02 4.79839674e-02 6.44405241e+01] [-4.00605629e-02 9.98153075e-01 -4.56682619e-02 2.00075150e+00] [-4.98247365e-02 4.36525704e-02 9.97803562e-01 -1.80821180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74907232899999 meters 0.4215877670635009 Centerline is valid? [False, False] Translation: X:64.44, Y:2.01, Z:-1.81 [[ 9.97940776e-01 4.19060345e-02 4.85601800e-02 6.44390255e+01] [-3.95994614e-02 9.98084761e-01 -4.75257130e-02 2.00648736e+00] [-5.04587898e-02 4.55048899e-02 9.97688937e-01 -1.80712246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77907232899999 meters 0.4017207909741727 Centerline is valid? [False, False] Translation: X:64.44, Y:2.02, Z:-1.81 [[ 9.97742744e-01 4.51532987e-02 4.97050979e-02 6.44366414e+01] [-4.28519122e-02 9.98001908e-01 -4.64317314e-02 2.01662810e+00] [-5.17023284e-02 4.41969646e-02 9.97684067e-01 -1.80519060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80907232899999 meters 0.3984836847142114 Centerline is valid? [False, False] Translation: X:64.44, Y:2.02, Z:-1.80 [[ 9.97734633e-01 4.48772900e-02 5.01161807e-02 6.44357227e+01] [-4.24791150e-02 9.97946824e-01 -4.79339169e-02 2.02158086e+00] [-5.21644277e-02 4.56964379e-02 9.97592456e-01 -1.80444066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83907232899999 meters 0.39520855090793644 Centerline is valid? [False, False] Translation: X:64.42, Y:2.02, Z:-1.80 [[ 9.98242863e-01 3.96078454e-02 4.40727187e-02 6.44245742e+01] [-3.75840378e-02 9.98241616e-01 -4.58379277e-02 2.02267381e+00] [-4.58107635e-02 4.41009534e-02 9.97976192e-01 -1.80051973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86907232899999 meters 0.3936912641257187 Centerline is valid? [False, False] Translation: X:64.42, Y:2.03, Z:-1.80 [[ 9.98238777e-01 3.95096956e-02 4.42529926e-02 6.44248747e+01] [-3.74360710e-02 9.98205075e-01 -4.67457850e-02 2.02620695e+00] [-4.60204736e-02 4.50067971e-02 9.97926102e-01 -1.80124113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89907232899999 meters 0.39512672434754964 Centerline is valid? [False, False] Translation: X:64.43, Y:2.03, Z:-1.80 [[ 9.98239250e-01 3.92807541e-02 4.44457165e-02 6.44254943e+01] [-3.71176646e-02 9.98133796e-01 -4.84892272e-02 2.03287166e+00] [-4.62674652e-02 4.67541286e-02 9.97834342e-01 -1.80200877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.929072329 meters 0.3913748812454409 Centerline is valid? [False, False] Translation: X:64.43, Y:2.04, Z:-1.80 [[ 9.98096281e-01 4.30291603e-02 4.41848974e-02 6.44267572e+01] [-4.10473992e-02 9.98151436e-01 -4.48198778e-02 2.03535039e+00] [-4.60317805e-02 4.29208783e-02 9.98017471e-01 -1.80243953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.959072329 meters 0.38139986800163456 Centerline is valid? [False, False] Translation: X:64.42, Y:2.04, Z:-1.80 [[ 9.98081785e-01 4.23674390e-02 4.51414552e-02 6.44231401e+01] [-4.02344726e-02 9.98076923e-01 -4.71555221e-02 2.04180396e+00] [-4.70525034e-02 4.52488250e-02 9.97867028e-01 -1.79864890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.989072329 meters 0.38681234145356913 Centerline is valid? [False, False] Translation: X:64.42, Y:2.04, Z:-1.80 [[ 9.97922904e-01 4.61178532e-02 4.49780114e-02 6.44239737e+01] [-4.41668498e-02 9.98078989e-01 -4.34467703e-02 2.04396087e+00] [-4.68952799e-02 4.13699901e-02 9.98042763e-01 -1.79866250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019072329 meters 0.38262790178283 Centerline is valid? [False, False] Translation: X:64.42, Y:2.05, Z:-1.80 [[ 9.97922004e-01 4.58519351e-02 4.52688967e-02 6.44230587e+01] [-4.38432929e-02 9.98050874e-01 -4.44096786e-02 2.04691360e+00] [-4.72169316e-02 4.23326580e-02 9.97987228e-01 -1.79785256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.049072329 meters 0.3850773521592842 Centerline is valid? [False, False] Translation: X:64.42, Y:2.05, Z:-1.80 [[ 9.97907705e-01 4.55203099e-02 4.59142009e-02 6.44216951e+01] [-4.33944982e-02 9.97985514e-01 -4.62799266e-02 2.05314383e+00] [-4.79283839e-02 4.41906716e-02 9.97872765e-01 -1.79686691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079072329 meters 0.3820337780117097 Centerline is valid? [False, False] Translation: X:64.42, Y:2.06, Z:-1.80 [[ 9.97900328e-01 4.52870383e-02 4.63035584e-02 6.44207077e+01] [-4.30958807e-02 9.97951922e-01 -4.72726833e-02 2.05633170e+00] [-4.83495649e-02 4.51779336e-02 9.97808235e-01 -1.79623977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10907232899999 meters 0.3829217881767327 Centerline is valid? [False, False] Translation: X:64.42, Y:2.06, Z:-1.80 [[ 9.97731839e-01 4.90728903e-02 4.60763353e-02 6.44219505e+01] [-4.70714886e-02 9.97941232e-01 -4.35611405e-02 2.05868653e+00] [-4.81191459e-02 4.12934551e-02 9.97987674e-01 -1.79661367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13907232899999 meters 0.38200807825728467 Centerline is valid? [False, False] Translation: X:64.42, Y:2.06, Z:-1.79 [[ 9.97711510e-01 4.86349554e-02 4.69721691e-02 6.44190680e+01] [-4.65131937e-02 9.97892069e-01 -4.52541928e-02 2.06325199e+00] [-4.90740907e-02 4.29658034e-02 9.97870569e-01 -1.79452824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16907232899999 meters 0.38214124609588207 Centerline is valid? [False, False] Translation: X:64.42, Y:2.07, Z:-1.79 [[ 9.97707214e-01 4.83945429e-02 4.73105000e-02 6.44179166e+01] [-4.62221184e-02 9.97872320e-01 -4.59820517e-02 2.06527558e+00] [-4.94351187e-02 4.36898331e-02 9.97821310e-01 -1.79376837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19907232899999 meters 0.38143013410654364 Centerline is valid? [False, False] Translation: X:64.42, Y:2.07, Z:-1.79 [[ 9.97701414e-01 4.82218035e-02 4.76082486e-02 6.44171415e+01] [-4.60028875e-02 9.97851330e-01 -4.66525202e-02 2.06732735e+00] [-4.97556229e-02 4.43551685e-02 9.97776025e-01 -1.79344684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22907232899999 meters 0.3793321152631132 Centerline is valid? [False, False] Translation: X:64.41, Y:2.07, Z:-1.79 [[ 9.98205334e-01 4.51801899e-02 3.93047180e-02 6.44068546e+01] [-4.34375421e-02 9.98081677e-01 -4.41151476e-02 2.06600037e+00] [-4.12224496e-02 4.23286753e-02 9.98252970e-01 -1.78976888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25907232899999 meters 0.3782591842130515 Centerline is valid? [False, False] Translation: X:64.41, Y:2.07, Z:-1.79 [[ 9.98192254e-01 4.51160349e-02 3.97085213e-02 6.44060102e+01] [-4.33349131e-02 9.98063366e-01 -4.46273746e-02 2.06755262e+00] [-4.16450307e-02 4.28259343e-02 9.98214221e-01 -1.78987716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28907232899999 meters 0.3786261724671 Centerline is valid? [False, False] Translation: X:64.41, Y:2.07, Z:-1.79 [[ 9.98004945e-01 4.91372064e-02 3.96442236e-02 6.44071273e+01] [-4.75305379e-02 9.98048388e-01 -4.05001693e-02 2.06843179e+00] [-4.15569186e-02 3.85350580e-02 9.98392744e-01 -1.79067452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.319072329 meters 0.3724811634833122 Centerline is valid? [False, False] Translation: X:64.41, Y:2.07, Z:-1.79 [[ 9.97981184e-01 4.91095262e-02 4.02717187e-02 6.44055923e+01] [-4.74493221e-02 9.98023860e-01 -4.11938795e-02 2.07027376e+00] [-4.22151481e-02 3.91998509e-02 9.98339247e-01 -1.79038426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.349072329 meters 0.3705554044755242 Centerline is valid? [False, False] Translation: X:64.40, Y:2.07, Z:-1.79 [[ 9.97742240e-01 5.31381031e-02 4.10702365e-02 6.44047376e+01] [-5.15785171e-02 9.97940223e-01 -3.81440518e-02 2.07457994e+00] [-4.30125435e-02 3.59395898e-02 9.98427898e-01 -1.79064160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379072329 meters 0.3698617608227267 Centerline is valid? [False, False] Translation: X:64.40, Y:2.08, Z:-1.79 [[ 9.97713792e-01 5.30750998e-02 4.18356744e-02 6.44024991e+01] [-5.14501814e-02 9.97913562e-01 -3.90051396e-02 2.07664465e+00] [-4.38185885e-02 3.67635127e-02 9.98362848e-01 -1.78959402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.409072329 meters 0.3673093750722009 Centerline is valid? [False, False] Translation: X:64.40, Y:2.08, Z:-1.79 [[ 9.97689824e-01 5.30148905e-02 4.24786485e-02 6.44006618e+01] [-5.13391109e-02 9.97895252e-01 -3.96151713e-02 2.07803513e+00] [-4.44894357e-02 3.73428373e-02 9.98311676e-01 -1.78888414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439072329 meters 0.35826269537077265 Centerline is valid? [False, False] Translation: X:64.40, Y:2.08, Z:-1.79 [[ 9.97635199e-01 5.31045330e-02 4.36339110e-02 6.43977410e+01] [-5.13440395e-02 9.97858533e-01 -4.05233064e-02 2.07999171e+00] [-4.56924417e-02 3.81871356e-02 9.98225397e-01 -1.78831989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.469072329 meters 0.3610147101884503 Centerline is valid? [False, False] Translation: X:64.40, Y:2.08, Z:-1.79 [[ 9.97608422e-01 5.31569124e-02 4.41789538e-02 6.43963594e+01] [-5.13642636e-02 9.97847539e-01 -4.07676535e-02 2.08036992e+00] [-4.62509429e-02 3.84009351e-02 9.98191474e-01 -1.78817650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49907232899999 meters 0.3529299220648901 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.97578261e-01 5.31725577e-02 4.48362766e-02 6.43944557e+01] [-5.13359981e-02 9.97832720e-01 -4.11640374e-02 2.08099976e+00] [-4.69279010e-02 3.87626338e-02 9.98145896e-01 -1.78751237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52907232899999 meters 0.3558194164457707 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.97335152e-01 5.71786837e-02 4.53121644e-02 6.43938685e+01] [-5.55046622e-02 9.97758474e-01 -3.73799294e-02 2.08266070e+00] [-4.73479312e-02 3.47652812e-02 9.98273284e-01 -1.78730767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55907232899999 meters 0.3488721490074645 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.97318942e-01 5.72192137e-02 4.56167774e-02 6.43931948e+01] [-5.55283182e-02 9.97752220e-01 -3.75115040e-02 2.08293646e+00] [-4.76606197e-02 3.48779105e-02 9.98254475e-01 -1.78738006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58907232899999 meters 0.35879258591513224 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.97300594e-01 5.74094251e-02 4.57786280e-02 6.43932919e+01] [-5.57200903e-02 9.97747116e-01 -3.73626109e-02 2.08256444e+00] [-4.78204601e-02 3.47109648e-02 9.98252650e-01 -1.78823732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61907232899999 meters 0.3477501594894811 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.97260365e-01 5.79160575e-02 4.60162400e-02 6.43934761e+01] [-5.62452281e-02 9.97738139e-01 -3.68114110e-02 2.08055687e+00] [-4.80441295e-02 3.41223673e-02 9.98262203e-01 -1.78965776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64907232899999 meters 0.339604490943587 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.97243063e-01 5.80419619e-02 4.62320623e-02 6.43930796e+01] [-5.63706131e-02 9.97736241e-01 -3.66707842e-02 2.08000029e+00] [-4.82558483e-02 3.39635555e-02 9.98257407e-01 -1.78992553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.679072329 meters 0.336523093489136 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.96991528e-01 6.21672286e-02 4.62939439e-02 6.43936474e+01] [-6.07129771e-02 9.97636246e-01 -3.21847015e-02 2.07963158e+00] [-4.81853501e-02 2.92772316e-02 9.98409243e-01 -1.79018548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.709072329 meters 0.3472803045717202 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.96984087e-01 6.21988158e-02 4.64116037e-02 6.43931845e+01] [-6.07434892e-02 9.97635959e-01 -3.21359970e-02 2.07931776e+00] [-4.83007057e-02 2.92198749e-02 9.98405349e-01 -1.78990439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739072329 meters 0.3478880359155725 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.96977083e-01 6.23067924e-02 4.64172436e-02 6.43933104e+01] [-6.08599969e-02 9.97634585e-01 -3.19577117e-02 2.07879134e+00] [-4.82986301e-02 2.90361529e-02 9.98410809e-01 -1.79017142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.769072329 meters 0.3442623655637512 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.96969535e-01 6.24887046e-02 4.63347355e-02 6.43938744e+01] [-6.10600089e-02 9.97632646e-01 -3.16350805e-02 2.07791850e+00] [-4.82018800e-02 2.87100121e-02 9.98424917e-01 -1.79082364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799072329 meters 0.33929783810025854 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.96961539e-01 6.26782723e-02 4.62506542e-02 6.43944193e+01] [-6.12684566e-02 9.97630558e-01 -3.12960958e-02 2.07698811e+00] [-4.81026512e-02 2.83672976e-02 9.98439498e-01 -1.79142884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.829072329 meters 0.3474277668871977 Centerline is valid? [False, False] Translation: X:64.39, Y:2.08, Z:-1.79 [[ 9.96950363e-01 6.29213909e-02 4.61613678e-02 6.43947773e+01] [-6.15394084e-02 9.97630143e-01 -3.07733642e-02 2.07534327e+00] [-4.79882748e-02 2.78387734e-02 9.98459878e-01 -1.79174342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85907232899999 meters 0.3481374244142659 Centerline is valid? [False, False] Translation: X:64.39, Y:2.07, Z:-1.79 [[ 9.96946041e-01 6.30256626e-02 4.61124493e-02 6.43949624e+01] [-6.16550856e-02 9.97629384e-01 -3.05657032e-02 2.07471730e+00] [-4.79295581e-02 2.76292898e-02 9.98468517e-01 -1.79188488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88907232899999 meters 0.34656897038383583 Centerline is valid? [False, False] Translation: X:64.40, Y:2.07, Z:-1.79 [[ 9.96939158e-01 6.31315675e-02 4.61163791e-02 6.43951053e+01] [-6.17699367e-02 9.97627995e-01 -3.03785867e-02 2.07416075e+00] [-4.79248386e-02 2.74369969e-02 9.98474046e-01 -1.79217751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91907232899999 meters 0.3513951404106259 Centerline is valid? [False, False] Translation: X:64.40, Y:2.07, Z:-1.79 [[ 9.96922925e-01 6.34308688e-02 4.60565530e-02 6.43957364e+01] [-6.20957608e-02 9.97623309e-01 -2.98638458e-02 2.07270526e+00] [-4.78413805e-02 2.69120358e-02 9.98492336e-01 -1.79305628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94907232899999 meters 0.34628225882928143 Centerline is valid? [False, False] Translation: X:64.40, Y:2.07, Z:-1.79 [[ 9.96910721e-01 6.35683030e-02 4.61311784e-02 6.43956227e+01] [-6.22420933e-02 9.97620911e-01 -2.96384855e-02 2.07193836e+00] [-4.79054965e-02 2.66756228e-02 9.98495606e-01 -1.79320283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97907232899999 meters 0.331529326730454 Centerline is valid? [False, False] Translation: X:64.40, Y:2.07, Z:-1.79 [[ 9.96896502e-01 6.36819984e-02 4.62813912e-02 6.43951539e+01] [-6.23605511e-02 9.97618865e-01 -2.94577940e-02 2.07120368e+00] [-4.80471202e-02 2.64802388e-02 9.98494002e-01 -1.79305298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00907232899999 meters 0.3480450493592681 Centerline is valid? [False, False] Translation: X:64.39, Y:2.07, Z:-1.79 [[ 9.96871823e-01 6.39256762e-02 4.64766291e-02 6.43944012e+01] [-6.26208053e-02 9.97615652e-01 -2.90111168e-02 2.06952903e+00] [-4.82203679e-02 2.60099609e-02 9.98498011e-01 -1.79260939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03907232899999 meters 0.3447663654537315 Centerline is valid? [False, False] Translation: X:64.39, Y:2.07, Z:-1.79 [[ 9.96860631e-01 6.41536598e-02 4.64024888e-02 6.43948140e+01] [-6.28715738e-02 9.97612263e-01 -2.85821094e-02 2.06828171e+00] [-4.81253388e-02 2.55749821e-02 9.98513832e-01 -1.79305118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.069072329 meters 0.34839981539730897 Centerline is valid? [False, False] Translation: X:64.40, Y:2.07, Z:-1.79 [[ 9.96849360e-01 6.44149118e-02 4.62825201e-02 6.43954273e+01] [-6.31631797e-02 9.97609827e-01 -2.80186515e-02 2.06661035e+00] [-4.79767158e-02 2.50070237e-02 9.98535369e-01 -1.79371273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099072329 meters 0.3365248076267683 Centerline is valid? [False, False] Translation: X:64.40, Y:2.06, Z:-1.79 [[ 9.97066857e-01 6.09369871e-02 4.63073131e-02 6.43950887e+01] [-5.95259086e-02 9.97737036e-01 -3.12645719e-02 2.06318806e+00] [-4.81076901e-02 2.84163836e-02 9.98437860e-01 -1.79437480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.129072329 meters 0.3455111772018759 Centerline is valid? [False, False] Translation: X:64.40, Y:2.06, Z:-1.79 [[ 9.97062937e-01 6.11359627e-02 4.61291014e-02 6.43956525e+01] [-5.97589431e-02 9.97741762e-01 -3.06634175e-02 2.06137419e+00] [-4.78995684e-02 2.78167307e-02 9.98464752e-01 -1.79475779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159072329 meters 0.35265245280656043 Centerline is valid? [False, False] Translation: X:64.40, Y:2.06, Z:-1.79 [[ 9.97066717e-01 6.12636042e-02 4.58773720e-02 6.43962201e+01] [-5.99215684e-02 9.97749797e-01 -3.00790363e-02 2.05962559e+00] [-4.76168888e-02 2.72417618e-02 9.98494125e-01 -1.79483119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.189072329 meters 0.3468130521115928 Centerline is valid? [False, False] Translation: X:64.40, Y:2.05, Z:-1.79 [[ 9.97116173e-01 6.08789777e-02 4.53110192e-02 6.43970123e+01] [-5.96324497e-02 9.97817093e-01 -2.83728895e-02 2.05421062e+00] [-4.69394220e-02 2.55890599e-02 9.98569923e-01 -1.79475116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21907232899999 meters 0.3522958947444194 Centerline is valid? [False, False] Translation: X:64.40, Y:2.05, Z:-1.80 [[ 9.97134099e-01 6.08867876e-02 4.49042038e-02 6.43980672e+01] [-5.96899677e-02 9.97837270e-01 -2.75298001e-02 2.05176779e+00] [-4.64832892e-02 2.47705720e-02 9.98611898e-01 -1.79531429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24907232899999 meters 0.35392220349761166 Centerline is valid? [False, False] Translation: X:64.40, Y:2.05, Z:-1.80 [[ 9.97152927e-01 6.09008812e-02 4.44648458e-02 6.43993080e+01] [-5.97611705e-02 9.97860160e-01 -2.65274055e-02 2.04883169e+00] [-4.59852405e-02 2.37946088e-02 9.98658688e-01 -1.79616182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27907232899999 meters 0.3554329216678007 Centerline is valid? [False, False] Translation: X:64.40, Y:2.04, Z:-1.80 [[ 9.97399532e-01 5.70973949e-02 4.39779651e-02 6.43996800e+01] [-5.58483991e-02 9.98014377e-01 -2.91249003e-02 2.04326962e+00] [-4.55535973e-02 2.65930629e-02 9.98607870e-01 -1.79645024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30907232899999 meters 0.3548166422872936 Centerline is valid? [False, False] Translation: X:64.40, Y:2.04, Z:-1.80 [[ 9.97420523e-01 5.69756685e-02 4.36585993e-02 6.44000485e+01] [-5.57875698e-02 9.98050928e-01 -2.79658952e-02 2.03959442e+00] [-4.51668811e-02 2.54581506e-02 9.98655013e-01 -1.79623636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33907232899999 meters 0.3554644257237602 Centerline is valid? [False, False] Translation: X:64.40, Y:2.04, Z:-1.80 [[ 9.97450508e-01 5.67760216e-02 4.32315528e-02 6.44005838e+01] [-5.56571607e-02 9.98093954e-01 -2.66597091e-02 2.03546296e+00] [-4.46627837e-02 2.41855949e-02 9.98709313e-01 -1.79596116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36907232899999 meters 0.35422269886870267 Centerline is valid? [False, False] Translation: X:64.40, Y:2.03, Z:-1.80 [[ 9.97483130e-01 5.65959629e-02 4.27118466e-02 6.44014977e+01] [-5.55459518e-02 9.98133423e-01 -2.53834077e-02 2.03153778e+00] [-4.40687201e-02 2.29470508e-02 9.98764928e-01 -1.79599480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39907232899999 meters 0.36248502297084345 Centerline is valid? [False, False] Translation: X:64.40, Y:2.02, Z:-1.80 [[ 9.97752512e-01 5.22948598e-02 4.18947730e-02 6.44023815e+01] [-5.11947980e-02 9.98325950e-01 -2.69145104e-02 2.02294031e+00] [-4.32321296e-02 2.47092259e-02 9.98759449e-01 -1.79580647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.429072329 meters 0.3588246436025123 Centerline is valid? [False, False] Translation: X:64.40, Y:2.02, Z:-1.80 [[ 9.97798904e-01 5.20346822e-02 4.11064445e-02 6.44041132e+01] [-5.10184297e-02 9.98374736e-01 -2.53969638e-02 2.01841156e+00] [-4.23611586e-02 2.32438764e-02 9.98831945e-01 -1.79632563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.459072329 meters 0.3588246436025123 Centerline is valid? [False, False] Translation: X:64.40, Y:2.02, Z:-1.80 [[ 9.97798904e-01 5.20346822e-02 4.11064445e-02 6.44041132e+01] [-5.10184297e-02 9.98374736e-01 -2.53969638e-02 2.01841156e+00] [-4.23611586e-02 2.32438764e-02 9.98831945e-01 -1.79632563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.489072329 meters 0.3740105218300424 Centerline is valid? [False, False] Translation: X:64.41, Y:2.01, Z:-1.80 [[ 9.98068049e-01 4.77744347e-02 3.97211935e-02 6.44067629e+01] [-4.67316475e-02 9.98548446e-01 -2.67797404e-02 2.00980334e+00] [-4.09429230e-02 2.48717665e-02 9.98851877e-01 -1.79694271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519072329 meters 0.3624030685639672 Centerline is valid? [False, False] Translation: X:64.41, Y:2.00, Z:-1.80 [[ 9.98125771e-01 4.73480993e-02 3.87698685e-02 6.44087281e+01] [-4.63990478e-02 9.98609498e-01 -2.50239771e-02 2.00445513e+00] [-3.99007966e-02 2.31781914e-02 9.98934782e-01 -1.79720677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.549072329 meters 0.3708276745937145 Centerline is valid? [False, False] Translation: X:64.41, Y:2.00, Z:-1.80 [[ 9.98186851e-01 4.68408171e-02 3.78014282e-02 6.44105712e+01] [-4.59892423e-02 9.98675005e-01 -2.30916227e-02 1.99846132e+00] [-3.88329720e-02 2.13112951e-02 9.99018433e-01 -1.79719360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579072329 meters 0.38092769585200975 Centerline is valid? [False, False] Translation: X:64.41, Y:1.99, Z:-1.80 [[ 9.98446789e-01 4.21055860e-02 3.64846444e-02 6.44123365e+01] [-4.12619857e-02 9.98870201e-01 -2.35747931e-02 1.98661308e+00] [-3.74360546e-02 2.20327476e-02 9.99056104e-01 -1.79644320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60907232899999 meters 0.3811620194366743 Centerline is valid? [False, False] Translation: X:64.41, Y:1.98, Z:-1.80 [[ 9.98628764e-01 3.80866102e-02 3.59165991e-02 6.44129414e+01] [-3.71502917e-02 9.98961275e-01 -2.63860966e-02 1.98171368e+00] [-3.68842486e-02 2.50156029e-02 9.99006392e-01 -1.79620194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63907232899999 meters 0.38407943373707837 Centerline is valid? [False, False] Translation: X:64.42, Y:1.97, Z:-1.80 [[ 9.98906361e-01 3.32170713e-02 3.29045343e-02 6.44192806e+01] [-3.23611541e-02 9.99132469e-01 -2.62119437e-02 1.96912857e+00] [-3.37466725e-02 2.51184486e-02 9.99114721e-01 -1.79805895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66907232899999 meters 0.3907023194629002 Centerline is valid? [False, False] Translation: X:64.42, Y:1.96, Z:-1.80 [[ 9.99011757e-01 3.22126581e-02 3.06244065e-02 6.44245424e+01] [-3.14922235e-02 9.99222423e-01 -2.37231931e-02 1.96212256e+00] [-3.13647807e-02 2.27353182e-02 9.99249396e-01 -1.79923328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69907232899999 meters 0.3927694780596782 Centerline is valid? [False, False] Translation: X:64.43, Y:1.95, Z:-1.80 [[ 9.99115339e-01 3.12559227e-02 2.81355141e-02 6.44303458e+01] [-3.06668347e-02 9.99306270e-01 -2.11311100e-02 1.95498272e+00] [-2.87764680e-02 2.02495889e-02 9.99380743e-01 -1.80039901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72907232899999 meters 0.39837305677817003 Centerline is valid? [False, False] Translation: X:64.43, Y:1.95, Z:-1.80 [[ 9.99253590e-01 2.73073208e-02 2.73234777e-02 6.44319642e+01] [-2.66715415e-02 9.99371070e-01 -2.33686519e-02 1.94831674e+00] [-2.79444284e-02 2.26224501e-02 9.99353458e-01 -1.80078996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75907232899999 meters 0.4005947651109124 Centerline is valid? [False, False] Translation: X:64.44, Y:1.93, Z:-1.80 [[ 9.99451974e-01 2.26623894e-02 2.41281388e-02 6.44390227e+01] [-2.21328574e-02 9.99513124e-01 -2.19920693e-02 1.93214355e+00] [-2.46147843e-02 2.14459924e-02 9.99466949e-01 -1.80302462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78907232899999 meters 0.39967086131507895 Centerline is valid? [False, False] Translation: X:64.44, Y:1.92, Z:-1.80 [[ 9.99512152e-01 2.20854325e-02 2.20837357e-02 6.44438412e+01] [-2.16629083e-02 9.99581097e-01 -1.91924369e-02 1.92394932e+00] [-2.24983580e-02 1.87046759e-02 9.99571888e-01 -1.80394444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.819072329 meters 0.40632324616110066 Centerline is valid? [False, False] Translation: X:64.45, Y:1.92, Z:-1.80 [[ 9.99557101e-01 2.17290902e-02 2.03334210e-02 6.44480287e+01] [-2.13939868e-02 9.99634042e-01 -1.65553477e-02 1.91606368e+00] [-2.06857125e-02 1.61130025e-02 9.99656177e-01 -1.80473638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.849072329 meters 0.4080960605883531 Centerline is valid? [False, False] Translation: X:64.45, Y:1.91, Z:-1.81 [[ 9.99587860e-01 2.15389162e-02 1.89785613e-02 6.44511827e+01] [-2.12739658e-02 9.99674905e-01 -1.40535464e-02 1.90833428e+00] [-1.92750896e-02 1.36440051e-02 9.99721117e-01 -1.80515201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879072329 meters 0.4113155510574744 Centerline is valid? [False, False] Translation: X:64.45, Y:1.89, Z:-1.80 [[ 9.99680585e-01 1.75273717e-02 1.82076424e-02 6.44510270e+01] [-1.73037420e-02 9.99773781e-01 -1.23679762e-02 1.89113544e+00] [-1.84203016e-02 1.20489653e-02 9.99757728e-01 -1.80261696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.909072329 meters 0.4110904975095139 Centerline is valid? [False, False] Translation: X:64.45, Y:1.88, Z:-1.80 [[ 9.99693019e-01 1.74870542e-02 1.75519613e-02 6.44520559e+01] [-1.73105865e-02 9.99798578e-01 -1.01560976e-02 1.88377200e+00] [-1.77260262e-02 9.84914515e-03 9.99794370e-01 -1.80181956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939072329 meters 0.4142553550735944 Centerline is valid? [False, False] Translation: X:64.45, Y:1.88, Z:-1.80 [[ 9.99703215e-01 1.75191832e-02 1.69281144e-02 6.44530972e+01] [-1.73853987e-02 9.99816711e-01 -8.01820763e-03 1.87662115e+00] [-1.70654841e-02 7.72152592e-03 9.99824558e-01 -1.80123940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96907232899999 meters 0.41708666836939723 Centerline is valid? [False, False] Translation: X:64.46, Y:1.86, Z:-1.80 [[ 9.99733677e-01 1.75450503e-02 1.49915197e-02 6.44573568e+01] [-1.74972498e-02 9.99841420e-01 -3.31374699e-03 1.86242062e+00] [-1.50472822e-02 3.05055410e-03 9.99882130e-01 -1.80179315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99907232899999 meters 0.41715495738663305 Centerline is valid? [False, False] Translation: X:64.46, Y:1.86, Z:-1.80 [[ 9.99731441e-01 1.80263427e-02 1.45635353e-02 6.44586080e+01] [-1.80008728e-02 9.99836207e-01 -1.87808717e-03 1.85769966e+00] [-1.45950050e-02 1.61542645e-03 9.99892182e-01 -1.80228466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02907232899999 meters 0.4119678957528982 Centerline is valid? [False, False] Translation: X:64.46, Y:1.85, Z:-1.80 [[ 9.99777641e-01 1.53880024e-02 1.44179995e-02 6.44575116e+01] [-1.53511291e-02 9.99878614e-01 -2.66464959e-03 1.84845617e+00] [-1.44572530e-02 2.44272450e-03 9.99892505e-01 -1.80112297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05907232899999 meters 0.41435792572183217 Centerline is valid? [False, False] Translation: X:64.46, Y:1.85, Z:-1.80 [[ 9.99772642e-01 1.57909591e-02 1.43286146e-02 6.44576376e+01] [-1.57661202e-02 9.99874005e-01 -1.84483194e-03 1.84559641e+00] [-1.43559409e-02 1.61850584e-03 9.99895638e-01 -1.80107494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08907232899999 meters 0.414119607807012 Centerline is valid? [False, False] Translation: X:64.46, Y:1.84, Z:-1.80 [[ 9.99765417e-01 1.61836365e-02 1.43944492e-02 6.44572696e+01] [-1.61696786e-02 9.99868673e-01 -1.08553238e-03 1.84284855e+00] [-1.44101267e-02 8.52524110e-04 9.99895805e-01 -1.80088004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11907232899999 meters 0.4106939248749322 Centerline is valid? [False, False] Translation: X:64.45, Y:1.84, Z:-1.80 [[ 9.99748295e-01 1.64902220e-02 1.52124602e-02 6.44543503e+01] [-1.64906556e-02 9.99864015e-01 -9.69450663e-05 1.83859415e+00] [-1.52119901e-02 -1.53942776e-04 9.99884279e-01 -1.79953371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14907232899999 meters 0.4100904504110201 Centerline is valid? [False, False] Translation: X:64.45, Y:1.84, Z:-1.80 [[ 9.99737181e-01 1.67120171e-02 1.56932409e-02 6.44530552e+01] [-1.67169131e-02 9.99860246e-01 1.80849729e-04 1.83743439e+00] [-1.56880254e-02 -4.43144744e-04 9.99876837e-01 -1.79945393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.179072329 meters 0.4160775179275863 Centerline is valid? [False, False] Translation: X:64.45, Y:1.84, Z:-1.80 [[ 9.99723388e-01 1.69063154e-02 1.63500523e-02 6.44514716e+01] [-1.69124917e-02 9.99856945e-01 2.39547003e-04 1.83695759e+00] [-1.63436635e-02 -5.16000866e-04 9.99866300e-01 -1.79958647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.209072329 meters 0.4051371768043952 Centerline is valid? [False, False] Translation: X:64.45, Y:1.84, Z:-1.80 [[ 9.99707323e-01 1.71355423e-02 1.70775297e-02 6.44498595e+01] [-1.71416033e-02 9.99853050e-01 2.08585655e-04 1.83675130e+00] [-1.70714460e-02 -5.01260847e-04 9.99854147e-01 -1.79996837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239072329 meters 0.4002466327379272 Centerline is valid? [False, False] Translation: X:64.45, Y:1.84, Z:-1.80 [[ 9.99724786e-01 1.41160245e-02 1.87373966e-02 6.44459855e+01] [-1.40368488e-02 9.99892015e-01 -4.35036385e-03 1.83791180e+00] [-1.87967831e-02 4.08615257e-03 9.99814975e-01 -1.80052803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.269072329 meters 0.39780318382998964 Centerline is valid? [False, False] Translation: X:64.44, Y:1.84, Z:-1.80 [[ 9.99699443e-01 1.45356089e-02 1.97418355e-02 6.44437036e+01] [-1.44433486e-02 9.99884130e-01 -4.80791720e-03 1.83896619e+00] [-1.98094341e-02 4.52133393e-03 9.99793551e-01 -1.80080301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299072329 meters 0.39499151990294823 Centerline is valid? [False, False] Translation: X:64.44, Y:1.84, Z:-1.80 [[ 9.99666344e-01 1.51183101e-02 2.09436480e-02 6.44408994e+01] [-1.50058980e-02 9.99872200e-01 -5.51416561e-03 1.84079187e+00] [-2.10243363e-02 5.19804753e-03 9.99765451e-01 -1.80088323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.329072329 meters 0.38941579675832616 Centerline is valid? [False, False] Translation: X:64.43, Y:1.84, Z:-1.80 [[ 9.99584504e-01 1.62202235e-02 2.38269594e-02 6.44333714e+01] [-1.60601152e-02 9.99847249e-01 -6.89570314e-03 1.84462027e+00] [-2.39351696e-02 6.51017429e-03 9.99692315e-01 -1.79937997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35907232899999 meters 0.3875414549665299 Centerline is valid? [False, False] Translation: X:64.43, Y:1.85, Z:-1.80 [[ 9.99538926e-01 1.69257041e-02 2.52082710e-02 6.44302235e+01] [-1.67342169e-02 9.99829643e-01 -7.78789944e-03 1.84701014e+00] [-2.53357923e-02 7.36246796e-03 9.99651885e-01 -1.79948214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38907232899999 meters 0.3811585019585917 Centerline is valid? [False, False] Translation: X:64.42, Y:1.85, Z:-1.80 [[ 9.99612876e-01 2.34861932e-02 1.49163064e-02 6.44219027e+01] [-2.33390934e-02 9.99677987e-01 -9.96037887e-03 1.84571541e+00] [-1.51454345e-02 9.60838990e-03 9.99839134e-01 -1.79582192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41907232899999 meters 0.3735052711589046 Centerline is valid? [False, False] Translation: X:64.42, Y:1.85, Z:-1.80 [[ 9.99540043e-01 2.47893077e-02 1.74697615e-02 6.44161768e+01] [-2.45892098e-02 9.99630601e-01 -1.15771928e-02 1.85032671e+00] [-1.77502988e-02 1.11423002e-02 9.99780364e-01 -1.79619078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44907232899999 meters 0.3721654011410411 Centerline is valid? [False, False] Translation: X:64.41, Y:1.85, Z:-1.80 [[ 9.99482626e-01 2.57534178e-02 1.92676578e-02 6.44120441e+01] [-2.55156965e-02 9.99596473e-01 -1.24836251e-02 1.85255830e+00] [-1.95813788e-02 1.19855387e-02 9.99736423e-01 -1.79609936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47907232899999 meters 0.3662399423840063 Centerline is valid? [False, False] Translation: X:64.41, Y:1.85, Z:-1.80 [[ 9.99422821e-01 2.66661000e-02 2.10462418e-02 6.44080297e+01] [-2.63869368e-02 9.99561554e-01 -1.34323999e-02 1.85488100e+00] [-2.13952039e-02 1.28693012e-02 9.99688265e-01 -1.79613890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50907232899999 meters 0.36310468448839567 Centerline is valid? [False, False] Translation: X:64.40, Y:1.86, Z:-1.80 [[ 9.99365278e-01 2.75038104e-02 2.26402611e-02 6.44047252e+01] [-2.71794511e-02 9.99525229e-01 -1.45118751e-02 1.85774080e+00] [-2.30286440e-02 1.38873142e-02 9.99638347e-01 -1.79674908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53907232899999 meters 0.36291111469561105 Centerline is valid? [False, False] Translation: X:64.40, Y:1.86, Z:-1.80 [[ 9.99268110e-01 2.88001588e-02 2.51753043e-02 6.44002363e+01] [-2.83749316e-02 9.99451284e-01 -1.70878357e-02 1.86491674e+00] [-2.56536226e-02 1.63609817e-02 9.99536998e-01 -1.79939664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.569072329 meters 0.35627357955968775 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.80 [[ 9.99196059e-01 2.97347727e-02 2.68901350e-02 6.43967592e+01] [-2.92483458e-02 9.99404546e-01 -1.83054179e-02 1.86814897e+00] [-2.74184306e-02 1.75042094e-02 9.99470776e-01 -1.80014046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599072329 meters 0.3510227013462933 Centerline is valid? [False, False] Translation: X:64.39, Y:1.87, Z:-1.80 [[ 9.99041257e-01 3.11738104e-02 3.07369570e-02 6.43878576e+01] [-3.05540020e-02 9.99324252e-01 -2.04326090e-02 1.87304605e+00] [-3.13531489e-02 1.94738823e-02 9.99318642e-01 -1.79952609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.629072329 meters 0.3522971928816291 Centerline is valid? [False, False] Translation: X:64.38, Y:1.88, Z:-1.80 [[ 9.98944574e-01 3.22383797e-02 3.27173636e-02 6.43835392e+01] [-3.15505274e-02 9.99274597e-01 -2.13270790e-02 1.87504423e+00] [-3.33811808e-02 2.02723197e-02 9.99237074e-01 -1.79963666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659072329 meters 0.3495288855564222 Centerline is valid? [False, False] Translation: X:64.38, Y:1.88, Z:-1.80 [[ 9.98836489e-01 3.34693061e-02 3.47199222e-02 6.43794158e+01] [-3.27110162e-02 9.99218643e-01 -2.21831724e-02 1.87699107e+00] [-3.54352489e-02 2.10216381e-02 9.99150856e-01 -1.80009855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.689072329 meters 0.34487633450816024 Centerline is valid? [False, False] Translation: X:64.37, Y:1.88, Z:-1.80 [[ 9.99071140e-01 3.00550465e-02 3.08796224e-02 6.43658010e+01] [-2.94887606e-02 9.99391423e-01 -1.86331954e-02 1.87852895e+00] [-3.14208513e-02 1.77052860e-02 9.99349415e-01 -1.80066010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71907232899999 meters 0.34348130091244156 Centerline is valid? [False, False] Translation: X:64.36, Y:1.88, Z:-1.80 [[ 9.98992129e-01 3.10206176e-02 3.24414399e-02 6.43629801e+01] [-3.03961861e-02 9.99346383e-01 -1.95672991e-02 1.88098128e+00] [-3.30272253e-02 1.85614817e-02 9.99282079e-01 -1.80177056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74907232899999 meters 0.3421894393065804 Centerline is valid? [False, False] Translation: X:64.36, Y:1.88, Z:-1.80 [[ 9.98913871e-01 3.19519089e-02 3.39139211e-02 6.43604131e+01] [-3.12737427e-02 9.99303828e-01 -2.03423698e-02 1.88296105e+00] [-3.45402887e-02 1.92596601e-02 9.99217711e-01 -1.80299958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77907232899999 meters 0.3431553610565916 Centerline is valid? [False, False] Translation: X:64.34, Y:1.87, Z:-1.80 [[ 9.99164330e-01 3.05598856e-02 2.71428520e-02 6.43435612e+01] [-3.00910240e-02 9.99393648e-01 -1.75176055e-02 1.87226943e+00] [-2.76617299e-02 1.66862103e-02 9.99478063e-01 -1.79716279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80907232899999 meters 0.33695174550590495 Centerline is valid? [False, False] Translation: X:64.34, Y:1.87, Z:-1.80 [[ 9.99027568e-01 3.22810327e-02 3.00308852e-02 6.43377360e+01] [-3.17298761e-02 9.99322428e-01 -1.86520989e-02 1.87482838e+00] [-3.06126461e-02 1.76810847e-02 9.99374927e-01 -1.79817061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83907232899999 meters 0.33470289758465277 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98968138e-01 3.28594823e-02 3.13514592e-02 6.43345331e+01] [-3.22775103e-02 9.99300384e-01 -1.88919094e-02 1.87492559e+00] [-3.19503036e-02 1.78604685e-02 9.99329866e-01 -1.79778862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86907232899999 meters 0.33808600215769463 Centerline is valid? [False, False] Translation: X:64.33, Y:1.88, Z:-1.80 [[ 9.98812291e-01 3.70617325e-02 3.16296636e-02 6.43344136e+01] [-3.66143479e-02 9.99222688e-01 -1.46085418e-02 1.87503821e+00] [-3.21464953e-02 1.34330916e-02 9.99392893e-01 -1.79809187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89907232899999 meters 0.3245717386715694 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98684204e-01 3.83906442e-02 3.40002806e-02 6.43290512e+01] [-3.79007484e-02 9.99169850e-01 -1.49379804e-02 1.87492462e+00] [-3.45455340e-02 1.36296890e-02 9.99310181e-01 -1.79775821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.929072329 meters 0.3300559551641295 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98662701e-01 3.85593721e-02 3.44381321e-02 6.43281880e+01] [-3.80655326e-02 9.99164414e-01 -1.48824825e-02 1.87453733e+00] [-3.49832152e-02 1.35516744e-02 9.99296016e-01 -1.79810951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.959072329 meters 0.32654967624496517 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98630874e-01 3.88895410e-02 3.49854421e-02 6.43274669e+01] [-3.83947364e-02 9.99154435e-01 -1.47057780e-02 1.87372486e+00] [-3.55277606e-02 1.33423871e-02 9.99279620e-01 -1.79914681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.989072329 meters 0.3325256627278172 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98625406e-01 3.89460091e-02 3.50785877e-02 6.43275000e+01] [-3.84513743e-02 9.99152827e-01 -1.46669501e-02 1.87358300e+00] [-3.56200892e-02 1.32979691e-02 9.99276925e-01 -1.79960702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019072329 meters 0.33814986297833716 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98627813e-01 3.89635117e-02 3.49905115e-02 6.43278166e+01] [-3.84723146e-02 9.99152950e-01 -1.46035126e-02 1.87343071e+00] [-3.55298769e-02 1.32373079e-02 9.99280942e-01 -1.79979365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.049072329 meters 0.32725463415632644 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98652976e-01 3.89069297e-02 3.43290474e-02 6.43293164e+01] [-3.84396248e-02 9.99160460e-01 -1.41693458e-02 1.87236021e+00] [-3.48515125e-02 1.28306636e-02 9.99310135e-01 -1.79974274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079072329 meters 0.3340872263198239 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98667743e-01 3.88973479e-02 3.39077483e-02 6.43304626e+01] [-3.84427748e-02 9.99163330e-01 -1.39568248e-02 1.87189915e+00] [-3.44222622e-02 1.26347228e-02 9.99327510e-01 -1.79999333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10907232899999 meters 0.3356593883421091 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98679557e-01 3.88780665e-02 3.35803203e-02 6.43314564e+01] [-3.84319362e-02 9.99165503e-01 -1.38305348e-02 1.87167584e+00] [-3.40900021e-02 1.25217157e-02 9.99340322e-01 -1.80034210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13907232899999 meters 0.33596729039382395 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98695942e-01 3.87473174e-02 3.32424515e-02 6.43325591e+01] [-3.83037394e-02 9.99169759e-01 -1.38785996e-02 1.87201371e+00] [-3.37526107e-02 1.25871909e-02 9.99350951e-01 -1.80083681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16907232899999 meters 0.3317361871999518 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98706489e-01 3.86305797e-02 3.30609692e-02 6.43328678e+01] [-3.81862146e-02 9.99173005e-01 -1.39684986e-02 1.87239263e+00] [-3.35732391e-02 1.26879570e-02 9.99355719e-01 -1.80057879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19907232899999 meters 0.3334263900318489 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98715724e-01 3.85130978e-02 3.29187364e-02 6.43331046e+01] [-3.80667939e-02 9.99176013e-01 -1.40788469e-02 1.87281754e+00] [-3.34338318e-02 1.28076550e-02 9.99358866e-01 -1.80036680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22907232899999 meters 0.3374959961419872 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98727170e-01 3.83825134e-02 3.27234148e-02 6.43334090e+01] [-3.79352756e-02 9.99179578e-01 -1.41804612e-02 1.87323582e+00] [-3.32408495e-02 1.29210402e-02 9.99363844e-01 -1.80005010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25907232899999 meters 0.3318097760441262 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98752414e-01 3.81201562e-02 3.22563113e-02 6.43342730e+01] [-3.76735932e-02 9.99187191e-01 -1.43407482e-02 1.87395535e+00] [-3.27767646e-02 1.31076457e-02 9.99376742e-01 -1.79957268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28907232899999 meters 0.3315916121387059 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98881421e-01 3.41559312e-02 3.26998433e-02 6.43323760e+01] [-3.35571400e-02 9.99262050e-01 -1.86888414e-02 1.87362043e+00] [-3.33140472e-02 1.75706232e-02 9.99290472e-01 -1.79889769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.319072329 meters 0.3321838646595844 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98898581e-01 3.39797637e-02 3.23573853e-02 6.43331700e+01] [-3.33832817e-02 9.99265798e-01 -1.87995095e-02 1.87414996e+00] [-3.29724313e-02 1.76986077e-02 9.99299544e-01 -1.79880304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.349072329 meters 0.3321838646595844 Centerline is valid? [False, False] Translation: X:64.33, Y:1.87, Z:-1.80 [[ 9.98898581e-01 3.39797637e-02 3.23573853e-02 6.43331700e+01] [-3.33832817e-02 9.99265798e-01 -1.87995095e-02 1.87414996e+00] [-3.29724313e-02 1.76986077e-02 9.99299544e-01 -1.79880304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379072329 meters 0.34627055414184904 Centerline is valid? [False, False] Translation: X:64.33, Y:1.88, Z:-1.80 [[ 9.98931607e-01 3.35579990e-02 3.17727241e-02 6.43345036e+01] [-3.29609412e-02 9.99273497e-01 -1.91325442e-02 1.87549112e+00] [-3.23916911e-02 1.80648442e-02 9.99311983e-01 -1.79870530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.409072329 meters 0.33662167700239903 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.98948686e-01 3.33571734e-02 3.14455495e-02 6.43352008e+01] [-3.27608919e-02 9.99277035e-01 -1.92907241e-02 1.87616792e+00] [-3.20662995e-02 1.82402592e-02 9.99319291e-01 -1.79851106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439072329 meters 0.3351320642090781 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.98988469e-01 3.28200632e-02 3.07389284e-02 6.43360959e+01] [-3.22354655e-02 9.99293468e-01 -1.93245665e-02 1.87646144e+00] [-3.13514439e-02 1.83141354e-02 9.99340622e-01 -1.79727618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46907232899999 meters 0.33538500604426746 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.99008805e-01 3.26127392e-02 3.02954880e-02 6.43369097e+01] [-3.20337701e-02 9.99298424e-01 -1.94035643e-02 1.87691144e+00] [-3.09070368e-02 1.84138529e-02 9.99352633e-01 -1.79679692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49907232899999 meters 0.34406076392228124 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.99031356e-01 3.23855517e-02 2.97913604e-02 6.43380251e+01] [-3.18134575e-02 9.99303953e-01 -1.94810938e-02 1.87739537e+00] [-3.04015302e-02 1.85144574e-02 9.99366280e-01 -1.79660548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52907232899999 meters 0.33877338251454486 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.99056208e-01 3.21173468e-02 2.92432633e-02 6.43393569e+01] [-3.15520968e-02 9.99310113e-01 -1.95898542e-02 1.87801333e+00] [-2.98522629e-02 1.86486792e-02 9.99380343e-01 -1.79660132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55907232899999 meters 0.33750786049203463 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.99115051e-01 3.13420403e-02 2.80498095e-02 6.43420834e+01] [-3.07948866e-02 9.99330967e-01 -1.97304989e-02 1.87898479e+00] [-2.86494374e-02 1.88492477e-02 9.99411785e-01 -1.79668584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58907232899999 meters 0.335442400278538 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.99137804e-01 3.10241377e-02 2.75889695e-02 6.43429760e+01] [-3.04790286e-02 9.99336012e-01 -1.99640790e-02 1.87994934e+00] [-2.81900191e-02 1.91059810e-02 9.99419974e-01 -1.79629953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61907232899999 meters 0.34489272358431167 Centerline is valid? [False, False] Translation: X:64.34, Y:1.88, Z:-1.80 [[ 9.99162596e-01 3.06953600e-02 2.70536649e-02 6.43439615e+01] [-3.01555110e-02 9.99342259e-01 -2.01418826e-02 1.88073280e+00] [-2.76541329e-02 1.93091987e-02 9.99431040e-01 -1.79577591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64907232899999 meters 0.34303913582381235 Centerline is valid? [False, False] Translation: X:64.35, Y:1.88, Z:-1.79 [[ 9.99231034e-01 2.95755547e-02 2.57415508e-02 6.43462932e+01] [-2.90689924e-02 9.99380582e-01 -1.98354671e-02 1.88007422e+00] [-2.63122509e-02 1.90719333e-02 9.99471824e-01 -1.79487680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.679072329 meters 0.34814397122116486 Centerline is valid? [False, False] Translation: X:64.35, Y:1.88, Z:-1.79 [[ 9.99262307e-01 2.92127343e-02 2.49290562e-02 6.43480110e+01] [-2.87283651e-02 9.99395630e-01 -1.95718064e-02 1.87959762e+00] [-2.54857358e-02 1.88411974e-02 9.99497617e-01 -1.79459495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.709072329 meters 0.3450157079748331 Centerline is valid? [False, False] Translation: X:64.35, Y:1.88, Z:-1.79 [[ 9.99291224e-01 2.88505553e-02 2.41804643e-02 6.43495143e+01] [-2.83857015e-02 9.99409700e-01 -1.93520848e-02 1.87921800e+00] [-2.47245090e-02 1.86519890e-02 9.99520286e-01 -1.79420791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739072329 meters 0.35057428747391955 Centerline is valid? [False, False] Translation: X:64.35, Y:1.88, Z:-1.79 [[ 9.99500212e-01 1.62213133e-02 2.71329240e-02 6.43471309e+01] [-1.58637787e-02 9.99785157e-01 -1.33409187e-02 1.87692514e+00] [-2.73435019e-02 1.29038203e-02 9.99542808e-01 -1.79431851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.769072329 meters 0.3521466619377263 Centerline is valid? [False, False] Translation: X:64.35, Y:1.88, Z:-1.79 [[ 9.99528055e-01 1.58390410e-02 2.63209482e-02 6.43488744e+01] [-1.54916534e-02 9.99790870e-01 -1.33500665e-02 1.87731225e+00] [-2.65268960e-02 1.29360110e-02 9.99564397e-01 -1.79403755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799072329 meters 0.3514049304948378 Centerline is valid? [False, False] Translation: X:64.35, Y:1.88, Z:-1.79 [[ 9.99558636e-01 1.54500729e-02 2.53737810e-02 6.43510418e+01] [-1.51165223e-02 9.99797478e-01 -1.32851129e-02 1.87754039e+00] [-2.55738983e-02 1.28956860e-02 9.99589754e-01 -1.79396725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.829072329 meters 0.35557117220577 Centerline is valid? [False, False] Translation: X:64.36, Y:1.88, Z:-1.79 [[ 9.99681949e-01 1.29052712e-02 2.16668912e-02 6.43593738e+01] [-1.26324620e-02 9.99839793e-01 -1.26810736e-02 1.87746414e+00] [-2.18270727e-02 1.24033342e-02 9.99684818e-01 -1.79398424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85907232899999 meters 0.3576012455525444 Centerline is valid? [False, False] Translation: X:64.36, Y:1.88, Z:-1.79 [[ 9.99714793e-01 1.23107201e-02 2.04640626e-02 6.43619458e+01] [-1.20647174e-02 9.99853987e-01 -1.21015112e-02 1.87613467e+00] [-2.06100529e-02 1.18511667e-02 9.99717348e-01 -1.79370892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88907232899999 meters 0.35862095451275816 Centerline is valid? [False, False] Translation: X:64.36, Y:1.87, Z:-1.79 [[ 9.99743862e-01 1.17887647e-02 1.93193014e-02 6.43642414e+01] [-1.15682759e-02 9.99867124e-01 -1.14851689e-02 1.87464514e+00] [-1.94521303e-02 1.12587361e-02 9.99747396e-01 -1.79311739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91907232899999 meters 0.3584363876836269 Centerline is valid? [False, False] Translation: X:64.37, Y:1.87, Z:-1.79 [[ 9.99793372e-01 1.05865156e-02 1.73533546e-02 6.43675698e+01] [-1.04123319e-02 9.99894809e-01 -1.00972737e-02 1.87099128e+00] [-1.74584241e-02 9.91449842e-03 9.99798433e-01 -1.79108038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94907232899999 meters 0.35920929293547177 Centerline is valid? [False, False] Translation: X:64.37, Y:1.87, Z:-1.79 [[ 9.99816349e-01 1.01406462e-02 1.62615015e-02 6.43699163e+01] [-9.98487125e-03 9.99903758e-01 -9.63211894e-03 1.87004121e+00] [-1.63576123e-02 9.46798099e-03 9.99821377e-01 -1.79070755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97907232899999 meters 0.3619861847214061 Centerline is valid? [False, False] Translation: X:64.37, Y:1.87, Z:-1.79 [[ 9.99838694e-01 9.72785152e-03 1.50981982e-02 6.43727098e+01] [-9.58884647e-03 9.99911224e-01 -9.25197696e-03 1.86942412e+00] [-1.51868597e-02 9.10571025e-03 9.99843210e-01 -1.79080000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00907232899999 meters 0.3664902592178927 Centerline is valid? [False, False] Translation: X:64.38, Y:1.87, Z:-1.79 [[ 9.99911654e-01 4.68236813e-03 1.24402298e-02 6.43795923e+01] [-4.52665183e-03 9.99911426e-01 -1.25159651e-02 1.86786653e+00] [-1.24977323e-02 1.24585468e-02 9.99844284e-01 -1.79225054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03907232899999 meters 0.371247351074052 Centerline is valid? [False, False] Translation: X:64.38, Y:1.87, Z:-1.79 [[ 9.99930321e-01 4.46527862e-03 1.09276730e-02 6.43841416e+01] [-4.33409534e-03 9.99918616e-01 -1.19990665e-02 1.86746172e+00] [-1.09803628e-02 1.19508688e-02 9.99868296e-01 -1.79367409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.069072329 meters 0.37012507517136667 Centerline is valid? [False, False] Translation: X:64.39, Y:1.87, Z:-1.79 [[ 9.99942012e-01 4.11919903e-03 9.95012355e-03 6.43867499e+01] [-4.00169907e-03 9.99922369e-01 -1.18000788e-02 1.86736285e+00] [-9.99795799e-03 1.17595771e-02 9.99880869e-01 -1.79411274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099072329 meters 0.37603046001165596 Centerline is valid? [False, False] Translation: X:64.39, Y:1.87, Z:-1.79 [[ 9.99960956e-01 2.93608575e-03 8.33465077e-03 6.43899090e+01] [-2.83981298e-03 9.99929387e-01 -1.15393341e-02 1.86693110e+00] [-8.36794272e-03 1.15152147e-02 9.99898684e-01 -1.79327405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.129072329 meters 0.3789296928745283 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99974660e-01 4.42369670e-03 5.57773337e-03 6.43956833e+01] [-4.38263281e-03 9.99963363e-01 -7.35296415e-03 1.86747298e+00] [-5.61005630e-03 7.32833267e-03 9.99957410e-01 -1.79249580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159072329 meters 0.38150628157441946 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99979636e-01 4.12146892e-03 4.87255444e-03 6.43971529e+01] [-4.08548304e-03 9.99964477e-01 -7.37244975e-03 1.86783324e+00] [-4.90276667e-03 7.35239288e-03 9.99960952e-01 -1.79201628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.189072329 meters 0.3808959019841404 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99975054e-01 6.58202236e-03 2.56282668e-03 6.44014637e+01] [-6.57467530e-03 9.99974283e-01 -2.86472809e-03 1.86738413e+00] [-2.58161648e-03 2.84780687e-03 9.99992613e-01 -1.79029025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21907232899999 meters 0.381230452941359 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99978581e-01 6.25709530e-03 1.92003501e-03 6.44023920e+01] [-6.25161781e-03 9.99976409e-01 -2.84567075e-03 1.86749504e+00] [-1.93779534e-03 2.83360647e-03 9.99994108e-01 -1.78917484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24907232899999 meters 0.383315463552493 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99985233e-01 5.36285781e-03 8.79899353e-04 6.44034634e+01] [-5.36021622e-03 9.99981201e-01 -2.97753581e-03 1.86852324e+00] [-8.95850913e-04 2.97277539e-03 9.99995180e-01 -1.78704755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27907232899999 meters 0.3847478607196831 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99987062e-01 5.04121727e-03 6.79537492e-04 6.44034119e+01] [-5.03892805e-03 9.99981762e-01 -3.32942226e-03 1.86970791e+00] [-6.96309440e-04 3.32595504e-03 9.99994227e-01 -1.78616887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30907232899999 meters 0.3866446771300999 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99988499e-01 4.75811409e-03 6.02035319e-04 6.44032589e+01] [-4.75584286e-03 9.99981774e-01 -3.71939107e-03 1.87100039e+00] [-6.19721633e-04 3.71648511e-03 9.99992902e-01 -1.78560011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33907232899999 meters 0.38623141682204104 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99989689e-01 4.49090349e-03 6.73271183e-04 6.44030399e+01] [-4.48805706e-03 9.99981229e-01 -4.17128706e-03 1.87252616e+00] [-6.91991392e-04 4.16822237e-03 9.99991073e-01 -1.78549893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36907232899999 meters 0.3855851486570158 Centerline is valid? [False, False] Translation: X:64.40, Y:1.87, Z:-1.79 [[ 9.99991094e-01 4.11304580e-03 9.46035324e-04 6.44026309e+01] [-4.10839209e-03 9.99979704e-01 -4.86961252e-03 1.87473244e+00] [-9.66045063e-04 4.86568246e-03 9.99987696e-01 -1.78582140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39907232899999 meters 0.3855374567557142 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.79 [[ 9.99991816e-01 3.88958788e-03 1.11274151e-03 6.44023288e+01] [-3.88364653e-03 9.99978452e-01 -5.29262916e-03 1.87613896e+00] [-1.13330368e-03 5.28826435e-03 9.99985375e-01 -1.78598740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.429072329 meters 0.38600222078731145 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.79 [[ 9.99992474e-01 3.64416337e-03 1.33088134e-03 6.44018401e+01] [-3.63645270e-03 9.99976852e-01 -5.75084263e-03 1.87766172e+00] [-1.35180754e-03 5.74595967e-03 9.99982578e-01 -1.78607870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.459072329 meters 0.38703363400061924 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.79 [[ 9.99993456e-01 3.08748297e-03 1.88558297e-03 6.44000989e+01] [-3.07457524e-03 9.99972082e-01 -6.81044372e-03 1.88104269e+00] [-1.90655745e-03 6.80460178e-03 9.99975031e-01 -1.78563857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.489072329 meters 0.38471964527589375 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.79 [[ 9.99993629e-01 2.80310634e-03 2.20998843e-03 6.43989716e+01] [-2.78681471e-03 9.99969173e-01 -7.34074883e-03 1.88261205e+00] [-2.23049720e-03 7.33454323e-03 9.99970614e-01 -1.78519781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519072329 meters 0.3860605075073368 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.78 [[ 9.99993568e-01 2.54394732e-03 2.52833658e-03 6.43979337e+01] [-2.52399686e-03 9.99965902e-01 -7.86285407e-03 1.88417058e+00] [-2.54825305e-03 7.85642198e-03 9.99965891e-01 -1.78483280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.549072329 meters 0.3851232702703449 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99993472e-01 2.03171542e-03 2.98786095e-03 6.43965589e+01] [-2.00479793e-03 9.99957629e-01 -8.98451817e-03 1.88767511e+00] [-3.00598834e-03 8.97846947e-03 9.99955175e-01 -1.78438169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579072329 meters 0.3868260005918561 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99993270e-01 1.74334543e-03 3.22820377e-03 6.43957850e+01] [-1.71253563e-03 9.99953196e-01 -9.52224072e-03 1.88936566e+00] [-3.24465323e-03 9.51664822e-03 9.99949452e-01 -1.78410327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60907232899999 meters 0.38673746123435515 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99980837e-01 5.42802964e-03 2.97709304e-03 6.43962863e+01] [-5.40956886e-03 9.99966307e-01 -6.17433113e-03 1.89266329e+00] [-3.01050719e-03 6.15810802e-03 9.99976507e-01 -1.78389630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63907232899999 meters 0.3862419354270867 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99981790e-01 5.21383293e-03 3.03898795e-03 6.43959079e+01] [-5.19397542e-03 9.99965347e-01 -6.50591898e-03 1.89371399e+00] [-3.07280342e-03 6.49001608e-03 9.99974218e-01 -1.78354793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66907232899999 meters 0.38726144827792003 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99983202e-01 5.02352614e-03 2.89149647e-03 6.43962958e+01] [-5.00379459e-03 9.99964420e-01 -6.79124747e-03 1.89477477e+00] [-2.92550960e-03 6.77666494e-03 9.99972759e-01 -1.78350573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69907232899999 meters 0.3883363697807594 Centerline is valid? [False, False] Translation: X:64.40, Y:1.90, Z:-1.78 [[ 9.99984368e-01 4.96420842e-03 2.57298273e-03 6.43974697e+01] [-4.94660149e-03 9.99964612e-01 -6.80478095e-03 1.89511295e+00] [-2.60667203e-03 6.79194706e-03 9.99973537e-01 -1.78397140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72907232899999 meters 0.39206238567777724 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99991338e-01 3.91235989e-03 1.42014853e-03 6.44002803e+01] [-3.90338327e-03 9.99972728e-01 -6.26958246e-03 1.89315882e+00] [-1.44463867e-03 6.26398477e-03 9.99979338e-01 -1.78436528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75907232899999 meters 0.39197129288806665 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99991943e-01 3.91334845e-03 8.94613067e-04 6.44016641e+01] [-3.90790224e-03 9.99974300e-01 -6.01055883e-03 1.89259443e+00] [-9.18111487e-04 6.00701434e-03 9.99981536e-01 -1.78443970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78907232899999 meters 0.39486107234945855 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99992388e-01 3.88325969e-03 3.79576902e-04 6.44027479e+01] [-3.88097648e-03 9.99975408e-01 -5.84137346e-03 1.89226231e+00] [-4.02251137e-04 5.83985587e-03 9.99982867e-01 -1.78403945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.819072329 meters 0.3964325594598133 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99993276e-01 3.65418174e-03 -3.08368608e-04 6.44040911e+01] [-3.65590684e-03 9.99976540e-01 -5.79256194e-03 1.89276539e+00] [ 2.87194299e-04 5.79365036e-03 9.99983175e-01 -1.78325669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.849072329 meters 0.3982284745397979 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99993504e-01 3.57922185e-03 -4.25213449e-04 6.44044234e+01] [-3.58166733e-03 9.99976199e-01 -5.89679510e-03 1.89324855e+00] [ 4.04097391e-04 5.89827977e-03 9.99982523e-01 -1.78323407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879072329 meters 0.3922389856798832 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99993311e-01 3.60758608e-03 -6.02102320e-04 6.44050855e+01] [-3.61103193e-03 9.99976523e-01 -5.82358668e-03 1.89317605e+00] [ 5.81079094e-04 5.82572194e-03 9.99982862e-01 -1.78351337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.909072329 meters 0.3942223876800885 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99991200e-01 4.00235464e-03 -1.25764410e-03 6.44077611e+01] [-4.00862520e-03 9.99979347e-01 -5.02363971e-03 1.89122607e+00] [ 1.23751174e-03 5.02863693e-03 9.99986591e-01 -1.78485692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939072329 meters 0.39789374488060164 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99990415e-01 4.12280882e-03 -1.47375917e-03 6.44083037e+01] [-4.12980101e-03 9.99980080e-01 -4.77332902e-03 1.89046414e+00] [ 1.45405029e-03 4.77936960e-03 9.99987522e-01 -1.78481255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96907232899999 meters 0.39483994770118647 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99990358e-01 4.11475239e-03 -1.53354143e-03 6.44081382e+01] [-4.12199034e-03 9.99980238e-01 -4.74687098e-03 1.89031682e+00] [ 1.51397893e-03 4.75314646e-03 9.99987558e-01 -1.78432418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99907232899999 meters 0.3965959951137236 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99991185e-01 3.97106367e-03 -1.36404746e-03 6.44068559e+01] [-3.97789997e-03 9.99979356e-01 -5.04616293e-03 1.89117219e+00] [ 1.34398066e-03 5.05154449e-03 9.99986338e-01 -1.78306905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02907232899999 meters 0.3938897624569804 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99991240e-01 3.99603244e-03 -1.24593330e-03 6.44065792e+01] [-4.00226921e-03 9.99979269e-01 -5.04405251e-03 1.89111387e+00] [ 1.22575127e-03 5.04899488e-03 9.99986503e-01 -1.78314342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05907232899999 meters 0.3947905565252438 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99990572e-01 4.25582368e-03 -8.62348025e-04 6.44063241e+01] [-4.25998487e-03 9.99979007e-01 -4.88245314e-03 1.89059337e+00] [ 8.41551062e-04 4.88608070e-03 9.99987709e-01 -1.78432304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08907232899999 meters 0.39284563284129476 Centerline is valid? [False, False] Translation: X:64.41, Y:1.89, Z:-1.78 [[ 9.99990390e-01 4.34571156e-03 -5.79089055e-04 6.44059013e+01] [-4.34847181e-03 9.99978766e-01 -4.85373319e-03 1.89043539e+00] [ 5.57983835e-04 4.85620469e-03 9.99988053e-01 -1.78484828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11907232899999 meters 0.3950925078468436 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.79 [[ 9.99990185e-01 4.42825066e-03 -1.39825483e-04 6.44049370e+01] [-4.42888237e-03 9.99978201e-01 -4.89729510e-03 1.89039997e+00] [ 1.18135985e-04 4.89786630e-03 9.99987998e-01 -1.78515674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14907232899999 meters 0.39313026813218427 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99990029e-01 4.44049228e-03 4.73220818e-04 6.44032550e+01] [-4.43795407e-03 9.99976443e-01 -5.23615203e-03 1.89115093e+00] [-4.96460763e-04 5.23399969e-03 9.99986179e-01 -1.78495022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.179072329 meters 0.3886858427590123 Centerline is valid? [False, False] Translation: X:64.40, Y:1.89, Z:-1.78 [[ 9.99981811e-01 5.36640149e-03 2.75317544e-03 6.43976950e+01] [-5.34803552e-03 9.99963684e-01 -6.63537819e-03 1.89456119e+00] [-2.78868356e-03 6.62053341e-03 9.99974196e-01 -1.78422446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.209072329 meters 0.3850956209829216 Centerline is valid? [False, False] Translation: X:64.40, Y:1.90, Z:-1.78 [[ 9.99978694e-01 5.48487218e-03 3.53932653e-03 6.43957277e+01] [-5.45936870e-03 9.99959352e-01 -7.17561472e-03 1.89591275e+00] [-3.57853999e-03 7.15613935e-03 9.99967991e-01 -1.78410437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239072329 meters 0.3823370449800834 Centerline is valid? [False, False] Translation: X:64.39, Y:1.90, Z:-1.78 [[ 9.99975043e-01 5.64710943e-03 4.24540418e-03 6.43942210e+01] [-5.61407542e-03 9.99954184e-01 -7.75318184e-03 1.89751440e+00] [-4.28899274e-03 7.72915432e-03 9.99960932e-01 -1.78439722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.269072329 meters 0.3823370449800834 Centerline is valid? [False, False] Translation: X:64.39, Y:1.90, Z:-1.78 [[ 9.99975043e-01 5.64710943e-03 4.24540418e-03 6.43942210e+01] [-5.61407542e-03 9.99954184e-01 -7.75318184e-03 1.89751440e+00] [-4.28899274e-03 7.72915432e-03 9.99960932e-01 -1.78439722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299072329 meters 0.37984466980134757 Centerline is valid? [False, False] Translation: X:64.39, Y:1.90, Z:-1.79 [[ 9.99964679e-01 6.37991613e-03 5.47146927e-03 6.43922810e+01] [-6.33060752e-03 9.99939618e-01 -8.98241025e-03 1.90131972e+00] [-5.52844591e-03 8.94745526e-03 9.99944688e-01 -1.78588025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.329072329 meters 0.37864898222685456 Centerline is valid? [False, False] Translation: X:64.39, Y:1.90, Z:-1.79 [[ 9.99959285e-01 6.57450759e-03 6.18091298e-03 6.43908673e+01] [-6.51590204e-03 9.99934076e-01 -9.45449794e-03 1.90259059e+00] [-6.24266417e-03 9.41383877e-03 9.99936202e-01 -1.78636878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35907232899999 meters 0.3769490853156748 Centerline is valid? [False, False] Translation: X:64.39, Y:1.90, Z:-1.79 [[ 9.99953801e-01 6.74194351e-03 6.85148305e-03 6.43895120e+01] [-6.67386675e-03 9.99928615e-01 -9.91082023e-03 1.90383062e+00] [-6.91781215e-03 9.86463647e-03 9.99927414e-01 -1.78677956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38907232899999 meters 0.37537585834295 Centerline is valid? [False, False] Translation: X:64.39, Y:1.91, Z:-1.79 [[ 9.99941186e-01 7.34372136e-03 7.98089937e-03 6.43874404e+01] [-7.25706452e-03 9.99914984e-01 -1.08332811e-02 1.90659754e+00] [-8.05977746e-03 1.07747261e-02 9.99909469e-01 -1.78763988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41907232899999 meters 0.3727660801352762 Centerline is valid? [False, False] Translation: X:64.39, Y:1.91, Z:-1.79 [[ 9.99934439e-01 7.48931517e-03 8.66187963e-03 6.43859226e+01] [-7.39287513e-03 9.99910922e-01 -1.11127837e-02 1.90718873e+00] [-8.74433518e-03 1.10480189e-02 9.99900734e-01 -1.78787183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44907232899999 meters 0.36881393048889766 Centerline is valid? [False, False] Translation: X:64.38, Y:1.91, Z:-1.79 [[ 9.99912927e-01 8.46192420e-03 1.01258827e-02 6.43833192e+01] [-8.33854831e-03 9.99891235e-01 -1.21650221e-02 1.91034067e+00] [-1.02277208e-02 1.20795277e-02 9.99874732e-01 -1.78890726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47907232899999 meters 0.3716040937020065 Centerline is valid? [False, False] Translation: X:64.38, Y:1.91, Z:-1.79 [[ 9.99901434e-01 8.83935541e-03 1.09082061e-02 6.43817289e+01] [-8.70052094e-03 9.99881371e-01 -1.27100135e-02 1.91185113e+00] [-1.10192604e-02 1.26138536e-02 9.99859723e-01 -1.78918686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50907232899999 meters 0.3705055670182463 Centerline is valid? [False, False] Translation: X:64.38, Y:1.91, Z:-1.79 [[ 9.99888478e-01 9.12193064e-03 1.18246523e-02 6.43796058e+01] [-8.96622039e-03 9.99873267e-01 -1.31550706e-02 1.91281087e+00] [-1.19431534e-02 1.30475811e-02 9.99843549e-01 -1.78920894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53907232899999 meters 0.36582651117784637 Centerline is valid? [False, False] Translation: X:64.38, Y:1.91, Z:-1.79 [[ 9.99875018e-01 9.38014739e-03 1.27264280e-02 6.43775633e+01] [-9.20746985e-03 9.99865668e-01 -1.35598342e-02 1.91366199e+00] [-1.28519116e-02 1.34409613e-02 9.99827070e-01 -1.78934265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.569072329 meters 0.36243416685892427 Centerline is valid? [False, False] Translation: X:64.37, Y:1.92, Z:-1.79 [[ 9.99831357e-01 1.06706552e-02 1.49463972e-02 6.43729918e+01] [-1.04550388e-02 9.99841213e-01 -1.44305774e-02 1.91571806e+00] [-1.50980076e-02 1.42718786e-02 9.99784159e-01 -1.78974531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599072329 meters 0.3586571673593878 Centerline is valid? [False, False] Translation: X:64.37, Y:1.92, Z:-1.79 [[ 9.99810154e-01 1.11034125e-02 1.60115346e-02 6.43706161e+01] [-1.08647344e-02 9.99829701e-01 -1.49173563e-02 1.91677026e+00] [-1.61744414e-02 1.47405632e-02 9.99760523e-01 -1.78982960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.629072329 meters 0.3593727862844039 Centerline is valid? [False, False] Translation: X:64.37, Y:1.92, Z:-1.79 [[ 9.99744727e-01 1.54011856e-02 1.65313061e-02 6.43697865e+01] [-1.52243400e-02 9.99826091e-01 -1.07706887e-02 1.91711681e+00] [-1.66943125e-02 1.05162610e-02 9.99805335e-01 -1.79035753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659072329 meters 0.357569279122435 Centerline is valid? [False, False] Translation: X:64.36, Y:1.92, Z:-1.79 [[ 9.99676607e-01 1.68675239e-02 1.90307150e-02 6.43649569e+01] [-1.66389766e-02 9.99788290e-01 -1.21044953e-02 1.92059821e+00] [-1.92308589e-02 1.17839291e-02 9.99745624e-01 -1.79142465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.689072329 meters 0.3517621823144369 Centerline is valid? [False, False] Translation: X:64.36, Y:1.92, Z:-1.79 [[ 9.99641549e-01 1.74406313e-02 2.03125034e-02 6.43622111e+01] [-1.71809715e-02 9.99769325e-01 -1.28883745e-02 1.92254505e+00] [-2.05325992e-02 1.25347661e-02 9.99710604e-01 -1.79159134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71907232899999 meters 0.35085673072342 Centerline is valid? [False, False] Translation: X:64.36, Y:1.92, Z:-1.79 [[ 9.99601714e-01 1.80139139e-02 2.17235388e-02 6.43588909e+01] [-1.77184823e-02 9.99748928e-01 -1.37162655e-02 1.92443952e+00] [-2.19651683e-02 1.33258943e-02 9.99669921e-01 -1.79123078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74907232899999 meters 0.34788727747549464 Centerline is valid? [False, False] Translation: X:64.35, Y:1.93, Z:-1.79 [[ 9.99482343e-01 1.96442944e-02 2.54783687e-02 6.43500683e+01] [-1.92580511e-02 9.99697205e-01 -1.53174719e-02 1.92740137e+00] [-2.57715549e-02 1.48188789e-02 9.99558016e-01 -1.78996425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77907232899999 meters 0.3373019052364325 Centerline is valid? [False, False] Translation: X:64.35, Y:1.93, Z:-1.79 [[ 9.99450531e-01 1.99274692e-02 2.64864324e-02 6.43477463e+01] [-1.95112636e-02 9.99683509e-01 -1.58805672e-02 1.92867290e+00] [-2.67945091e-02 1.53550575e-02 9.99523024e-01 -1.78983983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80907232899999 meters 0.34577004208168644 Centerline is valid? [False, False] Translation: X:64.35, Y:1.93, Z:-1.79 [[ 9.99328226e-01 2.42768951e-02 2.74541400e-02 6.43460236e+01] [-2.39380041e-02 9.99633964e-01 -1.26059577e-02 1.93169678e+00] [-2.77501244e-02 1.19402920e-02 9.99543576e-01 -1.79017700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83907232899999 meters 0.3343692660068268 Centerline is valid? [False, False] Translation: X:64.34, Y:1.93, Z:-1.79 [[ 9.99295834e-01 2.45509668e-02 2.83740461e-02 6.43438941e+01] [-2.41805486e-02 9.99618799e-01 -1.33250812e-02 1.93350321e+00] [-2.86903735e-02 1.26295982e-02 9.99508557e-01 -1.78996492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86907232899999 meters 0.33355636057639193 Centerline is valid? [False, False] Translation: X:64.34, Y:1.93, Z:-1.79 [[ 9.99264809e-01 2.47926493e-02 2.92432384e-02 6.43419878e+01] [-2.43970435e-02 9.99606981e-01 -1.38082633e-02 1.93460796e+00] [-2.95740887e-02 1.30846631e-02 9.99476946e-01 -1.79002272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89907232899999 meters 0.3326126214215372 Centerline is valid? [False, False] Translation: X:64.34, Y:1.94, Z:-1.79 [[ 9.99237132e-01 2.50148027e-02 2.99902181e-02 6.43405386e+01] [-2.45976521e-02 9.99596594e-01 -1.41987724e-02 1.93552128e+00] [-3.03332993e-02 1.34502517e-02 9.99449339e-01 -1.79044671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.929072329 meters 0.33321577086564413 Centerline is valid? [False, False] Translation: X:64.34, Y:1.94, Z:-1.79 [[ 9.99169386e-01 2.58792875e-02 3.14769787e-02 6.43379083e+01] [-2.54131892e-02 9.99562702e-01 -1.51186650e-02 1.93789296e+00] [-3.18544741e-02 1.43061769e-02 9.99390127e-01 -1.79148534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.959072329 meters 0.33400016268502 Centerline is valid? [False, False] Translation: X:64.34, Y:1.94, Z:-1.79 [[ 9.99143849e-01 2.60003152e-02 3.21800183e-02 6.43362065e+01] [-2.55160729e-02 9.99556275e-01 -1.53682621e-02 1.93830806e+00] [-3.25653188e-02 1.45339968e-02 9.99363929e-01 -1.79133110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.989072329 meters 0.332707426859721 Centerline is valid? [False, False] Translation: X:64.33, Y:1.94, Z:-1.79 [[ 9.99120108e-01 2.60972880e-02 3.28320072e-02 6.43345458e+01] [-2.55957495e-02 9.99550576e-01 -1.56046267e-02 1.93868624e+00] [-3.32244901e-02 1.47505365e-02 9.99339059e-01 -1.79103959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019072329 meters 0.3308245774218942 Centerline is valid? [False, False] Translation: X:64.33, Y:1.94, Z:-1.79 [[ 9.99099616e-01 2.61385932e-02 3.34175428e-02 6.43330089e+01] [-2.56195957e-02 9.99545854e-01 -1.58657474e-02 1.93917413e+00] [-3.38170747e-02 1.49953182e-02 9.99315539e-01 -1.79071528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.049072329 meters 0.32661656704784314 Centerline is valid? [False, False] Translation: X:64.33, Y:1.94, Z:-1.79 [[ 9.98979003e-01 3.02465299e-02 3.35574124e-02 6.43334601e+01] [-2.98689614e-02 9.99485388e-01 -1.16963553e-02 1.93973381e+00] [-3.38939175e-02 1.06820883e-02 9.99368348e-01 -1.79140933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079072329 meters 0.3261358648053433 Centerline is valid? [False, False] Translation: X:64.33, Y:1.94, Z:-1.79 [[ 9.98965193e-01 3.03780943e-02 3.38483949e-02 6.43329680e+01] [-3.00003466e-02 9.99482429e-01 -1.16126441e-02 1.93931907e+00] [-3.41836459e-02 1.05851636e-02 9.99359511e-01 -1.79179029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10907232899999 meters 0.3273487812073964 Centerline is valid? [False, False] Translation: X:64.33, Y:1.94, Z:-1.79 [[ 9.98955671e-01 3.06271802e-02 3.39049008e-02 6.43331249e+01] [-3.02595745e-02 9.99478165e-01 -1.13029161e-02 1.93833642e+00] [-3.42333845e-02 1.02651643e-02 9.99361147e-01 -1.79227181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13907232899999 meters 0.3335386923527576 Centerline is valid? [False, False] Translation: X:64.33, Y:1.94, Z:-1.79 [[ 9.98957862e-01 3.06897927e-02 3.37835280e-02 6.43332773e+01] [-3.03292306e-02 9.99477949e-01 -1.11340562e-02 1.93782290e+00] [-3.41075931e-02 1.00978245e-02 9.99367153e-01 -1.79203891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16907232899999 meters 0.3235127451764568 Centerline is valid? [False, False] Translation: X:64.33, Y:1.94, Z:-1.79 [[ 9.98980673e-01 3.06198782e-02 3.31668348e-02 6.43344479e+01] [-3.02790197e-02 9.99483878e-01 -1.07311753e-02 1.93689397e+00] [-3.34783040e-02 9.71597744e-03 9.99392217e-01 -1.79160737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19907232899999 meters 0.33000883283289795 Centerline is valid? [False, False] Translation: X:64.34, Y:1.94, Z:-1.79 [[ 9.98998136e-01 3.05613420e-02 3.26914259e-02 6.43356114e+01] [-3.02316428e-02 9.99487426e-01 -1.05324933e-02 1.93651489e+00] [-3.29965563e-02 9.53362567e-03 9.99409995e-01 -1.79172201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22907232899999 meters 0.34411914277120126 Centerline is valid? [False, False] Translation: X:64.34, Y:1.94, Z:-1.79 [[ 9.99024535e-01 3.04308711e-02 3.19990622e-02 6.43375048e+01] [-3.01226530e-02 9.99495477e-01 -1.00705649e-02 1.93542788e+00] [-3.22893740e-02 9.09684473e-03 9.99437163e-01 -1.79237791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25907232899999 meters 0.3247049617527409 Centerline is valid? [False, False] Translation: X:64.34, Y:1.93, Z:-1.79 [[ 9.99061801e-01 3.01513407e-02 3.10872201e-02 6.43399747e+01] [-2.98721007e-02 9.99509451e-01 -9.40821697e-03 1.93383580e+00] [-3.13556406e-02 8.47074961e-03 9.99472396e-01 -1.79318296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28907232899999 meters 0.33233800251481893 Centerline is valid? [False, False] Translation: X:64.34, Y:1.93, Z:-1.79 [[ 9.99210749e-01 2.60421942e-02 2.99947060e-02 6.43424989e+01] [-2.56770525e-02 9.99592197e-01 -1.24951114e-02 1.93045868e+00] [-3.03078742e-02 1.17150740e-02 9.99471955e-01 -1.79388397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319072329 meters 0.3352574616142757 Centerline is valid? [False, False] Translation: X:64.34, Y:1.93, Z:-1.79 [[ 9.99242630e-01 2.58095556e-02 2.91210125e-02 6.43442910e+01] [-2.54705319e-02 9.99604105e-01 -1.19534451e-02 1.92916387e+00] [-2.94179968e-02 1.12026643e-02 9.99504418e-01 -1.79357147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.349072329 meters 0.3407972405825139 Centerline is valid? [False, False] Translation: X:64.35, Y:1.93, Z:-1.79 [[ 9.99276518e-01 2.54039691e-02 2.83033366e-02 6.43456469e+01] [-2.50948844e-02 9.99622078e-01 -1.12226946e-02 1.92720087e+00] [-2.85777411e-02 1.05043062e-02 9.99536379e-01 -1.79277057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379072329 meters 0.3468950353606201 Centerline is valid? [False, False] Translation: X:64.35, Y:1.92, Z:-1.79 [[ 9.99319674e-01 2.48671126e-02 2.72362872e-02 6.43475575e+01] [-2.45945161e-02 9.99644464e-01 -1.02983090e-02 1.92472067e+00] [-2.74826929e-02 9.62143952e-03 9.99575975e-01 -1.79201502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.409072329 meters 0.3487709928689827 Centerline is valid? [False, False] Translation: X:64.36, Y:1.92, Z:-1.79 [[ 9.99450665e-01 2.30874962e-02 2.37768030e-02 6.43550025e+01] [-2.28951504e-02 9.99703164e-01 -8.33037535e-03 1.92015511e+00] [-2.39620727e-02 7.78142570e-03 9.99682584e-01 -1.79203853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439072329 meters 0.3516145611943503 Centerline is valid? [False, False] Translation: X:64.36, Y:1.92, Z:-1.79 [[ 9.99528687e-01 2.17231786e-02 2.16911849e-02 6.43595324e+01] [-2.15692558e-02 9.99740668e-01 -7.30504630e-03 1.91779047e+00] [-2.18442485e-02 6.83374062e-03 9.99738030e-01 -1.79230328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46907232899999 meters 0.35339289179059113 Centerline is valid? [False, False] Translation: X:64.36, Y:1.92, Z:-1.79 [[ 9.99624943e-01 1.76181382e-02 2.09660389e-02 6.43611772e+01] [-1.73888967e-02 9.99787557e-01 -1.10664909e-02 1.91635383e+00] [-2.11565557e-02 1.06977641e-02 9.99718939e-01 -1.79246326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49907232899999 meters 0.3572146452180551 Centerline is valid? [False, False] Translation: X:64.37, Y:1.91, Z:-1.79 [[ 9.99694237e-01 1.64698361e-02 1.84438821e-02 6.43665544e+01] [-1.63046428e-02 9.99825919e-01 -9.07138689e-03 1.91104010e+00] [-1.85900756e-02 8.76789228e-03 9.99788744e-01 -1.79218631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52907232899999 meters 0.35968819038270844 Centerline is valid? [False, False] Translation: X:64.37, Y:1.91, Z:-1.79 [[ 9.99724859e-01 1.58994034e-02 1.72457238e-02 6.43687693e+01] [-1.57639022e-02 9.99844019e-01 -7.96478199e-03 1.90800472e+00] [-1.73696691e-02 7.69073065e-03 9.99819557e-01 -1.79132637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55907232899999 meters 0.3626179833251419 Centerline is valid? [False, False] Translation: X:64.37, Y:1.90, Z:-1.79 [[ 9.99754054e-01 1.53241265e-02 1.60313250e-02 6.43709905e+01] [-1.52170536e-02 9.99861228e-01 -6.77978212e-03 1.90465204e+00] [-1.61329945e-02 6.53416512e-03 9.99848504e-01 -1.79039852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58907232899999 meters 0.3648608363039899 Centerline is valid? [False, False] Translation: X:64.37, Y:1.90, Z:-1.79 [[ 9.99801940e-01 1.42067459e-02 1.39373215e-02 6.43748753e+01] [-1.41505830e-02 9.99891387e-01 -4.12005652e-03 1.89687176e+00] [-1.39943403e-02 3.92201928e-03 9.99894383e-01 -1.78880274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61907232899999 meters 0.3647898258112887 Centerline is valid? [False, False] Translation: X:64.38, Y:1.89, Z:-1.79 [[ 9.99828150e-01 1.35551487e-02 1.26462653e-02 6.43773167e+01] [-1.35216843e-02 9.99904857e-01 -2.72795196e-03 1.89277160e+00] [-1.26820398e-02 2.55648436e-03 9.99916312e-01 -1.78800350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64907232899999 meters 0.3678924770673031 Centerline is valid? [False, False] Translation: X:64.39, Y:1.89, Z:-1.78 [[ 9.99958815e-01 7.02012467e-03 5.75209829e-03 6.43911999e+01] [-7.01745040e-03 9.99975260e-01 -4.84971954e-04 1.88838854e+00] [-5.75536055e-03 4.44586915e-04 9.99983339e-01 -1.78481263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.679072329 meters 0.3737679043654532 Centerline is valid? [False, False] Translation: X:64.39, Y:1.89, Z:-1.78 [[ 9.99967864e-01 6.52265984e-03 4.66114886e-03 6.43933049e+01] [-6.52541699e-03 9.99978543e-01 5.76554447e-04 1.88532625e+00] [-4.65728818e-03 -6.06951858e-04 9.99988971e-01 -1.78411202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.709072329 meters 0.3755623175880511 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.78 [[ 9.99974965e-01 6.09340138e-03 3.59729599e-03 6.43954184e+01] [-6.09913294e-03 9.99980145e-01 1.58448155e-03 1.88245592e+00] [-3.58756968e-03 -1.60638227e-03 9.99992274e-01 -1.78351062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739072329 meters 0.38093410160345165 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.78 [[ 9.99987006e-01 5.00234626e-03 9.81828117e-04 6.44013860e+01] [-5.00561583e-03 9.99981839e-01 3.35637130e-03 1.87779474e+00] [-9.65020554e-04 -3.36124234e-03 9.99993885e-01 -1.78352870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.769072329 meters 0.3825655165433478 Centerline is valid? [False, False] Translation: X:64.40, Y:1.88, Z:-1.78 [[ 9.99990674e-01 4.29459338e-03 -4.57376093e-04 6.44048670e+01] [-4.29255463e-03 9.99981243e-01 4.36889525e-03 1.87510120e+00] [ 4.76130142e-04 -4.36689119e-03 9.99990352e-01 -1.78388848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799072329 meters 0.38310947801808454 Centerline is valid? [False, False] Translation: X:64.41, Y:1.87, Z:-1.78 [[ 9.99999547e-01 1.31353252e-04 -9.42721689e-04 6.44061739e+01] [-1.30882163e-04 9.99999867e-01 4.99755239e-04 1.87381202e+00] [ 9.42787207e-04 -4.99631627e-04 9.99999431e-01 -1.78401517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.829072329 meters 0.3881969390432513 Centerline is valid? [False, False] Translation: X:64.41, Y:1.87, Z:-1.78 [[ 9.99996406e-01 -6.34954074e-04 -2.60463302e-03 6.44097729e+01] [ 6.40213639e-04 9.99997757e-01 2.01897464e-03 1.86933353e+00] [ 2.60334522e-03 -2.02063491e-03 9.99994570e-01 -1.78362866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85907232899999 meters 0.387380647399727 Centerline is valid? [False, False] Translation: X:64.41, Y:1.87, Z:-1.78 [[ 9.99994570e-01 -7.44632499e-04 -3.21024954e-03 6.44108587e+01] [ 7.52335904e-04 9.99996839e-01 2.39908853e-03 1.86830883e+00] [ 3.20845296e-03 -2.40149069e-03 9.99991969e-01 -1.78291248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88907232899999 meters 0.3927178900249236 Centerline is valid? [False, False] Translation: X:64.41, Y:1.87, Z:-1.78 [[ 9.99992474e-01 -8.58044969e-04 -3.78367640e-03 6.44118364e+01] [ 8.67951233e-04 9.99996198e-01 2.61729423e-03 1.86777727e+00] [ 3.78141626e-03 -2.62055858e-03 9.99989417e-01 -1.78213570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91907232899999 meters 0.3925205648814418 Centerline is valid? [False, False] Translation: X:64.41, Y:1.87, Z:-1.78 [[ 9.99988073e-01 -1.27105111e-03 -4.71578702e-03 6.44132358e+01] [ 1.28708750e-03 9.99993395e-01 3.39910208e-03 1.86550467e+00] [ 4.71143544e-03 -3.40513117e-03 9.99983104e-01 -1.78061854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94907232899999 meters 0.3918982816840834 Centerline is valid? [False, False] Translation: X:64.41, Y:1.87, Z:-1.78 [[ 9.99985557e-01 -1.29356454e-03 -5.21662360e-03 6.44146586e+01] [ 1.31212650e-03 9.99992815e-01 3.55638170e-03 1.86525210e+00] [ 5.21198571e-03 -3.56317521e-03 9.99980069e-01 -1.78083977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97907232899999 meters 0.3924222916586113 Centerline is valid? [False, False] Translation: X:64.42, Y:1.86, Z:-1.78 [[ 9.99978817e-01 -1.24943319e-03 -6.38782823e-03 6.44184848e+01] [ 1.27468677e-03 9.99991383e-01 3.95084766e-03 1.86498822e+00] [ 6.38283687e-03 -3.95890645e-03 9.99971793e-01 -1.78229146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00907232899999 meters 0.3958302853877184 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99976771e-01 -1.35638522e-03 -6.67964123e-03 6.44192463e+01] [ 1.38216886e-03 9.99991607e-01 3.85693103e-03 1.86545870e+00] [ 6.67435368e-03 -3.86607382e-03 9.99970253e-01 -1.78226238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03907232899999 meters 0.3958939572418987 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99974640e-01 -1.49716594e-03 -6.96266282e-03 6.44197544e+01] [ 1.52301828e-03 9.99991961e-01 3.70917702e-03 1.86605629e+00] [ 6.95705359e-03 -3.71968722e-03 9.99968881e-01 -1.78186308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.069072329 meters 0.3963427488306298 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99972093e-01 -1.70474089e-03 -7.27376275e-03 6.44201391e+01] [ 1.73000393e-03 9.99992489e-01 3.46829714e-03 1.86695591e+00] [ 7.26779557e-03 -3.48078399e-03 9.99967531e-01 -1.78115135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099072329 meters 0.39662576196509236 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99967220e-01 -2.11490532e-03 -7.81577168e-03 6.44206060e+01] [ 2.13892849e-03 9.99993010e-01 3.06659811e-03 1.86830788e+00] [ 7.80923148e-03 -3.08321496e-03 9.99964754e-01 -1.77972408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.129072329 meters 0.401991007584624 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99964950e-01 -2.25866587e-03 -8.06214261e-03 6.44211986e+01] [ 2.28200968e-03 9.99993227e-01 2.88746021e-03 1.86903691e+00] [ 8.05556620e-03 -2.90575689e-03 9.99963332e-01 -1.77958590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159072329 meters 0.401991007584624 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99964950e-01 -2.25866587e-03 -8.06214261e-03 6.44211986e+01] [ 2.28200968e-03 9.99993227e-01 2.88746021e-03 1.86903691e+00] [ 8.05556620e-03 -2.90575689e-03 9.99963332e-01 -1.77958590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.189072329 meters 0.4013580517299732 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99963026e-01 -2.38498936e-03 -8.26191594e-03 6.44219219e+01] [ 2.40747186e-03 9.99993424e-01 2.71234578e-03 1.86978747e+00] [ 8.25539270e-03 -2.73213582e-03 9.99962191e-01 -1.77984769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21907232899999 meters 0.403372489755578 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99961736e-01 -2.47797021e-03 -8.38969592e-03 6.44225433e+01] [ 2.49961910e-03 9.99993571e-01 2.57091275e-03 1.87041288e+00] [ 8.38327134e-03 -2.59178542e-03 9.99961501e-01 -1.78025557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24907232899999 meters 0.3998097415249256 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99960265e-01 -2.89234802e-03 -8.43228362e-03 6.44226447e+01] [ 2.90842372e-03 9.99993975e-01 1.89480763e-03 1.87284867e+00] [ 8.42675238e-03 -1.91925700e-03 9.99962652e-01 -1.78016385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27907232899999 meters 0.402585299056903 Centerline is valid? [False, False] Translation: X:64.42, Y:1.87, Z:-1.78 [[ 9.99959041e-01 -3.17133912e-03 -8.47697142e-03 6.44224302e+01] [ 3.18403252e-03 9.99993829e-01 1.48432266e-03 1.87422094e+00] [ 8.47221182e-03 -1.51125282e-03 9.99962968e-01 -1.77963253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30907232899999 meters 0.4054926514399204 Centerline is valid? [False, False] Translation: X:64.42, Y:1.88, Z:-1.78 [[ 9.99953907e-01 -3.55637594e-03 -8.91835549e-03 6.44231404e+01] [ 3.56520817e-03 9.99993170e-01 9.74641121e-04 1.87603000e+00] [ 8.91482838e-03 -1.00639199e-03 9.99959756e-01 -1.77898864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33907232899999 meters 0.40281249172101397 Centerline is valid? [False, False] Translation: X:64.42, Y:1.88, Z:-1.78 [[ 9.99949765e-01 -3.69801578e-03 -9.31618751e-03 6.44241295e+01] [ 3.70601240e-03 9.99992779e-01 8.41240205e-04 1.87667388e+00] [ 9.31300931e-03 -8.75723852e-04 9.99956250e-01 -1.77886374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36907232899999 meters 0.40619385989517226 Centerline is valid? [False, False] Translation: X:64.43, Y:1.88, Z:-1.78 [[ 9.99946144e-01 -3.79028500e-03 -9.66141011e-03 6.44250942e+01] [ 3.79790261e-03 9.99992491e-01 7.70232081e-04 1.87710574e+00] [ 9.65841816e-03 -8.06883695e-04 9.99953031e-01 -1.77894150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39907232899999 meters 0.4070102799304835 Centerline is valid? [False, False] Translation: X:64.43, Y:1.88, Z:-1.78 [[ 9.99941370e-01 -4.20176283e-03 -9.98009254e-03 6.44255207e+01] [ 4.20372590e-03 9.99991149e-01 1.75729091e-04 1.87910787e+00] [ 9.97926583e-03 -2.17672361e-04 9.99950182e-01 -1.77835915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.429072329 meters 0.4105903417103323 Centerline is valid? [False, False] Translation: X:64.43, Y:1.88, Z:-1.78 [[ 9.99939395e-01 -4.44946981e-03 -1.00701708e-02 6.44256031e+01] [ 4.44764589e-03 9.99990088e-01 -2.03509164e-04 1.88044303e+00] [ 1.00709765e-02 1.58708276e-04 9.99949274e-01 -1.77808562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.459072329 meters 0.4141205181317502 Centerline is valid? [False, False] Translation: X:64.43, Y:1.88, Z:-1.78 [[ 9.99934030e-01 -4.81940918e-03 -1.04263737e-02 6.44264738e+01] [ 4.81153260e-03 9.99988120e-01 -7.80399912e-04 1.88255529e+00] [ 1.04300109e-02 7.30181592e-04 9.99945339e-01 -1.77801779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.489072329 meters 0.41572854971038614 Centerline is valid? [False, False] Translation: X:64.43, Y:1.88, Z:-1.78 [[ 9.99930331e-01 -4.90752594e-03 -1.07354694e-02 6.44274908e+01] [ 4.89857278e-03 9.99987632e-01 -8.60114720e-04 1.88302934e+00] [ 1.07395577e-02 8.07466318e-04 9.99942003e-01 -1.77829932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519072329 meters 0.4119786637968408 Centerline is valid? [False, False] Translation: X:64.43, Y:1.88, Z:-1.78 [[ 9.99926087e-01 -4.98791997e-03 -1.10879053e-02 6.44286478e+01] [ 4.97790990e-03 9.99987177e-01 -9.30207355e-04 1.88351022e+00] [ 1.10924029e-02 8.74944007e-04 9.99938095e-01 -1.77861528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.549072329 meters 0.41893401445627243 Centerline is valid? [False, False] Translation: X:64.43, Y:1.88, Z:-1.78 [[ 9.99923094e-01 -5.04331916e-03 -1.13301328e-02 6.44294724e+01] [ 5.03251241e-03 9.99986855e-01 -9.82114109e-04 1.88387657e+00] [ 1.13349370e-02 9.25019544e-04 9.99935330e-01 -1.77885397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579072329 meters 0.4125484306643782 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99919370e-01 -5.40831574e-03 -1.14892708e-02 6.44294943e+01] [ 5.39161593e-03 9.99984364e-01 -1.48399084e-03 1.88561999e+00] [ 1.14971171e-02 1.42192545e-03 9.99932895e-01 -1.77822224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60907232899999 meters 0.41664796451475694 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99918139e-01 -5.65902120e-03 -1.14756842e-02 6.44290014e+01] [ 5.63805259e-03 9.99982379e-01 -1.85874986e-03 1.88678757e+00] [ 1.14860007e-02 1.79389719e-03 9.99932425e-01 -1.77751648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63907232899999 meters 0.4156789068211847 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99916360e-01 -6.02945201e-03 -1.14420143e-02 6.44282953e+01] [ 6.00185194e-03 9.99979000e-01 -2.44497574e-03 1.88858931e+00] [ 1.14565158e-02 2.37609797e-03 9.99931549e-01 -1.77652712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66907232899999 meters 0.4160422010581093 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99915578e-01 -6.10061228e-03 -1.14725426e-02 6.44284847e+01] [ 6.07159416e-03 9.99978284e-01 -2.56248552e-03 1.88906071e+00] [ 1.14879262e-02 2.49261257e-03 9.99930905e-01 -1.77665067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69907232899999 meters 0.41643610757557575 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99915080e-01 -6.14201242e-03 -1.14938801e-02 6.44288603e+01] [ 6.11192089e-03 9.99977807e-01 -2.65134571e-03 1.88949043e+00] [ 1.15099097e-02 2.58087087e-03 9.99930428e-01 -1.77709649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72907232899999 meters 0.417612822957712 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99914780e-01 -6.25574014e-03 -1.14585180e-02 6.44289835e+01] [ 6.22336899e-03 9.99976549e-01 -2.85855436e-03 1.89027176e+00] [ 1.14761317e-02 2.78700017e-03 9.99930263e-01 -1.77740831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75907232899999 meters 0.419234509396119 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99913881e-01 -6.64180981e-03 -1.13188702e-02 6.44285387e+01] [ 6.60255317e-03 9.99972070e-01 -3.50209385e-03 1.89252597e+00] [ 1.13418143e-02 3.42705882e-03 9.99929807e-01 -1.77725583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78907232899999 meters 0.41315967526897207 Centerline is valid? [False, False] Translation: X:64.43, Y:1.89, Z:-1.78 [[ 9.99913414e-01 -6.90081704e-03 -1.12045860e-02 6.44279935e+01] [ 6.85726169e-03 9.99968801e-01 -3.92105440e-03 1.89387284e+00] [ 1.12312949e-02 3.84388212e-03 9.99929539e-01 -1.77688822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.819072329 meters 0.41443381740259994 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.78 [[ 9.99912988e-01 -7.17072259e-03 -1.10723755e-02 6.44273868e+01] [ 7.12280955e-03 9.99965125e-01 -4.36064785e-03 1.89527794e+00] [ 1.11032583e-02 4.28140200e-03 9.99929191e-01 -1.77650776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.849072329 meters 0.4186271451513249 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.78 [[ 9.99910731e-01 -7.62778168e-03 -1.09702902e-02 6.44267604e+01] [ 7.57204610e-03 9.99958259e-01 -5.11318654e-03 1.89775732e+00] [ 1.10088346e-02 5.02966254e-03 9.99926751e-01 -1.77596239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879072329 meters 0.42048009639137596 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.78 [[ 9.99909488e-01 -7.77505317e-03 -1.09801902e-02 6.44268567e+01] [ 7.71647410e-03 9.99955823e-01 -5.36730388e-03 1.89868246e+00] [ 1.10214362e-02 5.28208972e-03 9.99925311e-01 -1.77601591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.909072329 meters 0.41875052300637194 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.78 [[ 9.99908365e-01 -7.88290466e-03 -1.10055215e-02 6.44270626e+01] [ 7.82206977e-03 9.99953951e-01 -5.55981500e-03 1.89942609e+00] [ 1.10488422e-02 5.47321957e-03 9.99923981e-01 -1.77618105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939072329 meters 0.41982115596244857 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.78 [[ 9.99906582e-01 -8.21623789e-03 -1.09234305e-02 6.44266778e+01] [ 8.14965363e-03 9.99948025e-01 -6.12614810e-03 1.90131490e+00] [ 1.09731966e-02 6.03655364e-03 9.99921571e-01 -1.77586675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96907232899999 meters 0.42183578585662806 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.78 [[ 9.99925899e-01 -4.22606618e-03 -1.14164971e-02 6.44276248e+01] [ 4.20453093e-03 9.99989337e-01 -1.90967041e-03 1.90167616e+00] [ 1.14244458e-02 1.86152789e-03 9.99933006e-01 -1.77561913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99907232899999 meters 0.4162180415813184 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.77 [[ 9.99925423e-01 -4.70977395e-03 -1.12679367e-02 6.44264059e+01] [ 4.67992314e-03 9.99985474e-01 -2.67408428e-03 1.90398398e+00] [ 1.12803674e-02 2.62115177e-03 9.99932939e-01 -1.77437472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02907232899999 meters 0.4193952451351493 Centerline is valid? [False, False] Translation: X:64.43, Y:1.90, Z:-1.77 [[ 9.99925677e-01 -4.82403609e-03 -1.11968217e-02 6.44261328e+01] [ 4.79214593e-03 9.99984390e-01 -2.87322852e-03 1.90461807e+00] [ 1.12105075e-02 2.81935817e-03 9.99933186e-01 -1.77423438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05907232899999 meters 0.4195968088423426 Centerline is valid? [False, False] Translation: X:64.43, Y:1.91, Z:-1.77 [[ 9.99926114e-01 -4.87406397e-03 -1.11360074e-02 6.44262260e+01] [ 4.84112185e-03 9.99983832e-01 -2.98320642e-03 1.90506411e+00] [ 1.11503677e-02 2.92907523e-03 9.99933543e-01 -1.77460616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08907232899999 meters 0.4221466177619781 Centerline is valid? [False, False] Translation: X:64.43, Y:1.91, Z:-1.78 [[ 9.99929713e-01 -4.88559659e-03 -1.08027450e-02 6.44261506e+01] [ 4.85133853e-03 9.99983128e-01 -3.19517051e-03 1.90592937e+00] [ 1.08181731e-02 3.14253816e-03 9.99936544e-01 -1.77574923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11907232899999 meters 0.41941029667652846 Centerline is valid? [False, False] Translation: X:64.43, Y:1.91, Z:-1.78 [[ 9.99931345e-01 -4.96343149e-03 -1.06145824e-02 6.44260292e+01] [ 4.92751255e-03 9.99982054e-01 -3.40740360e-03 1.90673533e+00] [ 1.06313043e-02 3.35486618e-03 9.99937858e-01 -1.77632133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14907232899999 meters 0.41859199909937445 Centerline is valid? [False, False] Translation: X:64.43, Y:1.91, Z:-1.78 [[ 9.99933135e-01 -5.05708180e-03 -1.03995564e-02 6.44256670e+01] [ 5.01971084e-03 9.99980862e-01 -3.61648301e-03 1.90744059e+00] [ 1.04176462e-02 3.56403843e-03 9.99939383e-01 -1.77665980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.179072329 meters 0.4193896386789223 Centerline is valid? [False, False] Translation: X:64.43, Y:1.91, Z:-1.78 [[ 9.99933845e-01 -5.14061520e-03 -1.02898303e-02 6.44252704e+01] [ 5.10201720e-03 9.99979864e-01 -3.77382426e-03 1.90789199e+00] [ 1.03090229e-02 3.72107571e-03 9.99939937e-01 -1.77650208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.209072329 meters 0.4168379100576734 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.77 [[ 9.99935454e-01 -5.62774031e-03 -9.86996405e-03 6.44229528e+01] [ 5.58265215e-03 9.99973883e-01 -4.58983667e-03 1.90984463e+00] [ 9.89553669e-03 4.53443984e-03 9.99940757e-01 -1.77473350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239072329 meters 0.41433804401129143 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.77 [[ 9.99937356e-01 -5.80988836e-03 -9.56710834e-03 6.44216592e+01] [ 5.76290368e-03 9.99971235e-01 -4.93133028e-03 1.91066380e+00] [ 9.59548362e-03 4.87588703e-03 9.99942075e-01 -1.77400302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.269072329 meters 0.41591753300867856 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.77 [[ 9.99939053e-01 -5.93521306e-03 -9.30935058e-03 6.44207894e+01] [ 5.88691682e-03 9.99969116e-01 -5.20677910e-03 1.91140834e+00] [ 9.33996642e-03 5.15165839e-03 9.99943111e-01 -1.77372754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299072329 meters 0.4147080281533137 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.77 [[ 9.99941108e-01 -6.03080334e-03 -9.02274656e-03 6.44201614e+01] [ 5.98153292e-03 9.99967107e-01 -5.47774619e-03 1.91226205e+00] [ 9.05548498e-03 5.42345374e-03 9.99944291e-01 -1.77393370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.329072329 meters 0.41856149531084846 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.77 [[ 9.99945214e-01 -6.02937615e-03 -8.55655574e-03 6.44195140e+01] [ 5.97986805e-03 9.99965301e-01 -5.79982115e-03 1.91330522e+00] [ 8.59122814e-03 5.74833633e-03 9.99946572e-01 -1.77481518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35907232899999 meters 0.4172748517892922 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.78 [[ 9.99946761e-01 -6.01132587e-03 -8.38689771e-03 6.44192348e+01] [ 5.96261698e-03 9.99965283e-01 -5.82070251e-03 1.91336203e+00] [ 8.42159668e-03 5.77038476e-03 9.99947888e-01 -1.77509970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38907232899999 meters 0.417181614375693 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.78 [[ 9.99950555e-01 -6.03365147e-03 -7.90456358e-03 6.44180270e+01] [ 5.98550779e-03 9.99963480e-01 -6.10018235e-03 1.91408148e+00] [ 7.94108128e-03 6.05256790e-03 9.99950152e-01 -1.77516853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41907232899999 meters 0.4123418798255733 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.78 [[ 9.99953329e-01 -6.05346507e-03 -7.52967709e-03 6.44169691e+01] [ 6.00642769e-03 9.99962405e-01 -6.25393654e-03 1.91439228e+00] [ 7.56725200e-03 6.20841820e-03 9.99952095e-01 -1.77505201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44907232899999 meters 0.4140134417164998 Centerline is valid? [False, False] Translation: X:64.42, Y:1.91, Z:-1.77 [[ 9.99956429e-01 -6.09206646e-03 -7.07295985e-03 6.44156598e+01] [ 6.04629562e-03 9.99960760e-01 -6.47469122e-03 1.91486905e+00] [ 7.11212655e-03 6.43164391e-03 9.99954025e-01 -1.77485591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47907232899999 meters 0.41254261434333467 Centerline is valid? [False, False] Translation: X:64.41, Y:1.92, Z:-1.77 [[ 9.99962076e-01 -5.97701270e-03 -6.33426129e-03 6.44135209e+01] [ 5.93383376e-03 9.99959180e-01 -6.81373741e-03 1.91553703e+00] [ 6.37472852e-03 6.77589255e-03 9.99956724e-01 -1.77424235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50907232899999 meters 0.4096558138403341 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.77 [[ 9.99976171e-01 -1.70729595e-03 -6.68897406e-03 6.44143629e+01] [ 1.69249742e-03 9.99996109e-01 -2.21741373e-03 1.91447179e+00] [ 6.69273382e-03 2.20603982e-03 9.99975170e-01 -1.77433165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53907232899999 meters 0.4073089374473739 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.77 [[ 9.99978357e-01 -1.59871006e-03 -6.38205454e-03 6.44135561e+01] [ 1.58537599e-03 9.99996551e-01 -2.09381922e-03 1.91387141e+00] [ 6.38537994e-03 2.08365595e-03 9.99977442e-01 -1.77436728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.569072329 meters 0.41384245341999837 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.77 [[ 9.99981949e-01 -1.40072253e-03 -5.84296185e-03 6.44124688e+01] [ 1.38862205e-03 9.99996884e-01 -2.07449140e-03 1.91361557e+00] [ 5.84584943e-03 2.06634028e-03 9.99980778e-01 -1.77480581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599072329 meters 0.4079720519835014 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99983829e-01 -1.30250843e-03 -5.53583400e-03 6.44119506e+01] [ 1.29142149e-03 9.99997154e-01 -2.00586115e-03 1.91331064e+00] [ 5.53843090e-03 1.99867962e-03 9.99982665e-01 -1.77527526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.629072329 meters 0.4052792848245986 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99985804e-01 -1.21272768e-03 -5.18853963e-03 6.44114099e+01] [ 1.20249837e-03 9.99997328e-01 -1.97418560e-03 1.91313879e+00] [ 5.19091991e-03 1.96791837e-03 9.99984591e-01 -1.77587979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659072329 meters 0.4035999937142983 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99989576e-01 -9.01950160e-04 -4.47598186e-03 6.44104952e+01] [ 8.92403190e-04 9.99997324e-01 -2.13447209e-03 1.91364948e+00] [ 4.47789507e-03 2.13045546e-03 9.99987705e-01 -1.77724327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.689072329 meters 0.40436715405163987 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99991096e-01 -8.34725782e-04 -4.13659094e-03 6.44098764e+01] [ 8.25929837e-04 9.99997396e-01 -2.12762753e-03 1.91352083e+00] [ 4.13835615e-03 2.12419205e-03 9.99989181e-01 -1.77769959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71907232899999 meters 0.4039138404005196 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99992189e-01 -7.02662483e-04 -3.88955045e-03 6.44094339e+01] [ 6.94973052e-04 9.99997802e-01 -1.97794452e-03 1.91293437e+00] [ 3.89093173e-03 1.97522594e-03 9.99990480e-01 -1.77806637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74907232899999 meters 0.40247399990428173 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99993105e-01 -5.96518696e-04 -3.66529577e-03 6.44088987e+01] [ 5.89713732e-04 9.99998101e-01 -1.85739367e-03 1.91238792e+00] [ 3.66639678e-03 1.85521939e-03 9.99991558e-01 -1.77819720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77907232899999 meters 0.39811713041455854 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99995186e-01 -6.08616098e-04 -3.04276158e-03 6.44066857e+01] [ 6.02659137e-04 9.99997901e-01 -1.95828170e-03 1.91212137e+00] [ 3.04394704e-03 1.95643852e-03 9.99993453e-01 -1.77716330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80907232899999 meters 0.4004308427009995 Centerline is valid? [False, False] Translation: X:64.41, Y:1.91, Z:-1.78 [[ 9.99996012e-01 -6.76763729e-04 -2.74177545e-03 6.44053725e+01] [ 6.71020534e-04 9.99997580e-01 -2.09507803e-03 1.91224725e+00] [ 2.74318669e-03 2.09322989e-03 9.99994047e-01 -1.77642406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83907232899999 meters 0.3994497234101214 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99996803e-01 -7.74858671e-04 -2.40689241e-03 6.44038833e+01] [ 7.69454462e-04 9.99997183e-01 -2.24542096e-03 1.91234721e+00] [ 2.40862551e-03 2.24356179e-03 9.99994582e-01 -1.77564000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86907232899999 meters 0.4021686840775399 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99996873e-01 -6.20996747e-04 -2.42227388e-03 6.44041596e+01] [ 6.16187530e-04 9.99997839e-01 -1.98565563e-03 1.91154454e+00] [ 2.42350173e-03 1.98415685e-03 9.99995095e-01 -1.77603568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89907232899999 meters 0.39974987691607666 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99997028e-01 -4.57688217e-04 -2.39470673e-03 6.44044528e+01] [ 4.53506092e-04 9.99998372e-01 -1.74665561e-03 1.91081076e+00] [ 2.39550226e-03 1.74556441e-03 9.99995607e-01 -1.77660083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.929072329 meters 0.4019066892048731 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99998077e-01 -2.24616056e-04 -1.94821971e-03 6.44037574e+01] [ 2.21732951e-04 9.99998880e-01 -1.47995618e-03 1.90965692e+00] [ 1.94854995e-03 1.47952135e-03 9.99997007e-01 -1.77740616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.959072329 meters 0.395568624537173 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99998749e-01 -2.81820916e-04 -1.55666426e-03 6.44026436e+01] [ 2.79241724e-04 9.99998588e-01 -1.65684013e-03 1.90999644e+00] [ 1.55712900e-03 1.65640337e-03 9.99997416e-01 -1.77729053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.989072329 meters 0.3972317446866063 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99999303e-01 -3.74022428e-04 -1.11975979e-03 6.44012986e+01] [ 3.71839586e-04 9.99998032e-01 -1.94895831e-03 1.91068897e+00] [ 1.12048654e-03 1.94854058e-03 9.99997474e-01 -1.77698304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019072329 meters 0.39623756172842145 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99999692e-01 -4.56070119e-04 -6.37987010e-04 6.43998250e+01] [ 4.54667058e-04 9.99997482e-01 -2.19761866e-03 1.91117874e+00] [ 6.38987672e-04 2.19732791e-03 9.99997382e-01 -1.77666396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.049072329 meters 0.3963697846512657 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99999931e-01 -3.22950137e-04 1.84373711e-04 6.43977664e+01] [ 3.23487414e-04 9.99995680e-01 -2.92150896e-03 1.91311158e+00] [-1.83429412e-04 2.92156840e-03 9.99995715e-01 -1.77641788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079072329 meters 0.3963697846512657 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99999931e-01 -3.22950137e-04 1.84373711e-04 6.43977664e+01] [ 3.23487414e-04 9.99995680e-01 -2.92150896e-03 1.91311158e+00] [-1.83429412e-04 2.92156840e-03 9.99995715e-01 -1.77641788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10907232899999 meters 0.3932798865630436 Centerline is valid? [False, False] Translation: X:64.40, Y:1.91, Z:-1.78 [[ 9.99999678e-01 -3.87332881e-04 7.02834293e-04 6.43961402e+01] [ 3.89552539e-04 9.99994929e-01 -3.16076852e-03 1.91352528e+00] [-7.01606459e-04 3.16104129e-03 9.99994758e-01 -1.77595138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13907232899999 meters 0.38866540890088425 Centerline is valid? [False, False] Translation: X:64.39, Y:1.92, Z:-1.77 [[ 9.99998227e-01 -4.15915509e-04 1.83647345e-03 6.43926923e+01] [ 4.23527730e-04 9.99991313e-01 -4.14657972e-03 1.91585558e+00] [-1.83473287e-03 4.14735017e-03 9.99989717e-01 -1.77472690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16907232899999 meters 0.3897614292431944 Centerline is valid? [False, False] Translation: X:64.39, Y:1.92, Z:-1.77 [[ 9.99996819e-01 -5.00807306e-04 2.47211745e-03 6.43908475e+01] [ 5.12107980e-04 9.99989414e-01 -4.57273827e-03 1.91684072e+00] [-2.46980122e-03 4.57398971e-03 9.99986489e-01 -1.77430789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19907232899999 meters 0.38980846033272987 Centerline is valid? [False, False] Translation: X:64.39, Y:1.92, Z:-1.77 [[ 9.99990196e-01 3.65711225e-03 2.49663318e-03 6.43909098e+01] [-3.65599293e-03 9.99993214e-01 -4.52747784e-04 1.91749659e+00] [-2.49827198e-03 4.43615672e-04 9.99996781e-01 -1.77445701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22907232899999 meters 0.3847637447297406 Centerline is valid? [False, False] Translation: X:64.39, Y:1.92, Z:-1.77 [[ 9.99984521e-01 3.88840622e-03 3.97971171e-03 6.43871405e+01] [-3.87946722e-03 9.99989940e-01 -2.25140441e-03 1.92242131e+00] [-3.98842605e-03 2.23593040e-03 9.99989546e-01 -1.77381319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25907232899999 meters 0.38531181657813657 Centerline is valid? [False, False] Translation: X:64.38, Y:1.93, Z:-1.77 [[ 9.99980160e-01 3.99880484e-03 4.86712440e-03 6.43849035e+01] [-3.98318955e-03 9.99986903e-01 -3.21379539e-03 1.92504440e+00] [-4.87991200e-03 3.19434495e-03 9.99982991e-01 -1.77346483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28907232899999 meters 0.38370961521916386 Centerline is valid? [False, False] Translation: X:64.38, Y:1.93, Z:-1.77 [[ 9.99974515e-01 4.18070741e-03 5.78714074e-03 6.43825670e+01] [-4.15585690e-03 9.99982122e-01 -4.29947580e-03 1.92804860e+00] [-5.80501212e-03 4.27531570e-03 9.99974011e-01 -1.77297989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.319072329 meters 0.3769128847818341 Centerline is valid? [False, False] Translation: X:64.38, Y:1.94, Z:-1.77 [[ 9.99954668e-01 4.97751345e-03 8.11709729e-03 6.43770939e+01] [-4.92051724e-03 9.99963207e-01 -7.02666598e-03 1.93564631e+00] [-8.15177396e-03 6.98640713e-03 9.99942368e-01 -1.77228577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.349072329 meters 0.37377282812562657 Centerline is valid? [False, False] Translation: X:64.38, Y:1.94, Z:-1.77 [[ 9.99944570e-01 5.43139063e-03 9.01981463e-03 6.43753690e+01] [-5.35628975e-03 9.99950963e-01 -8.32959845e-03 1.93966260e+00] [-9.06461363e-03 8.28082400e-03 9.99924628e-01 -1.77258572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379072329 meters 0.3722193402530807 Centerline is valid? [False, False] Translation: X:64.37, Y:1.94, Z:-1.77 [[ 9.99933060e-01 5.78258099e-03 1.00218826e-02 6.43733916e+01] [-5.68630013e-03 9.99937664e-01 -9.60907687e-03 1.94339346e+00] [-1.00768232e-02 9.55144621e-03 9.99903609e-01 -1.77295510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.409072329 meters 0.3682117764528218 Centerline is valid? [False, False] Translation: X:64.37, Y:1.95, Z:-1.77 [[ 9.99913826e-01 6.49675416e-03 1.14075494e-02 6.43710250e+01] [-6.36022012e-03 9.99908195e-01 -1.19645057e-02 1.95048331e+00] [-1.14842326e-02 1.18909201e-02 9.99863350e-01 -1.77424597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439072329 meters 0.3632562266545364 Centerline is valid? [False, False] Translation: X:64.37, Y:1.95, Z:-1.77 [[ 9.99898829e-01 6.86441994e-03 1.24584037e-02 6.43688881e+01] [-6.70091033e-03 9.99891488e-01 -1.31190705e-02 1.95371419e+00] [-1.25471066e-02 1.30342606e-02 9.99836326e-01 -1.77451429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46907232899999 meters 0.3631966611643785 Centerline is valid? [False, False] Translation: X:64.37, Y:1.96, Z:-1.77 [[ 9.99852185e-01 1.11160570e-02 1.31164929e-02 6.43676918e+01] [-1.09943439e-02 9.99896169e-01 -9.31529893e-03 1.95508245e+00] [-1.32186804e-02 9.16971475e-03 9.99870583e-01 -1.77492282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49907232899999 meters 0.3590973159742202 Centerline is valid? [False, False] Translation: X:64.36, Y:1.96, Z:-1.77 [[ 9.99826412e-01 1.17506371e-02 1.44591849e-02 6.43646556e+01] [-1.15992971e-02 9.99877528e-01 -1.05064229e-02 1.95825804e+00] [-1.45808712e-02 1.03368828e-02 9.99840261e-01 -1.77455131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52907232899999 meters 0.35407197076921026 Centerline is valid? [False, False] Translation: X:64.36, Y:1.96, Z:-1.77 [[ 9.99721114e-01 1.66139891e-02 1.67830130e-02 6.43591817e+01] [-1.64767306e-02 9.99829933e-01 -8.28385863e-03 1.96354127e+00] [-1.69177867e-02 8.00501919e-03 9.99824839e-01 -1.77337643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55907232899999 meters 0.3543799890250814 Centerline is valid? [False, False] Translation: X:64.36, Y:1.97, Z:-1.77 [[ 9.99688221e-01 1.72339277e-02 1.80680088e-02 6.43564427e+01] [-1.70646934e-02 9.99809452e-01 -9.47922993e-03 1.96679008e+00] [-1.82279304e-02 9.16794948e-03 9.99791824e-01 -1.77321568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58907232899999 meters 0.34819065492663137 Centerline is valid? [False, False] Translation: X:64.35, Y:1.97, Z:-1.77 [[ 9.99661738e-01 1.77083612e-02 1.90479301e-02 6.43546203e+01] [-1.75088223e-02 9.99790605e-01 -1.05918819e-02 1.96994185e+00] [-1.92315064e-02 1.02547922e-02 9.99762466e-01 -1.77359837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61907232899999 meters 0.34321350999574046 Centerline is valid? [False, False] Translation: X:64.34, Y:1.97, Z:-1.77 [[ 9.99686091e-01 2.15763998e-02 1.27349557e-02 6.43383920e+01] [-2.13750144e-02 9.99647566e-01 -1.57433593e-02 1.96866907e+00] [-1.30701524e-02 1.54662074e-02 9.99794963e-01 -1.77311740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64907232899999 meters 0.34441961653316 Centerline is valid? [False, False] Translation: X:64.34, Y:1.97, Z:-1.77 [[ 9.99659556e-01 2.21119314e-02 1.38504275e-02 6.43363850e+01] [-2.18801916e-02 9.99621688e-01 -1.66654468e-02 1.97108337e+00] [-1.42136930e-02 1.63567231e-02 9.99765187e-01 -1.77373594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.679072329 meters 0.3393210655923317 Centerline is valid? [False, False] Translation: X:64.33, Y:1.98, Z:-1.77 [[ 9.99581589e-01 2.35791699e-02 1.67532259e-02 6.43301245e+01] [-2.32654401e-02 9.99554772e-01 -1.86809510e-02 1.97592374e+00] [-1.71862482e-02 1.82833635e-02 9.99685126e-01 -1.77320214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.709072329 meters 0.3357967565367287 Centerline is valid? [False, False] Translation: X:64.33, Y:1.98, Z:-1.77 [[ 9.99513818e-01 2.47258241e-02 1.89936997e-02 6.43250441e+01] [-2.43478545e-02 9.99505867e-01 -1.98797104e-02 1.97837719e+00] [-1.94758566e-02 1.94075894e-02 9.99621947e-01 -1.77228416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739072329 meters 0.33112596896194424 Centerline is valid? [False, False] Translation: X:64.32, Y:1.98, Z:-1.77 [[ 9.99378681e-01 2.89997913e-02 2.00315668e-02 6.43229781e+01] [-2.86744252e-02 9.99455188e-01 -1.63433344e-02 1.98027711e+00] [-2.04946066e-02 1.57587864e-02 9.99665760e-01 -1.77224623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.769072329 meters 0.32878387641582246 Centerline is valid? [False, False] Translation: X:64.32, Y:1.99, Z:-1.77 [[ 9.99282332e-01 3.04260036e-02 2.25627655e-02 6.43180519e+01] [-3.00086977e-02 9.99376399e-01 -1.86089103e-02 1.98630888e+00] [-2.31148901e-02 1.79184761e-02 9.99572224e-01 -1.77258569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799072329 meters 0.3164964418425834 Centerline is valid? [False, False] Translation: X:64.32, Y:1.99, Z:-1.77 [[ 9.99222825e-01 3.12273677e-02 2.40540665e-02 6.43152519e+01] [-3.07538734e-02 9.99330672e-01 -1.98092932e-02 1.98937660e+00] [-2.46565585e-02 1.90541422e-02 9.99514379e-01 -1.77300642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.829072329 meters 0.3153137926638018 Centerline is valid? [False, False] Translation: X:64.31, Y:1.99, Z:-1.77 [[ 9.99147246e-01 3.22345958e-02 2.58014058e-02 6.43120877e+01] [-3.16957327e-02 9.99276330e-01 -2.10284878e-02 1.99238379e+00] [-2.64605789e-02 2.01927612e-02 9.99445892e-01 -1.77371257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85907232899999 meters 0.31064869080220536 Centerline is valid? [False, False] Translation: X:64.31, Y:2.00, Z:-1.77 [[ 9.99074669e-01 3.31466732e-02 2.74062776e-02 6.43091484e+01] [-3.25422313e-02 9.99223460e-01 -2.22144182e-02 1.99538626e+00] [-2.81213296e-02 2.13020011e-02 9.99377514e-01 -1.77427977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88907232899999 meters 0.3106919355992171 Centerline is valid? [False, False] Translation: X:64.30, Y:2.00, Z:-1.77 [[ 9.98805964e-01 3.85815955e-02 2.99684448e-02 6.43045317e+01] [-3.79796589e-02 9.99070222e-01 -2.04019039e-02 2.00190857e+00] [-3.07277188e-02 1.92393520e-02 9.99342611e-01 -1.77488323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91907232899999 meters 0.3056943653583323 Centerline is valid? [False, False] Translation: X:64.30, Y:2.00, Z:-1.77 [[ 9.98623237e-01 4.06737894e-02 3.31251143e-02 6.42976739e+01] [-3.99675347e-02 9.98965074e-01 -2.17112065e-02 2.00413410e+00] [-3.39739093e-02 2.03573862e-02 9.99215367e-01 -1.77373064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94907232899999 meters 0.30672849087136267 Centerline is valid? [False, False] Translation: X:64.30, Y:2.01, Z:-1.77 [[ 9.98410603e-01 4.47779655e-02 3.42228234e-02 6.42953211e+01] [-4.41705529e-02 9.98856314e-01 -1.83037282e-02 2.00629634e+00] [-3.50032870e-02 1.67629952e-02 9.99246602e-01 -1.77295509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97907232899999 meters 0.30232643274816723 Centerline is valid? [False, False] Translation: X:64.29, Y:2.01, Z:-1.77 [[ 9.98257207e-01 4.62233549e-02 3.66871847e-02 6.42899632e+01] [-4.55335499e-02 9.98774014e-01 -1.94207143e-02 2.00836826e+00] [-3.75398973e-02 1.77163702e-02 9.99138072e-01 -1.77182609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00907232899999 meters 0.29943848641553983 Centerline is valid? [False, False] Translation: X:64.28, Y:2.01, Z:-1.77 [[ 9.98069742e-01 4.76933121e-02 3.97761097e-02 6.42832500e+01] [-4.68736106e-02 9.98673868e-01 -2.12924804e-02 2.01237031e+00] [-4.07388702e-02 1.93869305e-02 9.98981727e-01 -1.77050637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03907232899999 meters 0.282305381983231 Centerline is valid? [False, False] Translation: X:64.28, Y:2.01, Z:-1.77 [[ 9.97967679e-01 4.85241303e-02 4.13027937e-02 6.42801721e+01] [-4.76359444e-02 9.98617500e-01 -2.22239890e-02 2.01446078e+00] [-4.23240923e-02 2.02113252e-02 9.98899481e-01 -1.77023185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.069072329 meters 0.29332890549847246 Centerline is valid? [False, False] Translation: X:64.28, Y:2.02, Z:-1.77 [[ 9.97716870e-01 5.26442412e-02 4.23040317e-02 6.42784560e+01] [-5.19011096e-02 9.98481274e-01 -1.84775851e-02 2.01565984e+00] [-4.32125219e-02 1.62397722e-02 9.98933906e-01 -1.77017111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099072329 meters 0.2773147327845618 Centerline is valid? [False, False] Translation: X:64.26, Y:2.01, Z:-1.77 [[ 9.97558736e-01 5.98718581e-02 3.59434012e-02 6.42620855e+01] [-5.92401339e-02 9.98074326e-01 -1.83914527e-02 2.01347833e+00] [-3.69753164e-02 1.62172624e-02 9.99184581e-01 -1.76762453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.129072329 meters 0.2772819880127962 Centerline is valid? [False, False] Translation: X:64.26, Y:2.02, Z:-1.77 [[ 9.97449296e-01 6.07766610e-02 3.74312552e-02 6.42594356e+01] [-6.00794817e-02 9.98003539e-01 -1.94779993e-02 2.01613725e+00] [-3.85403329e-02 1.71794662e-02 9.99109358e-01 -1.76792510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159072329 meters 0.275434043296614 Centerline is valid? [False, False] Translation: X:64.26, Y:2.02, Z:-1.77 [[ 9.97283029e-01 6.23149114e-02 3.92862718e-02 6.42565478e+01] [-6.15150402e-02 9.97879890e-01 -2.12514769e-02 2.02076323e+00] [-4.05272644e-02 1.87770406e-02 9.99001984e-01 -1.76920646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.189072329 meters 0.27483976474967864 Centerline is valid? [False, False] Translation: X:64.25, Y:2.02, Z:-1.77 [[ 9.97206897e-01 6.28258240e-02 4.03896050e-02 6.42543721e+01] [-6.19832608e-02 9.97839379e-01 -2.17864484e-02 2.02180747e+00] [-4.16710899e-02 1.92221172e-02 9.98946460e-01 -1.76918997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21907232899999 meters 0.2769217909617607 Centerline is valid? [False, False] Translation: X:64.25, Y:2.02, Z:-1.77 [[ 9.96919764e-01 6.68548362e-02 4.10050495e-02 6.42537769e+01] [-6.61705442e-02 9.97649089e-01 -1.78256836e-02 2.02260769e+00] [-4.21003834e-02 1.50574498e-02 9.98999915e-01 -1.76940564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24907232899999 meters 0.27357834899372097 Centerline is valid? [False, False] Translation: X:64.25, Y:2.03, Z:-1.77 [[ 9.96550046e-01 7.12248456e-02 4.26031419e-02 6.42506000e+01] [-7.06555162e-02 9.97392083e-01 -1.47251858e-02 2.02545254e+00] [-4.35408355e-02 1.16642376e-02 9.98983554e-01 -1.76818688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27907232899999 meters 0.27459402898623375 Centerline is valid? [False, False] Translation: X:64.25, Y:2.03, Z:-1.77 [[ 9.96250302e-01 7.51009453e-02 4.29556073e-02 6.42506234e+01] [-7.47018122e-02 9.97147161e-01 -1.08249315e-02 2.02664640e+00] [-4.36460245e-02 7.57547961e-03 9.99018336e-01 -1.76836144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30907232899999 meters 0.2722664528644534 Centerline is valid? [False, False] Translation: X:64.25, Y:2.03, Z:-1.77 [[ 9.96193952e-01 7.54021286e-02 4.37278936e-02 6.42491872e+01] [-7.49787941e-02 9.97121733e-01 -1.12440806e-02 2.02749107e+00] [-4.44498607e-02 7.92262040e-03 9.98980201e-01 -1.76854622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33907232899999 meters 0.2712552517795813 Centerline is valid? [False, False] Translation: X:64.25, Y:2.03, Z:-1.77 [[ 9.96258662e-01 7.33507605e-02 4.56984160e-02 6.42456730e+01] [-7.26750583e-02 9.97222819e-01 -1.62783737e-02 2.02907922e+00] [-4.67655343e-02 1.28963358e-02 9.98822642e-01 -1.76988119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36907232899999 meters 0.2698699553500983 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.96224282e-01 7.34885135e-02 4.62235774e-02 6.42446442e+01] [-7.28008617e-02 9.97211806e-01 -1.63904910e-02 2.02911812e+00] [-4.72992100e-02 1.29634888e-02 9.98796642e-01 -1.77007002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39907232899999 meters 0.2727229633351379 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.96202024e-01 7.35705667e-02 4.65714379e-02 6.42437555e+01] [-7.28763754e-02 9.97205564e-01 -1.64346596e-02 2.02902067e+00] [-4.76504042e-02 1.29782836e-02 9.98779757e-01 -1.76980450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.429072329 meters 0.2706276634334468 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.96190096e-01 7.35244443e-02 4.68982806e-02 6.42424493e+01] [-7.28089147e-02 9.97204582e-01 -1.67893807e-02 2.02983719e+00] [-4.80016102e-02 1.33108018e-02 9.98758563e-01 -1.76871231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.459072329 meters 0.2708848597408773 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.96187155e-01 7.35108981e-02 4.69819124e-02 6.42421609e+01] [-7.27922227e-02 9.97205095e-01 -1.68312627e-02 2.02988660e+00] [-4.80878837e-02 1.33471699e-02 9.98753928e-01 -1.76851679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.489072329 meters 0.274227551321901 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.96188306e-01 7.34596490e-02 4.70376271e-02 6.42422178e+01] [-7.27352643e-02 9.97207526e-01 -1.69331483e-02 2.03015475e+00] [-4.81501789e-02 1.34473101e-02 9.98749583e-01 -1.76883764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519072329 meters 0.2688137320454926 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.96192306e-01 7.33450134e-02 4.71317209e-02 6.42420177e+01] [-7.26085262e-02 9.97212971e-01 -1.71549769e-02 2.03077172e+00] [-4.82585955e-02 1.36674912e-02 9.98741362e-01 -1.76884570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.549072329 meters 0.27318484657151554 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.96199126e-01 7.31985296e-02 4.72152220e-02 6.42416727e+01] [-7.24492058e-02 9.97220428e-01 -1.73934056e-02 2.03140731e+00] [-4.83571556e-02 1.39065901e-02 9.98733294e-01 -1.76857185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579072329 meters 0.2729052642460645 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.95971917e-01 7.64649654e-02 4.68300105e-02 6.42425271e+01] [-7.59125256e-02 9.97023544e-01 -1.34663040e-02 2.03275171e+00] [-4.77203235e-02 9.85707624e-03 9.98812099e-01 -1.76779295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60907232899999 meters 0.271655305382285 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.95976842e-01 7.63337489e-02 4.69391947e-02 6.42417656e+01] [-7.57694354e-02 9.97031398e-01 -1.36888040e-02 2.03327148e+00] [-4.78447686e-02 1.00771755e-02 9.98803949e-01 -1.76685819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63907232899999 meters 0.2692827146582404 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.77 [[ 9.95973933e-01 7.62095497e-02 4.72020131e-02 6.42405848e+01] [-7.56301949e-02 9.97038445e-01 -1.39432241e-02 2.03374470e+00] [-4.81248285e-02 1.03171903e-02 9.98788044e-01 -1.76575466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66907232899999 meters 0.27210689956967365 Centerline is valid? [False, False] Translation: X:64.24, Y:2.03, Z:-1.76 [[ 9.95952473e-01 7.62315997e-02 4.76173750e-02 6.42393110e+01] [-7.56393729e-02 9.97035256e-01 -1.41203094e-02 2.03396190e+00] [-4.85526154e-02 1.04614087e-02 9.98765840e-01 -1.76498174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69907232899999 meters 0.2755138558229537 Centerline is valid? [False, False] Translation: X:64.24, Y:2.04, Z:-1.77 [[ 9.95659161e-01 7.98470239e-02 4.78255914e-02 6.42396091e+01] [-7.94443848e-02 9.96786452e-01 -1.02644230e-02 2.03523256e+00] [-4.84914852e-02 6.42039212e-03 9.98802961e-01 -1.76507265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72907232899999 meters 0.26904756667219987 Centerline is valid? [False, False] Translation: X:64.24, Y:2.04, Z:-1.77 [[ 9.95458056e-01 8.11411651e-02 4.97932811e-02 6.42362257e+01] [-8.06407166e-02 9.96671215e-01 -1.19817922e-02 2.03960694e+00] [-5.05997465e-02 7.91200569e-03 9.98687672e-01 -1.76540616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75907232899999 meters 0.2660958939367007 Centerline is valid? [False, False] Translation: X:64.24, Y:2.04, Z:-1.77 [[ 9.95099945e-01 8.49471947e-02 5.05971749e-02 6.42353865e+01] [-8.46259710e-02 9.96376862e-01 -8.46134681e-03 2.04151345e+00] [-5.11326221e-02 4.13805068e-03 9.98683299e-01 -1.76547400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78907232899999 meters 0.2675462241302536 Centerline is valid? [False, False] Translation: X:64.23, Y:2.05, Z:-1.77 [[ 9.94823004e-01 8.66953740e-02 5.30198407e-02 6.42312489e+01] [-8.62412070e-02 9.96215758e-01 -1.07989977e-02 2.04756145e+00] [-5.37554239e-02 6.17059623e-03 9.98535066e-01 -1.76579067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.819072329 meters 0.2644241480378912 Centerline is valid? [False, False] Translation: X:64.23, Y:2.05, Z:-1.77 [[ 9.94647233e-01 8.76932153e-02 5.46514525e-02 6.42282553e+01] [-8.71613704e-02 9.96121386e-01 -1.20448997e-02 2.05051830e+00] [-5.54957366e-02 7.21693066e-03 9.98432842e-01 -1.76564996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.849072329 meters 0.2640340042114281 Centerline is valid? [False, False] Translation: X:64.22, Y:2.05, Z:-1.77 [[ 9.94430361e-01 8.89081107e-02 5.66003939e-02 6.42245352e+01] [-8.82898716e-02 9.96005542e-01 -1.33363407e-02 2.05344224e+00] [-5.75600148e-02 8.26482064e-03 9.98307837e-01 -1.76519608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879072329 meters 0.2640248626783292 Centerline is valid? [False, False] Translation: X:64.21, Y:2.06, Z:-1.77 [[ 9.93373610e-01 9.47082425e-02 6.51092836e-02 6.42073299e+01] [-9.42348912e-02 9.95496604e-01 -1.03100461e-02 2.05586315e+00] [-6.57925170e-02 4.10616144e-03 9.97824876e-01 -1.76576918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.909072329 meters 0.26428964170187225 Centerline is valid? [False, False] Translation: X:64.20, Y:2.06, Z:-1.76 [[ 9.92895972e-01 9.70395581e-02 6.88542915e-02 6.41996681e+01] [-9.64673721e-02 9.95268609e-01 -1.15949319e-02 2.05786489e+00] [-6.96536820e-02 4.87036864e-03 9.97559344e-01 -1.76386053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939072329 meters 0.2609902278134736 Centerline is valid? [False, False] Translation: X:64.20, Y:2.07, Z:-1.76 [[ 9.91365678e-01 1.09703412e-01 7.18279474e-02 6.41973619e+01] [-1.09807861e-01 9.93949676e-01 -2.50496036e-03 2.06611719e+00] [-7.16681678e-02 -5.40394153e-03 9.97413892e-01 -1.76463322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96907232899999 meters 0.2609902278134736 Centerline is valid? [False, False] Translation: X:64.21, Y:2.08, Z:-1.77 [[ 9.90447342e-01 1.12152763e-01 8.02235706e-02 6.42119604e+01] [-1.12583897e-01 9.93641853e-01 8.56882317e-04 2.07706106e+00] [-7.96173956e-02 -9.88057900e-03 9.96776527e-01 -1.77160903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99907232899999 meters 0.2610155296131772 Centerline is valid? [False, False] Translation: X:64.21, Y:2.08, Z:-1.77 [[ 9.89509002e-01 1.19418942e-01 8.13083738e-02 6.42121498e+01] [-1.20457394e-01 9.92686496e-01 7.97094773e-03 2.08050107e+00] [-7.97618426e-02 -1.76815193e-02 9.96657119e-01 -1.77216222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02907232899999 meters 0.26083742973093144 Centerline is valid? [False, False] Translation: X:64.21, Y:2.09, Z:-1.77 [[ 9.88823089e-01 1.24109026e-01 8.26186976e-02 6.42113042e+01] [-1.25395865e-01 9.92050658e-01 1.05531222e-02 2.08500221e+00] [-8.06521956e-02 -2.07952139e-02 9.96525355e-01 -1.77289015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05907232899999 meters 0.2592472534316481 Centerline is valid? [False, False] Translation: X:64.21, Y:2.09, Z:-1.77 [[ 9.88106222e-01 1.28855182e-01 8.39192264e-02 6.42106762e+01] [-1.30392893e-01 9.91376051e-01 1.30850396e-02 2.08972565e+00] [-8.15094362e-02 -2.38718797e-02 9.96386644e-01 -1.77386607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08907232899999 meters 0.25968262725386676 Centerline is valid? [False, False] Translation: X:64.21, Y:2.10, Z:-1.78 [[ 9.86444831e-01 1.39436896e-01 8.65098160e-02 6.42103027e+01] [-1.41423231e-01 9.89799040e-01 1.72432414e-02 2.10025610e+00] [-8.32229889e-02 -2.92440040e-02 9.96101763e-01 -1.77760044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11907232899999 meters 0.2598769714966371 Centerline is valid? [False, False] Translation: X:64.21, Y:2.10, Z:-1.78 [[ 9.85271513e-01 1.46810223e-01 8.76744150e-02 6.42110371e+01] [-1.49456428e-01 9.88467553e-01 2.43858938e-02 2.10376870e+00] [-8.30832160e-02 -3.71302314e-02 9.95850654e-01 -1.77852491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14907232899999 meters 0.25844520426472456 Centerline is valid? [False, False] Translation: X:64.21, Y:2.11, Z:-1.78 [[ 9.84083783e-01 1.54061061e-01 8.85680395e-02 6.42126014e+01] [-1.57353437e-01 9.87041872e-01 3.14362591e-02 2.10779665e+00] [-8.25772601e-02 -4.48723983e-02 9.95573937e-01 -1.77973474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.179072329 meters 0.25686142511771676 Centerline is valid? [False, False] Translation: X:64.21, Y:2.12, Z:-1.79 [[ 9.79810362e-01 1.71231172e-01 1.03206297e-01 6.42130456e+01] [-1.75669976e-01 9.83808567e-01 3.55072132e-02 2.11867281e+00] [-9.54552977e-02 -5.29205832e-02 9.94026005e-01 -1.78543143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.209072329 meters 0.2572857969344374 Centerline is valid? [False, False] Translation: X:64.21, Y:2.12, Z:-1.79 [[ 9.78854660e-01 1.75968589e-01 1.04300582e-01 6.42136707e+01] [-1.80753693e-01 9.82783161e-01 3.82800278e-02 2.12294926e+00] [-9.57687732e-02 -5.63232989e-02 9.93808849e-01 -1.78708741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239072329 meters 0.25551347142997094 Centerline is valid? [False, False] Translation: X:64.21, Y:2.13, Z:-1.79 [[ 9.77891153e-01 1.80481020e-01 1.05619578e-01 6.42134783e+01] [-1.85659253e-01 9.81743311e-01 4.13607735e-02 2.12576867e+00] [-9.62264798e-02 -6.00555865e-02 9.93546069e-01 -1.78827820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.269072329 meters 0.25449266454166025 Centerline is valid? [False, False] Translation: X:64.22, Y:2.14, Z:-1.79 [[ 9.77461406e-01 1.83789222e-01 1.03878397e-01 6.42200114e+01] [-1.88521907e-01 9.81346676e-01 3.76589017e-02 2.13559989e+00] [-9.50194195e-02 -5.63934766e-02 9.93876796e-01 -1.78969921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299072329 meters 0.25414060939203587 Centerline is valid? [False, False] Translation: X:64.22, Y:2.14, Z:-1.80 [[ 9.75072871e-01 1.88487364e-01 1.17070109e-01 6.42237519e+01] [-1.94100168e-01 9.80227933e-01 3.84489958e-02 2.14197807e+00] [-1.07508241e-01 -6.02139005e-02 9.92379093e-01 -1.79713165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.329072329 meters 0.2557766641938494 Centerline is valid? [False, False] Translation: X:64.23, Y:2.14, Z:-1.80 [[ 9.74345599e-01 1.92227069e-01 1.17044467e-01 6.42264842e+01] [-1.98271204e-01 9.79234638e-01 4.22853852e-02 2.14393802e+00] [-1.06485600e-01 -6.44071263e-02 9.92226052e-01 -1.79886838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35907232899999 meters 0.2571131967441393 Centerline is valid? [False, False] Translation: X:64.24, Y:2.15, Z:-1.80 [[ 9.71540265e-01 1.99031376e-01 1.28436852e-01 6.42359674e+01] [-2.06464461e-01 9.77310931e-01 4.72839259e-02 2.15094125e+00] [-1.16111755e-01 -7.24558834e-02 9.90589827e-01 -1.80343155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38907232899999 meters 0.2582062114197683 Centerline is valid? [False, False] Translation: X:64.24, Y:2.15, Z:-1.80 [[ 9.71352593e-01 1.99722667e-01 1.28782750e-01 6.42357837e+01] [-2.07241535e-01 9.77123182e-01 4.77622504e-02 2.14956174e+00] [-1.16297406e-01 -7.30831205e-02 9.90521969e-01 -1.80398683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41907232899999 meters 0.2624779030331581 Centerline is valid? [False, False] Translation: X:64.25, Y:2.16, Z:-1.81 [[ 9.69127802e-01 2.03917945e-01 1.38595727e-01 6.42472167e+01] [-2.12304427e-01 9.75997545e-01 4.85347462e-02 2.15769569e+00] [-1.25371983e-01 -7.64608582e-02 9.89159038e-01 -1.81224352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44907232899999 meters 0.2585018754902621 Centerline is valid? [False, False] Translation: X:64.25, Y:2.15, Z:-1.81 [[ 9.69351298e-01 2.02712276e-01 1.38801274e-01 6.42465757e+01] [-2.10741741e-01 9.76474217e-01 4.56729894e-02 2.15351014e+00] [-1.26277390e-01 -7.35243937e-02 9.89266488e-01 -1.81382032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47907232899999 meters 0.2618025570198723 Centerline is valid? [False, False] Translation: X:64.26, Y:2.16, Z:-1.81 [[ 9.69718217e-01 2.03788098e-01 1.34599374e-01 6.42568324e+01] [-2.11389122e-01 9.76380472e-01 4.46745192e-02 2.15620666e+00] [-1.22316065e-01 -7.17745385e-02 9.89892517e-01 -1.81325697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50907232899999 meters 0.2557041626200238 Centerline is valid? [False, False] Translation: X:64.27, Y:2.16, Z:-1.81 [[ 9.70096921e-01 2.04885460e-01 1.30130369e-01 6.42673840e+01] [-2.12073170e-01 9.76268805e-01 4.38655969e-02 2.15829057e+00] [-1.18054796e-01 -7.01510402e-02 9.90526071e-01 -1.81184943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53907232899999 meters 0.2586360794503083 Centerline is valid? [False, False] Translation: X:64.29, Y:2.16, Z:-1.81 [[ 9.69080853e-01 2.06713241e-01 1.34729119e-01 6.42895781e+01] [-2.14748394e-01 9.75491136e-01 4.79601045e-02 2.16423091e+00] [-1.21513072e-01 -7.54100809e-02 9.89721119e-01 -1.81455853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.569072329 meters 0.2552253284207918 Centerline is valid? [False, False] Translation: X:64.30, Y:2.16, Z:-1.81 [[ 9.69932341e-01 2.05530226e-01 1.30340247e-01 6.42973472e+01] [-2.12745965e-01 9.76119040e-01 4.39405690e-02 2.16383457e+00] [-1.18196482e-01 -7.03487406e-02 9.90495152e-01 -1.81216363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599072329 meters 0.2570176599549174 Centerline is valid? [False, False] Translation: X:64.31, Y:2.17, Z:-1.82 [[ 9.68778395e-01 2.05087374e-01 1.39311126e-01 6.43093498e+01] [-2.13009485e-01 9.76040801e-01 4.43994841e-02 2.16829644e+00] [-1.26867569e-01 -7.26878521e-02 9.89252797e-01 -1.81686151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.629072329 meters 0.2586083299628161 Centerline is valid? [False, False] Translation: X:64.33, Y:2.17, Z:-1.82 [[ 9.68485540e-01 2.05227123e-01 1.41129681e-01 6.43347926e+01] [-2.12763179e-01 9.76268330e-01 4.03977498e-02 2.17370351e+00] [-1.29489724e-01 -6.91518362e-02 9.89166535e-01 -1.82160450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659072329 meters 0.257027278492521 Centerline is valid? [False, False] Translation: X:64.35, Y:2.17, Z:-1.82 [[ 9.69423200e-01 2.04991642e-01 1.34896575e-01 6.43490863e+01] [-2.12078275e-01 9.76421694e-01 4.02924509e-02 2.17451385e+00] [-1.23456326e-01 -6.76690696e-02 9.90040117e-01 -1.82119496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.689072329 meters 0.2589503844659226 Centerline is valid? [False, False] Translation: X:64.38, Y:2.18, Z:-1.82 [[ 9.69756114e-01 2.02200436e-01 1.36704294e-01 6.43754984e+01] [-2.09292213e-01 9.77054511e-01 3.95126945e-02 2.17785633e+00] [-1.25578063e-01 -6.69288213e-02 9.89823562e-01 -1.82425110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71907232899999 meters 0.25982039520319855 Centerline is valid? [False, False] Translation: X:64.39, Y:2.18, Z:-1.82 [[ 9.70723110e-01 2.01897137e-01 1.30131430e-01 6.43901702e+01] [-2.08576618e-01 9.77196576e-01 3.97824903e-02 2.17760614e+00] [-1.19132017e-01 -6.57601563e-02 9.90698322e-01 -1.82320396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74907232899999 meters 0.2603838976014949 Centerline is valid? [False, False] Translation: X:64.40, Y:2.18, Z:-1.83 [[ 9.70179362e-01 1.98589828e-01 1.38975127e-01 6.44008172e+01] [-2.05948770e-01 9.77720312e-01 4.05967409e-02 2.17876380e+00] [-1.27816705e-01 -6.80078767e-02 9.89463399e-01 -1.82575718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77907232899999 meters 0.26219878675265534 Centerline is valid? [False, False] Translation: X:64.43, Y:2.18, Z:-1.83 [[ 9.71169259e-01 1.93209873e-01 1.39643171e-01 6.44282158e+01] [-2.00558361e-01 9.78844833e-01 4.04862555e-02 2.17998027e+00] [-1.28866652e-01 -6.73256124e-02 9.89373867e-01 -1.82709700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80907232899999 meters 0.26247698291089777 Centerline is valid? [False, False] Translation: X:64.44, Y:2.18, Z:-1.83 [[ 9.72644748e-01 1.90071922e-01 1.33547215e-01 6.44397563e+01] [-1.96525147e-01 9.79807766e-01 3.68050119e-02 2.17877697e+00] [-1.23854999e-01 -6.20435875e-02 9.90358790e-01 -1.82550225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83907232899999 meters 0.2637354349309255 Centerline is valid? [False, False] Translation: X:64.46, Y:2.18, Z:-1.82 [[ 9.73720209e-01 1.89296183e-01 1.26632973e-01 6.44555169e+01] [-1.95332816e-01 9.80039932e-01 3.69705677e-02 2.17940040e+00] [-1.17106983e-01 -6.07345642e-02 9.91260444e-01 -1.82497319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86907232899999 meters 0.26365027998573703 Centerline is valid? [False, False] Translation: X:64.47, Y:2.17, Z:-1.82 [[ 9.75823190e-01 1.84451242e-01 1.17246924e-01 6.44748428e+01] [-1.89667345e-01 9.81227576e-01 3.49104981e-02 2.17453795e+00] [-1.08606630e-01 -5.63043864e-02 9.92489000e-01 -1.82445685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89907232899999 meters 0.2649938354237529 Centerline is valid? [False, False] Translation: X:64.48, Y:2.17, Z:-1.83 [[ 9.76447129e-01 1.82903502e-01 1.14443494e-01 6.44809397e+01] [-1.88166646e-01 9.81442869e-01 3.69216599e-02 2.17038725e+00] [-1.05566650e-01 -5.75864973e-02 9.92743410e-01 -1.82588666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.929072329 meters 0.26748744426980836 Centerline is valid? [False, False] Translation: X:64.50, Y:2.17, Z:-1.83 [[ 9.77637406e-01 1.74466064e-01 1.17416753e-01 6.45028044e+01] [-1.79699572e-01 9.83081266e-01 3.54864547e-02 2.17129363e+00] [-1.09239028e-01 -5.57926259e-02 9.92448496e-01 -1.82763372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.959072329 meters 0.2681596246426914 Centerline is valid? [False, False] Translation: X:64.51, Y:2.17, Z:-1.83 [[ 9.78126801e-01 1.73311810e-01 1.15025986e-01 6.45079392e+01] [-1.78595896e-01 9.83216590e-01 3.72644975e-02 2.16757525e+00] [-1.06637080e-01 -5.69925729e-02 9.92663276e-01 -1.82849452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.989072329 meters 0.26700953865982596 Centerline is valid? [False, False] Translation: X:64.51, Y:2.16, Z:-1.83 [[ 9.79186067e-01 1.68839647e-01 1.12640221e-01 6.45111290e+01] [-1.73713602e-01 9.84178081e-01 3.48868174e-02 2.16321105e+00] [-1.04967758e-01 -5.37278239e-02 9.93023208e-01 -1.82828848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019072329 meters 0.26837193011823984 Centerline is valid? [False, False] Translation: X:64.51, Y:2.16, Z:-1.83 [[ 9.80220327e-01 1.64360888e-01 1.10243404e-01 6.45144681e+01] [-1.68834958e-01 9.85108606e-01 3.24929405e-02 2.15885944e+00] [-1.03261157e-01 -5.04631812e-02 9.93373344e-01 -1.82823637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.049072329 meters 0.271511179213568 Centerline is valid? [False, False] Translation: X:64.52, Y:2.15, Z:-1.83 [[ 9.81374386e-01 1.59409267e-01 1.07205414e-01 6.45189541e+01] [-1.63652065e-01 9.86000259e-01 3.19607574e-02 2.14907190e+00] [-1.00609725e-01 -4.89098560e-02 9.93723055e-01 -1.82784102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079072329 meters 0.2714205963348946 Centerline is valid? [False, False] Translation: X:64.52, Y:2.15, Z:-1.83 [[ 9.81819554e-01 1.58187171e-01 1.04915125e-01 6.45239539e+01] [-1.62457398e-01 9.86148954e-01 3.34340453e-02 2.14612800e+00] [-9.81731034e-02 -4.98704376e-02 9.93919001e-01 -1.82871440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10907232899999 meters 0.2739021423113507 Centerline is valid? [False, False] Translation: X:64.53, Y:2.14, Z:-1.83 [[ 9.82239228e-01 1.57015250e-01 1.02724443e-01 6.45286817e+01] [-1.61296034e-01 9.86294666e-01 3.47335829e-02 2.14365104e+00] [-9.58628677e-02 -5.06857328e-02 9.94103248e-01 -1.82933761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13907232899999 meters 0.27552922926638745 Centerline is valid? [False, False] Translation: X:64.53, Y:2.14, Z:-1.83 [[ 9.83324144e-01 1.51967385e-01 9.98976529e-02 6.45326426e+01] [-1.55951305e-01 9.87202776e-01 3.33146890e-02 2.13643183e+00] [-9.35564941e-02 -4.83383074e-02 9.94439838e-01 -1.82827182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16907232899999 meters 0.2773972716861118 Centerline is valid? [False, False] Translation: X:64.54, Y:2.13, Z:-1.83 [[ 9.83746855e-01 1.50620171e-01 9.77532077e-02 6.45371275e+01] [-1.54601663e-01 9.87375118e-01 3.44775519e-02 2.13421020e+00] [-9.13260703e-02 -4.90299917e-02 9.94613296e-01 -1.82858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19907232899999 meters 0.2790234919077427 Centerline is valid? [False, False] Translation: X:64.54, Y:2.13, Z:-1.83 [[ 9.84631695e-01 1.46085184e-01 9.57055088e-02 6.45397038e+01] [-1.49678430e-01 9.88233796e-01 3.14695573e-02 2.13127116e+00] [-8.99821822e-02 -4.53109738e-02 9.94912118e-01 -1.82788914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22907232899999 meters 0.2828173205615638 Centerline is valid? [False, False] Translation: X:64.56, Y:2.13, Z:-1.83 [[ 9.87143744e-01 1.29795638e-01 9.32755091e-02 6.45566717e+01] [-1.33301480e-01 9.90546862e-01 3.23671187e-02 2.13145150e+00] [-8.81926520e-02 -4.43847621e-02 9.95114088e-01 -1.82802029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25907232899999 meters 0.286153807308768 Centerline is valid? [False, False] Translation: X:64.56, Y:2.13, Z:-1.83 [[ 9.87473425e-01 1.28650500e-01 9.13525248e-02 6.45605024e+01] [-1.32158647e-01 9.90664794e-01 3.34268930e-02 2.12933099e+00] [-8.61993437e-02 -4.50811946e-02 9.95257434e-01 -1.82768160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28907232899999 meters 0.2949051747850575 Centerline is valid? [False, False] Translation: X:64.58, Y:2.13, Z:-1.83 [[ 9.90160081e-01 1.14103417e-01 8.10149675e-02 6.45831535e+01] [-1.16789072e-01 9.92727144e-01 2.92084057e-02 2.13316323e+00] [-7.70929784e-02 -3.83826602e-02 9.96284821e-01 -1.82580512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.319072329 meters 0.29136365242194806 Centerline is valid? [False, False] Translation: X:64.59, Y:2.13, Z:-1.82 [[ 9.91245246e-01 1.05920438e-01 7.88271727e-02 6.45854073e+01] [-1.07930270e-01 9.93922122e-01 2.16765511e-02 2.13148829e+00] [-7.60520809e-02 -2.99946163e-02 9.96652599e-01 -1.82499166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.349072329 meters 0.2946903700292152 Centerline is valid? [False, False] Translation: X:64.59, Y:2.13, Z:-1.82 [[ 9.91844704e-01 1.01416997e-01 7.71924538e-02 6.45876556e+01] [-1.03146593e-01 9.94489448e-01 1.87488281e-02 2.12788026e+00] [-7.48656309e-02 -2.65580644e-02 9.96839910e-01 -1.82433328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379072329 meters 0.29680961054058114 Centerline is valid? [False, False] Translation: X:64.59, Y:2.12, Z:-1.82 [[ 9.92441552e-01 9.68688484e-02 7.53405048e-02 6.45905819e+01] [-9.83233105e-02 9.95028563e-01 1.58330211e-02 2.12444697e+00] [-7.34322277e-02 -2.31210759e-02 9.97032158e-01 -1.82392241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.409072329 meters 0.31019429751373473 Centerline is valid? [False, False] Translation: X:64.61, Y:2.12, Z:-1.82 [[ 9.94608331e-01 7.81985743e-02 6.81120525e-02 6.46114074e+01] [-7.93651753e-02 9.96738843e-01 1.45893140e-02 2.12464500e+00] [-6.67490648e-02 -1.99163782e-02 9.97571000e-01 -1.82342606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439072329 meters 0.31038389589247534 Centerline is valid? [False, False] Translation: X:64.61, Y:2.12, Z:-1.82 [[ 9.95097571e-01 7.34537111e-02 6.62221726e-02 6.46146586e+01] [-7.43699791e-02 9.97164689e-01 1.14755919e-02 2.12198017e+00] [-6.51914873e-02 -1.63442752e-02 9.97738911e-01 -1.82281839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46907232899999 meters 0.3201710138026674 Centerline is valid? [False, False] Translation: X:64.64, Y:2.12, Z:-1.82 [[ 9.96827781e-01 5.30848560e-02 5.92990224e-02 6.46364838e+01] [-5.38549394e-02 9.98482966e-01 1.14635150e-02 2.12283867e+00] [-5.86005247e-02 -1.46206955e-02 9.98174441e-01 -1.82121175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49907232899999 meters 0.32687162372987405 Centerline is valid? [False, False] Translation: X:64.64, Y:2.12, Z:-1.82 [[ 9.97150133e-01 4.84985173e-02 5.77884643e-02 6.46390389e+01] [-4.90781367e-02 9.98757463e-01 8.65249481e-03 2.11876777e+00] [-5.72970268e-02 -1.14639865e-02 9.98291354e-01 -1.82028346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52907232899999 meters 0.32876499982952134 Centerline is valid? [False, False] Translation: X:64.64, Y:2.11, Z:-1.82 [[ 9.97446143e-01 4.39364186e-02 5.63097040e-02 6.46415437e+01] [-4.43386464e-02 9.98999058e-01 5.91321005e-03 2.11441447e+00] [-5.59935360e-02 -8.39480462e-03 9.98395839e-01 -1.81924721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55907232899999 meters 0.3379657355595273 Centerline is valid? [False, False] Translation: X:64.66, Y:2.11, Z:-1.82 [[ 9.98593083e-01 1.97210969e-02 4.92233005e-02 6.46628460e+01] [-1.98557521e-02 9.99800328e-01 2.24807142e-03 2.11424005e+00] [-4.91691376e-02 -3.22227422e-03 9.98785269e-01 -1.81563633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58907232899999 meters 0.3445112788108876 Centerline is valid? [False, False] Translation: X:64.68, Y:2.12, Z:-1.81 [[ 9.99579076e-01 7.93418634e-03 2.79055498e-02 6.46838628e+01] [-7.77917178e-03 9.99953728e-01 -5.65915654e-03 2.11837937e+00] [-2.79491594e-02 5.43969240e-03 9.99594545e-01 -1.80935146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61907232899999 meters 0.3494349522550518 Centerline is valid? [False, False] Translation: X:64.69, Y:2.11, Z:-1.81 [[ 9.99635957e-01 3.35236166e-03 2.67715221e-02 6.46859327e+01] [-3.12963810e-03 9.99960182e-01 -8.35699226e-03 2.11354638e+00] [-2.67984717e-02 8.27016478e-03 9.99606646e-01 -1.80806623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64907232899999 meters 0.350174420933577 Centerline is valid? [False, False] Translation: X:64.70, Y:2.11, Z:-1.80 [[ 9.99564113e-01 -2.67943662e-02 1.23953982e-02 6.47027189e+01] [ 2.69334974e-02 9.99574516e-01 -1.11970385e-02 2.10899620e+00] [-1.20901066e-02 1.15260093e-02 9.99860480e-01 -1.80247305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.679072329 meters 0.36327040840271185 Centerline is valid? [False, False] Translation: X:64.71, Y:2.11, Z:-1.80 [[ 9.99090122e-01 -4.23895795e-02 -4.69600421e-03 6.47117179e+01] [ 4.23033833e-02 9.98957721e-01 -1.71433731e-02 2.10594892e+00] [ 5.41781004e-03 1.69291178e-02 9.99842014e-01 -1.79645263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.709072329 meters 0.3682932184579008 Centerline is valid? [False, False] Translation: X:64.69, Y:2.09, Z:-1.79 [[ 9.98952157e-01 -4.46291614e-02 -1.01403284e-02 6.46910830e+01] [ 4.44179280e-02 9.98809198e-01 -2.01800121e-02 2.08606843e+00] [ 1.10288703e-02 1.97084543e-02 9.99744938e-01 -1.79356760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739072329 meters 0.3657397221880633 Centerline is valid? [False, False] Translation: X:64.65, Y:2.06, Z:-1.80 [[ 9.98614088e-01 -5.17782481e-02 -9.42956151e-03 6.46538548e+01] [ 5.15663356e-02 9.98438578e-01 -2.14783293e-02 2.05840060e+00] [ 1.05269482e-02 2.09623143e-02 9.99724845e-01 -1.79503936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.769072329 meters 0.3822645035667564 Centerline is valid? [False, False] Translation: X:64.59, Y:2.01, Z:-1.79 [[ 9.97145605e-01 -7.49671887e-02 -8.97570956e-03 6.45925453e+01] [ 7.47353067e-02 9.96917938e-01 -2.38591330e-02 2.01202222e+00] [ 1.07366980e-02 2.31202271e-02 9.99675036e-01 -1.79323230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799072329 meters 0.38675169159872275 Centerline is valid? [False, False] Translation: X:64.51, Y:1.96, Z:-1.79 [[ 9.97276391e-01 -7.30001912e-02 -1.05248457e-02 6.45121724e+01] [ 7.26972876e-02 9.96995222e-01 -2.67512920e-02 1.96063640e+00] [ 1.24460703e-02 2.59133042e-02 9.99586713e-01 -1.79127242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.829072329 meters 0.3839636780550643 Centerline is valid? [False, False] Translation: X:64.43, Y:1.91, Z:-1.79 [[ 9.97442745e-01 -7.03157811e-02 -1.27929997e-02 6.44330690e+01] [ 6.99097515e-02 9.97107651e-01 -2.98154313e-02 1.91139204e+00] [ 1.48524932e-02 2.88448302e-02 9.99473551e-01 -1.78968066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85907232899999 meters 0.40239516639298756 Centerline is valid? [False, False] Translation: X:64.37, Y:1.87, Z:-1.79 [[ 9.96673565e-01 -8.04829322e-02 -1.28180587e-02 6.43738212e+01] [ 8.00499584e-02 9.96298885e-01 -3.13134977e-02 1.86726024e+00] [ 1.52908197e-02 3.01832503e-02 9.99427417e-01 -1.79197913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88907232899999 meters 0.40239516639298756 Centerline is valid? [False, False] Translation: X:64.28, Y:1.82, Z:-1.79 [[ 9.97870913e-01 -6.28457651e-02 -1.74370442e-02 6.42800450e+01] [ 6.22404408e-02 9.97504793e-01 -3.33213859e-02 1.82280471e+00] [ 1.94876432e-02 3.21651524e-02 9.99292567e-01 -1.78937190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91907232899999 meters 0.40615163806981525 Centerline is valid? [False, False] Translation: X:64.19, Y:1.78, Z:-1.79 [[ 9.97864609e-01 -6.24167058e-02 -1.92451624e-02 6.41923645e+01] [ 6.17391691e-02 9.97513347e-01 -3.39911526e-02 1.77730504e+00] [ 2.13189221e-02 3.27303879e-02 9.99236821e-01 -1.79107418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94907232899999 meters 0.4514491477960503 Centerline is valid? [False, False] Translation: X:64.10, Y:1.73, Z:-1.79 [[ 9.97508336e-01 -6.73262170e-02 -2.10784380e-02 6.41048339e+01] [ 6.65680081e-02 9.97174337e-01 -3.48143855e-02 1.72573498e+00] [ 2.33627983e-02 3.33244901e-02 9.99171486e-01 -1.79369837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97907232899999 meters 0.44466797244328393 Centerline is valid? [False, False] Translation: X:64.01, Y:1.68, Z:-1.79 [[ 9.97452418e-01 -6.73012244e-02 -2.36477930e-02 6.40128839e+01] [ 6.64353165e-02 9.97152905e-01 -3.56711659e-02 1.68220351e+00] [ 2.59811786e-02 3.40092421e-02 9.99083755e-01 -1.79395812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00907232899999 meters 0.44369416637201253 Centerline is valid? [False, False] Translation: X:63.95, Y:1.65, Z:-1.79 [[ 9.97502983e-01 -6.61549484e-02 -2.47249234e-02 6.39500160e+01] [ 6.52616894e-02 9.97242199e-01 -3.53399030e-02 1.64895248e+00] [ 2.69946465e-02 3.36380684e-02 9.99069452e-01 -1.79329482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03907232899999 meters 0.43898022634225886 Centerline is valid? [False, False] Translation: X:63.90, Y:1.62, Z:-1.79 [[ 9.97966598e-01 -5.89933271e-02 -2.41341358e-02 6.39043946e+01] [ 5.80762465e-02 9.97623190e-01 -3.70826202e-02 1.62323333e+00] [ 2.62644006e-02 3.56055963e-02 9.99020732e-01 -1.79435256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.069072329 meters 0.4316587893274105 Centerline is valid? [False, False] Translation: X:63.87, Y:1.60, Z:-1.79 [[ 9.97628637e-01 -6.37168806e-02 -2.60242608e-02 6.38733438e+01] [ 6.27150840e-02 9.97321047e-01 -3.76503406e-02 1.59551409e+00] [ 2.83535053e-02 3.59289442e-02 9.98952046e-01 -1.79414270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099072329 meters 0.42420276161003495 Centerline is valid? [False, False] Translation: X:63.86, Y:1.59, Z:-1.80 [[ 9.98064835e-01 -5.80303104e-02 -2.23398386e-02 6.38646078e+01] [ 5.71277010e-02 9.97600206e-01 -3.91184621e-02 1.58514350e+00] [ 2.45562841e-02 3.77665378e-02 9.98984823e-01 -1.79851736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.129072329 meters 0.425720152307636 Centerline is valid? [False, False] Translation: X:63.86, Y:1.56, Z:-1.80 [[ 9.98485304e-01 -4.94688746e-02 -2.40816886e-02 6.38562365e+01] [ 4.84897954e-02 9.98035542e-01 -3.96710939e-02 1.56468183e+00] [ 2.59968655e-02 3.84432881e-02 9.98922558e-01 -1.80060800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159072329 meters 0.416970428155613 Centerline is valid? [False, False] Translation: X:63.86, Y:1.56, Z:-1.80 [[ 9.98487767e-01 -4.93035749e-02 -2.43174028e-02 6.38573079e+01] [ 4.83752774e-02 9.98129181e-01 -3.73894428e-02 1.55712147e+00] [ 2.61153425e-02 3.61565402e-02 9.99004852e-01 -1.80166769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.189072329 meters 0.4026427345396157 Centerline is valid? [False, False] Translation: X:63.85, Y:1.54, Z:-1.80 [[ 9.98306070e-01 -5.38342573e-02 -2.20649726e-02 6.38516804e+01] [ 5.30244327e-02 9.97952142e-01 -3.57761331e-02 1.54059330e+00] [ 2.39457683e-02 3.45455482e-02 9.99116212e-01 -1.80358219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21907232899999 meters 0.3940572333118486 Centerline is valid? [False, False] Translation: X:63.85, Y:1.53, Z:-1.80 [[ 9.98156997e-01 -5.67108605e-02 -2.15983268e-02 6.38499171e+01] [ 5.58910003e-02 9.97757018e-01 -3.68392423e-02 1.53210650e+00] [ 2.36390672e-02 3.55641954e-02 9.99087775e-01 -1.80182287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24907232899999 meters 0.38802742140251 Centerline is valid? [False, False] Translation: X:63.84, Y:1.52, Z:-1.80 [[ 9.98400548e-01 -5.37823983e-02 -1.74298256e-02 6.38402101e+01] [ 5.30945945e-02 9.97874723e-01 -3.77756798e-02 1.52335248e+00] [ 1.94244490e-02 3.67898299e-02 9.99134225e-01 -1.80390389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27907232899999 meters 0.37892682679753564 Centerline is valid? [False, False] Translation: X:63.84, Y:1.51, Z:-1.80 [[ 9.98224814e-01 -5.72814814e-02 -1.63111339e-02 6.38371422e+01] [ 5.66419700e-02 9.97698017e-01 -3.72874396e-02 1.50936526e+00] [ 1.84094658e-02 3.62973527e-02 9.99171454e-01 -1.80364246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30907232899999 meters 0.375782916461497 Centerline is valid? [False, False] Translation: X:63.83, Y:1.50, Z:-1.81 [[ 9.98438810e-01 -5.43549476e-02 -1.28640164e-02 6.38304131e+01] [ 5.38371459e-02 9.97839439e-01 -3.76565532e-02 1.50228338e+00] [ 1.48830429e-02 3.69052022e-02 9.99207937e-01 -1.80770189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33907232899999 meters 0.3689844413839568 Centerline is valid? [False, False] Translation: X:63.82, Y:1.49, Z:-1.81 [[ 9.98775383e-01 -4.86452873e-02 -9.02056239e-03 6.38198432e+01] [ 4.82457767e-02 9.98026385e-01 -4.01955136e-02 1.49449335e+00] [ 1.09580816e-02 3.97110855e-02 9.99151115e-01 -1.81277217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36907232899999 meters 0.35515185268925115 Centerline is valid? [False, False] Translation: X:63.82, Y:1.48, Z:-1.81 [[ 9.98379220e-01 -5.62945744e-02 -8.35789183e-03 6.38193266e+01] [ 5.58695172e-02 9.97446315e-01 -4.44909691e-02 1.48171601e+00] [ 1.08411486e-02 4.39519076e-02 9.98974824e-01 -1.81387248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39907232899999 meters 0.3491855748270119 Centerline is valid? [False, False] Translation: X:63.81, Y:1.47, Z:-1.82 [[ 9.98611047e-01 -5.25425821e-02 -3.90567814e-03 6.38087856e+01] [ 5.22991355e-02 9.97506558e-01 -4.73863523e-02 1.47491321e+00] [ 6.38574086e-03 4.71162713e-02 9.98869000e-01 -1.81855137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.429072329 meters 0.33571249896215205 Centerline is valid? [False, False] Translation: X:63.80, Y:1.46, Z:-1.82 [[ 9.98615302e-01 -5.25717723e-02 -1.92009598e-03 6.38037088e+01] [ 5.24430089e-02 9.97720489e-01 -4.24682961e-02 1.46074872e+00] [ 4.14835269e-03 4.23087947e-02 9.99095970e-01 -1.82085205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.459072329 meters 0.32892253349650236 Centerline is valid? [False, False] Translation: X:63.80, Y:1.46, Z:-1.82 [[ 9.98627738e-01 -5.23483317e-02 -1.51420432e-03 6.38029010e+01] [ 5.22430238e-02 9.97799652e-01 -4.08230385e-02 1.45509133e+00] [ 3.64789050e-03 4.06879120e-02 9.99165245e-01 -1.82116806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.489072329 meters 0.32613346680133204 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.98643926e-01 -5.20465892e-02 -1.20914612e-03 6.38024247e+01] [ 5.19591691e-02 9.97878103e-01 -3.92369125e-02 1.44980112e+00] [ 3.24872790e-03 3.91208781e-02 9.99229204e-01 -1.82168886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519072329 meters 0.3196622782162787 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.98660304e-01 -5.17372617e-02 -9.23449486e-04 6.38021317e+01] [ 5.16658698e-02 9.97954331e-01 -3.76535572e-02 1.44458796e+00] [ 2.86965236e-03 3.75554020e-02 9.99290427e-01 -1.82243507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.549072329 meters 0.31589418775875294 Centerline is valid? [False, False] Translation: X:63.79, Y:1.44, Z:-1.83 [[ 9.98855133e-01 -4.77373117e-02 3.09378448e-03 6.37932430e+01] [ 4.78219326e-02 9.98088121e-01 -3.91556543e-02 1.43921252e+00] [-1.21868386e-03 3.92587771e-02 9.99228334e-01 -1.82774955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579072329 meters 0.31329389870774255 Centerline is valid? [False, False] Translation: X:63.78, Y:1.43, Z:-1.83 [[ 9.98847274e-01 -4.74228657e-02 7.42928499e-03 6.37840953e+01] [ 4.77046306e-02 9.97893088e-01 -4.39733216e-02 1.42992195e+00] [-5.32829122e-03 4.42770437e-02 9.99005081e-01 -1.83407425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60907232899999 meters 0.31149584992975676 Centerline is valid? [False, False] Translation: X:63.77, Y:1.43, Z:-1.84 [[ 9.99038027e-01 -4.24199880e-02 1.11159851e-02 6.37727014e+01] [ 4.29036841e-02 9.97942066e-01 -4.76540258e-02 1.42544557e+00] [-9.07162590e-03 4.80851006e-02 9.98802047e-01 -1.83914074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63907232899999 meters 0.30861362308208856 Centerline is valid? [False, False] Translation: X:63.77, Y:1.42, Z:-1.83 [[ 9.98962858e-01 -4.53456423e-02 -4.12079468e-03 6.37744919e+01] [ 4.51004527e-02 9.97861253e-01 -4.73166860e-02 1.42082969e+00] [ 6.25758686e-03 4.70817622e-02 9.98871438e-01 -1.83341812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66907232899999 meters 0.30748650021878837 Centerline is valid? [False, False] Translation: X:63.76, Y:1.41, Z:-1.84 [[ 9.99168700e-01 -4.07641099e-02 4.42656475e-04 6.37622477e+01] [ 4.07368314e-02 9.97968071e-01 -4.89922464e-02 1.41492158e+00] [ 1.55536829e-03 4.89695516e-02 9.98799061e-01 -1.83714838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69907232899999 meters 0.3056890140310908 Centerline is valid? [False, False] Translation: X:63.76, Y:1.41, Z:-1.84 [[ 9.99335527e-01 -3.64453887e-02 4.87187296e-04 6.37613596e+01] [ 3.64320428e-02 9.98387720e-01 -4.35277670e-02 1.41016005e+00] [ 1.09998457e-03 4.35165932e-02 9.99052099e-01 -1.83638150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72907232899999 meters 0.3054756356687685 Centerline is valid? [False, False] Translation: X:63.76, Y:1.40, Z:-1.83 [[ 9.99481179e-01 -3.22051558e-02 4.48352964e-04 6.37602533e+01] [ 3.21991541e-02 9.98769987e-01 -3.77058072e-02 1.40228388e+00] [ 7.66519910e-04 3.77006812e-02 9.99288783e-01 -1.83494600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75907232899999 meters 0.30431958715551594 Centerline is valid? [False, False] Translation: X:63.76, Y:1.40, Z:-1.83 [[ 9.99620563e-01 -2.75442447e-02 2.08954422e-04 6.37604306e+01] [ 2.75366113e-02 9.99098407e-01 -3.23126538e-02 1.39824558e+00] [ 6.81261612e-04 3.23061471e-02 9.99477788e-01 -1.83468707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78907232899999 meters 0.30531084965318056 Centerline is valid? [False, False] Translation: X:63.76, Y:1.40, Z:-1.83 [[ 9.99739460e-01 -2.28256287e-02 -5.41486647e-05 6.37609098e+01] [ 2.28158064e-02 9.99373443e-01 -2.70584469e-02 1.39500540e+00] [ 6.71740800e-04 2.70501617e-02 9.99633852e-01 -1.83472948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.819072329 meters 0.3082942636543315 Centerline is valid? [False, False] Translation: X:63.76, Y:1.39, Z:-1.83 [[ 9.99900916e-01 -1.40767233e-02 -6.67054297e-05 6.37604846e+01] [ 1.40735865e-02 9.99758176e-01 -1.68974622e-02 1.38883968e+00] [ 3.04550198e-04 1.68948491e-02 9.99857225e-01 -1.83420725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.849072329 meters 0.3104441627963459 Centerline is valid? [False, False] Translation: X:63.76, Y:1.39, Z:-1.83 [[ 9.99957997e-01 -9.15848020e-03 -3.56272927e-04 6.37613622e+01] [ 9.15380085e-03 9.99892537e-01 -1.14508711e-02 1.38504767e+00] [ 4.61107218e-04 1.14471289e-02 9.99934373e-01 -1.83440441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879072329 meters 0.3118950704319851 Centerline is valid? [False, False] Translation: X:63.76, Y:1.38, Z:-1.83 [[ 9.99990950e-01 -4.20230198e-03 -6.63379508e-04 6.37621800e+01] [ 4.19832721e-03 9.99973879e-01 -5.88350074e-03 1.38060859e+00] [ 6.88086426e-04 5.88066241e-03 9.99982472e-01 -1.83437626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.909072329 meters 0.31417512584415574 Centerline is valid? [False, False] Translation: X:63.76, Y:1.38, Z:-1.83 [[ 9.99994204e-01 -3.35906695e-03 -5.56170215e-04 6.37622309e+01] [ 3.35655424e-03 9.99984426e-01 -4.45881231e-03 1.37562998e+00] [ 5.71139002e-04 4.45691965e-03 9.99989905e-01 -1.83495216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939072329 meters 0.3161096064281163 Centerline is valid? [False, False] Translation: X:63.76, Y:1.37, Z:-1.84 [[ 9.99995343e-01 -2.99585825e-03 -5.81332832e-04 6.37624979e+01] [ 2.99364594e-03 9.99988413e-01 -3.76985562e-03 1.37328545e+00] [ 5.92620049e-04 3.76809776e-03 9.99992725e-01 -1.83515652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96907232899999 meters 0.31761149536253047 Centerline is valid? [False, False] Translation: X:63.76, Y:1.37, Z:-1.84 [[ 9.99996094e-01 -2.73326127e-03 -5.84539746e-04 6.37626657e+01] [ 2.73134948e-03 9.99990999e-01 -3.24674827e-03 1.37152102e+00] [ 5.93408696e-04 3.24513900e-03 9.99994558e-01 -1.83534121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99907232899999 meters 0.31805136864263506 Centerline is valid? [False, False] Translation: X:63.76, Y:1.37, Z:-1.84 [[ 9.99996863e-01 -2.45781674e-03 -4.83588181e-04 6.37624350e+01] [ 2.45651506e-03 9.99993407e-01 -2.67414345e-03 1.36962376e+00] [ 4.90157548e-04 2.67294711e-03 9.99996308e-01 -1.83532551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.029072329 meters 0.3175048451847178 Centerline is valid? [False, False] Translation: X:63.76, Y:1.37, Z:-1.84 [[ 9.99997219e-01 -2.31215367e-03 -4.65109407e-04 6.37622547e+01] [ 2.31104614e-03 9.99994526e-01 -2.36782428e-03 1.36855344e+00] [ 4.70581635e-04 2.36674280e-03 9.99997089e-01 -1.83503873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059072329 meters 0.31861928485459357 Centerline is valid? [False, False] Translation: X:63.76, Y:1.37, Z:-1.83 [[ 9.99998133e-01 -1.86320661e-03 -5.11820032e-04 6.37621405e+01] [ 1.86245605e-03 9.99997195e-01 -1.46304922e-03 1.36540994e+00] [ 5.14544559e-04 1.46209324e-03 9.99998799e-01 -1.83453419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089072329 meters 0.320882204013168 Centerline is valid? [False, False] Translation: X:63.76, Y:1.36, Z:-1.83 [[ 9.99998768e-01 -1.46101161e-03 -5.73105007e-04 6.37625048e+01] [ 1.46060416e-03 9.99998681e-01 -7.10720032e-04 1.36285463e+00] [ 5.74142621e-04 7.09882078e-04 9.99999583e-01 -1.83471891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119072329 meters 0.32044177402658497 Centerline is valid? [False, False] Translation: X:63.76, Y:1.36, Z:-1.84 [[ 9.99999315e-01 -9.98360713e-04 -6.10911397e-04 6.37629672e+01] [ 9.98452851e-04 9.99999490e-01 1.50534091e-04 1.35994125e+00] [ 6.10760799e-04 -1.51143955e-04 9.99999802e-01 -1.83513716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.149072329 meters 0.32379645762554093 Centerline is valid? [False, False] Translation: X:63.76, Y:1.35, Z:-1.84 [[ 9.99999755e-01 -6.73430671e-05 -6.96245146e-04 6.37641898e+01] [ 6.85548924e-05 9.99998483e-01 1.74063783e-03 1.35459799e+00] [ 6.96126870e-04 -1.74068514e-03 9.99998243e-01 -1.83637167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179072329 meters 0.32378739806680507 Centerline is valid? [False, False] Translation: X:63.76, Y:1.35, Z:-1.84 [[ 9.99999600e-01 3.45332765e-04 -8.24749612e-04 6.37646766e+01] [-3.43255042e-04 9.99996771e-01 2.51803187e-03 1.35193947e+00] [ 8.25616507e-04 -2.51774777e-03 9.99996490e-01 -1.83641094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.209072329 meters 0.32328161065905153 Centerline is valid? [False, False] Translation: X:63.76, Y:1.35, Z:-1.84 [[ 9.99999257e-01 7.47188846e-04 -9.63563022e-04 6.37649880e+01] [-7.44005784e-04 9.99994280e-01 3.29956712e-03 1.34921999e+00] [ 9.66022910e-04 -3.29884777e-03 9.99994092e-01 -1.83611416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239072329 meters 0.3203134505106896 Centerline is valid? [False, False] Translation: X:63.76, Y:1.34, Z:-1.83 [[ 9.99999924e-01 2.06392158e-04 -3.30923778e-04 6.37618379e+01] [-2.04997801e-04 9.99991125e-01 4.20804260e-03 1.34415170e+00] [ 3.31789348e-04 -4.20797444e-03 9.99991091e-01 -1.83336468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.269072329 meters 0.31553811004129456 Centerline is valid? [False, False] Translation: X:63.76, Y:1.34, Z:-1.83 [[ 9.99992171e-01 -3.95067892e-03 -2.23853406e-04 6.37614662e+01] [ 3.95074195e-03 9.99992156e-01 2.81786981e-04 1.34274358e+00] [ 2.22738400e-04 -2.82669162e-04 9.99999935e-01 -1.83311224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299072329 meters 0.3184822859773075 Centerline is valid? [False, False] Translation: X:63.76, Y:1.34, Z:-1.83 [[ 9.99994180e-01 -3.37983393e-03 -4.65820699e-04 6.37623208e+01] [ 3.38048350e-03 9.99993305e-01 1.40079569e-03 1.33896121e+00] [ 4.61083123e-04 -1.40236224e-03 9.99998910e-01 -1.83315887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.329072329 meters 0.32015773413170884 Centerline is valid? [False, False] Translation: X:63.76, Y:1.33, Z:-1.83 [[ 9.99997068e-01 -2.27562020e-03 -8.28180323e-04 6.37642735e+01] [ 2.27864432e-03 9.99990673e-01 3.66909092e-03 1.33178452e+00] [ 8.19823140e-04 -3.67096729e-03 9.99992926e-01 -1.83447419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359072329 meters 0.3189627044437417 Centerline is valid? [False, False] Translation: X:63.76, Y:1.33, Z:-1.83 [[ 9.99997551e-01 -2.01474732e-03 -9.16147441e-04 6.37648737e+01] [ 2.01855911e-03 9.99989231e-01 4.17895751e-03 1.33011211e+00] [ 9.07718032e-04 -4.18079657e-03 9.99990848e-01 -1.83498795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38907232900002 meters 0.32005357979953647 Centerline is valid? [False, False] Translation: X:63.77, Y:1.33, Z:-1.84 [[ 9.99997821e-01 -1.85804625e-03 -9.51217488e-04 6.37652015e+01] [ 1.86228460e-03 9.99988256e-01 4.47439437e-03 1.32913842e+00] [ 9.42892685e-04 -4.47615606e-03 9.99989537e-01 -1.83530119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41907232900002 meters 0.3203054797605162 Centerline is valid? [False, False] Translation: X:63.77, Y:1.33, Z:-1.84 [[ 9.99998485e-01 -1.35178036e-03 -1.09656866e-03 6.37657211e+01] [ 1.35774578e-03 9.99984185e-01 5.45769720e-03 1.32579317e+00] [ 1.08917371e-03 -5.45917779e-03 9.99984505e-01 -1.83525658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44907232900002 meters 0.31872265609191386 Centerline is valid? [False, False] Translation: X:63.77, Y:1.33, Z:-1.84 [[ 9.99983661e-01 -5.63756137e-03 -9.46691945e-04 6.37652784e+01] [ 5.63875469e-03 9.99983305e-01 1.26261502e-03 1.32531163e+00] [ 9.39558070e-04 -1.26793255e-03 9.99998755e-01 -1.83509085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47907232900002 meters 0.31760558476280776 Centerline is valid? [False, False] Translation: X:63.77, Y:1.32, Z:-1.84 [[ 9.99985937e-01 -5.18831238e-03 -1.09862906e-03 6.37658124e+01] [ 5.19060994e-03 9.99984326e-01 2.09888303e-03 1.32243593e+00] [ 1.08772218e-03 -2.10455607e-03 9.99997194e-01 -1.83505437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50907232900002 meters 0.32198790105713165 Centerline is valid? [False, False] Translation: X:63.77, Y:1.32, Z:-1.84 [[ 9.99989714e-01 -4.33687368e-03 -1.32763889e-03 6.37668925e+01] [ 4.34162488e-03 9.99984106e-01 3.59696695e-03 1.31728078e+00] [ 1.31201820e-03 -3.60269406e-03 9.99992650e-01 -1.83540143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539072329 meters 0.3200877768088279 Centerline is valid? [False, False] Translation: X:63.77, Y:1.32, Z:-1.84 [[ 9.99991056e-01 -3.98336011e-03 -1.42126345e-03 6.37672595e+01] [ 3.98938149e-03 9.99982972e-01 4.25926348e-03 1.31500550e+00] [ 1.40427307e-03 -4.26489535e-03 9.99989919e-01 -1.83540643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.569072329 meters 0.32184959032549354 Centerline is valid? [False, False] Translation: X:63.77, Y:1.31, Z:-1.84 [[ 9.99992600e-01 -3.50529761e-03 -1.58538690e-03 6.37677660e+01] [ 3.51341808e-03 9.99980574e-01 5.14862505e-03 1.31193725e+00] [ 1.56730864e-03 -5.15415708e-03 9.99985489e-01 -1.83526904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599072329 meters 0.3172487936019564 Centerline is valid? [False, False] Translation: X:63.77, Y:1.31, Z:-1.84 [[ 9.99993260e-01 -3.29104270e-03 -1.62777492e-03 6.37679348e+01] [ 3.30003345e-03 9.99979143e-01 5.55184499e-03 1.31054887e+00] [ 1.60946961e-03 -5.55717928e-03 9.99983264e-01 -1.83525796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.629072329 meters 0.320446117450684 Centerline is valid? [False, False] Translation: X:63.77, Y:1.31, Z:-1.84 [[ 9.99993918e-01 -3.05011007e-03 -1.69123661e-03 6.37681071e+01] [ 3.06020497e-03 9.99977324e-01 5.99883310e-03 1.30899951e+00] [ 1.67290116e-03 -6.00397215e-03 9.99980577e-01 -1.83513857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659072329 meters 0.32088964423635824 Centerline is valid? [False, False] Translation: X:63.76, Y:1.31, Z:-1.84 [[ 9.99996603e-01 -2.35677797e-03 1.11302795e-03 6.37599114e+01] [ 2.35732645e-03 9.99997101e-01 -4.91723633e-04 1.30948750e+00] [-1.11186584e-03 4.94345733e-04 9.99999260e-01 -1.84061406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.689072329 meters 0.32253183796206264 Centerline is valid? [False, False] Translation: X:63.76, Y:1.31, Z:-1.84 [[ 9.99997346e-01 -2.02863577e-03 1.09226203e-03 6.37598450e+01] [ 2.02846769e-03 9.99997931e-01 1.54968985e-04 1.30725031e+00] [-1.09257415e-03 -1.52752956e-04 9.99999391e-01 -1.84030310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719072329 meters 0.32554587281743286 Centerline is valid? [False, False] Translation: X:63.76, Y:1.31, Z:-1.84 [[ 9.99997639e-01 -1.88613351e-03 1.07939577e-03 6.37597959e+01] [ 1.88565534e-03 9.99998124e-01 4.43842438e-04 1.30625374e+00] [-1.08023089e-03 -4.41806021e-04 9.99999319e-01 -1.84009076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.749072329 meters 0.3282854331465345 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99998040e-01 -1.63213833e-03 1.12102204e-03 6.37596381e+01] [ 1.63100003e-03 9.99998154e-01 1.01557934e-03 1.30433409e+00] [-1.12267754e-03 -1.01374896e-03 9.99998856e-01 -1.83993348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779072329 meters 0.3282854331465345 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99998040e-01 -1.63213833e-03 1.12102204e-03 6.37596381e+01] [ 1.63100003e-03 9.99998154e-01 1.01557934e-03 1.30433409e+00] [-1.12267754e-03 -1.01374896e-03 9.99998856e-01 -1.83993348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809072329 meters 0.32099032096685687 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99998294e-01 -1.45951728e-03 1.13258066e-03 6.37595973e+01] [ 1.45797625e-03 9.99998012e-01 1.36027044e-03 1.30315772e+00] [-1.13456374e-03 -1.35861685e-03 9.99998433e-01 -1.83985946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839072329 meters 0.3249882109366195 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99998560e-01 -1.28372310e-03 1.11016569e-03 6.37596885e+01] [ 1.28183300e-03 9.99997731e-01 1.70157911e-03 1.30199120e+00] [-1.11234753e-03 -1.70015361e-03 9.99997936e-01 -1.83983907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869072329 meters 0.32821038452543017 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99998960e-01 -9.72447226e-04 1.06469488e-03 6.37597511e+01] [ 9.69991450e-04 9.99996874e-01 2.30464524e-03 1.29991650e+00] [-1.06693270e-03 -2.30361010e-03 9.99996778e-01 -1.83961794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899072329 meters 0.32042759534799653 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99999056e-01 -8.93838762e-04 1.04336175e-03 6.37597089e+01] [ 8.91273186e-04 9.99996585e-01 2.45683164e-03 1.29938143e+00] [-1.04555419e-03 -2.45589940e-03 9.99996438e-01 -1.83940486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.929072329 meters 0.3206867479367695 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99999313e-01 -6.80436714e-04 9.54066435e-04 6.37599489e+01] [ 6.77702765e-04 9.99995672e-01 2.86297670e-03 1.29798819e+00] [-9.56010380e-04 -2.86232816e-03 9.99995447e-01 -1.83927806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959072329 meters 0.3236460618073986 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99999505e-01 -5.01156520e-04 8.60131030e-04 6.37602712e+01] [ 4.98396171e-04 9.99994735e-01 3.20643894e-03 1.29681113e+00] [-8.61733429e-04 -3.20600867e-03 9.99994489e-01 -1.83929312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.989072329 meters 0.31858124073569455 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99987176e-01 -4.95515716e-03 1.04561663e-03 6.37597379e+01] [ 4.95658597e-03 9.99986780e-01 -1.36834208e-03 1.29761771e+00] [-1.03882246e-03 1.37350722e-03 9.99998517e-01 -1.83925255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019072329 meters 0.31981356462565147 Centerline is valid? [False, False] Translation: X:63.76, Y:1.30, Z:-1.84 [[ 9.99988692e-01 -4.66648512e-03 9.16491085e-04 6.37601562e+01] [ 4.66720954e-03 9.99988797e-01 -7.89883558e-04 1.29565602e+00] [-9.12794837e-04 7.94152082e-04 9.99999268e-01 -1.83921965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.049072329 meters 0.31586616519581634 Centerline is valid? [False, False] Translation: X:63.76, Y:1.29, Z:-1.84 [[ 9.99990735e-01 -4.21403050e-03 8.78433280e-04 6.37604356e+01] [ 4.21367228e-03 9.99991039e-01 4.09246518e-04 1.29174655e+00] [-8.80149985e-04 -4.05541296e-04 9.99999530e-01 -1.83935156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079072329 meters 0.3138646009851394 Centerline is valid? [False, False] Translation: X:63.76, Y:1.29, Z:-1.84 [[ 9.99991919e-01 -3.94136300e-03 7.92263172e-04 6.37607320e+01] [ 3.94054284e-03 9.99991701e-01 1.03412087e-03 1.28967864e+00] [-7.96332443e-04 -1.03099057e-03 9.99999151e-01 -1.83934797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.109072329 meters 0.3104520586469985 Centerline is valid? [False, False] Translation: X:63.76, Y:1.29, Z:-1.84 [[ 9.99993279e-01 -3.59544427e-03 7.17519424e-04 6.37610754e+01] [ 3.59410317e-03 9.99991808e-01 1.86169349e-03 1.28696211e+00] [-7.24207162e-04 -1.85910214e-03 9.99998010e-01 -1.83950713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13907232900002 meters 0.30985257772189495 Centerline is valid? [False, False] Translation: X:63.76, Y:1.28, Z:-1.84 [[ 9.99994553e-01 -3.24576609e-03 5.98613038e-04 6.37615669e+01] [ 3.24414364e-03 9.99991115e-01 2.69170348e-03 1.28425985e+00] [-6.07344359e-04 -2.68974683e-03 9.99996198e-01 -1.83971070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16907232900002 meters 0.30749410726918835 Centerline is valid? [False, False] Translation: X:63.76, Y:1.28, Z:-1.84 [[ 9.99996073e-01 -2.75052354e-03 5.36416195e-04 6.37621782e+01] [ 2.74809416e-03 9.99986197e-01 4.47824510e-03 1.27833080e+00] [-5.48726309e-04 -4.47675339e-03 9.99989829e-01 -1.84046936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19907232900002 meters 0.3082160742754191 Centerline is valid? [False, False] Translation: X:63.76, Y:1.28, Z:-1.84 [[ 9.99996944e-01 -2.42944600e-03 4.57868175e-04 6.37625153e+01] [ 2.42701576e-03 9.99983349e-01 5.23557213e-03 1.27583443e+00] [-4.70580091e-04 -5.23444488e-03 9.99986189e-01 -1.84059153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22907232900002 meters 0.303528534654129 Centerline is valid? [False, False] Translation: X:63.76, Y:1.27, Z:-1.84 [[ 9.99997857e-01 -1.98582640e-03 5.84981566e-04 6.37622895e+01] [ 1.98196434e-03 9.99976714e-01 6.53022161e-03 1.27164531e+00] [-5.97935830e-04 -6.52904820e-03 9.99978507e-01 -1.84058994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25907232900002 meters 0.30195409827219194 Centerline is valid? [False, False] Translation: X:63.76, Y:1.27, Z:-1.84 [[ 9.99998413e-01 -1.70477272e-03 5.17238093e-04 6.37625148e+01] [ 1.70103057e-03 9.99972984e-01 7.15102954e-03 1.26956910e+00] [-5.29414999e-04 -7.15013836e-03 9.99974297e-01 -1.84053810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.289072329 meters 0.30220099794722877 Centerline is valid? [False, False] Translation: X:63.76, Y:1.27, Z:-1.84 [[ 9.99998880e-01 -1.42978732e-03 4.43104835e-04 6.37628414e+01] [ 1.42630925e-03 9.99968930e-01 7.75267046e-03 1.26756589e+00] [-4.54175738e-04 -7.75202977e-03 9.99969849e-01 -1.84066220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319072329 meters 0.3004733399757138 Centerline is valid? [False, False] Translation: X:63.76, Y:1.26, Z:-1.84 [[ 9.99985863e-01 -5.30075140e-03 4.19592478e-04 6.37636572e+01] [ 5.29891532e-03 9.99976877e-01 4.26228711e-03 1.26493945e+00] [-4.42176100e-04 -4.26000347e-03 9.99990828e-01 -1.84151289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.349072329 meters 0.298803165261691 Centerline is valid? [False, False] Translation: X:63.76, Y:1.26, Z:-1.84 [[ 9.99987679e-01 -4.95285904e-03 3.32320859e-04 6.37641056e+01] [ 4.95112406e-03 9.99975078e-01 5.03291672e-03 1.26238880e+00] [-3.57239904e-04 -5.03120934e-03 9.99987280e-01 -1.84177793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379072329 meters 0.29702258407546217 Centerline is valid? [False, False] Translation: X:63.76, Y:1.26, Z:-1.84 [[ 9.99989308e-01 -4.61842989e-03 2.31712880e-04 6.37644970e+01] [ 4.61701413e-03 9.99972649e-01 5.77786360e-03 1.25990908e+00] [-2.58391200e-04 -5.77673200e-03 9.99983281e-01 -1.84185428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.409072329 meters 0.2959429397170957 Centerline is valid? [False, False] Translation: X:63.76, Y:1.26, Z:-1.84 [[ 9.99991626e-01 -4.08117603e-03 3.03469786e-04 6.37644897e+01] [ 4.07886171e-03 9.99965245e-01 7.27133785e-03 1.25506440e+00] [-3.33134849e-04 -7.27003915e-03 9.99973517e-01 -1.84198244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439072329 meters 0.2978704294400754 Centerline is valid? [False, False] Translation: X:63.76, Y:1.25, Z:-1.84 [[ 9.99992781e-01 -3.79238678e-03 2.35038899e-04 6.37647587e+01] [ 3.79041207e-03 9.99961620e-01 7.89878453e-03 1.25295850e+00] [-2.64985125e-04 -7.89783662e-03 9.99968776e-01 -1.84201037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.469072329 meters 0.2960753359331116 Centerline is valid? [False, False] Translation: X:63.76, Y:1.25, Z:-1.84 [[ 9.99994266e-01 -3.37466869e-03 2.80826463e-04 6.37648486e+01] [ 3.37200484e-03 9.99953817e-01 8.99962941e-03 1.24939727e+00] [-3.11184262e-04 -8.99863086e-03 9.99959463e-01 -1.84229903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499072329 meters 0.29275352694266205 Centerline is valid? [False, False] Translation: X:63.76, Y:1.25, Z:-1.84 [[ 9.99969556e-01 -7.79093197e-03 4.35055796e-04 6.37646049e+01] [ 7.78889021e-03 9.99959484e-01 4.51258696e-03 1.24996171e+00] [-4.70195427e-04 -4.50906097e-03 9.99989724e-01 -1.84253561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.529072329 meters 0.2891199333645981 Centerline is valid? [False, False] Translation: X:63.76, Y:1.25, Z:-1.84 [[ 9.99972069e-01 -7.46674094e-03 3.30776721e-04 6.37649143e+01] [ 7.46492119e-03 9.99958628e-01 5.19788812e-03 1.24764116e+00] [-3.69574320e-04 -5.19527371e-03 9.99986436e-01 -1.84242590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559072329 meters 0.28836847569980467 Centerline is valid? [False, False] Translation: X:63.76, Y:1.24, Z:-1.84 [[ 9.99976029e-01 -6.91661263e-03 3.18625608e-04 6.37649058e+01] [ 6.91434734e-03 9.99954095e-01 6.63324706e-03 1.24285841e+00] [-3.64490581e-04 -6.63088497e-03 9.99977949e-01 -1.84206220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589072329 meters 0.28991709551498335 Centerline is valid? [False, False] Translation: X:63.77, Y:1.24, Z:-1.84 [[ 9.99978100e-01 -6.61566290e-03 1.81030301e-04 6.37652558e+01] [ 6.61417819e-03 9.99951891e-01 7.24346849e-03 1.24077017e+00] [-2.28941937e-04 -7.24211249e-03 9.99973749e-01 -1.84186014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619072329 meters 0.2878023096620052 Centerline is valid? [False, False] Translation: X:63.77, Y:1.24, Z:-1.84 [[ 9.99979817e-01 -6.35270665e-03 9.28140581e-05 6.37655257e+01] [ 6.35179316e-03 9.99949607e-01 7.77421876e-03 1.23895401e+00] [-1.42196712e-04 -7.77347232e-03 9.99969776e-01 -1.84177591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.649072329 meters 0.28970857997050925 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99983171e-01 -5.80133296e-03 -4.91393605e-05 6.37661823e+01] [ 5.80154031e-03 9.99942857e-01 8.97908237e-03 1.23496083e+00] [-2.95409396e-06 -8.97921634e-03 9.99959686e-01 -1.84203256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679072329 meters 0.2872860131462412 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99984822e-01 -5.50825005e-03 -1.20376676e-04 6.37666612e+01] [ 5.50914809e-03 9.99939276e-01 9.54432069e-03 1.23304433e+00] [ 6.77968615e-05 -9.54483900e-03 9.99954445e-01 -1.84238119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.709072329 meters 0.2903770952049004 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99986324e-01 -5.22722385e-03 -1.68133055e-04 6.37670726e+01] [ 5.22865328e-03 9.99935511e-01 1.00813759e-02 1.23122607e+00] [ 1.15424604e-04 -1.00821171e-02 9.99949168e-01 -1.84271980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739072329 meters 0.286520943079791 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99989003e-01 -4.67908096e-03 -3.15778130e-04 6.37676153e+01] [ 4.68230110e-03 9.99927301e-01 1.11116250e-02 1.22767649e+00] [ 2.63762981e-04 -1.11129813e-02 9.99938214e-01 -1.84266288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.769072329 meters 0.28621027158309287 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99990264e-01 -4.39233136e-03 -4.23384055e-04 6.37677563e+01] [ 4.39696200e-03 9.99922596e-01 1.16391211e-02 1.22581878e+00] [ 3.72228406e-04 -1.16408694e-02 9.99932174e-01 -1.84222703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799072329 meters 0.28539764740163 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99962354e-01 -8.67022625e-03 -3.41848957e-04 6.37671634e+01] [ 8.67253368e-03 9.99934617e-01 7.45311502e-03 1.22525424e+00] [ 2.77206412e-04 -7.45579914e-03 9.99972167e-01 -1.84137656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.829072329 meters 0.2854997421965235 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99963855e-01 -8.49126726e-03 -4.32951435e-04 6.37672560e+01] [ 8.49437894e-03 9.99933664e-01 7.77899232e-03 1.22409079e+00] [ 3.66869212e-04 -7.78238880e-03 9.99969649e-01 -1.84099377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859072329 meters 0.2849474301344401 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99964901e-01 -8.36537963e-03 -4.65326273e-04 6.37673728e+01] [ 8.36884095e-03 9.99932866e-01 8.01412316e-03 1.22327641e+00] [ 3.98253852e-04 -8.01773612e-03 9.99967778e-01 -1.84097449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88907232900002 meters 0.2885509045670302 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99965822e-01 -8.25188453e-03 -5.11279367e-04 6.37675292e+01] [ 8.25581102e-03 9.99932104e-01 8.22365037e-03 1.22254988e+00] [ 4.43384040e-04 -8.22759033e-03 9.99966055e-01 -1.84096168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91907232900002 meters 0.28599523083389056 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99967816e-01 -8.00152993e-03 -5.85342308e-04 6.37679526e+01] [ 8.00631269e-03 9.99930239e-01 8.68429783e-03 1.22098502e+00] [ 5.15813804e-04 -8.68870477e-03 9.99962119e-01 -1.84120100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94907232900002 meters 0.2857276213318833 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99969228e-01 -7.81935823e-03 -6.33500020e-04 6.37681262e+01] [ 7.82475711e-03 9.99928681e-01 9.02250837e-03 1.21981302e+00] [ 5.62904615e-04 -9.02718771e-03 9.99959096e-01 -1.84117647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97907232900002 meters 0.28555906119114705 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99997689e-01 2.03582252e-03 -6.91323449e-04 6.37680216e+01] [-2.03552165e-03 9.99997833e-01 4.35631298e-04 1.21919883e+00] [ 6.92208819e-04 -4.34223087e-04 9.99999666e-01 -1.84101947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00907232900002 meters 0.2841761930505024 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99997572e-01 2.07623924e-03 -7.38988079e-04 6.37680327e+01] [-2.07586536e-03 9.99997717e-01 5.06343159e-04 1.21893198e+00] [ 7.40037681e-04 -5.04807890e-04 9.99999599e-01 -1.84078415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039072329 meters 0.2833374641355073 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99997645e-01 2.04717642e-03 -7.19976725e-04 6.37679183e+01] [-2.04684924e-03 9.99997802e-01 4.54868909e-04 1.21910541e+00] [ 7.20906339e-04 -4.53394154e-04 9.99999637e-01 -1.84068810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.069072329 meters 0.28359021526744904 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99997823e-01 1.94864061e-03 -7.46675597e-04 6.37680159e+01] [-1.94846649e-03 9.99998074e-01 2.33848635e-04 1.21985660e+00] [ 7.47129846e-04 -2.32393253e-04 9.99999694e-01 -1.84075556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099072329 meters 0.2843187500557343 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99997895e-01 1.91256433e-03 -7.42938938e-04 6.37680563e+01] [-1.91244223e-03 9.99998158e-01 1.65022010e-04 1.22010360e+00] [ 7.43253184e-04 -1.63600835e-04 9.99999710e-01 -1.84086326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.129072329 meters 0.2851306989021741 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99997981e-01 1.87306401e-03 -7.27720325e-04 6.37681089e+01] [-1.87299737e-03 9.99998242e-01 9.22477384e-05 1.22037241e+00] [ 7.27891831e-04 -9.08845339e-05 9.99999731e-01 -1.84105077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159072329 meters 0.28462424890880733 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99998186e-01 1.73238016e-03 -7.92130074e-04 6.37682108e+01] [-1.73256527e-03 9.99998472e-01 -2.33053322e-04 1.22143536e+00] [ 7.91725127e-04 2.34425316e-04 9.99999659e-01 -1.84094629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.189072329 meters 0.28621286515815947 Centerline is valid? [False, False] Translation: X:63.77, Y:1.22, Z:-1.84 [[ 9.99998514e-01 1.53931638e-03 -7.76712244e-04 6.37681135e+01] [-1.53981910e-03 9.99998605e-01 -6.47060322e-04 1.22282014e+00] [ 7.75715130e-04 6.48255356e-04 9.99999489e-01 -1.84090351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219072329 meters 0.28525539053683935 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99998830e-01 1.32794332e-03 -7.58848131e-04 6.37678873e+01] [-1.32928654e-03 9.99997546e-01 -1.77233094e-03 1.22692993e+00] [ 7.56492713e-04 1.77333759e-03 9.99998141e-01 -1.84067055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.249072329 meters 0.2907412242623068 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99999208e-01 1.03870448e-03 -7.10998953e-04 6.37677959e+01] [-1.04045040e-03 9.99996434e-01 -2.45964158e-03 1.22923551e+00] [ 7.08441577e-04 2.46037940e-03 9.99996722e-01 -1.84080468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279072329 meters 0.2894244809237306 Centerline is valid? [False, False] Translation: X:63.77, Y:1.23, Z:-1.84 [[ 9.99999479e-01 7.63245953e-04 -6.78035315e-04 6.37676476e+01] [-7.65341508e-04 9.99994915e-01 -3.09576365e-03 1.23133959e+00] [ 6.75669039e-04 3.09628097e-03 9.99994978e-01 -1.84076905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309072329 meters 0.2925031323334145 Centerline is valid? [False, False] Translation: X:63.77, Y:1.24, Z:-1.84 [[ 9.99999483e-01 5.34449682e-04 -8.65383922e-04 6.37679498e+01] [-5.38192931e-04 9.99990476e-01 -4.33109608e-03 1.23555281e+00] [ 8.63060927e-04 4.33155959e-03 9.99990246e-01 -1.84045814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339072329 meters 0.29249722096308567 Centerline is valid? [False, False] Translation: X:63.77, Y:1.24, Z:-1.84 [[ 9.99999606e-01 2.08718443e-04 -8.63177425e-04 6.37678726e+01] [-2.13151797e-04 9.99986772e-01 -5.13918714e-03 1.23819377e+00] [ 8.62093363e-04 5.13936910e-03 9.99986422e-01 -1.84037742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.369072329 meters 0.29389907387330333 Centerline is valid? [False, False] Translation: X:63.77, Y:1.24, Z:-1.84 [[ 9.99999637e-01 -1.74116188e-04 -8.34301674e-04 6.37676951e+01] [ 1.69042804e-04 9.99981519e-01 -6.07721086e-03 1.24124147e+00] [ 8.35344397e-04 6.07706762e-03 9.99981186e-01 -1.84026563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399072329 meters 0.30194574496373083 Centerline is valid? [False, False] Translation: X:63.77, Y:1.25, Z:-1.84 [[ 9.99993429e-01 3.50422632e-03 -9.28915495e-04 6.37676864e+01] [-3.50742547e-03 9.99987846e-01 -3.46499944e-03 1.24678888e+00] [ 9.16762063e-04 3.46823477e-03 9.99993565e-01 -1.83985058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.429072329 meters 0.30289560575034175 Centerline is valid? [False, False] Translation: X:63.77, Y:1.25, Z:-1.84 [[ 9.99995025e-01 3.03439798e-03 -8.61353060e-04 6.37673519e+01] [-3.03838481e-03 9.99984500e-01 -4.66561794e-03 1.25067088e+00] [ 8.47182367e-04 4.66821185e-03 9.99988745e-01 -1.83961465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459072329 meters 0.3072692581794716 Centerline is valid? [False, False] Translation: X:63.77, Y:1.26, Z:-1.84 [[ 9.99995885e-01 2.72701080e-03 -8.91288328e-04 6.37671464e+01] [-2.73301619e-03 9.99973093e-01 -6.80758533e-03 1.25816659e+00] [ 8.72699988e-04 6.80999322e-03 9.99976431e-01 -1.83914683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.489072329 meters 0.3094716466007868 Centerline is valid? [False, False] Translation: X:63.77, Y:1.26, Z:-1.84 [[ 9.99997186e-01 2.22288640e-03 -8.28974415e-04 6.37669759e+01] [-2.22957156e-03 9.99964282e-01 -8.15258356e-03 1.26257082e+00] [ 8.10822539e-04 8.15440888e-03 9.99966424e-01 -1.83925157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519072329 meters 0.31742100171484827 Centerline is valid? [False, False] Translation: X:63.77, Y:1.27, Z:-1.84 [[ 9.99980437e-01 6.20122602e-03 -8.18574054e-04 6.37669817e+01] [-6.20487972e-03 9.99970448e-01 -4.53908876e-03 1.26502356e+00] [ 7.90401948e-04 4.54407912e-03 9.99989363e-01 -1.83934515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.549072329 meters 0.3218508017088416 Centerline is valid? [False, False] Translation: X:63.77, Y:1.27, Z:-1.84 [[ 9.99951500e-01 9.80983768e-03 -8.74728919e-04 6.37672420e+01] [-9.81200958e-03 9.99948700e-01 -2.51421278e-03 1.27254276e+00] [ 8.50020026e-04 2.52267369e-03 9.99996457e-01 -1.83956937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579072329 meters 0.3200553058268593 Centerline is valid? [False, False] Translation: X:63.77, Y:1.28, Z:-1.84 [[ 9.99957032e-01 9.24077159e-03 -7.36815870e-04 6.37666797e+01] [-9.24357260e-03 9.99949698e-01 -3.89330876e-03 1.27700329e+00] [ 7.00801630e-04 3.89995228e-03 9.99992150e-01 -1.83932460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.609072329 meters 0.32187356457777644 Centerline is valid? [False, False] Translation: X:63.77, Y:1.28, Z:-1.84 [[ 9.99962109e-01 8.68344502e-03 -6.14861321e-04 6.37661082e+01] [-8.68652652e-03 9.99948750e-01 -5.20017512e-03 1.28122897e+00] [ 5.69674375e-04 5.20531909e-03 9.99986290e-01 -1.83896149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63907232900002 meters 0.3242938616821887 Centerline is valid? [False, False] Translation: X:63.77, Y:1.29, Z:-1.84 [[ 9.99966716e-01 8.14139857e-03 -5.33966275e-04 6.37656568e+01] [-8.14468680e-03 9.99945862e-01 -6.47586775e-03 1.28537577e+00] [ 4.81214747e-04 6.48000119e-03 9.99978889e-01 -1.83860818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66907232900002 meters 0.32730529222161425 Centerline is valid? [False, False] Translation: X:63.77, Y:1.29, Z:-1.84 [[ 9.99934192e-01 1.14645703e-02 -4.18635548e-04 6.37651760e+01] [-1.14662850e-02 9.99924783e-01 -4.35343272e-03 1.29262168e+00] [ 3.68693824e-04 4.35794642e-03 9.99990436e-01 -1.83833994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69907232900002 meters 0.3273380712082473 Centerline is valid? [False, False] Translation: X:63.77, Y:1.30, Z:-1.84 [[ 9.99881052e-01 1.54174115e-02 -4.31366942e-04 6.37653400e+01] [-1.54177580e-02 9.99880810e-01 -8.11819785e-04 1.29529962e+00] [ 4.18799368e-04 8.18373931e-04 9.99999577e-01 -1.83843097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72907232900002 meters 0.3273380712082473 Centerline is valid? [False, False] Translation: X:63.77, Y:1.30, Z:-1.84 [[ 9.99881052e-01 1.54174115e-02 -4.31366942e-04 6.37653400e+01] [-1.54177580e-02 9.99880810e-01 -8.11819785e-04 1.29529962e+00] [ 4.18799368e-04 8.18373931e-04 9.99999577e-01 -1.83843097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75907232900002 meters 0.32453315790916465 Centerline is valid? [False, False] Translation: X:63.77, Y:1.30, Z:-1.84 [[ 9.99811783e-01 1.93952334e-02 -4.73731465e-04 6.37656286e+01] [-1.93938477e-02 9.99808076e-01 2.77288183e-03 1.29781553e+00] [ 5.27421235e-04 -2.76317245e-03 9.99996043e-01 -1.83854022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.789072329 meters 0.33105228183558777 Centerline is valid? [False, False] Translation: X:63.77, Y:1.31, Z:-1.84 [[ 9.99822316e-01 1.88216439e-02 -1.03989938e-03 6.37675750e+01] [-1.88212435e-02 9.99822787e-01 3.93523570e-04 1.30609873e+00] [ 1.04712185e-03 -3.73881448e-04 9.99999382e-01 -1.83989544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819072329 meters 0.3290038288650171 Centerline is valid? [False, False] Translation: X:63.77, Y:1.31, Z:-1.84 [[ 9.99831021e-01 1.83557688e-02 -9.97273528e-04 6.37674070e+01] [-1.83563430e-02 9.99831346e-01 -5.69691355e-04 1.30934839e+00] [ 9.86648211e-04 5.87901384e-04 9.99999340e-01 -1.83994070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.849072329 meters 0.3234048260714025 Centerline is valid? [False, False] Translation: X:63.77, Y:1.32, Z:-1.84 [[ 9.99852261e-01 1.71642180e-02 -9.19914047e-04 6.37663525e+01] [-1.71668467e-02 9.99848345e-01 -2.93020081e-03 1.31704058e+00] [ 8.69479932e-04 2.94555993e-03 9.99995284e-01 -1.83882376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879072329 meters 0.32497655855090013 Centerline is valid? [False, False] Translation: X:63.77, Y:1.32, Z:-1.84 [[ 9.99862590e-01 1.65517245e-02 -9.17120289e-04 6.37658940e+01] [-1.65553614e-02 9.99854499e-01 -4.11113667e-03 1.32099735e+00] [ 8.48940445e-04 4.12575501e-03 9.99991129e-01 -1.83823246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.909072329 meters 0.32144908190665045 Centerline is valid? [False, False] Translation: X:63.77, Y:1.32, Z:-1.84 [[ 9.99872348e-01 1.59511381e-02 -9.21078850e-04 6.37655486e+01] [-1.59557663e-02 9.99858877e-01 -5.25740799e-03 1.32485749e+00] [ 8.37087224e-04 5.27143339e-03 9.99985756e-01 -1.83780755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939072329 meters 0.3217978254266812 Centerline is valid? [False, False] Translation: X:63.77, Y:1.33, Z:-1.84 [[ 9.99881015e-01 1.53977099e-02 -9.30723202e-04 6.37653321e+01] [-1.54032716e-02 9.99861532e-01 -6.29723243e-03 1.32838717e+00] [ 8.33631369e-04 6.31081934e-03 9.99979739e-01 -1.83754116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.969072329 meters 0.3226308882642211 Centerline is valid? [False, False] Translation: X:63.78, Y:1.33, Z:-1.83 [[ 9.99896274e-01 1.37688657e-02 -4.22595259e-03 6.37764847e+01] [-1.37730120e-02 9.99904693e-01 -9.53598956e-04 1.33486079e+00] [ 4.21241985e-03 1.01170414e-03 9.99990616e-01 -1.83331629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999072329 meters 0.3204586620289261 Centerline is valid? [False, False] Translation: X:63.78, Y:1.34, Z:-1.83 [[ 9.99903735e-01 1.32298067e-02 -4.18254622e-03 6.37764036e+01] [-1.32381455e-02 9.99910427e-01 -1.97235672e-03 1.33837466e+00] [ 4.15607767e-03 2.02753601e-03 9.99989308e-01 -1.83358379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.029072329 meters 0.31886258856507665 Centerline is valid? [False, False] Translation: X:63.78, Y:1.34, Z:-1.83 [[ 9.99916533e-01 1.22455932e-02 -4.11973979e-03 6.37762601e+01] [-1.22614102e-02 9.99917467e-01 -3.83619981e-03 1.34481669e+00] [ 4.07242323e-03 3.88639343e-03 9.99984156e-01 -1.83391357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059072329 meters 0.3193151817230831 Centerline is valid? [False, False] Translation: X:63.78, Y:1.35, Z:-1.83 [[ 9.99923652e-01 1.16725359e-02 -4.05499118e-03 6.37758340e+01] [-1.16925692e-02 9.99919376e-01 -4.95234722e-03 1.34857280e+00] [ 3.99685780e-03 4.99938238e-03 9.99979515e-01 -1.83366574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089072329 meters 0.3171428543798547 Centerline is valid? [False, False] Translation: X:63.78, Y:1.35, Z:-1.83 [[ 9.99930549e-01 1.10765184e-02 -4.02588153e-03 6.37754516e+01] [-1.11011368e-02 9.99919499e-01 -6.14501831e-03 1.35255936e+00] [ 3.95749203e-03 6.18928339e-03 9.99973015e-01 -1.83332166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119072329 meters 0.3149145815478061 Centerline is valid? [False, False] Translation: X:63.78, Y:1.36, Z:-1.83 [[ 9.99885452e-01 1.45753146e-02 -4.07949049e-03 6.37753590e+01] [-1.45898515e-02 9.99887237e-01 -3.55662345e-03 1.35835459e+00] [ 4.02719156e-03 3.61573520e-03 9.99985354e-01 -1.83295333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.149072329 meters 0.3166496550281753 Centerline is valid? [False, False] Translation: X:63.77, Y:1.36, Z:-1.83 [[ 9.99894003e-01 1.39940774e-02 -4.01850995e-03 6.37749972e+01] [-1.40132474e-02 9.99890372e-01 -4.78255574e-03 1.36244881e+00] [ 3.95114195e-03 4.83836118e-03 9.99980489e-01 -1.83276730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179072329 meters 0.3157557270983658 Centerline is valid? [False, False] Translation: X:63.77, Y:1.37, Z:-1.83 [[ 9.99902316e-01 1.33988245e-02 -3.97875191e-03 6.37746754e+01] [-1.34227413e-02 9.99891629e-01 -6.04653645e-03 1.36666536e+00] [ 3.89730425e-03 6.09935155e-03 9.99973804e-01 -1.83254396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.209072329 meters 0.3172451688621571 Centerline is valid? [False, False] Translation: X:63.77, Y:1.37, Z:-1.83 [[ 9.99849651e-01 1.68607897e-02 -4.04823975e-03 6.37743878e+01] [-1.68751233e-02 9.99851363e-01 -3.53304418e-03 1.37261832e+00] [ 3.98806812e-03 3.60082754e-03 9.99985565e-01 -1.83168789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239072329 meters 0.3160464513094119 Centerline is valid? [False, False] Translation: X:63.77, Y:1.38, Z:-1.83 [[ 9.99860840e-01 1.62047946e-02 -3.96290805e-03 6.37737985e+01] [-1.62240904e-02 9.99856441e-01 -4.88641320e-03 1.37709975e+00] [ 3.88315581e-03 4.95002779e-03 9.99980209e-01 -1.83124193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.269072329 meters 0.3146749013625915 Centerline is valid? [False, False] Translation: X:63.77, Y:1.38, Z:-1.83 [[ 9.99871511e-01 1.55464961e-02 -3.90744910e-03 6.37734331e+01] [-1.55708240e-02 9.99859079e-01 -6.27468307e-03 1.38175443e+00] [ 3.80934912e-03 6.33471905e-03 9.99972680e-01 -1.83100722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299072329 meters 0.31479673289248544 Centerline is valid? [False, False] Translation: X:63.77, Y:1.39, Z:-1.83 [[ 9.99811542e-01 1.90135078e-02 -3.92007643e-03 6.37734830e+01] [-1.90280890e-02 9.99812042e-01 -3.71650554e-03 1.38768925e+00] [ 3.84867582e-03 3.79039670e-03 9.99985410e-01 -1.83105852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.329072329 meters 0.31997962074843195 Centerline is valid? [False, False] Translation: X:63.77, Y:1.39, Z:-1.83 [[ 9.99821291e-01 1.85001499e-02 -3.88982201e-03 6.37733310e+01] [-1.85187747e-02 9.99816953e-01 -4.80786119e-03 1.39136935e+00] [ 3.80016383e-03 4.87903672e-03 9.99980877e-01 -1.83109361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359072329 meters 0.31579968219891735 Centerline is valid? [False, False] Translation: X:63.77, Y:1.40, Z:-1.83 [[ 9.99839013e-01 1.75251513e-02 -3.84930868e-03 6.37729625e+01] [-1.75514384e-02 9.99822119e-01 -6.90486161e-03 1.39838515e+00] [ 3.72761522e-03 6.97131092e-03 9.99968752e-01 -1.83082751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38907232900002 meters 0.31295209946407043 Centerline is valid? [False, False] Translation: X:63.77, Y:1.40, Z:-1.83 [[ 9.99849536e-01 1.69218066e-02 -3.81547218e-03 6.37725553e+01] [-1.69522051e-02 9.99823646e-01 -8.08078659e-03 1.40232989e+00] [ 3.67805780e-03 8.14425139e-03 9.99960071e-01 -1.83044998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41907232900002 meters 0.3130679094261616 Centerline is valid? [False, False] Translation: X:63.78, Y:1.41, Z:-1.82 [[ 9.99905819e-01 1.22515948e-02 -6.18482498e-03 6.37799326e+01] [-1.22778239e-02 9.99915716e-01 -4.22086894e-03 1.40644214e+00] [ 6.13259132e-03 4.29640760e-03 9.99971966e-01 -1.82381848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44907232900002 meters 0.31084071590352425 Centerline is valid? [False, False] Translation: X:63.79, Y:1.41, Z:-1.82 [[ 9.99897583e-01 1.06690248e-02 -9.53918867e-03 6.37894933e+01] [-1.06559916e-02 9.99942221e-01 1.41605807e-03 1.41272984e+00] [ 9.55374546e-03 -1.31426353e-03 9.99953498e-01 -1.81813579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47907232900002 meters 0.3111784812754154 Centerline is valid? [False, False] Translation: X:63.79, Y:1.42, Z:-1.82 [[ 9.99901953e-01 1.02473083e-02 -9.54347344e-03 6.37893459e+01] [-1.02419059e-02 9.99947361e-01 6.14776480e-04 1.41544912e+00] [ 9.54927089e-03 -5.16972845e-04 9.99954271e-01 -1.81805378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50907232900002 meters 0.310383292185542 Centerline is valid? [False, False] Translation: X:63.79, Y:1.42, Z:-1.82 [[ 9.99907649e-01 9.62854186e-03 -9.59089884e-03 6.37894526e+01] [-9.63464984e-03 9.99953411e-01 -5.90851085e-04 1.41958764e+00] [ 9.58476298e-03 6.83201471e-04 9.99953832e-01 -1.81832360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539072329 meters 0.3085950982421259 Centerline is valid? [False, False] Translation: X:63.79, Y:1.42, Z:-1.82 [[ 9.99911177e-01 9.26549166e-03 -9.58061063e-03 6.37892478e+01] [-9.27819287e-03 9.99956135e-01 -1.28212314e-03 1.42191904e+00] [ 9.56831087e-03 1.37090001e-03 9.99953283e-01 -1.81817237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.569072329 meters 0.3040082918959177 Centerline is valid? [False, False] Translation: X:63.79, Y:1.43, Z:-1.82 [[ 9.99918642e-01 8.40098878e-03 -9.59857932e-03 6.37886341e+01] [-8.42811415e-03 9.99960593e-01 -2.78903084e-03 1.42699810e+00] [ 9.57477046e-03 2.86970186e-03 9.99950043e-01 -1.81741359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599072329 meters 0.30076873076545174 Centerline is valid? [False, False] Translation: X:63.79, Y:1.43, Z:-1.82 [[ 9.99921927e-01 7.96756393e-03 -9.62584959e-03 6.37882847e+01] [-8.00243029e-03 9.99961539e-01 -3.58908815e-03 1.42963877e+00] [ 9.59688308e-03 3.66583813e-03 9.99947229e-01 -1.81687863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.629072329 meters 0.3022248548852661 Centerline is valid? [False, False] Translation: X:63.79, Y:1.43, Z:-1.82 [[ 9.99924507e-01 7.61276576e-03 -9.64501629e-03 6.37880180e+01] [-7.65412695e-03 9.99961638e-01 -4.25871696e-03 1.43185742e+00] [ 9.61222568e-03 4.33221963e-03 9.99944417e-01 -1.81646628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659072329 meters 0.30341915245330175 Centerline is valid? [False, False] Translation: X:63.79, Y:1.43, Z:-1.82 [[ 9.99926255e-01 7.35929449e-03 -9.66052079e-03 6.37878405e+01] [-7.40544896e-03 9.99961295e-01 -4.75059271e-03 1.43347218e+00] [ 9.62518587e-03 4.82178287e-03 9.99942051e-01 -1.81617918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.689072329 meters 0.29968491913007217 Centerline is valid? [False, False] Translation: X:63.79, Y:1.44, Z:-1.82 [[ 9.99928385e-01 6.98705722e-03 -9.71627735e-03 6.37877613e+01] [-7.04090481e-03 9.99959983e-01 -5.51887849e-03 1.43600160e+00] [ 9.67732782e-03 5.58689464e-03 9.99937566e-01 -1.81592177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719072329 meters 0.2998846243851834 Centerline is valid? [False, False] Translation: X:63.79, Y:1.44, Z:-1.82 [[ 9.99928886e-01 6.88810978e-03 -9.73535792e-03 6.37879036e+01] [-6.94403031e-03 9.99959519e-01 -5.72198242e-03 1.43672447e+00] [ 9.69555018e-03 5.78917812e-03 9.99936239e-01 -1.81613233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.749072329 meters 0.2938976009355403 Centerline is valid? [False, False] Translation: X:63.79, Y:1.44, Z:-1.82 [[ 9.99929656e-01 6.74020016e-03 -9.75979789e-03 6.37879701e+01] [-6.79917529e-03 9.99958752e-01 -6.02214007e-03 1.43775300e+00] [ 9.71880489e-03 6.08807503e-03 9.99934238e-01 -1.81619253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779072329 meters 0.2946424474713366 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.81 [[ 9.99928478e-01 4.69171376e-04 -1.19506893e-02 6.37973235e+01] [-4.94288725e-04 9.99997675e-01 -2.09888202e-03 1.44049850e+00] [ 1.19496768e-02 2.10463900e-03 9.99926385e-01 -1.81046895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809072329 meters 0.2929586635816381 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.81 [[ 9.99927790e-01 2.77667528e-04 -1.20140838e-02 6.37971915e+01] [-3.07319323e-04 9.99996911e-01 -2.46631051e-03 1.44166556e+00] [ 1.20133619e-02 2.46982457e-03 9.99924787e-01 -1.81001023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839072329 meters 0.2939961087512649 Centerline is valid? [False, False] Translation: X:63.79, Y:1.44, Z:-1.82 [[ 9.99989373e-01 -2.19307489e-03 4.05518858e-03 6.37944589e+01] [ 2.20725295e-03 9.99991456e-01 -3.49511351e-03 1.44479915e+00] [-4.04748889e-03 3.50402719e-03 9.99985670e-01 -1.81802569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.869072329 meters 0.2869667812761212 Centerline is valid? [False, False] Translation: X:63.79, Y:1.45, Z:-1.82 [[ 9.99989327e-01 -2.30072972e-03 4.00652834e-03 6.37944552e+01] [ 2.31562376e-03 9.99990412e-01 -3.71678008e-03 1.44551261e+00] [-3.99793862e-03 3.72601802e-03 9.99985067e-01 -1.81782135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899072329 meters 0.285205577685071 Centerline is valid? [False, False] Translation: X:63.79, Y:1.45, Z:-1.82 [[ 9.99989322e-01 -2.38416470e-03 3.95875207e-03 6.37946340e+01] [ 2.39958976e-03 9.99989530e-01 -3.89627577e-03 1.44614862e+00] [-3.94942126e-03 3.90573354e-03 9.99984574e-01 -1.81794920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.929072329 meters 0.28840957208327006 Centerline is valid? [False, False] Translation: X:63.79, Y:1.45, Z:-1.82 [[ 9.99989411e-01 -2.42015809e-03 3.91428914e-03 6.37949698e+01] [ 2.43576521e-03 9.99989084e-01 -3.98737770e-03 1.44654882e+00] [-3.90459633e-03 3.99686976e-03 9.99984389e-01 -1.81836091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959072329 meters 0.2889379653027045 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99989763e-01 -2.43751942e-03 3.81216315e-03 6.37955990e+01] [ 2.45306237e-03 9.99988677e-01 -4.07785309e-03 1.44703181e+00] [-3.80218014e-03 4.08716282e-03 9.99984419e-01 -1.81906997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.989072329 meters 0.28762141104313327 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99989934e-01 -2.46154413e-03 3.75142178e-03 6.37958222e+01] [ 2.47706918e-03 9.99988365e-01 -4.13943271e-03 1.44726267e+00] [-3.74118873e-03 4.14868358e-03 9.99984396e-01 -1.81919007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019072329 meters 0.2864714748203207 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99990024e-01 -2.50985500e-03 3.69483140e-03 6.37959241e+01] [ 2.52554626e-03 9.99987787e-01 -4.24829145e-03 1.44762052e+00] [-3.68412368e-03 4.25758054e-03 9.99984150e-01 -1.81911061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.049072329 meters 0.2822675418243186 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99989648e-01 -2.57169032e-03 3.75378354e-03 6.37954860e+01] [ 2.58795302e-03 9.99987260e-01 -4.33393953e-03 1.44774615e+00] [-3.74259016e-03 4.34360928e-03 9.99983563e-01 -1.81849785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079072329 meters 0.2812649849049412 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99989895e-01 -2.51116669e-03 3.72889308e-03 6.37954961e+01] [ 2.52682928e-03 9.99987981e-01 -4.20157726e-03 1.44727260e+00] [-3.71829740e-03 4.21095708e-03 9.99984221e-01 -1.81835193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.109072329 meters 0.2764269773765507 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99990310e-01 -2.41475965e-03 3.68099396e-03 6.37957969e+01] [ 2.42936029e-03 9.99989180e-01 -3.96719663e-03 1.44656494e+00] [-3.67137431e-03 3.97610065e-03 9.99985356e-01 -1.81868013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13907232900002 meters 0.27430414101873196 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99990870e-01 -2.30532612e-03 3.59810844e-03 6.37962050e+01] [ 2.31883935e-03 9.99990258e-01 -3.75600748e-03 1.44593085e+00] [-3.58941456e-03 3.76431662e-03 9.99986473e-01 -1.81901241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16907232900002 meters 0.2767003970543608 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99991497e-01 -2.21863144e-03 3.47618703e-03 6.37968356e+01] [ 2.23118257e-03 9.99990992e-01 -3.61089565e-03 1.44566323e+00] [-3.46814447e-03 3.61862095e-03 9.99987439e-01 -1.81958610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19907232900002 meters 0.27257249608958656 Centerline is valid? [False, False] Translation: X:63.80, Y:1.45, Z:-1.82 [[ 9.99991994e-01 -2.12790193e-03 3.38887256e-03 6.37971808e+01] [ 2.13956050e-03 9.99991793e-01 -3.44034657e-03 1.44513588e+00] [-3.38152403e-03 3.44756973e-03 9.99988340e-01 -1.81976894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22907232900002 meters 0.2670006931362503 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99992325e-01 -2.01996123e-03 3.35717318e-03 6.37973376e+01] [ 2.03073188e-03 9.99992793e-01 -3.20794164e-03 1.44437877e+00] [-3.35066907e-03 3.21473454e-03 9.99989219e-01 -1.81987087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25907232900002 meters 0.2701486276780054 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99992743e-01 -1.87774915e-03 3.31492670e-03 6.37975566e+01] [ 1.88737368e-03 9.99994006e-01 -2.90265616e-03 1.44340976e+00] [-3.30945637e-03 2.90889160e-03 9.99990293e-01 -1.82001959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.289072329 meters 0.26447981354786665 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99991687e-01 -1.91965632e-03 3.59722208e-03 6.37968625e+01] [ 1.92874395e-03 9.99994953e-01 -2.52452622e-03 1.44189579e+00] [-3.59235770e-03 2.53144335e-03 9.99990343e-01 -1.81997054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319072329 meters 0.26451208733859344 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99991682e-01 -1.81919548e-03 3.65045247e-03 6.37966982e+01] [ 1.82736313e-03 9.99995832e-01 -2.23534863e-03 1.44088774e+00] [-3.64637072e-03 2.24200074e-03 9.99990839e-01 -1.81984998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.349072329 meters 0.26029408742562726 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99990549e-01 -1.85110641e-03 3.93375505e-03 6.37957586e+01] [ 1.85831551e-03 9.99996599e-01 -1.82976090e-03 1.43927241e+00] [-3.93035459e-03 1.83705377e-03 9.99990589e-01 -1.81926255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379072329 meters 0.25656049647951107 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99990798e-01 -1.77509036e-03 3.90550619e-03 6.37958039e+01] [ 1.78154702e-03 9.99997051e-01 -1.65036124e-03 1.43866296e+00] [-3.90256514e-03 1.65730390e-03 9.99991012e-01 -1.81916461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.409072329 meters 0.25859082847199794 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99991092e-01 -1.67289265e-03 3.87511692e-03 6.37958921e+01] [ 1.67844970e-03 9.99997567e-01 -1.43122649e-03 1.43794482e+00] [-3.87271320e-03 1.43771793e-03 9.99991467e-01 -1.81910900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439072329 meters 0.2563818426159257 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99990273e-01 -1.68392220e-03 4.07651891e-03 6.37952291e+01] [ 1.68845920e-03 9.99997959e-01 -1.10977529e-03 1.43667059e+00] [-4.07464182e-03 1.11664753e-03 9.99991075e-01 -1.81865804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.469072329 meters 0.25539809159285376 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99990607e-01 -1.58763121e-03 4.03299002e-03 6.37953332e+01] [ 1.59126972e-03 9.99998330e-01 -8.99136563e-04 1.43597054e+00] [-4.03155579e-03 9.05545692e-04 9.99991463e-01 -1.81859570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499072329 meters 0.2577927411865809 Centerline is valid? [False, False] Translation: X:63.80, Y:1.44, Z:-1.82 [[ 9.99991052e-01 -1.48620766e-03 3.96074455e-03 6.37955041e+01] [ 1.48890117e-03 9.99998662e-01 -6.77191107e-04 1.43521625e+00] [-3.95973281e-03 6.83082204e-04 9.99991927e-01 -1.81853206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.529072329 meters 0.2573324270013425 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99991655e-01 -1.33715726e-03 3.86020348e-03 6.37959671e+01] [ 1.33868455e-03 9.99999027e-01 -3.93094841e-04 1.43437224e+00] [-3.85967409e-03 3.98259156e-04 9.99992472e-01 -1.81885491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559072329 meters 0.256931226840723 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992363e-01 -1.14868482e-03 3.73544357e-03 6.37967511e+01] [ 1.14842902e-03 9.99999338e-01 7.06243462e-05 1.43311686e+00] [-3.73552222e-03 -6.63339151e-05 9.99993021e-01 -1.81962809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589072329 meters 0.256931226840723 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992363e-01 -1.14868482e-03 3.73544357e-03 6.37967511e+01] [ 1.14842902e-03 9.99999338e-01 7.06243462e-05 1.43311686e+00] [-3.73552222e-03 -6.63339151e-05 9.99993021e-01 -1.81962809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619072329 meters 0.2607365110423098 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992888e-01 -9.95928032e-04 3.63765620e-03 6.37972483e+01] [ 9.94639158e-04 9.99999442e-01 3.56106339e-04 1.43228007e+00] [-3.63800883e-03 -3.52485651e-04 9.99993320e-01 -1.82003244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.649072329 meters 0.2595791360272453 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992379e-01 -9.22059877e-04 3.79356365e-03 6.37968414e+01] [ 9.19056367e-04 9.99999263e-01 7.93405610e-04 1.43068615e+00] [-3.79429242e-03 -7.89913065e-04 9.99992490e-01 -1.81997028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679072329 meters 0.261968828839312 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992406e-01 -8.07958172e-04 3.81252691e-03 6.37966813e+01] [ 8.03902477e-04 9.99999110e-01 1.06519395e-03 1.42970131e+00] [-3.81338414e-03 -1.06212096e-03 9.99992165e-01 -1.81970719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.709072329 meters 0.260468286805608 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992500e-01 -7.22447692e-04 3.80505468e-03 6.37964576e+01] [ 7.17490442e-04 9.99998892e-01 1.30401067e-03 1.42874710e+00] [-3.80599255e-03 -1.30127080e-03 9.99991911e-01 -1.81923832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739072329 meters 0.2604597540454818 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992003e-01 -6.95081535e-04 3.93843020e-03 6.37959057e+01] [ 6.88708031e-04 9.99998452e-01 1.61941071e-03 1.42745864e+00] [-3.93954972e-03 -1.61668533e-03 9.99990933e-01 -1.81877576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.769072329 meters 0.26214845501313205 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992456e-01 -5.43656970e-04 3.84606753e-03 6.37963341e+01] [ 5.36349817e-04 9.99998050e-01 1.90067896e-03 1.42658663e+00] [-3.84709335e-03 -1.89860178e-03 9.99990798e-01 -1.81907416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799072329 meters 0.26319582972792455 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99992895e-01 -4.22847180e-04 3.74573686e-03 6.37967661e+01] [ 4.14914504e-04 9.99997670e-01 2.11831190e-03 1.42591309e+00] [-3.74662386e-03 -2.11674269e-03 9.99990741e-01 -1.81935031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.829072329 meters 0.2649615249524673 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99993167e-01 -2.59029553e-04 3.68770319e-03 6.37971702e+01] [ 2.50007402e-04 9.99996975e-01 2.44680096e-03 1.42493888e+00] [-3.68832583e-03 -2.44586229e-03 9.99990207e-01 -1.81982101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859072329 meters 0.2637887339370203 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99993568e-01 -2.32107223e-04 3.57915867e-03 6.37974306e+01] [ 2.23253263e-04 9.99996915e-01 2.47395550e-03 1.42484628e+00] [-3.57972185e-03 -2.47314053e-03 9.99990535e-01 -1.81974447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88907232900002 meters 0.26092870581466376 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99994101e-01 -2.51002886e-04 3.42572268e-03 6.37976998e+01] [ 2.42753896e-04 9.99997071e-01 2.40815941e-03 1.42503617e+00] [-3.42631710e-03 -2.40731360e-03 9.99991233e-01 -1.81947354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91907232900002 meters 0.26150195746207106 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99994492e-01 -2.75617569e-04 3.30759813e-03 6.37978504e+01] [ 2.67874777e-04 9.99997224e-01 2.34112543e-03 1.42520976e+00] [-3.30823420e-03 -2.34022651e-03 9.99991789e-01 -1.81917328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94907232900002 meters 0.26449474449877014 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99994827e-01 -2.04725832e-04 3.21004019e-03 6.37981436e+01] [ 1.96872767e-04 9.99996988e-01 2.44653231e-03 1.42490289e+00] [-3.21053139e-03 -2.44588768e-03 9.99991855e-01 -1.81919890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97907232900002 meters 0.26103419413537676 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99995109e-01 -9.34765304e-05 3.12614764e-03 6.37984749e+01] [ 8.52467403e-05 9.99996531e-01 2.63259567e-03 1.42429686e+00] [-3.12638288e-03 -2.63231630e-03 9.99991648e-01 -1.81934132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00907232900002 meters 0.2648546033379898 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99995431e-01 4.29365756e-05 3.02250415e-03 6.37988358e+01] [-5.16218398e-05 9.99995870e-01 2.87351325e-03 1.42351238e+00] [-3.02236829e-03 -2.87365615e-03 9.99991304e-01 -1.81948564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039072329 meters 0.26611585998468257 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99995802e-01 2.75380059e-05 2.89739854e-03 6.37990904e+01] [-3.57033506e-05 9.99996028e-01 2.81815018e-03 1.42367738e+00] [-2.89730942e-03 -2.81824179e-03 9.99991832e-01 -1.81932487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.069072329 meters 0.2589467088397687 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99996155e-01 1.22250804e-04 2.77052959e-03 6.37994112e+01] [-1.30486076e-04 9.99995574e-01 2.97246821e-03 1.42315857e+00] [-2.77015394e-03 -2.97281830e-03 9.99991744e-01 -1.81925415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099072329 meters 0.25618495814932307 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99996340e-01 1.87257092e-04 2.69919527e-03 6.37994902e+01] [-1.95584282e-04 9.99995222e-01 3.08513006e-03 1.42271381e+00] [-2.69860466e-03 -3.08564669e-03 9.99991598e-01 -1.81904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.129072329 meters 0.2599587861942267 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99996517e-01 2.49151816e-04 2.62738353e-03 6.37995871e+01] [-2.57515978e-04 9.99994899e-01 3.18359909e-03 1.42233329e+00] [-2.62657693e-03 -3.18426459e-03 9.99991481e-01 -1.81885176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159072329 meters 0.25246088553434926 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99996649e-01 3.38828442e-04 2.56672232e-03 6.37995971e+01] [-3.47420830e-04 9.99994335e-01 3.34790514e-03 1.42169010e+00] [-2.56557341e-03 -3.34878565e-03 9.99991102e-01 -1.81857340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.189072329 meters 0.2511783814800222 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99996819e-01 3.74017576e-04 2.49437258e-03 6.37995925e+01] [-3.82549054e-04 9.99994076e-01 3.42069065e-03 1.42133570e+00] [-2.49307840e-03 -3.42163399e-03 9.99991038e-01 -1.81826442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219072329 meters 0.24753561176077624 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99997018e-01 3.59665724e-04 2.41568213e-03 6.37997441e+01] [-3.67823930e-04 9.99994228e-01 3.37759063e-03 1.42146521e+00] [-2.41445339e-03 -3.37846911e-03 9.99991378e-01 -1.81814653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.249072329 meters 0.25027699037552287 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99997234e-01 3.44602068e-04 2.32674897e-03 6.38001421e+01] [-3.52316077e-04 9.99994441e-01 3.31576377e-03 1.42176068e+00] [-2.32559342e-03 -3.31657434e-03 9.99991796e-01 -1.81838406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279072329 meters 0.25057609171549294 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99997555e-01 3.13306817e-04 2.18897229e-03 6.38006490e+01] [-3.20308600e-04 9.99994832e-01 3.19904425e-03 1.42226140e+00] [-2.18795870e-03 -3.19973757e-03 9.99992487e-01 -1.81856148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309072329 meters 0.2453424724565743 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99998014e-01 2.10043511e-04 1.98205330e-03 6.38011322e+01] [-2.15794214e-04 9.99995767e-01 2.90161858e-03 1.42330599e+00] [-1.98143545e-03 -2.90204054e-03 9.99993826e-01 -1.81845042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339072329 meters 0.2534862759215626 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99998107e-01 1.54681912e-04 1.93938394e-03 6.38010455e+01] [-1.60116898e-04 9.99996060e-01 2.80258700e-03 1.42355597e+00] [-1.93894279e-03 -2.80289222e-03 9.99994192e-01 -1.81812363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.369072329 meters 0.2458364665387717 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99998258e-01 4.71728885e-05 1.86614186e-03 6.38009496e+01] [-5.20192466e-05 9.99996626e-01 2.59703010e-03 1.42413378e+00] [-1.86601306e-03 -2.59712265e-03 9.99994886e-01 -1.81763818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399072329 meters 0.24297246301929395 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99998406e-01 -1.91256456e-04 1.77516686e-03 6.38007221e+01] [ 1.87501737e-04 9.99997746e-01 2.11506119e-03 1.42558484e+00] [-1.77556737e-03 -2.11472497e-03 9.99996188e-01 -1.81689564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.429072329 meters 0.24429594758492315 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99998589e-01 -2.54700247e-04 1.66032650e-03 6.38009752e+01] [ 2.51435490e-04 9.99998035e-01 1.96624701e-03 1.42608947e+00] [-1.66082404e-03 -1.96582678e-03 9.99996689e-01 -1.81679169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459072329 meters 0.24384228891963083 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99998761e-01 -3.11675654e-04 1.54280077e-03 6.38013059e+01] [ 3.08847755e-04 9.99998273e-01 1.83286347e-03 1.42657096e+00] [-1.54336936e-03 -1.83238471e-03 9.99997130e-01 -1.81681620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.489072329 meters 0.24650248426941074 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99998979e-01 -2.64105304e-04 1.40437695e-03 6.38018423e+01] [ 2.61473907e-04 9.99998211e-01 1.87356498e-03 1.42653126e+00] [-1.40486926e-03 -1.87319586e-03 9.99997259e-01 -1.81704721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519072329 meters 0.24807784516866255 Centerline is valid? [False, False] Translation: X:63.80, Y:1.43, Z:-1.82 [[ 9.99999174e-01 -1.87303533e-04 1.27187934e-03 6.38020940e+01] [ 1.84744491e-04 9.99997959e-01 2.01183524e-03 1.42601179e+00] [-1.27225357e-03 -2.01159860e-03 9.99997167e-01 -1.81691175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.549072329 meters 0.25223644764867953 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99999281e-01 3.46063716e-06 1.19884652e-03 6.38022271e+01] [-6.30550045e-06 9.99997184e-01 2.37300476e-03 1.42473172e+00] [-1.19883493e-03 -2.37301062e-03 9.99996466e-01 -1.81679294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579072329 meters 0.2504261641079859 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99999395e-01 1.67667135e-04 1.08756251e-03 6.38024761e+01] [-1.70570999e-04 9.99996420e-01 2.67052275e-03 1.42370147e+00] [-1.08711086e-03 -2.67070664e-03 9.99995843e-01 -1.81668084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.609072329 meters 0.26323804449545396 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99999442e-01 4.68200778e-04 9.46649834e-04 6.38031229e+01] [-4.71232551e-04 9.99994753e-01 3.20495205e-03 1.42203244e+00] [-9.45144306e-04 -3.20539636e-03 9.99994416e-01 -1.81716081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63907232900002 meters 0.25692746921788967 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99999464e-01 6.36246461e-04 8.17252709e-04 6.38035689e+01] [-6.39103929e-04 9.99993667e-01 3.50094199e-03 1.42108567e+00] [-8.15020072e-04 -3.50146242e-03 9.99993538e-01 -1.81730044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66907232900002 meters 0.26015861170466725 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99999408e-01 8.59344863e-04 6.68079369e-04 6.38040730e+01] [-8.61938573e-04 9.99992055e-01 3.89179318e-03 1.41982198e+00] [-6.64729669e-04 -3.89236672e-03 9.99992204e-01 -1.81741967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69907232900002 meters 0.26526405650864526 Centerline is valid? [False, False] Translation: X:63.80, Y:1.42, Z:-1.82 [[ 9.99998999e-01 1.25435625e-03 6.54299711e-04 6.38038136e+01] [-1.25742032e-03 9.99988147e-01 4.70377656e-03 1.41687506e+00] [-6.48391743e-04 -4.70459458e-03 9.99988723e-01 -1.81703814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72907232900002 meters 0.26906381051152245 Centerline is valid? [False, False] Translation: X:63.80, Y:1.41, Z:-1.82 [[ 9.99998637e-01 1.55418472e-03 5.57468190e-04 6.38039834e+01] [-1.55709968e-03 9.99984916e-01 5.26718121e-03 1.41490910e+00] [-5.49273608e-04 -5.26804206e-03 9.99985973e-01 -1.81685919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75907232900002 meters 0.2777993592788468 Centerline is valid? [False, False] Translation: X:63.81, Y:1.41, Z:-1.82 [[ 9.99997097e-01 -2.40760433e-03 9.76202730e-05 6.38053538e+01] [ 2.40748007e-03 9.99996316e-01 1.25364114e-03 1.41424122e+00] [-1.00638185e-04 -1.25340249e-03 9.99999209e-01 -1.81714183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.789072329 meters 0.28339863206032084 Centerline is valid? [False, False] Translation: X:63.81, Y:1.41, Z:-1.82 [[ 9.99997716e-01 -2.13582620e-03 -8.02829171e-05 6.38062210e+01] [ 2.13595850e-03 9.99996298e-01 1.68563976e-03 1.41295469e+00] [ 7.66823863e-05 -1.68580739e-03 9.99998576e-01 -1.81771372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819072329 meters 0.29336914096476635 Centerline is valid? [False, False] Translation: X:63.81, Y:1.41, Z:-1.82 [[ 9.99997910e-01 -2.02475042e-03 -2.84511121e-04 6.38070632e+01] [ 2.02526595e-03 9.99996286e-01 1.82354987e-03 1.41264198e+00] [ 2.80817831e-04 -1.82412227e-03 9.99998297e-01 -1.81815032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.849072329 meters 0.30917022290826107 Centerline is valid? [False, False] Translation: X:63.81, Y:1.41, Z:-1.82 [[ 9.99997984e-01 -1.80170692e-03 -8.86767731e-04 6.38089050e+01] [ 1.80322586e-03 9.99996903e-01 1.71508142e-03 1.41332864e+00] [ 8.83674911e-04 -1.71667700e-03 9.99998136e-01 -1.81863584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879072329 meters 0.31623002522365895 Centerline is valid? [False, False] Translation: X:63.81, Y:1.41, Z:-1.82 [[ 9.99997770e-01 -1.81697436e-03 -1.07656007e-03 6.38092705e+01] [ 1.81871169e-03 9.99997042e-01 1.61499736e-03 1.41366645e+00] [ 1.07362248e-03 -1.61695171e-03 9.99998116e-01 -1.81834018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.909072329 meters 0.32632528336298683 Centerline is valid? [False, False] Translation: X:63.81, Y:1.41, Z:-1.82 [[ 9.99997490e-01 -1.86360400e-03 -1.24345218e-03 6.38095706e+01] [ 1.86542734e-03 9.99997184e-01 1.46680548e-03 1.41412983e+00] [ 1.24071514e-03 -1.46912136e-03 9.99998151e-01 -1.81804022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939072329 meters 0.33863435656281593 Centerline is valid? [False, False] Translation: X:63.81, Y:1.41, Z:-1.82 [[ 9.99997214e-01 -1.87617453e-03 -1.43220811e-03 6.38098920e+01] [ 1.87813775e-03 9.99997297e-01 1.37065246e-03 1.41440590e+00] [ 1.42963266e-03 -1.37333853e-03 9.99998035e-01 -1.81767640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.969072329 meters 0.3711445702892355 Centerline is valid? [False, False] Translation: X:63.81, Y:1.42, Z:-1.82 [[ 9.99996560e-01 -1.64738778e-03 -2.04132760e-03 6.38112539e+01] [ 1.64930254e-03 9.99998201e-01 9.36670073e-04 1.41591861e+00] [ 2.03978087e-03 -9.40033618e-04 9.99997478e-01 -1.81722306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999072329 meters 0.3894750536872802 Centerline is valid? [False, False] Translation: X:63.81, Y:1.42, Z:-1.82 [[ 9.99995760e-01 -1.69745376e-03 -2.36626661e-03 6.38119570e+01] [ 1.69891000e-03 9.99998369e-01 6.13542721e-04 1.41703661e+00] [ 2.36522128e-03 -6.17560193e-04 9.99997012e-01 -1.81695771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.029072329 meters 0.4007457603757053 Centerline is valid? [False, False] Translation: X:63.81, Y:1.42, Z:-1.82 [[ 9.99994660e-01 -1.64603245e-03 -2.82315331e-03 6.38130590e+01] [ 1.64708334e-03 9.99998575e-01 3.69953710e-04 1.41798520e+00] [ 2.82254033e-03 -3.74601704e-04 9.99995946e-01 -1.81679532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059072329 meters 0.4148728406543272 Centerline is valid? [False, False] Translation: X:63.81, Y:1.42, Z:-1.82 [[ 9.99993632e-01 -1.67553336e-03 -3.15105931e-03 6.38138701e+01] [ 1.67582549e-03 9.99998592e-01 9.00696217e-05 1.41899095e+00] [ 3.15090396e-03 -9.53496736e-05 9.99995031e-01 -1.81671988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089072329 meters 0.4380468053719558 Centerline is valid? [False, False] Translation: X:63.82, Y:1.42, Z:-1.82 [[ 9.99991515e-01 -1.32581748e-03 -3.90038297e-03 6.38157721e+01] [ 1.32443282e-03 9.99999059e-01 -3.57569135e-04 1.42075856e+00] [ 3.90085337e-03 3.52400305e-04 9.99992330e-01 -1.81657270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119072329 meters 0.44994209653801914 Centerline is valid? [False, False] Translation: X:63.82, Y:1.42, Z:-1.82 [[ 9.99990126e-01 -1.38847838e-03 -4.22140383e-03 6.38165388e+01] [ 1.38557457e-03 9.99998802e-01 -6.90725009e-04 1.42192587e+00] [ 4.22235783e-03 6.84869119e-04 9.99990851e-01 -1.81643142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.149072329 meters 0.45653905731760575 Centerline is valid? [False, False] Translation: X:63.82, Y:1.42, Z:-1.82 [[ 9.99986867e-01 -1.12237940e-03 -5.00068673e-03 6.38186246e+01] [ 1.11727149e-03 9.99998851e-01 -1.02412000e-03 1.42331264e+00] [ 5.00183043e-03 1.01851942e-03 9.99986972e-01 -1.81659335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179072329 meters 0.464089086879074 Centerline is valid? [False, False] Translation: X:63.82, Y:1.42, Z:-1.82 [[ 9.99985552e-01 -1.12437538e-03 -5.25664871e-03 6.38192646e+01] [ 1.11846623e-03 9.99998740e-01 -1.12693254e-03 1.42373758e+00] [ 5.25790918e-03 1.12103687e-03 9.99985549e-01 -1.81651449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.209072329 meters 0.47344877440462274 Centerline is valid? [False, False] Translation: X:63.82, Y:1.42, Z:-1.82 [[ 9.99982033e-01 -9.30774705e-04 -5.92176899e-03 6.38209903e+01] [ 9.23164981e-04 9.99998745e-01 -1.28764611e-03 1.42447266e+00] [ 5.92296006e-03 1.28215620e-03 9.99981637e-01 -1.81652259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239072329 meters 0.4727904831508964 Centerline is valid? [False, False] Translation: X:63.82, Y:1.42, Z:-1.82 [[ 9.99980329e-01 -9.27045923e-04 -6.20340811e-03 6.38216871e+01] [ 9.18548086e-04 9.99998636e-01 -1.37257470e-03 1.42489291e+00] [ 6.20467209e-03 1.36684957e-03 9.99979817e-01 -1.81644282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.269072329 meters 0.45601663276002813 Centerline is valid? [False, False] Translation: X:63.82, Y:1.43, Z:-1.82 [[ 9.99978435e-01 -9.35633454e-04 -6.50029360e-03 6.38224417e+01] [ 9.25884454e-04 9.99998442e-01 -1.50262594e-03 1.42549343e+00] [ 6.50168938e-03 1.49657501e-03 9.99977744e-01 -1.81638213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299072329 meters 0.4597848222570838 Centerline is valid? [False, False] Translation: X:63.82, Y:1.43, Z:-1.82 [[ 9.99976909e-01 -9.08281285e-04 -6.73471432e-03 6.38230453e+01] [ 8.97909733e-04 9.99998407e-01 -1.54287741e-03 1.42575775e+00] [ 6.73610496e-03 1.53679462e-03 9.99976131e-01 -1.81632832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.329072329 meters 0.4609492519866456 Centerline is valid? [False, False] Translation: X:63.82, Y:1.43, Z:-1.82 [[ 9.99973865e-01 -8.48483747e-04 -7.17978478e-03 6.38240950e+01] [ 8.36354657e-04 9.99998219e-01 -1.69217283e-03 1.42629235e+00] [ 7.18120777e-03 1.68612376e-03 9.99972793e-01 -1.81612271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359072329 meters 0.4631208141168907 Centerline is valid? [False, False] Translation: X:63.82, Y:1.43, Z:-1.82 [[ 9.99972444e-01 -8.43335465e-04 -7.37563005e-03 6.38243185e+01] [ 8.30750923e-04 9.99998194e-01 -1.70913009e-03 1.42630901e+00] [ 7.37705810e-03 1.70295568e-03 9.99971339e-01 -1.81566023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38907232900002 meters 0.46641299582236034 Centerline is valid? [False, False] Translation: X:63.82, Y:1.43, Z:-1.81 [[ 9.99969889e-01 -9.22626555e-04 -7.70520522e-03 6.38244112e+01] [ 9.07807510e-04 9.99997732e-01 -1.92652717e-03 1.42664797e+00] [ 7.70696521e-03 1.91947432e-03 9.99968459e-01 -1.81444238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41907232900002 meters 0.4660619121876882 Centerline is valid? [False, False] Translation: X:63.82, Y:1.43, Z:-1.81 [[ 9.99968380e-01 -9.32967125e-04 -7.89740900e-03 6.38245922e+01] [ 9.17330541e-04 9.99997612e-01 -1.98335464e-03 1.42678232e+00] [ 7.89924055e-03 1.97604739e-03 9.99966848e-01 -1.81392428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44907232900002 meters 0.46854151533914856 Centerline is valid? [False, False] Translation: X:63.82, Y:1.43, Z:-1.81 [[ 9.99966852e-01 -9.90124538e-04 -8.08169053e-03 6.38248508e+01] [ 9.72844619e-04 9.99997233e-01 -2.14180772e-03 1.42731554e+00] [ 8.08378883e-03 2.13387449e-03 9.99965049e-01 -1.81356262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47907232900002 meters 0.47061391875578656 Centerline is valid? [False, False] Translation: X:63.83, Y:1.43, Z:-1.81 [[ 9.99961897e-01 -8.82379898e-04 -8.68481333e-03 6.38265276e+01] [ 8.59424757e-04 9.99996129e-01 -2.64651309e-03 1.42936607e+00] [ 8.68711494e-03 2.63894831e-03 9.99958784e-01 -1.81387453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50907232900002 meters 0.47098746573609035 Centerline is valid? [False, False] Translation: X:63.83, Y:1.43, Z:-1.81 [[ 9.99960059e-01 -9.30428147e-04 -8.88904884e-03 6.38272944e+01] [ 9.04397243e-04 9.99995293e-01 -2.93199500e-03 1.43057606e+00] [ 8.89173501e-03 2.92383866e-03 9.99956193e-01 -1.81422493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539072329 meters 0.47098746573609035 Centerline is valid? [False, False] Translation: X:63.83, Y:1.43, Z:-1.81 [[ 9.99960059e-01 -9.30428147e-04 -8.88904884e-03 6.38272944e+01] [ 9.04397243e-04 9.99995293e-01 -2.93199500e-03 1.43057606e+00] [ 8.89173501e-03 2.92383866e-03 9.99956193e-01 -1.81422493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.569072329 meters 0.4678451565910338 Centerline is valid? [False, False] Translation: X:63.83, Y:1.43, Z:-1.81 [[ 9.99958221e-01 -9.56101744e-04 -9.09073835e-03 6.38280994e+01] [ 9.27173555e-04 9.99994495e-01 -3.18584265e-03 1.43167883e+00] [ 9.09373430e-03 3.17728085e-03 9.99953603e-01 -1.81465822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599072329 meters 0.4724345069129728 Centerline is valid? [False, False] Translation: X:63.83, Y:1.43, Z:-1.81 [[ 9.99956377e-01 -1.00467096e-03 -9.28624341e-03 6.38288097e+01] [ 9.72349565e-04 9.99993457e-01 -3.48442689e-03 1.43291363e+00] [ 9.28968335e-03 3.47524541e-03 9.99950811e-01 -1.81496938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.629072329 meters 0.47251393299208294 Centerline is valid? [False, False] Translation: X:63.83, Y:1.44, Z:-1.81 [[ 9.99953582e-01 -1.04571027e-03 -9.57808096e-03 6.38295602e+01] [ 1.00325093e-03 9.99989655e-01 -4.43670121e-03 1.43628554e+00] [ 9.58262138e-03 4.42688605e-03 9.99944286e-01 -1.81484182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659072329 meters 0.4733763403539491 Centerline is valid? [False, False] Translation: X:63.83, Y:1.44, Z:-1.81 [[ 9.99952169e-01 -1.18982084e-03 -9.70791356e-03 6.38298209e+01] [ 1.14220966e-03 9.99987301e-01 -4.90843928e-03 1.43795558e+00] [ 9.71363044e-03 4.89711604e-03 9.99940830e-01 -1.81468452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.689072329 meters 0.4715749972808977 Centerline is valid? [False, False] Translation: X:63.83, Y:1.44, Z:-1.82 [[ 9.99947324e-01 3.37936987e-03 -9.69167145e-03 6.38301345e+01] [-3.38256688e-03 9.99994230e-01 -3.13499922e-04 1.43700317e+00] [ 9.69055610e-03 3.46266135e-04 9.99952986e-01 -1.81505357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719072329 meters 0.47057917898864343 Centerline is valid? [False, False] Translation: X:63.83, Y:1.44, Z:-1.81 [[ 9.99945504e-01 3.80640530e-03 -9.72109214e-03 6.38301722e+01] [-3.81591236e-03 9.99992259e-01 -9.59622094e-04 1.44104284e+00] [ 9.71736418e-03 9.96664635e-04 9.99952289e-01 -1.81474896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.749072329 meters 0.41841004617280614 Centerline is valid? [False, False] Translation: X:63.83, Y:1.44, Z:-1.81 [[ 9.99944128e-01 3.66250431e-03 -9.91602829e-03 6.38306643e+01] [-3.67791277e-03 9.99992057e-01 -1.53610502e-03 1.44329042e+00] [ 9.91032353e-03 1.57248948e-03 9.99949655e-01 -1.81480127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779072329 meters 0.4194324797015934 Centerline is valid? [False, False] Translation: X:63.83, Y:1.45, Z:-1.82 [[ 9.99943183e-01 3.55440202e-03 -1.00497302e-02 6.38311308e+01] [-3.57489232e-03 9.99991566e-01 -2.02166219e-03 1.44522068e+00] [ 1.00424596e-02 2.05747402e-03 9.99947457e-01 -1.81503270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809072329 meters 0.426029556781556 Centerline is valid? [False, False] Translation: X:63.83, Y:1.45, Z:-1.82 [[ 9.99942501e-01 3.43343118e-03 -1.01590658e-02 6.38315880e+01] [-3.45939548e-03 9.99990792e-01 -2.53930867e-03 1.44719353e+00] [ 1.01502537e-02 2.57430689e-03 9.99945171e-01 -1.81533047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839072329 meters 0.4041563390239562 Centerline is valid? [False, False] Translation: X:63.83, Y:1.45, Z:-1.82 [[ 9.99943420e-01 3.58520114e-03 -1.00151510e-02 6.38313299e+01] [-3.62024861e-03 9.99987379e-01 -3.48351126e-03 1.45139614e+00] [ 1.00025355e-02 3.51957149e-03 9.99943779e-01 -1.81515488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.869072329 meters 0.40109398575055644 Centerline is valid? [False, False] Translation: X:63.83, Y:1.45, Z:-1.81 [[ 9.99944030e-01 3.40802590e-03 -1.00160634e-02 6.38311406e+01] [-3.44978900e-03 9.99985416e-01 -4.15529640e-03 1.45373682e+00] [ 1.00017560e-02 4.18961714e-03 9.99941204e-01 -1.81477544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899072329 meters 0.43081596617647727 Centerline is valid? [False, False] Translation: X:63.83, Y:1.46, Z:-1.81 [[ 9.99944630e-01 3.20082148e-03 -1.00245168e-02 6.38308775e+01] [-3.24996635e-03 9.99982763e-01 -4.89002102e-03 1.45625024e+00] [ 1.00086920e-02 4.92232960e-03 9.99937796e-01 -1.81426389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.929072329 meters 0.4310809451916571 Centerline is valid? [False, False] Translation: X:63.83, Y:1.46, Z:-1.81 [[ 9.99948162e-01 3.76583290e-03 -9.45997613e-03 6.38290246e+01] [-3.81967549e-03 9.99976573e-01 -5.68001584e-03 1.46174687e+00] [ 9.43836452e-03 5.71585544e-03 9.99939121e-01 -1.81297153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959072329 meters 0.43564123264571386 Centerline is valid? [False, False] Translation: X:63.83, Y:1.46, Z:-1.81 [[ 9.99947672e-01 3.67979546e-03 -9.54524737e-03 6.38294778e+01] [-3.74090206e-03 9.99972575e-01 -6.39184787e-03 1.46448946e+00] [ 9.52146490e-03 6.42722123e-03 9.99934014e-01 -1.81344961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.989072329 meters 0.4130066168536244 Centerline is valid? [False, False] Translation: X:63.83, Y:1.47, Z:-1.81 [[ 9.99946040e-01 3.69742043e-03 -9.70806901e-03 6.38303251e+01] [-3.76609148e-03 9.99967952e-01 -7.06487916e-03 1.46730339e+00] [ 9.68163605e-03 7.10105942e-03 9.99927918e-01 -1.81434818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019072329 meters 0.4105402833743447 Centerline is valid? [False, False] Translation: X:63.83, Y:1.47, Z:-1.82 [[ 9.99943295e-01 4.21422852e-03 -9.77992332e-03 6.38312111e+01] [-4.29412519e-03 9.99957463e-01 -8.16288921e-03 1.47390661e+00] [ 9.74510703e-03 8.20442255e-03 9.99918857e-01 -1.81555328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.049072329 meters 0.40997156570365323 Centerline is valid? [False, False] Translation: X:63.83, Y:1.48, Z:-1.82 [[ 9.99918096e-01 8.42102844e-03 -9.63784117e-03 6.38311619e+01] [-8.46241622e-03 9.99955112e-01 -4.26160617e-03 1.47528405e+00] [ 9.60152144e-03 4.34281655e-03 9.99944474e-01 -1.81580695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079072329 meters 0.44744858625287276 Centerline is valid? [False, False] Translation: X:63.83, Y:1.48, Z:-1.82 [[ 9.99917872e-01 8.86095937e-03 -9.25917691e-03 6.38299900e+01] [-8.91083748e-03 9.99945934e-01 -5.35958622e-03 1.48182603e+00] [ 9.21118523e-03 5.44165307e-03 9.99942770e-01 -1.81504744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.109072329 meters 0.45347495843119723 Centerline is valid? [False, False] Translation: X:63.83, Y:1.49, Z:-1.82 [[ 9.99919758e-01 8.67843576e-03 -9.22835897e-03 6.38299203e+01] [-8.73682529e-03 9.99941951e-01 -6.30580653e-03 1.48523585e+00] [ 9.17309873e-03 6.38592710e-03 9.99937535e-01 -1.81507977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13907232900002 meters 0.4486478250153942 Centerline is valid? [False, False] Translation: X:63.83, Y:1.49, Z:-1.82 [[ 9.99920972e-01 8.54378254e-03 -9.22245636e-03 6.38300106e+01] [-8.60995944e-03 9.99937300e-01 -7.15993268e-03 1.48845375e+00] [ 9.16070520e-03 7.23877182e-03 9.99931839e-01 -1.81532587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16907232900002 meters 0.4544467346047405 Centerline is valid? [False, False] Translation: X:63.84, Y:1.49, Z:-1.81 [[ 9.99902800e-01 5.26242240e-03 -1.29111562e-02 6.38395844e+01] [-5.29937961e-03 9.99981954e-01 -2.82988351e-03 1.49132702e+00] [ 1.28960312e-02 2.89802957e-03 9.99912643e-01 -1.81188606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19907232900002 meters 0.4557846142133551 Centerline is valid? [False, False] Translation: X:63.84, Y:1.50, Z:-1.81 [[ 9.99904714e-01 5.70069306e-03 -1.25723849e-02 6.38391573e+01] [-5.74915721e-03 9.99976169e-01 -3.82204239e-03 1.49722786e+00] [ 1.25502970e-02 3.89395882e-03 9.99913660e-01 -1.81247670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22907232900002 meters 0.4592210989221006 Centerline is valid? [False, False] Translation: X:63.84, Y:1.50, Z:-1.81 [[ 9.99906761e-01 5.53498214e-03 -1.24833515e-02 6.38390255e+01] [-5.59372484e-03 9.99973424e-01 -4.67568723e-03 1.50028262e+00] [ 1.24571399e-02 4.74507971e-03 9.99911148e-01 -1.81264592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25907232900002 meters 0.4593576802361586 Centerline is valid? [False, False] Translation: X:63.84, Y:1.50, Z:-1.81 [[ 9.99908143e-01 5.42469586e-03 -1.24209062e-02 6.38390499e+01] [-5.49309623e-03 9.99969901e-01 -5.47939651e-03 1.50333034e+00] [ 1.23908083e-02 5.54712242e-03 9.99907844e-01 -1.81299078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.289072329 meters 0.4607949385431415 Centerline is valid? [False, False] Translation: X:63.84, Y:1.51, Z:-1.81 [[ 9.99906672e-01 5.61574104e-03 -1.24543223e-02 6.38396515e+01] [-5.70267804e-03 9.99959546e-01 -6.95597509e-03 1.51018559e+00] [ 1.24147555e-02 7.02634890e-03 9.99898247e-01 -1.81419897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319072329 meters 0.4653579494329842 Centerline is valid? [False, False] Translation: X:63.84, Y:1.51, Z:-1.81 [[ 9.99907712e-01 5.48961420e-03 -1.24270214e-02 6.38398907e+01] [-5.58675792e-03 9.99954004e-01 -7.79596531e-03 1.51330064e+00] [ 1.23836530e-02 7.86467260e-03 9.99892390e-01 -1.81480437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.349072329 meters 0.4662594967798642 Centerline is valid? [False, False] Translation: X:63.84, Y:1.51, Z:-1.82 [[ 9.99877530e-01 9.75668893e-03 -1.22365421e-02 6.38399149e+01] [-9.80425236e-03 9.99944591e-01 -3.83305289e-03 1.51445824e+00] [ 1.21984662e-02 3.95255360e-03 9.99917784e-01 -1.81532716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379072329 meters 0.46795817624593855 Centerline is valid? [False, False] Translation: X:63.84, Y:1.52, Z:-1.81 [[ 9.99877216e-01 1.03550292e-02 -1.17611975e-02 6.38383959e+01] [-1.04126743e-02 9.99934021e-01 -4.85067667e-03 1.52110778e+00] [ 1.17101926e-02 4.97254660e-03 9.99919069e-01 -1.81466937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.409072329 meters 0.47215062233311844 Centerline is valid? [False, False] Translation: X:63.84, Y:1.52, Z:-1.81 [[ 9.99826842e-01 1.45431662e-02 -1.16095666e-02 6.38382257e+01] [-1.45556383e-02 9.99893570e-01 -9.90513406e-04 1.52271009e+00] [ 1.15939258e-02 1.15932654e-03 9.99932116e-01 -1.81470690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439072329 meters 0.5504989030837982 Centerline is valid? [False, False] Translation: X:63.84, Y:1.53, Z:-1.81 [[ 9.99825962e-01 1.50594333e-02 -1.10117547e-02 6.38366451e+01] [-1.50807782e-02 9.99884552e-01 -1.85791200e-03 1.52814421e+00] [ 1.09825043e-02 2.02365449e-03 9.99937643e-01 -1.81421188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.469072329 meters 0.47562892145060787 Centerline is valid? [False, False] Translation: X:63.84, Y:1.53, Z:-1.81 [[ 9.99826934e-01 1.50466860e-02 -1.09406923e-02 6.38367711e+01] [-1.50750408e-02 9.99883205e-01 -2.51384594e-03 1.53081899e+00] [ 1.09015894e-02 2.67834226e-03 9.99936989e-01 -1.81475627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499072329 meters 0.47915219796303476 Centerline is valid? [False, False] Translation: X:63.84, Y:1.53, Z:-1.82 [[ 9.99830481e-01 1.49499423e-02 -1.07475050e-02 6.38366101e+01] [-1.49851296e-02 9.99882593e-01 -3.20095257e-03 1.53331560e+00] [ 1.06983891e-02 3.36146270e-03 9.99937121e-01 -1.81526121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.529072329 meters 0.4787057984286072 Centerline is valid? [False, False] Translation: X:63.84, Y:1.54, Z:-1.82 [[ 9.99828925e-01 1.52005168e-02 -1.05387258e-02 6.38365751e+01] [-1.52477062e-02 9.99874013e-01 -4.41191482e-03 1.53879537e+00] [ 1.04703347e-02 4.57185145e-03 9.99934733e-01 -1.81632344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559072329 meters 0.48259036189068655 Centerline is valid? [False, False] Translation: X:63.84, Y:1.54, Z:-1.82 [[ 9.99828600e-01 1.52252795e-02 -1.05338426e-02 6.38368879e+01] [-1.52797670e-02 9.99870192e-01 -5.11161146e-03 1.54171033e+00] [ 1.04546495e-02 5.27168999e-03 9.99931452e-01 -1.81699432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589072329 meters 0.4860366113832291 Centerline is valid? [False, False] Translation: X:63.84, Y:1.54, Z:-1.82 [[ 9.99827617e-01 1.52821560e-02 -1.05448081e-02 6.38371814e+01] [-1.53432314e-02 9.99865835e-01 -5.73559410e-03 1.54432935e+00] [ 1.04557411e-02 5.89639681e-03 9.99927952e-01 -1.81759429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619072329 meters 0.486919650901808 Centerline is valid? [False, False] Translation: X:63.84, Y:1.55, Z:-1.82 [[ 9.99829790e-01 1.52529685e-02 -1.03796441e-02 6.38370204e+01] [-1.53194735e-02 9.99862434e-01 -6.35818851e-03 1.54668321e+00] [ 1.02812349e-02 6.51611697e-03 9.99925915e-01 -1.81799812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.649072329 meters 0.4884520180692035 Centerline is valid? [False, False] Translation: X:63.84, Y:1.55, Z:-1.82 [[ 9.99828827e-01 1.56030149e-02 -9.94301659e-03 6.38366586e+01] [-1.56775373e-02 9.99849258e-01 -7.46160272e-03 1.55144708e+00] [ 9.82509426e-03 7.61620750e-03 9.99922727e-01 -1.81927687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679072329 meters 0.4889179586813022 Centerline is valid? [False, False] Translation: X:63.84, Y:1.55, Z:-1.82 [[ 9.99828664e-01 1.56611285e-02 -9.86766000e-03 6.38370813e+01] [-1.57408454e-02 9.99843672e-01 -8.05340561e-03 1.55385446e+00] [ 9.73999199e-03 8.20735109e-03 9.99918883e-01 -1.82038557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.709072329 meters 0.49161809944781143 Centerline is valid? [False, False] Translation: X:63.84, Y:1.56, Z:-1.82 [[ 9.99828709e-01 1.57424071e-02 -9.73286707e-03 6.38374713e+01] [-1.58263117e-02 9.99837731e-01 -8.60467838e-03 1.55599187e+00] [ 9.59582937e-03 8.75723987e-03 9.99915612e-01 -1.82167675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739072329 meters 0.4975774557773569 Centerline is valid? [False, False] Translation: X:63.84, Y:1.56, Z:-1.82 [[ 9.99821605e-01 1.63414192e-02 -9.47184369e-03 6.38379472e+01] [-1.64338728e-02 9.99817253e-01 -9.76665952e-03 1.56146581e+00] [ 9.31051166e-03 9.92057627e-03 9.99907444e-01 -1.82387259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.769072329 meters 0.4982455476408345 Centerline is valid? [False, False] Translation: X:63.84, Y:1.57, Z:-1.82 [[ 9.99817166e-01 1.65829908e-02 -9.52047991e-03 6.38380061e+01] [-1.66826471e-02 9.99805854e-01 -1.04853580e-02 1.56535716e+00] [ 9.34475296e-03 1.06422678e-02 9.99899704e-01 -1.82411697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799072329 meters 0.5004946399465431 Centerline is valid? [False, False] Translation: X:63.84, Y:1.57, Z:-1.82 [[ 9.99812521e-01 1.69274741e-02 -9.40130118e-03 6.38372664e+01] [-1.70304312e-02 9.99794665e-01 -1.09814699e-02 1.56859712e+00] [ 9.21348222e-03 1.11395193e-02 9.99895506e-01 -1.82366975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.829072329 meters 0.5001185333897616 Centerline is valid? [False, False] Translation: X:63.84, Y:1.57, Z:-1.82 [[ 9.99808774e-01 1.72323528e-02 -9.24449505e-03 6.38366746e+01] [-1.73384380e-02 9.99783302e-01 -1.15207888e-02 1.57158606e+00] [ 9.04396149e-03 1.16788708e-02 9.99890899e-01 -1.82352207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859072329 meters 0.45569578700032437 Centerline is valid? [False, False] Translation: X:63.83, Y:1.57, Z:-1.82 [[ 9.99796724e-01 1.84271209e-02 -8.18237804e-03 6.38340162e+01] [-1.85213350e-02 9.99761267e-01 -1.15917839e-02 1.57453648e+00] [ 7.96682143e-03 1.17409761e-02 9.99899335e-01 -1.82304726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88907232900002 meters 0.5020629737662755 Centerline is valid? [False, False] Translation: X:63.83, Y:1.58, Z:-1.82 [[ 9.99793351e-01 1.86958558e-02 -7.98246374e-03 6.38336474e+01] [-1.87923510e-02 9.99749100e-01 -1.21895423e-02 1.57728246e+00] [ 7.75256701e-03 1.23370326e-02 9.99893842e-01 -1.82337081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91907232900002 meters 0.46859913099174816 Centerline is valid? [False, False] Translation: X:63.83, Y:1.58, Z:-1.82 [[ 9.99699811e-01 2.33444062e-02 -7.43812898e-03 6.38332507e+01] [-2.34147416e-02 9.99680570e-01 -9.51361144e-03 1.58386801e+00] [ 7.21366340e-03 9.68491743e-03 9.99927080e-01 -1.82459606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94907232900002 meters 0.49903967824849127 Centerline is valid? [False, False] Translation: X:63.83, Y:1.59, Z:-1.83 [[ 9.99688794e-01 2.37876141e-02 -7.51423991e-03 6.38337597e+01] [-2.38640012e-02 9.99662717e-01 -1.02450327e-02 1.58849232e+00] [ 7.26800061e-03 1.04211643e-02 9.99919284e-01 -1.82547850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97907232900002 meters 0.5006593091418379 Centerline is valid? [False, False] Translation: X:63.83, Y:1.59, Z:-1.83 [[ 9.99683842e-01 2.40542110e-02 -7.32194118e-03 6.38334874e+01] [-2.41348753e-02 9.99646694e-01 -1.11353406e-02 1.59238455e+00] [ 7.05150246e-03 1.13085342e-02 9.99911193e-01 -1.82592952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00907232900002 meters 0.49793477123795 Centerline is valid? [False, False] Translation: X:63.83, Y:1.60, Z:-1.83 [[ 9.99657390e-01 2.53597409e-02 -6.47965065e-03 6.38321219e+01] [-2.54381494e-02 9.99600488e-01 -1.23192838e-02 1.59925679e+00] [ 6.16464811e-03 1.24798934e-02 9.99903120e-01 -1.82659803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039072329 meters 0.49711118993856235 Centerline is valid? [False, False] Translation: X:63.83, Y:1.60, Z:-1.83 [[ 9.99630633e-01 2.64171726e-02 -6.38210602e-03 6.38333945e+01] [-2.64961206e-02 9.99569257e-01 -1.26196962e-02 1.60334836e+00] [ 6.04598027e-03 1.27841360e-02 9.99900001e-01 -1.82892560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.069072329 meters 0.49440185040786044 Centerline is valid? [False, False] Translation: X:63.83, Y:1.61, Z:-1.83 [[ 9.99624220e-01 2.68112446e-02 -5.70760508e-03 6.38325773e+01] [-2.68861278e-02 9.99547685e-01 -1.34744782e-02 1.60624016e+00] [ 5.34375591e-03 1.36228701e-02 9.99892925e-01 -1.83009821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099072329 meters 0.4942989583778736 Centerline is valid? [False, False] Translation: X:63.83, Y:1.61, Z:-1.83 [[ 9.99614170e-01 2.72991840e-02 -5.12504362e-03 6.38318765e+01] [-2.73698236e-02 9.99523659e-01 -1.42600058e-02 1.60935453e+00] [ 4.73331582e-03 1.43947754e-02 9.99885186e-01 -1.83119435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.129072329 meters 0.4905934720556284 Centerline is valid? [False, False] Translation: X:63.83, Y:1.62, Z:-1.83 [[ 9.99456584e-01 3.27346436e-02 -3.87027894e-03 6.38308126e+01] [-3.27795024e-02 9.99388646e-01 -1.21588996e-02 1.61798324e+00] [ 3.46989558e-03 1.22791581e-02 9.99918588e-01 -1.83336141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159072329 meters 0.48813498577498027 Centerline is valid? [False, False] Translation: X:63.83, Y:1.62, Z:-1.83 [[ 9.99441435e-01 3.32600608e-02 -3.25371964e-03 6.38296906e+01] [-3.33000488e-02 9.99359238e-01 -1.31232883e-02 1.62211786e+00] [ 2.81515341e-03 1.32243071e-02 9.99908592e-01 -1.83379887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189072329 meters 0.48312627305446787 Centerline is valid? [False, False] Translation: X:63.83, Y:1.63, Z:-1.84 [[ 9.99229468e-01 3.91922943e-02 -2.10562034e-03 6.38301838e+01] [-3.92131006e-02 9.99170674e-01 -1.09680389e-02 1.63169762e+00] [ 1.67401149e-03 1.10421556e-02 9.99937632e-01 -1.83765675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219072329 meters 0.48058397229734695 Centerline is valid? [False, False] Translation: X:63.83, Y:1.64, Z:-1.84 [[ 9.99212634e-01 3.96462544e-02 -1.51233702e-03 6.38296684e+01] [-3.96617167e-02 9.99139494e-01 -1.21334369e-02 1.63563887e+00] [ 1.02999032e-03 1.21838653e-02 9.99925243e-01 -1.83907086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249072329 meters 0.47727514467855414 Centerline is valid? [False, False] Translation: X:63.83, Y:1.64, Z:-1.84 [[ 9.99193116e-01 4.01563621e-02 -7.63577155e-04 6.38288566e+01] [-4.01629799e-02 9.99104008e-01 -1.33460498e-02 1.63966434e+00] [ 2.26964187e-04 1.33659486e-02 9.99910646e-01 -1.84043819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279072329 meters 0.4706880403442781 Centerline is valid? [False, False] Translation: X:63.83, Y:1.65, Z:-1.84 [[ 9.98926543e-01 4.63160230e-02 7.66333258e-04 6.38290971e+01] [-4.63041541e-02 9.98861044e-01 -1.15126140e-02 1.64953298e+00] [-1.29867893e-03 1.14647713e-02 9.99933434e-01 -1.84483968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309072329 meters 0.46864210331708445 Centerline is valid? [False, False] Translation: X:63.83, Y:1.65, Z:-1.85 [[ 9.98902886e-01 4.68021939e-02 1.60571016e-03 6.38279306e+01] [-4.67781976e-02 9.98825074e-01 -1.26598697e-02 1.65341375e+00] [-2.19633324e-03 1.25708682e-02 9.99918571e-01 -1.84581455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339072329 meters 0.45960440556488685 Centerline is valid? [False, False] Translation: X:63.83, Y:1.66, Z:-1.85 [[ 9.98615520e-01 5.25168454e-02 3.00401897e-03 6.38280375e+01] [-5.24820917e-02 9.98564884e-01 -1.06678302e-02 1.66296425e+00] [-3.55994864e-03 1.04954036e-02 9.99938585e-01 -1.84941770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.369072329 meters 0.4568866524285326 Centerline is valid? [False, False] Translation: X:63.83, Y:1.67, Z:-1.85 [[ 9.98594352e-01 5.28745137e-02 3.68861929e-03 6.38270970e+01] [-5.28275770e-02 9.98533517e-01 -1.18348116e-02 1.66696404e+00] [-4.30896990e-03 1.16233152e-02 9.99923163e-01 -1.85017685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399072329 meters 0.4545122615382747 Centerline is valid? [False, False] Translation: X:63.83, Y:1.67, Z:-1.85 [[ 9.98573893e-01 5.32041921e-02 4.41514746e-03 6.38260915e+01] [-5.31427136e-02 9.98501832e-01 -1.30362183e-02 1.67098719e+00] [-5.10211429e-03 1.27829943e-02 9.99905277e-01 -1.85094073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.429072329 meters 0.4545122615382747 Centerline is valid? [False, False] Translation: X:63.83, Y:1.67, Z:-1.85 [[ 9.98573893e-01 5.32041921e-02 4.41514746e-03 6.38260915e+01] [-5.31427136e-02 9.98501832e-01 -1.30362183e-02 1.67098719e+00] [-5.10211429e-03 1.27829943e-02 9.99905277e-01 -1.85094073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459072329 meters 0.4035846363109659 Centerline is valid? [False, False] Translation: X:63.83, Y:1.67, Z:-1.85 [[ 9.98554058e-01 5.35130898e-02 5.11293220e-03 6.38251045e+01] [-5.34357023e-02 9.98469860e-01 -1.42325241e-02 1.67494142e+00] [-5.86673504e-03 1.39387316e-02 9.99885640e-01 -1.85165715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.489072329 meters 0.4476043814614808 Centerline is valid? [False, False] Translation: X:63.82, Y:1.68, Z:-1.85 [[ 9.98450181e-01 5.52447013e-02 6.72750355e-03 6.38229292e+01] [-5.51346810e-02 9.98357556e-01 -1.55678534e-02 1.68243212e+00] [-7.57649541e-03 1.51728072e-02 9.99856181e-01 -1.85292081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519072329 meters 0.4440592949965586 Centerline is valid? [False, False] Translation: X:63.82, Y:1.69, Z:-1.85 [[ 9.98419025e-01 5.56962523e-02 7.57481583e-03 6.38212457e+01] [-5.55655122e-02 9.98318774e-01 -1.64954267e-02 1.68575189e+00] [-8.48081431e-03 1.60484494e-02 9.99835248e-01 -1.85286979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.549072329 meters 0.42263073949468666 Centerline is valid? [False, False] Translation: X:63.82, Y:1.69, Z:-1.85 [[ 9.98376876e-01 5.63221398e-02 8.45164223e-03 6.38192954e+01] [-5.61701075e-02 9.98272005e-01 -1.72604266e-02 1.68923075e+00] [-9.40918200e-03 1.67576812e-02 9.99815307e-01 -1.85247605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579072329 meters 0.39794939435415105 Centerline is valid? [False, False] Translation: X:63.82, Y:1.70, Z:-1.85 [[ 9.98038876e-01 6.17579659e-02 1.02155040e-02 6.38165763e+01] [-6.16020993e-02 9.97989156e-01 -1.49273388e-02 1.69787615e+00] [-1.11168443e-02 1.42687679e-02 9.99836396e-01 -1.85233586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.609072329 meters 0.4334343638161153 Centerline is valid? [False, False] Translation: X:63.82, Y:1.70, Z:-1.85 [[ 9.97999899e-01 6.22411234e-02 1.10563990e-02 6.38150615e+01] [-6.20592153e-02 9.97942645e-01 -1.60975292e-02 1.70254281e+00] [-1.20355804e-02 1.53791811e-02 9.99809295e-01 -1.85238484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63907232900002 meters 0.43102144127487796 Centerline is valid? [False, False] Translation: X:63.81, Y:1.71, Z:-1.86 [[ 9.97596196e-01 6.81158957e-02 1.27300326e-02 6.38148457e+01] [-6.79335719e-02 9.97588149e-01 -1.42448460e-02 1.71449668e+00] [-1.36696301e-02 1.33458076e-02 9.99817499e-01 -1.85545154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66907232900002 meters 0.42639301106642885 Centerline is valid? [False, False] Translation: X:63.81, Y:1.72, Z:-1.86 [[ 9.97557236e-01 6.85278177e-02 1.35461934e-02 6.38138248e+01] [-6.83117193e-02 9.97538598e-01 -1.58194479e-02 1.72023663e+00] [-1.45969230e-02 1.48554409e-02 9.99783099e-01 -1.85621010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69907232900002 meters 0.38777170141600253 Centerline is valid? [False, False] Translation: X:63.81, Y:1.73, Z:-1.86 [[ 9.97515188e-01 6.89530280e-02 1.44543929e-02 6.38125319e+01] [-6.86989767e-02 9.97485819e-01 -1.73922873e-02 1.72566089e+00] [-1.56173028e-02 1.63560688e-02 9.99744257e-01 -1.85683455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72907232900002 meters 0.42324717368232 Centerline is valid? [False, False] Translation: X:63.81, Y:1.73, Z:-1.86 [[ 9.97474392e-01 6.93308752e-02 1.54294166e-02 6.38109352e+01] [-6.90363987e-02 9.97435781e-01 -1.88636962e-02 1.73081937e+00] [-1.66976888e-02 1.77508625e-02 9.99703003e-01 -1.85709854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75907232900002 meters 0.42109422929736123 Centerline is valid? [False, False] Translation: X:63.81, Y:1.74, Z:-1.86 [[ 9.97064533e-01 7.45346821e-02 1.75185194e-02 6.38086702e+01] [-7.42200150e-02 9.97079889e-01 -1.79745711e-02 1.74276091e+00] [-1.88070923e-02 1.66215826e-02 9.99684959e-01 -1.85821308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.789072329 meters 0.41937264189927476 Centerline is valid? [False, False] Translation: X:63.81, Y:1.75, Z:-1.86 [[ 9.97000984e-01 7.51683312e-02 1.84054143e-02 6.38072016e+01] [-7.48105502e-02 9.97008795e-01 -1.94125020e-02 1.74897585e+00] [-1.98095653e-02 1.79773645e-02 9.99642134e-01 -1.85825800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819072329 meters 0.4157925513551652 Centerline is valid? [False, False] Translation: X:63.81, Y:1.76, Z:-1.86 [[ 9.96565238e-01 8.02944171e-02 2.02615943e-02 6.38056270e+01] [-7.99176836e-02 9.96624810e-01 -1.87656915e-02 1.76095411e+00] [-2.16999879e-02 1.70819761e-02 9.99618586e-01 -1.85985692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.849072329 meters 0.41288865867149355 Centerline is valid? [False, False] Translation: X:63.80, Y:1.77, Z:-1.86 [[ 9.96519684e-01 8.06190154e-02 2.11918477e-02 6.38043741e+01] [-8.01868014e-02 9.96568798e-01 -2.05111554e-02 1.76648722e+00] [-2.27727233e-02 1.87404636e-02 9.99565004e-01 -1.86047075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879072329 meters 0.41048575689083316 Centerline is valid? [False, False] Translation: X:63.80, Y:1.77, Z:-1.86 [[ 9.96461203e-01 8.11304993e-02 2.19752795e-02 6.38036921e+01] [-8.06425992e-02 9.96494765e-01 -2.22475666e-02 1.77286948e+00] [-2.37032072e-02 2.03966933e-02 9.99510947e-01 -1.86150803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.909072329 meters 0.40711265352166087 Centerline is valid? [False, False] Translation: X:63.80, Y:1.79, Z:-1.86 [[ 9.95975031e-01 8.63682274e-02 2.39638851e-02 6.38025464e+01] [-8.58399809e-02 9.96060197e-01 -2.22616654e-02 1.78547887e+00] [-2.57921727e-02 2.01150034e-02 9.99464932e-01 -1.86425373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939072329 meters 0.40462402509612466 Centerline is valid? [False, False] Translation: X:63.80, Y:1.79, Z:-1.86 [[ 9.95595004e-01 9.04681194e-02 2.46192340e-02 6.38022264e+01] [-8.99978929e-02 9.95749405e-01 -1.95832055e-02 1.79175710e+00] [-2.62862433e-02 1.72812624e-02 9.99505073e-01 -1.86422791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.969072329 meters 0.37656016087155325 Centerline is valid? [False, False] Translation: X:63.80, Y:1.80, Z:-1.86 [[ 9.95161846e-01 9.49673729e-02 2.51812905e-02 6.38025564e+01] [-9.45649012e-02 9.95378251e-01 -1.67217758e-02 1.79903170e+00] [-2.66529320e-02 1.42596071e-02 9.99543038e-01 -1.86465152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999072329 meters 0.377668465304254 Centerline is valid? [False, False] Translation: X:63.80, Y:1.81, Z:-1.87 [[ 9.94298916e-01 1.03208719e-01 2.67885330e-02 6.38029455e+01] [-1.02877598e-01 9.94602931e-01 -1.34613971e-02 1.81292366e+00] [-2.80332870e-02 1.06287127e-02 9.99550482e-01 -1.86705733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.029072329 meters 0.37313654276398084 Centerline is valid? [False, False] Translation: X:63.80, Y:1.82, Z:-1.87 [[ 9.94239802e-01 1.03552006e-01 2.76441217e-02 6.38017007e+01] [-1.03167419e-01 9.94550935e-01 -1.49974058e-02 1.81806153e+00] [-2.90464985e-02 1.20590450e-02 9.99505318e-01 -1.86723408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059072329 meters 0.39313609524143023 Centerline is valid? [False, False] Translation: X:63.80, Y:1.83, Z:-1.87 [[ 9.94063934e-01 1.04750460e-01 2.93979030e-02 6.37998939e+01] [-1.04258531e-01 9.94390941e-01 -1.77993218e-02 1.82848273e+00] [-3.10974956e-02 1.46286817e-02 9.99409299e-01 -1.86852488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089072329 meters 0.39625226336475455 Centerline is valid? [False, False] Translation: X:63.80, Y:1.83, Z:-1.87 [[ 9.94029376e-01 1.04848489e-01 3.02058673e-02 6.37987093e+01] [-1.04291627e-01 9.94356349e-01 -1.94604393e-02 1.83372552e+00] [-3.20757935e-02 1.61940293e-02 9.99354240e-01 -1.86859746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119072329 meters 0.36704808116184634 Centerline is valid? [False, False] Translation: X:63.80, Y:1.84, Z:-1.87 [[ 9.93950307e-01 1.05437957e-01 3.07510190e-02 6.37984024e+01] [-1.04825974e-01 9.94271329e-01 -2.08815644e-02 1.84044957e+00] [-3.27765660e-02 1.75317319e-02 9.99308929e-01 -1.86901832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.149072329 meters 0.36558572778057996 Centerline is valid? [False, False] Translation: X:63.80, Y:1.85, Z:-1.87 [[ 9.93403501e-01 1.10145227e-01 3.18984736e-02 6.37984965e+01] [-1.09587409e-01 9.93800441e-01 -1.87425551e-02 1.85309344e+00] [-3.37651201e-02 1.51232488e-02 9.99315368e-01 -1.86930989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179072329 meters 0.3845953137640846 Centerline is valid? [False, False] Translation: X:63.80, Y:1.86, Z:-1.87 [[ 9.93338159e-01 1.10626716e-01 3.22650228e-02 6.37983229e+01] [-1.10020708e-01 9.93728168e-01 -1.99943077e-02 1.85968632e+00] [-3.42745666e-02 1.63112881e-02 9.99279338e-01 -1.86934060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.209072329 meters 0.3827584798710882 Centerline is valid? [False, False] Translation: X:63.80, Y:1.86, Z:-1.87 [[ 9.93335097e-01 1.10485880e-01 3.28368063e-02 6.37971922e+01] [-1.09819152e-01 9.93719817e-01 -2.14634445e-02 1.86442902e+00] [-3.50019927e-02 1.77142825e-02 9.99230236e-01 -1.86875597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239072329 meters 0.38144434573490354 Centerline is valid? [False, False] Translation: X:63.80, Y:1.87, Z:-1.87 [[ 9.93245935e-01 1.11062468e-01 3.35803765e-02 6.37967309e+01] [-1.10295294e-01 9.93611450e-01 -2.39004962e-02 1.87434167e+00] [-3.60202947e-02 2.00353132e-02 9.99150201e-01 -1.86916853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.269072329 meters 0.3850253741429561 Centerline is valid? [False, False] Translation: X:63.80, Y:1.88, Z:-1.87 [[ 9.93268748e-01 1.10740452e-01 3.39668309e-02 6.37959583e+01] [-1.09921903e-01 9.93623437e-01 -2.50926532e-02 1.87806238e+00] [-3.65290110e-02 2.11900495e-02 9.99107909e-01 -1.86878644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299072329 meters 0.37999664266707045 Centerline is valid? [False, False] Translation: X:63.80, Y:1.89, Z:-1.87 [[ 9.93212937e-01 1.11041348e-01 3.46104049e-02 6.37961469e+01] [-1.10158071e-01 9.93561646e-01 -2.64661215e-02 1.88846354e+00] [-3.73264046e-02 2.24738789e-02 9.99050381e-01 -1.86911857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.329072329 meters 0.3816029788180597 Centerline is valid? [False, False] Translation: X:63.80, Y:1.89, Z:-1.87 [[ 9.93258687e-01 1.10556878e-01 3.48476379e-02 6.37952381e+01] [-1.09620990e-01 9.93586941e-01 -2.77169373e-02 1.89270792e+00] [-3.76884560e-02 2.37100561e-02 9.99008215e-01 -1.86817748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359072329 meters 0.3718131305812492 Centerline is valid? [False, False] Translation: X:63.79, Y:1.90, Z:-1.87 [[ 9.93321697e-01 1.09943086e-01 3.49932156e-02 6.37940918e+01] [-1.08956524e-01 9.93624675e-01 -2.89565515e-02 1.89676633e+00] [-3.79536951e-02 2.49504317e-02 9.98967964e-01 -1.86681082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38907232900002 meters 0.3742692480474247 Centerline is valid? [False, False] Translation: X:63.79, Y:1.90, Z:-1.87 [[ 9.94100335e-01 1.01723342e-01 3.76415454e-02 6.37932081e+01] [-1.00982963e-01 9.94664833e-01 -2.10786806e-02 1.90431545e+00] [-3.95849153e-02 1.71531686e-02 9.99068968e-01 -1.86769913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41907232900002 meters 0.373013379063926 Centerline is valid? [False, False] Translation: X:63.79, Y:1.91, Z:-1.87 [[ 9.94173730e-01 1.01074874e-01 3.74494931e-02 6.37928310e+01] [-1.00297472e-01 9.94712220e-01 -2.20910844e-02 1.90714300e+00] [-3.94843220e-02 1.82062863e-02 9.99054313e-01 -1.86665807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44907232900002 meters 0.35145212021792777 Centerline is valid? [False, False] Translation: X:63.80, Y:1.92, Z:-1.87 [[ 9.95212552e-01 9.09440983e-02 3.57931200e-02 6.38000622e+01] [-9.02896031e-02 9.95724647e-01 -1.94991073e-02 1.91881191e+00] [-3.74134205e-02 1.61740097e-02 9.99168973e-01 -1.86600833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47907232900002 meters 0.34719793250094044 Centerline is valid? [False, False] Translation: X:63.80, Y:1.92, Z:-1.87 [[ 9.95206914e-01 9.11971279e-02 3.53027346e-02 6.38016001e+01] [-9.05453060e-02 9.95698553e-01 -1.96453273e-02 1.92415947e+00] [-3.69424792e-02 1.63546686e-02 9.99183556e-01 -1.86629379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50907232900002 meters 0.3459538980807729 Centerline is valid? [False, False] Translation: X:63.81, Y:1.94, Z:-1.87 [[ 9.96112575e-01 8.12570780e-02 3.40150683e-02 6.38081054e+01] [-8.07574685e-02 9.96608306e-01 -1.58150206e-02 1.93808758e+00] [-3.51847820e-02 1.30065701e-02 9.99296182e-01 -1.86577992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539072329 meters 0.3411922905749241 Centerline is valid? [False, False] Translation: X:63.82, Y:1.95, Z:-1.86 [[ 9.96814306e-01 7.34611827e-02 3.10595103e-02 6.38157045e+01] [-7.30711037e-02 9.97235164e-01 -1.35144789e-02 1.94718877e+00] [-3.19664254e-02 1.12018732e-02 9.99426168e-01 -1.86358364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.569072329 meters 0.34818282331325523 Centerline is valid? [False, False] Translation: X:63.82, Y:1.96, Z:-1.86 [[ 9.97458443e-01 6.55250311e-02 2.79843584e-02 6.38235123e+01] [-6.52290207e-02 9.97805613e-01 -1.13637198e-02 1.95656731e+00] [-2.86675579e-02 9.50944598e-03 9.99543767e-01 -1.86159365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599072329 meters 0.34558161715139263 Centerline is valid? [False, False] Translation: X:63.83, Y:1.97, Z:-1.86 [[ 9.98066404e-01 5.70031435e-02 2.47809220e-02 6.38310471e+01] [-5.67841868e-02 9.98341734e-01 -9.45194437e-03 1.96562888e+00] [-2.52786192e-02 8.02650363e-03 9.99648221e-01 -1.85948824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.629072329 meters 0.3441821266118739 Centerline is valid? [False, False] Translation: X:63.84, Y:1.98, Z:-1.86 [[ 9.98804303e-01 4.33025210e-02 2.26904344e-02 6.38370736e+01] [-4.30895991e-02 9.99023240e-01 -9.79037388e-03 1.98038841e+00] [-2.30922191e-02 8.80094584e-03 9.99694600e-01 -1.85883143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659072329 meters 0.3705432875515968 Centerline is valid? [False, False] Translation: X:63.84, Y:1.99, Z:-1.86 [[ 9.99222397e-01 3.42826398e-02 1.94756844e-02 6.38446433e+01] [-3.41374100e-02 9.99387168e-01 -7.74122298e-03 1.98953755e+00] [-1.97291386e-02 7.07035396e-03 9.99780361e-01 -1.85699466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.689072329 meters 0.349003617097392 Centerline is valid? [False, False] Translation: X:63.85, Y:2.00, Z:-1.85 [[ 9.99550341e-01 2.52679043e-02 1.61445923e-02 6.38521023e+01] [-2.51750486e-02 9.99665475e-01 -5.92910996e-03 1.99898692e+00] [-1.62890077e-02 5.52000299e-03 9.99852088e-01 -1.85484059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719072329 meters 0.37769754924034366 Centerline is valid? [False, False] Translation: X:63.86, Y:2.02, Z:-1.86 [[ 9.99824241e-01 1.29519926e-02 1.35548370e-02 6.38601449e+01] [-1.28824788e-02 9.99903480e-01 -5.20315826e-03 2.01674709e+00] [-1.36209200e-02 5.02762386e-03 9.99894591e-01 -1.85505880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.749072329 meters 0.38753715462463073 Centerline is valid? [False, False] Translation: X:63.87, Y:2.03, Z:-1.85 [[ 9.99942330e-01 4.78033080e-03 9.61688587e-03 6.38690108e+01] [-4.75074675e-03 9.99983920e-01 -3.09675716e-03 2.02698677e+00] [-9.63153475e-03 3.05089118e-03 9.99948961e-01 -1.85343954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779072329 meters 0.3820760116494865 Centerline is valid? [False, False] Translation: X:63.88, Y:2.04, Z:-1.85 [[ 9.99939968e-01 -8.22026418e-03 7.24485594e-03 6.38766164e+01] [ 8.24375857e-03 9.99960838e-01 -3.21903187e-03 2.04289618e+00] [-7.21811092e-03 3.27856347e-03 9.99968574e-01 -1.85372891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809072329 meters 0.38390638988443615 Centerline is valid? [False, False] Translation: X:63.88, Y:2.05, Z:-1.85 [[ 9.99937391e-01 -9.08090347e-03 6.53841154e-03 6.38777988e+01] [ 9.11426030e-03 9.99945509e-01 -5.09007881e-03 2.04864726e+00] [-6.49183274e-03 5.14935291e-03 9.99965670e-01 -1.85331819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839072329 meters 0.36951163132695974 Centerline is valid? [False, False] Translation: X:63.88, Y:2.05, Z:-1.85 [[ 9.99934961e-01 -9.81886297e-03 5.80201436e-03 6.38787163e+01] [ 9.85767668e-03 9.99928970e-01 -6.69940050e-03 2.05408207e+00] [-5.73582175e-03 6.75615916e-03 9.99960727e-01 -1.85250426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.869072329 meters 0.40117418265594235 Centerline is valid? [False, False] Translation: X:63.88, Y:2.06, Z:-1.85 [[ 9.99942919e-01 -9.49109195e-03 4.90696283e-03 6.38806006e+01] [ 9.52340545e-03 9.99932841e-01 -6.60435121e-03 2.06079952e+00] [-4.84395078e-03 6.65070522e-03 9.99966152e-01 -1.85267818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899072329 meters 0.3688432985743084 Centerline is valid? [False, False] Translation: X:63.88, Y:2.07, Z:-1.86 [[ 9.99953301e-01 -8.43466870e-03 4.71719994e-03 6.38821532e+01] [ 8.45565222e-03 9.99954366e-01 -4.44618805e-03 2.07338924e+00] [-4.67948255e-03 4.48586742e-03 9.99978989e-01 -1.85550192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.929072329 meters 0.37263324002774134 Centerline is valid? [False, False] Translation: X:63.88, Y:2.08, Z:-1.86 [[ 9.99951872e-01 -9.02546069e-03 3.84641547e-03 6.38838315e+01] [ 9.04876655e-03 9.99940542e-01 -6.08540597e-03 2.07924349e+00] [-3.79126318e-03 6.11991841e-03 9.99974086e-01 -1.85531186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959072329 meters 0.36663021264441276 Centerline is valid? [False, False] Translation: X:63.89, Y:2.09, Z:-1.86 [[ 9.99942704e-01 -1.00659647e-02 3.64220799e-03 6.38851207e+01] [ 1.00915190e-02 9.99924105e-01 -7.06715803e-03 2.09073831e+00] [-3.57079380e-03 7.10350852e-03 9.99968394e-01 -1.85720786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.989072329 meters 0.38218770896045495 Centerline is valid? [False, False] Translation: X:63.89, Y:2.10, Z:-1.86 [[ 9.99953746e-01 -9.25130736e-03 2.63035106e-03 6.38873314e+01] [ 9.26947332e-03 9.99932675e-01 -6.98007520e-03 2.09754746e+00] [-2.56559915e-03 7.00413432e-03 9.99972180e-01 -1.85734124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019072329 meters 0.3896121922539667 Centerline is valid? [False, False] Translation: X:63.89, Y:2.10, Z:-1.86 [[ 9.99963223e-01 -8.43212897e-03 1.56554742e-03 6.38893932e+01] [ 8.44268797e-03 9.99940793e-01 -6.86516753e-03 2.10450107e+00] [-1.50756675e-03 6.87813249e-03 9.99975209e-01 -1.85718960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.049072329 meters 0.3690241605055855 Centerline is valid? [False, False] Translation: X:63.89, Y:2.12, Z:-1.86 [[ 9.99960195e-01 -8.83631527e-03 1.23636374e-03 6.38894948e+01] [ 8.84487352e-03 9.99935699e-01 -7.09690828e-03 2.11621140e+00] [-1.17357372e-03 7.10756127e-03 9.99974052e-01 -1.85762287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079072329 meters 0.3852551822847816 Centerline is valid? [False, False] Translation: X:63.89, Y:2.12, Z:-1.86 [[ 9.99970911e-01 -7.62616175e-03 -1.37070195e-04 6.38924425e+01] [ 7.62500192e-03 9.99945927e-01 -7.07125467e-03 2.12396741e+00] [ 1.90989316e-04 7.07000381e-03 9.99974989e-01 -1.85782604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.109072329 meters 0.37608326547419535 Centerline is valid? [False, False] Translation: X:63.89, Y:2.14, Z:-1.86 [[ 9.99970403e-01 -7.60801571e-03 -1.14505766e-03 6.38949754e+01] [ 7.59841200e-03 9.99937756e-01 -8.16993645e-03 2.13720240e+00] [ 1.20714339e-03 8.16099403e-03 9.99965970e-01 -1.85909431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13907232900002 meters 0.37935225302706604 Centerline is valid? [False, False] Translation: X:63.90, Y:2.14, Z:-1.86 [[ 9.99977181e-01 -6.28896486e-03 -2.46721099e-03 6.38982539e+01] [ 6.26854696e-03 9.99946748e-01 -8.19794047e-03 2.14490915e+00] [ 2.51863616e-03 8.18228757e-03 9.99963353e-01 -1.85970577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16907232900002 meters 0.37453918611872455 Centerline is valid? [False, False] Translation: X:63.90, Y:2.15, Z:-1.86 [[ 9.99980402e-01 -4.97932525e-03 -3.79495302e-03 6.39015882e+01] [ 4.94871653e-03 9.99955491e-01 -8.03279624e-03 2.15227510e+00] [ 3.83478201e-03 8.01385867e-03 9.99960535e-01 -1.86041411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19907232900002 meters 0.37076706331059067 Centerline is valid? [False, False] Translation: X:63.91, Y:2.16, Z:-1.86 [[ 9.99976001e-01 -4.10625635e-03 -5.58004482e-03 6.39055189e+01] [ 4.05890962e-03 9.99955891e-01 -8.47000589e-03 2.16474011e+00] [ 5.61457871e-03 8.44715372e-03 9.99948560e-01 -1.86152992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22907232900002 meters 0.3691082772051121 Centerline is valid? [False, False] Translation: X:63.91, Y:2.17, Z:-1.86 [[ 9.99971953e-01 -2.75162930e-03 -6.96576812e-03 6.39088580e+01] [ 2.69410236e-03 9.99962302e-01 -8.25447651e-03 2.17200156e+00] [ 6.98821879e-03 8.23547850e-03 9.99941669e-01 -1.86196533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25907232900002 meters 0.3673019835533309 Centerline is valid? [False, False] Translation: X:63.91, Y:2.18, Z:-1.86 [[ 9.99963486e-01 -1.36542530e-03 -8.43574903e-03 6.39124210e+01] [ 1.29891259e-03 9.99968069e-01 -7.88507797e-03 2.17895098e+00] [ 8.44624615e-03 7.87383275e-03 9.99933330e-01 -1.86250428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.289072329 meters 0.36653805662666955 Centerline is valid? [False, False] Translation: X:63.92, Y:2.19, Z:-1.86 [[ 9.99884924e-01 -1.11614085e-02 -1.02743474e-02 6.39223713e+01] [ 1.11246733e-02 9.99931546e-01 -3.62566453e-03 2.19441196e+00] [ 1.03141116e-02 3.51094854e-03 9.99940644e-01 -1.86488961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319072329 meters 0.36653805662666955 Centerline is valid? [False, False] Translation: X:63.92, Y:2.19, Z:-1.86 [[ 9.99884924e-01 -1.11614085e-02 -1.02743474e-02 6.39223713e+01] [ 1.11246733e-02 9.99931546e-01 -3.62566453e-03 2.19441196e+00] [ 1.03141116e-02 3.51094854e-03 9.99940644e-01 -1.86488961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.349072329 meters 0.3658758753168845 Centerline is valid? [False, False] Translation: X:63.93, Y:2.20, Z:-1.87 [[ 9.99883855e-01 -9.66428771e-03 -1.17846780e-02 6.39261729e+01] [ 9.62708115e-03 9.99948507e-01 -3.20985027e-03 2.20109272e+00] [ 1.18150921e-02 3.09602541e-03 9.99925406e-01 -1.86570041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379072329 meters 0.36400386539932256 Centerline is valid? [False, False] Translation: X:63.94, Y:2.22, Z:-1.87 [[ 9.99726587e-01 -1.95561162e-02 -1.28183436e-02 6.39365014e+01] [ 1.95729828e-02 9.99807721e-01 1.19167386e-03 2.21563244e+00] [ 1.27925744e-02 -1.44224125e-03 9.99917132e-01 -1.86919969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.409072329 meters 0.36043004418299485 Centerline is valid? [False, False] Translation: X:63.94, Y:2.22, Z:-1.87 [[ 9.99732899e-01 -1.81564034e-02 -1.42994790e-02 6.39403474e+01] [ 1.81792096e-02 9.99833669e-01 1.46652091e-03 2.22174980e+00] [ 1.42704738e-02 -1.72608242e-03 9.99896682e-01 -1.87000042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439072329 meters 0.36548910129455103 Centerline is valid? [False, False] Translation: X:63.94, Y:2.23, Z:-1.87 [[ 9.99711930e-01 -1.81028362e-02 -1.57589216e-02 6.39434280e+01] [ 1.81106836e-02 9.99835925e-01 3.55384450e-04 2.22600915e+00] [ 1.57499025e-02 -6.40686918e-04 9.99875757e-01 -1.86963698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469072329 meters 0.36083281575516435 Centerline is valid? [False, False] Translation: X:63.96, Y:2.24, Z:-1.87 [[ 9.99349714e-01 -2.97102410e-02 -2.04315945e-02 6.39598819e+01] [ 2.96892294e-02 9.99558291e-01 -1.33102001e-03 2.24421043e+00] [ 2.04621146e-02 7.23556167e-04 9.99790367e-01 -1.86682680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499072329 meters 0.3620028040532481 Centerline is valid? [False, False] Translation: X:63.96, Y:2.25, Z:-1.87 [[ 9.99419169e-01 -2.57527555e-02 -2.23185910e-02 6.39644714e+01] [ 2.58084862e-02 9.99664457e-01 2.21257409e-03 2.24621233e+00] [ 2.22541223e-02 -2.78729801e-03 9.99748461e-01 -1.86830198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.529072329 meters 0.36063393743900807 Centerline is valid? [False, False] Translation: X:63.97, Y:2.25, Z:-1.87 [[ 9.99386174e-01 -2.55336518e-02 -2.39855797e-02 6.39682330e+01] [ 2.55741070e-02 9.99671975e-01 1.38136272e-03 2.24982223e+00] [ 2.39424406e-02 -1.99392459e-03 9.99711350e-01 -1.86815762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559072329 meters 0.35327463070316556 Centerline is valid? [False, False] Translation: X:63.99, Y:2.27, Z:-1.87 [[ 9.99053755e-01 -3.57048675e-02 -2.48345826e-02 6.39852961e+01] [ 3.57409737e-02 9.99360576e-01 1.01137532e-03 2.26723331e+00] [ 2.47825917e-02 -1.89803048e-03 9.99691063e-01 -1.86728976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.589072329 meters 0.3516270423231217 Centerline is valid? [False, False] Translation: X:63.99, Y:2.27, Z:-1.87 [[ 9.99019545e-01 -3.54547588e-02 -2.65124125e-02 6.39890810e+01] [ 3.54775287e-02 9.99370399e-01 3.88803815e-04 2.26986757e+00] [ 2.64819353e-02 -1.32901749e-03 9.99648409e-01 -1.86720305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619072329 meters 0.35237524529044434 Centerline is valid? [False, False] Translation: X:64.00, Y:2.28, Z:-1.87 [[ 9.99279658e-01 -2.87265857e-02 -2.47981587e-02 6.40049260e+01] [ 2.87442456e-02 9.99586735e-01 3.55908933e-04 2.27561634e+00] [ 2.47776865e-02 -1.06845692e-03 9.99692415e-01 -1.86794777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.649072329 meters 0.3482744246803959 Centerline is valid? [False, False] Translation: X:64.01, Y:2.28, Z:-1.87 [[ 9.99246042e-01 -2.83738358e-02 -2.65004334e-02 6.40090477e+01] [ 2.83859608e-02 9.99597034e-01 8.13912310e-05 2.27714065e+00] [ 2.64874452e-02 -8.33570129e-04 9.99648799e-01 -1.86831564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679072329 meters 0.35128216365411774 Centerline is valid? [False, False] Translation: X:64.01, Y:2.28, Z:-1.87 [[ 9.99213092e-01 -2.80835171e-02 -2.80091457e-02 6.40126680e+01] [ 2.80899625e-02 9.99605386e-01 -1.63395630e-04 2.27847035e+00] [ 2.80026816e-02 -6.23508799e-04 9.99607654e-01 -1.86850284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.709072329 meters 0.3527211303576957 Centerline is valid? [False, False] Translation: X:64.03, Y:2.28, Z:-1.87 [[ 9.99428621e-01 -2.02940505e-02 -2.70293051e-02 6.40325928e+01] [ 2.02998704e-02 9.99793935e-01 -5.90875088e-05 2.28276469e+00] [ 2.70249344e-02 -4.89637642e-04 9.99634640e-01 -1.86776496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739072329 meters 0.34752600046308224 Centerline is valid? [False, False] Translation: X:64.03, Y:2.29, Z:-1.87 [[ 9.99656538e-01 -2.21850405e-02 -1.39509869e-02 6.40345225e+01] [ 2.21830247e-02 9.99753882e-01 -2.99242402e-04 2.28803023e+00] [ 1.39541920e-02 -1.03354620e-05 9.99902635e-01 -1.87144205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.769072329 meters 0.34795451026969665 Centerline is valid? [False, False] Translation: X:64.04, Y:2.29, Z:-1.87 [[ 9.99612571e-01 -2.17978585e-02 -1.73078446e-02 6.40426293e+01] [ 2.17926973e-02 9.99762392e-01 -4.86769549e-04 2.28846162e+00] [ 1.73143426e-02 1.09396342e-04 9.99850090e-01 -1.87230067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799072329 meters 0.3484978641404168 Centerline is valid? [False, False] Translation: X:64.05, Y:2.29, Z:-1.87 [[ 9.99596213e-01 -2.12560425e-02 -1.88571226e-02 6.40469088e+01] [ 2.12565409e-02 9.99774039e-01 -1.74031993e-04 2.28829566e+00] [ 1.88565609e-02 -2.26875476e-04 9.99822174e-01 -1.87335168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.829072329 meters 0.3462618519721997 Centerline is valid? [False, False] Translation: X:64.05, Y:2.29, Z:-1.87 [[ 9.99576370e-01 -2.06783165e-02 -2.04814024e-02 6.40513827e+01] [ 2.06843987e-02 9.99786051e-01 8.51396680e-05 2.28837381e+00] [ 2.04752599e-02 -5.08749094e-04 9.99790230e-01 -1.87434213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859072329 meters 0.3466402920353003 Centerline is valid? [False, False] Translation: X:64.06, Y:2.29, Z:-1.88 [[ 9.99516085e-01 -1.98935441e-02 -2.39132466e-02 6.40600196e+01] [ 1.99046493e-02 9.99801857e-01 2.26433016e-04 2.28825627e+00] [ 2.39040038e-02 -7.02308227e-04 9.99714012e-01 -1.87509299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88907232900002 meters 0.3472111573670015 Centerline is valid? [False, False] Translation: X:64.06, Y:2.29, Z:-1.88 [[ 9.99706696e-01 -2.16498851e-02 -1.08537794e-02 6.40627846e+01] [ 2.16578779e-02 9.99765249e-01 6.19397670e-04 2.29193366e+00] [ 1.08378215e-02 -8.54285826e-04 9.99940904e-01 -1.88001217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91907232900002 meters 0.34366900496103564 Centerline is valid? [False, False] Translation: X:64.07, Y:2.29, Z:-1.88 [[ 9.99906348e-01 -9.08804107e-03 -1.02324761e-02 6.40652422e+01] [ 9.07138764e-03 9.99957455e-01 -1.67274564e-03 2.28711021e+00] [ 1.02472427e-02 1.57976622e-03 9.99946248e-01 -1.88300039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94907232900002 meters 0.34494437081558044 Centerline is valid? [False, False] Translation: X:64.07, Y:2.28, Z:-1.88 [[ 9.99875308e-01 -8.28506486e-03 -1.34434472e-02 6.40738086e+01] [ 8.27778577e-03 9.99965560e-01 -5.97013774e-04 2.28370234e+00] [ 1.34479306e-02 4.85657354e-04 9.99909455e-01 -1.88495663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97907232900002 meters 0.3435419350067198 Centerline is valid? [False, False] Translation: X:64.08, Y:2.28, Z:-1.89 [[ 9.99843961e-01 -1.70428970e-02 -4.64676029e-03 6.40795138e+01] [ 1.70617746e-02 9.99846220e-01 4.05361921e-03 2.28417538e+00] [ 4.57696029e-03 -4.13226866e-03 9.99980988e-01 -1.88902476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.009072329 meters 0.33875732995955016 Centerline is valid? [False, False] Translation: X:64.10, Y:2.28, Z:-1.89 [[ 9.99989305e-01 -7.53917591e-04 -4.56299270e-03 6.40957591e+01] [ 7.57108984e-04 9.99999470e-01 6.97720999e-04 2.27521876e+00] [ 4.56246426e-03 -7.01168220e-04 9.99989346e-01 -1.89045561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039072329 meters 0.3351778719018799 Centerline is valid? [False, False] Translation: X:64.10, Y:2.27, Z:-1.89 [[ 9.99983253e-01 -2.70408540e-04 -5.78097941e-03 6.40993539e+01] [ 2.80733579e-04 9.99998367e-01 1.78529945e-03 2.27186864e+00] [ 5.78048721e-03 -1.78689247e-03 9.99981696e-01 -1.89181589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.069072329 meters 0.3338028463922512 Centerline is valid? [False, False] Translation: X:64.10, Y:2.27, Z:-1.89 [[ 9.99964791e-01 -4.21408489e-03 -7.25661827e-03 6.41026138e+01] [ 4.19625600e-03 9.99988144e-01 -2.47039056e-03 2.27156785e+00] [ 7.26694267e-03 2.43985295e-03 9.99970619e-01 -1.89090788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099072329 meters 0.33365572722063785 Centerline is valid? [False, False] Translation: X:64.11, Y:2.27, Z:-1.89 [[ 9.99956970e-01 -3.75460484e-03 -8.48300175e-03 6.41061263e+01] [ 3.74283792e-03 9.99992012e-01 -1.40256780e-03 2.26813260e+00] [ 8.48820008e-03 1.37075694e-03 9.99963035e-01 -1.89201497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.129072329 meters 0.32158721955222364 Centerline is valid? [False, False] Translation: X:64.12, Y:2.26, Z:-1.90 [[ 9.99990932e-01 -3.86436968e-03 1.78932940e-03 6.41162339e+01] [ 3.86596436e-03 9.99992132e-01 -8.88621469e-04 2.26470261e+00] [-1.78588136e-03 8.95530896e-04 9.99998004e-01 -1.89877197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159072329 meters 0.32033642525938383 Centerline is valid? [False, False] Translation: X:64.12, Y:2.26, Z:-1.90 [[ 9.99994240e-01 -3.34098667e-03 5.98793089e-04 6.41197498e+01] [ 3.34087871e-03 9.99994403e-01 1.81205793e-04 2.26131324e+00] [-5.99395144e-04 -1.79204254e-04 9.99999804e-01 -1.89988145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.189072329 meters 0.31322921354268785 Centerline is valid? [False, False] Translation: X:64.12, Y:2.26, Z:-1.90 [[ 9.99996206e-01 -2.68754014e-03 -6.04930809e-04 6.41236075e+01] [ 2.68839701e-03 9.99995378e-01 1.42015114e-03 2.25763411e+00] [ 6.01111300e-04 -1.42177205e-03 9.99998809e-01 -1.90147381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219072329 meters 0.3117176911454844 Centerline is valid? [False, False] Translation: X:64.13, Y:2.25, Z:-1.90 [[ 9.99996609e-01 -2.06691159e-03 -1.58401243e-03 6.41271270e+01] [ 2.07144165e-03 9.99993755e-01 2.86357604e-03 2.25347650e+00] [ 1.57808378e-03 -2.86684752e-03 9.99994645e-01 -1.90367408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.249072329 meters 0.3128065428742302 Centerline is valid? [False, False] Translation: X:64.13, Y:2.25, Z:-1.91 [[ 9.99977775e-01 -5.62743813e-03 -3.57505866e-03 6.41326776e+01] [ 5.62941100e-03 9.99984008e-01 5.42021397e-04 2.24707536e+00] [ 3.57195130e-03 -5.62134825e-04 9.99993463e-01 -1.90565017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279072329 meters 0.3102039331722407 Centerline is valid? [False, False] Translation: X:64.14, Y:2.24, Z:-1.91 [[ 9.99978065e-01 -4.95474344e-03 -4.39536282e-03 6.41360622e+01] [ 4.96445973e-03 9.99985252e-01 2.20242941e-03 2.24228922e+00] [ 4.38438553e-03 -2.22420170e-03 9.99987915e-01 -1.90831205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309072329 meters 0.2612489533131185 Centerline is valid? [False, False] Translation: X:64.14, Y:2.24, Z:-1.91 [[ 9.99943461e-01 -8.38671530e-03 -6.53734508e-03 6.41412285e+01] [ 8.38633973e-03 9.99964830e-01 -8.48604539e-05 2.23558407e+00] [ 6.53782686e-03 3.00312593e-05 9.99978628e-01 -1.90864036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339072329 meters 0.2532978817457518 Centerline is valid? [False, False] Translation: X:64.14, Y:2.23, Z:-1.91 [[ 9.99942154e-01 -8.00435553e-03 -7.18466465e-03 6.41435318e+01] [ 8.01359458e-03 9.99967099e-01 1.25807383e-03 2.23125448e+00] [ 7.17435820e-03 -1.31557605e-03 9.99973399e-01 -1.91013939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.369072329 meters 0.25682477095236345 Centerline is valid? [False, False] Translation: X:64.15, Y:2.23, Z:-1.91 [[ 9.99940401e-01 -7.59319539e-03 -7.84460668e-03 6.41458853e+01] [ 7.61359577e-03 9.99967703e-01 2.57397928e-03 2.22695459e+00] [ 7.82480860e-03 -2.63355154e-03 9.99965918e-01 -1.91158034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399072329 meters 0.32725413714819196 Centerline is valid? [False, False] Translation: X:64.17, Y:2.21, Z:-1.91 [[ 9.99965196e-01 7.60231939e-04 -8.30830775e-03 6.41705594e+01] [-7.36066665e-04 9.99995491e-01 2.91123834e-03 2.21365198e+00] [ 8.31048350e-03 -2.90502155e-03 9.99961248e-01 -1.91149792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.429072329 meters 0.32817215983344067 Centerline is valid? [False, False] Translation: X:64.17, Y:2.21, Z:-1.91 [[ 9.99950170e-01 -3.26425105e-03 -9.43412079e-03 6.41731781e+01] [ 3.25558806e-03 9.99994265e-01 -9.33472964e-04 2.21145246e+00] [ 9.43711378e-03 9.02712838e-04 9.99955062e-01 -1.91073823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459072329 meters 0.33143050965302295 Centerline is valid? [False, False] Translation: X:64.17, Y:2.20, Z:-1.91 [[ 9.99918911e-01 -7.51487692e-03 -1.02809393e-02 6.41748109e+01] [ 7.48480593e-03 9.99967607e-01 -2.96028304e-03 2.20325713e+00] [ 1.03028525e-02 2.88309216e-03 9.99942768e-01 -1.91186049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.489072329 meters 0.3317593065089182 Centerline is valid? [False, False] Translation: X:64.18, Y:2.20, Z:-1.91 [[ 9.99919112e-01 -7.26244202e-03 -1.04415502e-02 6.41759655e+01] [ 7.24800284e-03 9.99972725e-01 -1.42003593e-03 2.19838059e+00] [ 1.04515784e-02 1.34424068e-03 9.99944477e-01 -1.91394954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519072329 meters 0.2659585510327526 Centerline is valid? [False, False] Translation: X:64.18, Y:2.19, Z:-1.92 [[ 9.99919431e-01 -7.15323499e-03 -1.04862856e-02 6.41765060e+01] [ 7.15253513e-03 9.99974415e-01 -1.04241647e-04 2.19387500e+00] [ 1.04867629e-02 2.92297226e-05 9.99945012e-01 -1.91535803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.549072329 meters 0.2641565508288799 Centerline is valid? [False, False] Translation: X:64.18, Y:2.19, Z:-1.92 [[ 9.99917745e-01 -6.92480680e-03 -1.07958542e-02 6.41776779e+01] [ 6.93808591e-03 9.99975219e-01 1.19305166e-03 2.18934239e+00] [ 1.07873250e-02 -1.26785609e-03 9.99941011e-01 -1.91648790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579072329 meters 0.2636774886340848 Centerline is valid? [False, False] Translation: X:64.18, Y:2.18, Z:-1.91 [[ 9.99861287e-01 -1.05384860e-02 -1.28975636e-02 6.41815038e+01] [ 1.05284529e-02 9.99944217e-01 -8.45557866e-04 2.18104322e+00] [ 1.29057551e-02 7.09649185e-04 9.99916465e-01 -1.91499893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.609072329 meters 0.27579851915257153 Centerline is valid? [False, False] Translation: X:64.18, Y:2.18, Z:-1.92 [[ 9.99862474e-01 -1.03257521e-02 -1.29773699e-02 6.41823691e+01] [ 1.03339237e-02 9.99946445e-01 5.62785913e-04 2.17651555e+00] [ 1.29708637e-02 -6.96815666e-04 9.99915632e-01 -1.91695101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63907232900002 meters 0.2678274049911482 Centerline is valid? [False, False] Translation: X:64.18, Y:2.17, Z:-1.92 [[ 9.99865048e-01 -1.01585471e-02 -1.29108507e-02 6.41829495e+01] [ 1.01861726e-02 9.99945965e-01 2.07575681e-03 2.17189146e+00] [ 1.28890664e-02 -2.20698884e-03 9.99914497e-01 -1.91933741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66907232900002 meters 0.27352009534555005 Centerline is valid? [False, False] Translation: X:64.18, Y:2.16, Z:-1.92 [[ 9.99792575e-01 -1.47294374e-02 -1.40659177e-02 6.41849519e+01] [ 1.47278222e-02 9.99891516e-01 -2.18419042e-04 2.16439494e+00] [ 1.40676089e-02 1.12134021e-05 9.99901046e-01 -1.92023069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69907232900002 meters 0.2737786908912317 Centerline is valid? [False, False] Translation: X:64.19, Y:2.16, Z:-1.92 [[ 9.99794913e-01 -1.41396596e-02 -1.44983283e-02 6.41863331e+01] [ 1.41742597e-02 9.99896926e-01 2.28650591e-03 2.15539190e+00] [ 1.44645035e-02 -2.49154005e-03 9.99892279e-01 -1.92189058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72907232900002 meters 0.28973891498679255 Centerline is valid? [False, False] Translation: X:64.19, Y:2.13, Z:-1.92 [[ 9.99704009e-01 -1.74240973e-02 -1.69792306e-02 6.41927287e+01] [ 1.74718409e-02 9.99843797e-01 2.66759841e-03 2.13105307e+00] [ 1.69300979e-02 -2.96346725e-03 9.99852284e-01 -1.92158866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759072329 meters 0.2962809703557165 Centerline is valid? [False, False] Translation: X:64.19, Y:2.12, Z:-1.93 [[ 9.99638663e-01 -2.11750796e-02 -1.65577514e-02 6.41932612e+01] [ 2.11970211e-02 9.99774656e-01 1.15075545e-03 2.12238450e+00] [ 1.65296529e-02 -1.50131465e-03 9.99862249e-01 -1.92556137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.789072329 meters 0.2963779333993518 Centerline is valid? [False, False] Translation: X:64.19, Y:2.12, Z:-1.93 [[ 9.99433103e-01 -2.92600509e-02 -1.66529832e-02 6.41946073e+01] [ 2.91681329e-02 9.99558061e-01 -5.73603844e-03 2.11577555e+00] [ 1.68134604e-02 5.24705027e-03 9.99844876e-01 -1.92659393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819072329 meters 0.3022613001914761 Centerline is valid? [False, False] Translation: X:64.20, Y:2.10, Z:-1.93 [[ 9.99578768e-01 -2.07634179e-02 -2.02772708e-02 6.41979355e+01] [ 2.04791496e-02 9.99690461e-01 -1.41275299e-02 2.10094656e+00] [ 2.05643300e-02 1.37063177e-02 9.99694576e-01 -1.92558346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.849072329 meters 0.31750006953986637 Centerline is valid? [False, False] Translation: X:64.20, Y:2.08, Z:-1.93 [[ 9.99437426e-01 -2.68358989e-02 -2.01163064e-02 6.41956320e+01] [ 2.65070902e-02 9.99513471e-01 -1.64376368e-02 2.08400494e+00] [ 2.05476379e-02 1.58951647e-02 9.99662512e-01 -1.92614935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879072329 meters 0.3221656505363727 Centerline is valid? [False, False] Translation: X:64.20, Y:2.08, Z:-1.93 [[ 9.99444079e-01 -2.64553565e-02 -2.02891038e-02 6.41956072e+01] [ 2.61635726e-02 9.99552299e-01 -1.45144255e-02 2.07679106e+00] [ 2.06640047e-02 1.39755212e-02 9.99688793e-01 -1.92658750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.909072329 meters 0.3322411313905323 Centerline is valid? [False, False] Translation: X:64.20, Y:2.07, Z:-1.93 [[ 9.99448651e-01 -2.61697553e-02 -2.04337656e-02 6.41954730e+01] [ 2.59101868e-02 9.99581476e-01 -1.28660316e-02 2.07035904e+00] [ 2.07619145e-02 1.23294952e-02 9.99708421e-01 -1.92674254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939072329 meters 0.33594418611797544 Centerline is valid? [False, False] Translation: X:64.19, Y:2.06, Z:-1.93 [[ 9.99341460e-01 -3.00087817e-02 -2.03989854e-02 6.41938054e+01] [ 2.97450311e-02 9.99471509e-01 -1.31123961e-02 2.05690666e+00] [ 2.07816918e-02 1.24969926e-02 9.99705930e-01 -1.92830322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.969072329 meters 0.33584722392732547 Centerline is valid? [False, False] Translation: X:64.19, Y:2.05, Z:-1.93 [[ 9.99219961e-01 -3.38939486e-02 -2.02649755e-02 6.41943671e+01] [ 3.35743468e-02 9.99309599e-01 -1.59087626e-02 2.05159964e+00] [ 2.07901954e-02 1.52159698e-02 9.99668066e-01 -1.92971710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999072329 meters 0.3608547503638408 Centerline is valid? [False, False] Translation: X:64.19, Y:2.04, Z:-1.93 [[ 9.99061137e-01 -3.85196804e-02 -1.98262379e-02 6.41936539e+01] [ 3.81832826e-02 9.99124855e-01 -1.70751671e-02 2.04167356e+00] [ 2.04666171e-02 1.63021050e-02 9.99657621e-01 -1.93456507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.029072329 meters 0.3634686743305675 Centerline is valid? [False, False] Translation: X:64.19, Y:2.04, Z:-1.94 [[ 9.99071847e-01 -3.84157503e-02 -1.94852296e-02 6.41931445e+01] [ 3.81154932e-02 9.99152286e-01 -1.55537556e-02 2.03679866e+00] [ 2.00662208e-02 1.47966302e-02 9.99689155e-01 -1.93681292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059072329 meters 0.3770532284241584 Centerline is valid? [False, False] Translation: X:64.19, Y:2.03, Z:-1.94 [[ 9.99079979e-01 -3.83051258e-02 -1.92850237e-02 6.41927113e+01] [ 3.80322437e-02 9.99173853e-01 -1.43233927e-02 2.03250724e+00] [ 1.98177508e-02 1.35767622e-02 9.99711423e-01 -1.93809792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.089072329 meters 0.3665850462365795 Centerline is valid? [False, False] Translation: X:64.19, Y:2.02, Z:-1.94 [[ 9.99069002e-01 -3.89870177e-02 -1.84700013e-02 6.41898801e+01] [ 3.87745503e-02 9.99179189e-01 -1.17252559e-02 2.02402349e+00] [ 1.89119737e-02 1.09981737e-02 9.99760660e-01 -1.94178850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119072329 meters 0.36635503233897326 Centerline is valid? [False, False] Translation: X:64.19, Y:2.02, Z:-1.94 [[ 9.99076063e-01 -3.92324476e-02 -1.75452472e-02 6.41877277e+01] [ 3.90505736e-02 9.99181103e-01 -1.05913039e-02 2.02069124e+00] [ 1.79464022e-02 9.89636620e-03 9.99789972e-01 -1.94417991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.149072329 meters 0.36667110498247646 Centerline is valid? [False, False] Translation: X:64.19, Y:2.02, Z:-1.95 [[ 9.99081404e-01 -3.95292419e-02 -1.65465235e-02 6.41853044e+01] [ 3.93732222e-02 9.99177964e-01 -9.65117528e-03 2.01780955e+00] [ 1.69144253e-02 8.99081980e-03 9.99816517e-01 -1.94631174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179072329 meters 0.3804921460573043 Centerline is valid? [False, False] Translation: X:64.18, Y:2.01, Z:-1.95 [[ 9.98899979e-01 -4.40059449e-02 -1.61959723e-02 6.41837792e+01] [ 4.38098656e-02 9.98964550e-01 -1.22688003e-02 2.01125659e+00] [ 1.67191023e-02 1.15457610e-02 9.99793562e-01 -1.94677436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.209072329 meters 0.3714930964099887 Centerline is valid? [False, False] Translation: X:64.18, Y:2.01, Z:-1.95 [[ 9.98909799e-01 -4.39187427e-02 -1.58226687e-02 6.41830118e+01] [ 4.37423430e-02 9.98978627e-01 -1.13274327e-02 2.00813559e+00] [ 1.63039945e-02 1.06229629e-02 9.99810648e-01 -1.94814489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239072329 meters 0.3714930964099887 Centerline is valid? [False, False] Translation: X:64.18, Y:2.01, Z:-1.95 [[ 9.99395840e-01 -2.98681714e-02 -1.77720812e-02 6.41755384e+01] [ 2.96404686e-02 9.99476852e-01 -1.29408020e-02 2.00743287e+00] [ 1.81493018e-02 1.24062109e-02 9.99758315e-01 -1.94928509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.269072329 meters 0.3814756426272845 Centerline is valid? [False, False] Translation: X:64.18, Y:2.00, Z:-1.95 [[ 9.99405325e-01 -2.96922560e-02 -1.75318831e-02 6.41752359e+01] [ 2.94849810e-02 9.99493606e-01 -1.19652313e-02 2.00426484e+00] [ 1.78782797e-02 1.14411886e-02 9.99774708e-01 -1.95073482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299072329 meters 0.4371413438996505 Centerline is valid? [False, False] Translation: X:64.17, Y:2.00, Z:-1.95 [[ 9.99415817e-01 -2.96375830e-02 -1.70187452e-02 6.41745168e+01] [ 2.94751796e-02 9.99518295e-01 -9.71550404e-03 1.99755241e+00] [ 1.72984913e-02 9.20819784e-03 9.99807967e-01 -1.95480355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.329072329 meters 0.4385984635749137 Centerline is valid? [False, False] Translation: X:64.17, Y:2.00, Z:-1.96 [[ 9.99426601e-01 -2.96219032e-02 -1.64015918e-02 6.41734828e+01] [ 2.94772800e-02 9.99525019e-01 -8.99032024e-03 1.99555359e+00] [ 1.66601118e-02 8.50169088e-03 9.99825066e-01 -1.95680515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359072329 meters 0.4354168506735633 Centerline is valid? [False, False] Translation: X:64.17, Y:1.99, Z:-1.96 [[ 9.99432576e-01 -3.00003662e-02 -1.53134999e-02 6.41707845e+01] [ 2.98867187e-02 9.99524421e-01 -7.59711721e-03 1.99119592e+00] [ 1.55341334e-02 7.13513616e-03 9.99853880e-01 -1.95993909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38907232900002 meters 0.43723134772667865 Centerline is valid? [False, False] Translation: X:64.17, Y:1.99, Z:-1.96 [[ 9.99439930e-01 -2.99369805e-02 -1.49533808e-02 6.41698876e+01] [ 2.98338163e-02 9.99529832e-01 -7.07517690e-03 1.98922822e+00] [ 1.51581596e-02 6.62509790e-03 9.99863160e-01 -1.96061875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41907232900002 meters 0.4552714708238767 Centerline is valid? [False, False] Translation: X:64.17, Y:1.99, Z:-1.96 [[ 9.99446274e-01 -2.97951069e-02 -1.48120252e-02 6.41694082e+01] [ 2.97010424e-02 9.99537493e-01 -6.53051997e-03 1.98701882e+00] [ 1.49997521e-02 6.08697127e-03 9.99868970e-01 -1.96087162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44907232900002 meters 0.46785222251503145 Centerline is valid? [False, False] Translation: X:64.17, Y:1.98, Z:-1.96 [[ 9.99458185e-01 -2.95247319e-02 -1.45474190e-02 6.41686783e+01] [ 2.94612443e-02 9.99555525e-01 -4.55937296e-03 1.98049052e+00] [ 1.46755673e-02 4.12831756e-03 9.99883786e-01 -1.96288248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47907232900002 meters 0.46303135890656827 Centerline is valid? [False, False] Translation: X:64.17, Y:1.98, Z:-1.96 [[ 9.99470462e-01 -2.92429362e-02 -1.42704918e-02 6.41686696e+01] [ 2.91927142e-02 9.99566898e-01 -3.71504085e-03 1.97800520e+00] [ 1.43729499e-02 3.29647920e-03 9.99891270e-01 -1.96466347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.509072329 meters 0.49363049936025455 Centerline is valid? [False, False] Translation: X:64.17, Y:1.98, Z:-1.97 [[ 9.99483041e-01 -2.90297649e-02 -1.38175009e-02 6.41682401e+01] [ 2.89925701e-02 9.99575465e-01 -2.88464289e-03 1.97561130e+00] [ 1.38953753e-02 2.48254678e-03 9.99900373e-01 -1.96668364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539072329 meters 0.4905170995841605 Centerline is valid? [False, False] Translation: X:64.17, Y:1.97, Z:-1.97 [[ 9.99491916e-01 -2.89806166e-02 -1.32677461e-02 6.41673582e+01] [ 2.89515134e-02 9.99577983e-01 -2.38040821e-03 1.97416216e+00] [ 1.33311325e-02 1.99507743e-03 9.99909146e-01 -1.96835376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.569072329 meters 0.4344156364608098 Centerline is valid? [False, False] Translation: X:64.17, Y:1.97, Z:-1.97 [[ 9.99382784e-01 -3.23841301e-02 -1.36131964e-02 6.41688947e+01] [ 3.23231548e-02 9.99466534e-01 -4.67560092e-03 1.96681517e+00] [ 1.37573495e-02 4.23269361e-03 9.99896404e-01 -1.96889759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599072329 meters 0.4119087020743946 Centerline is valid? [False, False] Translation: X:64.17, Y:1.96, Z:-1.97 [[ 9.99394073e-01 -3.21021524e-02 -1.34513309e-02 6.41687727e+01] [ 3.20507150e-02 9.99478150e-01 -4.02230281e-03 1.96455232e+00] [ 1.35734359e-02 3.58874081e-03 9.99901437e-01 -1.96969619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.629072329 meters 0.43096732632743623 Centerline is valid? [False, False] Translation: X:64.17, Y:1.96, Z:-1.97 [[ 9.99530411e-01 -2.82052887e-02 -1.19757641e-02 6.41667410e+01] [ 2.81974865e-02 9.99602036e-01 -8.19880546e-04 1.96075458e+00] [ 1.19941232e-02 4.81809091e-04 9.99927952e-01 -1.97191539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659072329 meters 0.4082573285739868 Centerline is valid? [False, False] Translation: X:64.17, Y:1.95, Z:-1.97 [[ 9.99561553e-01 -2.68118288e-02 -1.25629736e-02 6.41695419e+01] [ 2.68413322e-02 9.99637317e-01 2.18571512e-03 1.95092226e+00] [ 1.24998142e-02 -2.52196375e-03 9.99918694e-01 -1.97412915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.689072329 meters 0.418247531402713 Centerline is valid? [False, False] Translation: X:64.17, Y:1.95, Z:-1.98 [[ 9.99578440e-01 -2.60544167e-02 -1.28105196e-02 6.41711347e+01] [ 2.61009448e-02 9.99653261e-01 3.47831303e-03 1.94669300e+00] [ 1.27154522e-02 -3.81121338e-03 9.99911892e-01 -1.97539469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719072329 meters 0.4948547725362268 Centerline is valid? [False, False] Translation: X:64.17, Y:1.94, Z:-1.98 [[ 9.99595068e-01 -2.53501918e-02 -1.29255048e-02 6.41723855e+01] [ 2.54121643e-02 9.99666230e-01 4.65307514e-03 1.94284471e+00] [ 1.28032343e-02 -4.97965601e-03 9.99905636e-01 -1.97670481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.749072329 meters 0.4355052196589998 Centerline is valid? [False, False] Translation: X:64.18, Y:1.94, Z:-1.98 [[ 9.99614086e-01 -2.41869832e-02 -1.36626983e-02 6.41757346e+01] [ 2.42700655e-02 9.99687743e-01 5.94822018e-03 1.93755859e+00] [ 1.35145625e-02 -6.27751926e-03 9.99888969e-01 -1.97720772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779072329 meters 0.5554969035854406 Centerline is valid? [False, False] Translation: X:64.18, Y:1.94, Z:-1.98 [[ 9.99623539e-01 -2.36679713e-02 -1.38783077e-02 6.41769380e+01] [ 2.37616097e-02 9.99695725e-01 6.62145829e-03 1.93517674e+00] [ 1.37173684e-02 -6.94873650e-03 9.99881767e-01 -1.97769855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809072329 meters 0.5852706246169735 Centerline is valid? [False, False] Translation: X:64.18, Y:1.93, Z:-1.98 [[ 9.99643266e-01 -2.17074006e-02 -1.55604893e-02 6.41833597e+01] [ 2.18384255e-02 9.99727055e-01 8.30046311e-03 1.92793719e+00] [ 1.53760606e-02 -8.63731864e-03 9.99844475e-01 -1.97727268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839072329 meters 0.5936623078508411 Centerline is valid? [False, False] Translation: X:64.19, Y:1.92, Z:-1.98 [[ 9.99655532e-01 -2.09303984e-02 -1.58346508e-02 6.41852463e+01] [ 2.10826539e-02 9.99732502e-01 9.51028396e-03 1.92395912e+00] [ 1.56313610e-02 -9.84084443e-03 9.99829395e-01 -1.97852020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.869072329 meters 0.6309361082025967 Centerline is valid? [False, False] Translation: X:64.19, Y:1.92, Z:-1.98 [[ 9.99667590e-01 -2.01321344e-02 -1.61061093e-02 6.41871996e+01] [ 2.03059686e-02 9.99736519e-01 1.07033157e-02 1.92002155e+00] [ 1.58863851e-02 -1.10268080e-02 9.99812999e-01 -1.97977859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899072329 meters 0.6344817755463961 Centerline is valid? [False, False] Translation: X:64.19, Y:1.91, Z:-1.98 [[ 9.99673259e-01 -1.82103257e-02 -1.79376765e-02 6.41943948e+01] [ 1.84259381e-02 9.99759062e-01 1.19290532e-02 1.91417854e+00] [ 1.77161226e-02 -1.22556740e-02 9.99767942e-01 -1.97923010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.929072329 meters 0.6332335165208017 Centerline is valid? [False, False] Translation: X:64.20, Y:1.91, Z:-1.98 [[ 9.99679935e-01 -1.76059257e-02 -1.81675398e-02 6.41959987e+01] [ 1.78387924e-02 9.99759753e-01 1.27362790e-02 1.91139788e+00] [ 1.79389412e-02 -1.30562895e-02 9.99753834e-01 -1.98008928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959072329 meters 0.6862369336746126 Centerline is valid? [False, False] Translation: X:64.20, Y:1.91, Z:-1.98 [[ 9.99674732e-01 -1.57696521e-02 -2.00436582e-02 6.42031258e+01] [ 1.60428911e-02 9.99779551e-01 1.35452896e-02 1.90637365e+00] [ 1.98256351e-02 -1.38624420e-02 9.99707346e-01 -1.97883924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.989072329 meters 0.6801462764796067 Centerline is valid? [False, False] Translation: X:64.20, Y:1.90, Z:-1.98 [[ 9.99682185e-01 -1.50809485e-02 -2.02013472e-02 6.42045284e+01] [ 1.53786683e-02 9.99774203e-01 1.46642437e-02 1.90248429e+00] [ 1.99756351e-02 -1.49702530e-02 9.99688384e-01 -1.97980381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019072329 meters 0.687713366153115 Centerline is valid? [False, False] Translation: X:64.21, Y:1.90, Z:-1.98 [[ 9.99688116e-01 -1.43690476e-02 -2.04254919e-02 6.42060434e+01] [ 1.46938060e-02 9.99766574e-01 1.58395066e-02 1.89834196e+00] [ 2.01931254e-02 -1.61346947e-02 9.99665899e-01 -1.98060988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.049072329 meters 0.6919202006967872 Centerline is valid? [False, False] Translation: X:64.21, Y:1.89, Z:-1.98 [[ 9.99694587e-01 -1.35998373e-02 -2.06343663e-02 6.42078067e+01] [ 1.39543352e-02 9.99755815e-01 1.71343746e-02 1.89387427e+00] [ 2.03963030e-02 -1.74170804e-02 9.99640253e-01 -1.98179540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079072329 meters 0.6931831345086819 Centerline is valid? [False, False] Translation: X:64.22, Y:1.89, Z:-1.98 [[ 9.99675414e-01 -1.14100239e-02 -2.27788914e-02 6.42162211e+01] [ 1.18324748e-02 9.99758881e-01 1.84978930e-02 1.88686059e+00] [ 2.25623376e-02 -1.87614195e-02 9.99569382e-01 -1.98093442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.109072329 meters 0.7055854751620395 Centerline is valid? [False, False] Translation: X:64.22, Y:1.88, Z:-1.98 [[ 9.99679336e-01 -1.08792529e-02 -2.28662946e-02 6.42176367e+01] [ 1.13237360e-02 9.99747682e-01 1.93996018e-02 1.88392268e+00] [ 2.26494718e-02 -1.96523129e-02 9.99550293e-01 -1.98227806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13907232900002 meters 0.717958570177107 Centerline is valid? [False, False] Translation: X:64.22, Y:1.88, Z:-1.98 [[ 9.99680913e-01 -1.04320157e-02 -2.30053300e-02 6.42190448e+01] [ 1.08946889e-02 9.99739040e-01 2.00787904e-02 1.88167417e+00] [ 2.27898642e-02 -2.03230194e-02 9.99533690e-01 -1.98332631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16907232900002 meters 0.7201068979499303 Centerline is valid? [False, False] Translation: X:64.24, Y:1.88, Z:-1.98 [[ 9.99692651e-01 -2.63512397e-03 -2.46507481e-02 6.42412908e+01] [ 3.07976142e-03 9.99832938e-01 1.80169428e-02 1.87677751e+00] [ 2.45991530e-02 -1.80873237e-02 9.99533757e-01 -1.98017709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19907232900002 meters 0.6255621254185585 Centerline is valid? [False, False] Translation: X:64.24, Y:1.87, Z:-1.98 [[ 9.99692719e-01 -2.14277558e-03 -2.46956548e-02 6.42423374e+01] [ 2.60992338e-03 9.99817982e-01 1.88995130e-02 1.87375937e+00] [ 2.46506624e-02 -1.89581593e-02 9.99516350e-01 -1.98123499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22907232900002 meters 0.599587766398477 Centerline is valid? [False, False] Translation: X:64.24, Y:1.87, Z:-1.98 [[ 9.99689218e-01 -1.60174045e-03 -2.48777452e-02 6.42436888e+01] [ 2.09472848e-03 9.99801706e-01 1.98030262e-02 1.87054016e+00] [ 2.48410928e-02 -1.98489839e-02 9.99494341e-01 -1.98204521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259072329 meters 0.5943123383564561 Centerline is valid? [False, False] Translation: X:64.25, Y:1.86, Z:-1.98 [[ 9.99624192e-01 8.67122352e-04 -2.73993104e-02 6.42525661e+01] [-2.96523923e-04 9.99783145e-01 2.08224885e-02 1.86305274e+00] [ 2.74114243e-02 -2.08065387e-02 9.99407675e-01 -1.97959566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.289072329 meters 0.5950677694666783 Centerline is valid? [False, False] Translation: X:64.26, Y:1.86, Z:-1.99 [[ 9.99911323e-01 -2.49953185e-03 -1.30804409e-02 6.42558685e+01] [ 2.72322379e-03 9.99849879e-01 1.71114779e-02 1.86288362e+00] [ 1.30357065e-02 -1.71455815e-02 9.99768023e-01 -1.98533081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319072329 meters 0.591091648320251 Centerline is valid? [False, False] Translation: X:64.26, Y:1.86, Z:-1.99 [[ 9.99900562e-01 5.98257426e-03 -1.27700926e-02 6.42583167e+01] [-5.85781804e-03 9.99934972e-01 9.78455519e-03 1.86202666e+00] [ 1.28277991e-02 -9.70877735e-03 9.99870585e-01 -1.98569592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.349072329 meters 0.6319794483729795 Centerline is valid? [False, False] Translation: X:64.26, Y:1.85, Z:-1.99 [[ 9.99913986e-01 2.65493867e-03 -1.28441156e-02 6.42592325e+01] [-2.55355294e-03 9.99965506e-01 7.90352579e-03 1.85322738e+00] [ 1.28646559e-02 -7.87004785e-03 9.99886275e-01 -1.98688432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379072329 meters 0.636888765667022 Centerline is valid? [False, False] Translation: X:64.26, Y:1.85, Z:-1.99 [[ 9.99998261e-01 1.01918197e-03 1.56168293e-03 6.42627203e+01] [-1.02732836e-03 9.99985824e-01 5.22452434e-03 1.85255977e+00] [-1.55633605e-03 -5.22611962e-03 9.99985133e-01 -1.99396571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.409072329 meters 0.6378942771702725 Centerline is valid? [False, False] Translation: X:64.26, Y:1.85, Z:-1.99 [[ 9.99997942e-01 1.42933099e-03 1.43984528e-03 6.42635677e+01] [-1.43811975e-03 9.99980229e-01 6.12153539e-03 1.84936757e+00] [-1.43106711e-03 -6.12359346e-03 9.99980227e-01 -1.99474790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439072329 meters 0.6225190413006564 Centerline is valid? [False, False] Translation: X:64.25, Y:1.84, Z:-1.99 [[ 9.99887440e-01 1.49782867e-02 -8.70625805e-04 6.42542846e+01] [-1.49729607e-02 9.99870890e-01 5.83207199e-03 1.83731566e+00] [ 9.57867845e-04 -5.81837968e-03 9.99982614e-01 -1.99240984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.469072329 meters 0.6135289134614326 Centerline is valid? [False, False] Translation: X:64.26, Y:1.84, Z:-1.99 [[ 9.99939996e-01 1.08839573e-02 -1.24248619e-03 6.42550115e+01] [-1.08813502e-02 9.99938620e-01 2.08611738e-03 1.83503814e+00] [ 1.26511514e-03 -2.07247228e-03 9.99997052e-01 -1.99218758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499072329 meters 0.6161020329229858 Centerline is valid? [False, False] Translation: X:64.26, Y:1.83, Z:-1.99 [[ 9.99975766e-01 6.77018554e-03 -1.62252872e-03 6.42558319e+01] [-6.77289186e-03 9.99975672e-01 -1.66831785e-03 1.83291081e+00] [ 1.61119442e-03 1.67926664e-03 9.99997292e-01 -1.99206103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.529072329 meters 0.6166975426484766 Centerline is valid? [False, False] Translation: X:64.27, Y:1.83, Z:-1.99 [[ 9.99977855e-01 1.20816854e-03 -6.54442333e-03 6.42684771e+01] [-1.17587371e-03 9.99987125e-01 4.93631281e-03 1.82507495e+00] [ 6.55030297e-03 -4.92850808e-03 9.99966401e-01 -1.99152608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559072329 meters 0.6067246260772402 Centerline is valid? [False, False] Translation: X:64.25, Y:1.82, Z:-1.99 [[ 9.99913989e-01 6.11292950e-03 -1.16037244e-02 6.42474937e+01] [-6.09147847e-03 9.99979674e-01 1.88307756e-03 1.81751040e+00] [ 1.16149997e-02 -1.81223176e-03 9.99930901e-01 -1.98759166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.589072329 meters 0.6010334002621082 Centerline is valid? [False, False] Translation: X:64.25, Y:1.81, Z:-1.99 [[ 9.99918069e-01 2.62879354e-03 -1.25277681e-02 6.42499820e+01] [-2.62985273e-03 9.99996540e-01 -6.80743930e-05 1.80974583e+00] [ 1.25275458e-02 1.01015001e-04 9.99921522e-01 -1.98829523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619072329 meters 0.587683225721219 Centerline is valid? [False, False] Translation: X:64.25, Y:1.81, Z:-1.99 [[ 9.99913431e-01 3.10574988e-03 -1.27861256e-02 6.42510464e+01] [-3.09313118e-03 9.99994710e-01 1.00656258e-03 1.80608403e+00] [ 1.27891841e-02 -9.66926275e-04 9.99917748e-01 -1.98911502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.649072329 meters 0.580158768302181 Centerline is valid? [False, False] Translation: X:64.25, Y:1.80, Z:-1.99 [[ 9.99909393e-01 3.49897468e-03 -1.29986124e-02 6.42517523e+01] [-3.47391627e-03 9.99992065e-01 1.94985443e-03 1.80271962e+00] [ 1.30053317e-02 -1.90452166e-03 9.99913613e-01 -1.98956796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679072329 meters 0.5524627616854658 Centerline is valid? [False, False] Translation: X:64.25, Y:1.79, Z:-1.99 [[ 9.99907534e-01 -1.59977601e-04 -1.35976976e-02 6.42523489e+01] [ 1.61828509e-04 9.99999978e-01 1.35019062e-04 1.79321909e+00] [ 1.35976757e-02 -1.37207073e-04 9.99907538e-01 -1.98875497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.709072329 meters 0.5637363435282986 Centerline is valid? [False, False] Translation: X:64.25, Y:1.79, Z:-2.00 [[ 9.99999584e-01 7.77707033e-04 4.77510845e-04 6.42543607e+01] [-7.77538663e-04 9.99999636e-01 -3.52683425e-04 1.79000713e+00] [-4.77784955e-04 3.52311995e-04 9.99999824e-01 -1.99534460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739072329 meters 0.5242447025307967 Centerline is valid? [False, False] Translation: X:64.26, Y:1.79, Z:-2.00 [[ 9.99999113e-01 1.30465101e-03 2.68985234e-04 6.42553470e+01] [-1.30487881e-03 9.99998789e-01 8.48465078e-04 1.78578574e+00] [-2.67877957e-04 -8.48815318e-04 9.99999604e-01 -1.99635043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.769072329 meters 0.4796365037162226 Centerline is valid? [False, False] Translation: X:64.26, Y:1.78, Z:-2.00 [[ 9.99997636e-01 2.16883671e-03 -1.56542571e-04 6.42568393e+01] [-2.16826504e-03 9.99991298e-01 3.56404174e-03 1.77618701e+00] [ 1.64271033e-04 -3.56369389e-03 9.99993637e-01 -1.99797218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799072329 meters 0.4532990228256134 Centerline is valid? [False, False] Translation: X:64.26, Y:1.77, Z:-2.00 [[ 9.99996311e-01 2.69557114e-03 -3.33537504e-04 6.42576555e+01] [-2.69394763e-03 9.99984967e-01 4.77586586e-03 1.77181477e+00] [ 3.46406176e-04 -4.77494971e-03 9.99988540e-01 -1.99875999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.829072329 meters 0.4427909168220632 Centerline is valid? [False, False] Translation: X:64.26, Y:1.77, Z:-2.00 [[ 9.99998804e-01 -1.38317058e-03 -6.92174423e-04 6.42580919e+01] [ 1.38399196e-03 9.99998337e-01 1.18759058e-03 1.76877982e+00] [ 6.90530632e-04 -1.18854712e-03 9.99999055e-01 -1.99821581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859072329 meters 0.4372692296037228 Centerline is valid? [False, False] Translation: X:64.26, Y:1.76, Z:-2.00 [[ 9.99999254e-01 -8.25550684e-04 -9.00719864e-04 6.42590164e+01] [ 8.27766461e-04 9.99996626e-01 2.46241336e-03 1.76419425e+00] [ 8.98683977e-04 -2.46315710e-03 9.99996563e-01 -1.99909087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88907232900002 meters 0.4268081129075672 Centerline is valid? [False, False] Translation: X:64.26, Y:1.76, Z:-2.00 [[ 9.99989496e-01 -4.33841569e-03 -1.47839311e-03 6.42602007e+01] [ 4.33945177e-03 9.99990341e-01 6.98330256e-04 1.75503688e+00] [ 1.47534918e-03 -7.04738337e-04 9.99998663e-01 -1.99934210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91907232900002 meters 0.42326833957217336 Centerline is valid? [False, False] Translation: X:64.26, Y:1.75, Z:-2.00 [[ 9.99991505e-01 -3.77441371e-03 -1.65624819e-03 6.42608931e+01] [ 3.77773603e-03 9.99990849e-01 2.00740484e-03 1.75020886e+00] [ 1.64865626e-03 -2.01364466e-03 9.99996614e-01 -1.99997899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94907232900002 meters 0.41414253641293225 Centerline is valid? [False, False] Translation: X:64.26, Y:1.74, Z:-2.00 [[ 9.99993742e-01 -2.89077491e-03 -2.03956947e-03 6.42622355e+01] [ 2.90027642e-03 9.99984884e-01 4.67110743e-03 1.74044372e+00] [ 2.02603552e-03 -4.67699351e-03 9.99987010e-01 -2.00136719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97907232900002 meters 0.41010791136166547 Centerline is valid? [False, False] Translation: X:64.26, Y:1.74, Z:-2.00 [[ 9.99994739e-01 -2.31382200e-03 -2.27330971e-03 6.42631686e+01] [ 2.32734257e-03 9.99979513e-01 5.96299451e-03 1.73582435e+00] [ 2.25946582e-03 -5.96825391e-03 9.99979637e-01 -2.00210754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.009072329 meters 0.40515134943501896 Centerline is valid? [False, False] Translation: X:64.26, Y:1.73, Z:-2.00 [[ 9.99995386e-01 -1.75995361e-03 -2.47605677e-03 6.42639600e+01] [ 1.77786561e-03 9.99972134e-01 7.25057473e-03 1.73123309e+00] [ 2.46322709e-03 -7.25494337e-03 9.99970649e-01 -2.00280877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039072329 meters 0.4024003013957889 Centerline is valid? [False, False] Translation: X:64.26, Y:1.73, Z:-2.00 [[ 9.99979347e-01 -5.78942096e-03 -2.79067603e-03 6.42646581e+01] [ 5.79950262e-03 9.99976637e-01 3.61816779e-03 1.72866622e+00] [ 2.76966374e-03 -3.63427759e-03 9.99989560e-01 -2.00278793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.069072329 meters 0.38773133790201303 Centerline is valid? [False, False] Translation: X:64.27, Y:1.72, Z:-2.00 [[ 9.99982692e-01 -5.00451970e-03 -3.09377097e-03 6.42656920e+01] [ 5.02325474e-03 9.99968912e-01 6.07791225e-03 1.71968836e+00] [ 3.06325776e-03 -6.09334785e-03 9.99976744e-01 -2.00399134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099072329 meters 0.39071560073819983 Centerline is valid? [False, False] Translation: X:64.27, Y:1.72, Z:-2.00 [[ 9.99984460e-01 -4.49615718e-03 -3.29597619e-03 6.42662412e+01] [ 4.51992053e-03 9.99963589e-01 7.23816696e-03 1.71540009e+00] [ 3.26331225e-03 -7.25295203e-03 9.99968372e-01 -2.00429655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.129072329 meters 0.39071560073819983 Centerline is valid? [False, False] Translation: X:64.27, Y:1.72, Z:-2.00 [[ 9.99984460e-01 -4.49615718e-03 -3.29597619e-03 6.42662412e+01] [ 4.51992053e-03 9.99963589e-01 7.23816696e-03 1.71540009e+00] [ 3.26331225e-03 -7.25295203e-03 9.99968372e-01 -2.00429655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159072329 meters 0.38478968815496445 Centerline is valid? [False, False] Translation: X:64.27, Y:1.71, Z:-2.00 [[ 9.99956617e-01 -8.61232024e-03 -3.54847712e-03 6.42666110e+01] [ 8.62466338e-03 9.99956759e-01 3.47793715e-03 1.71314011e+00] [ 3.51837057e-03 -3.50839069e-03 9.99987656e-01 -2.00392494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.189072329 meters 0.38034215130017934 Centerline is valid? [False, False] Translation: X:64.27, Y:1.71, Z:-2.00 [[ 9.99960407e-01 -8.09284756e-03 -3.69995131e-03 6.42666379e+01] [ 8.11235563e-03 9.99953111e-01 5.28827287e-03 1.70547110e+00] [ 3.65698063e-03 -5.31807882e-03 9.99979172e-01 -2.00392208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219072329 meters 0.3766364102589517 Centerline is valid? [False, False] Translation: X:64.27, Y:1.70, Z:-2.00 [[ 9.99964140e-01 -7.55246778e-03 -3.83140599e-03 6.42671733e+01] [ 7.57739748e-03 9.99949941e-01 6.53442718e-03 1.70117667e+00] [ 3.78186315e-03 -6.56322494e-03 9.99971310e-01 -2.00452603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.249072329 meters 0.3756916790752781 Centerline is valid? [False, False] Translation: X:64.27, Y:1.70, Z:-2.01 [[ 9.99967303e-01 -7.04754231e-03 -3.96541155e-03 6.42676930e+01] [ 7.07792136e-03 9.99945306e-01 7.69985387e-03 1.69708818e+00] [ 3.91092962e-03 -7.72766898e-03 9.99962493e-01 -2.00505100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279072329 meters 0.37040269140777937 Centerline is valid? [False, False] Translation: X:64.27, Y:1.69, Z:-2.01 [[ 9.99935553e-01 -1.05185537e-02 -4.27201978e-03 6.42689655e+01] [ 1.05423744e-02 9.99928790e-01 5.59228012e-03 1.68988841e+00] [ 4.21289287e-03 -5.63695695e-03 9.99975238e-01 -2.00638601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309072329 meters 0.3745700945255531 Centerline is valid? [False, False] Translation: X:64.27, Y:1.69, Z:-2.01 [[ 9.99884128e-01 -1.45379883e-02 -4.51409757e-03 6.42696902e+01] [ 1.45468249e-02 9.99892325e-01 1.93092459e-03 1.68768891e+00] [ 4.48553975e-03 -1.99636663e-03 9.99987947e-01 -2.00653969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339072329 meters 0.3718763836829104 Centerline is valid? [False, False] Translation: X:64.27, Y:1.68, Z:-2.01 [[ 9.99891594e-01 -1.39836332e-02 -4.61071709e-03 6.42703357e+01] [ 1.39983061e-02 9.99897008e-01 3.16556511e-03 1.68372610e+00] [ 4.56597613e-03 -3.22976417e-03 9.99984360e-01 -2.00745238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.369072329 meters 0.36859074671036157 Centerline is valid? [False, False] Translation: X:64.27, Y:1.68, Z:-2.01 [[ 9.99829267e-01 -1.78606341e-02 -4.73651343e-03 6.42705600e+01] [ 1.78619331e-02 9.99840436e-01 2.32099410e-04 1.67854728e+00] [ 4.73161221e-03 -3.16663069e-04 9.99988756e-01 -2.00736051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399072329 meters 0.3648484671727806 Centerline is valid? [False, False] Translation: X:64.27, Y:1.67, Z:-2.01 [[ 9.99838184e-01 -1.73458472e-02 -4.76726271e-03 6.42708608e+01] [ 1.73526698e-02 9.99848460e-01 1.39351671e-03 1.67465112e+00] [ 4.74236855e-03 -1.47601595e-03 9.99987666e-01 -2.00799369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.429072329 meters 0.3484791274153365 Centerline is valid? [False, False] Translation: X:64.27, Y:1.67, Z:-2.01 [[ 9.99881478e-01 -1.36689000e-02 -7.08458206e-03 6.42706012e+01] [ 1.35737721e-02 9.99819336e-01 -1.33059740e-02 1.67086619e+00] [ 7.26518016e-03 1.32082324e-02 9.99886373e-01 -2.00549022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459072329 meters 0.32669908510912965 Centerline is valid? [False, False] Translation: X:64.27, Y:1.66, Z:-2.01 [[ 9.99943212e-01 -8.05191347e-03 -6.98135993e-03 6.42721089e+01] [ 8.00736139e-03 9.99947548e-01 -6.38621577e-03 1.66407188e+00] [ 7.03241500e-03 6.32995084e-03 9.99955237e-01 -2.00893259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.489072329 meters 0.20094524497035704 Centerline is valid? [False, False] Translation: X:64.27, Y:1.66, Z:-2.01 [[ 9.99973189e-01 -2.88197513e-03 -6.73164557e-03 6.42723678e+01] [ 2.88108298e-03 9.99995840e-01 -1.42224018e-04 1.65801144e+00] [ 6.73202745e-03 1.22825776e-04 9.99977332e-01 -2.01081423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519072329 meters 0.20550163066908192 Centerline is valid? [False, False] Translation: X:64.27, Y:1.65, Z:-2.01 [[ 9.99976216e-01 -2.30214097e-03 -6.50131937e-03 6.42722922e+01] [ 2.31216954e-03 9.99996148e-01 1.53544888e-03 1.65235963e+00] [ 6.49775950e-03 -1.55044451e-03 9.99977687e-01 -2.01214195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.549072329 meters 0.20865128066449642 Centerline is valid? [False, False] Translation: X:64.27, Y:1.65, Z:-2.01 [[ 9.99956417e-01 -6.48519439e-03 -6.71616845e-03 6.42728300e+01] [ 6.46862984e-03 9.99975990e-01 -2.48516217e-03 1.65142447e+00] [ 6.73212396e-03 2.44160945e-03 9.99974358e-01 -2.01214261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579072329 meters 0.20882718437797515 Centerline is valid? [False, False] Translation: X:64.27, Y:1.65, Z:-2.01 [[ 9.99959699e-01 -6.16478982e-03 -6.52657567e-03 6.42725170e+01] [ 6.15390353e-03 9.99979642e-01 -1.68676409e-03 1.64846579e+00] [ 6.53684134e-03 1.64653219e-03 9.99977279e-01 -2.01261205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.609072329 meters 0.21253972350799952 Centerline is valid? [False, False] Translation: X:64.27, Y:1.65, Z:-2.01 [[ 9.99963206e-01 -5.68949390e-03 -6.42000791e-03 6.42726752e+01] [ 5.68531034e-03 9.99983614e-01 -6.69705675e-04 1.64530139e+00] [ 6.42371300e-03 6.33181297e-04 9.99979167e-01 -2.01354614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63907232900002 meters 0.21970681375997805 Centerline is valid? [False, False] Translation: X:64.27, Y:1.64, Z:-2.01 [[ 9.99968756e-01 -5.32281300e-03 -5.84424013e-03 6.42714555e+01] [ 5.32697449e-03 9.99985569e-01 6.96731077e-04 1.63950922e+00] [ 5.84044722e-03 -7.27841427e-04 9.99982680e-01 -2.01423710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66907232900002 meters 0.23277544700982375 Centerline is valid? [False, False] Translation: X:64.27, Y:1.63, Z:-2.02 [[ 9.99973565e-01 -4.85677051e-03 -5.41111614e-03 6.42708339e+01] [ 4.86807192e-03 9.99985993e-01 2.07734512e-03 1.63455273e+00] [ 5.40095116e-03 -2.10363191e-03 9.99983202e-01 -2.01525752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69907232900002 meters 0.23915316683059332 Centerline is valid? [False, False] Translation: X:64.27, Y:1.63, Z:-2.02 [[ 9.99976345e-01 -4.37875717e-03 -5.30437477e-03 6.42709910e+01] [ 4.39496177e-03 9.99985699e-01 3.04715587e-03 1.63163437e+00] [ 5.29095616e-03 -3.07039632e-03 9.99981289e-01 -2.01616859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72907232900002 meters 0.2332839246408605 Centerline is valid? [False, False] Translation: X:64.27, Y:1.63, Z:-2.02 [[ 9.99978345e-01 -4.09848277e-03 -5.14888939e-03 6.42707707e+01] [ 4.11754909e-03 9.99984686e-01 3.69787040e-03 1.62928163e+00] [ 5.13365488e-03 -3.71899113e-03 9.99979907e-01 -2.01662338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759072329 meters 0.25655624453385567 Centerline is valid? [False, False] Translation: X:64.27, Y:1.63, Z:-2.02 [[ 9.99949833e-01 -8.46104896e-03 -5.36108149e-03 6.42711722e+01] [ 8.45758406e-03 9.99964010e-01 -6.68648453e-04 1.62936270e+00] [ 5.36654602e-03 6.23273112e-04 9.99985406e-01 -2.01633881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.789072329 meters 0.2519848056392864 Centerline is valid? [False, False] Translation: X:64.26, Y:1.63, Z:-2.02 [[ 9.99970624e-01 -7.50764663e-03 1.54502172e-03 6.42586053e+01] [ 7.52096527e-03 9.99932968e-01 -8.80307825e-03 1.62832925e+00] [-1.47882776e-03 8.81443970e-03 9.99960059e-01 -2.02188981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819072329 meters 0.26196471263875704 Centerline is valid? [False, False] Translation: X:64.26, Y:1.62, Z:-2.02 [[ 9.99994481e-01 -2.56664630e-03 2.10973104e-03 6.42580468e+01] [ 2.57291841e-03 9.99992263e-01 -2.97562564e-03 1.62360335e+00] [-2.10207734e-03 2.98103738e-03 9.99993347e-01 -2.02355069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.849072329 meters 0.25962840547680754 Centerline is valid? [False, False] Translation: X:64.26, Y:1.62, Z:-2.02 [[ 9.99994762e-01 -2.21426947e-03 2.36072765e-03 6.42579076e+01] [ 2.21955945e-03 9.99995027e-01 -2.24056632e-03 1.62141487e+00] [-2.35575469e-03 2.24579435e-03 9.99994703e-01 -2.02449622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879072329 meters 0.26368015971582165 Centerline is valid? [False, False] Translation: X:64.26, Y:1.62, Z:-2.03 [[ 9.99995177e-01 -1.83120329e-03 2.50844899e-03 6.42578975e+01] [ 1.83487550e-03 9.99997247e-01 -1.46242092e-03 1.61908824e+00] [-2.50576409e-03 1.46701656e-03 9.99995784e-01 -2.02524500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.909072329 meters 0.2866393228494076 Centerline is valid? [False, False] Translation: X:64.26, Y:1.62, Z:-2.03 [[ 9.99993963e-01 -1.52102150e-03 3.12431108e-03 6.42569638e+01] [ 1.52285696e-03 9.99998669e-01 -5.85179802e-04 1.61586557e+00] [-3.12341685e-03 5.89934148e-04 9.99994948e-01 -2.02628695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939072329 meters 0.27897116182956 Centerline is valid? [False, False] Translation: X:64.26, Y:1.61, Z:-2.03 [[ 9.99993834e-01 -1.21764100e-03 3.29371114e-03 6.42569546e+01] [ 1.21757794e-03 9.99999259e-01 2.11503633e-05 1.61412666e+00] [-3.29373445e-03 -1.71398829e-05 9.99994575e-01 -2.02705605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.969072329 meters 0.2889481566181999 Centerline is valid? [False, False] Translation: X:64.26, Y:1.61, Z:-2.03 [[ 9.99992238e-01 -9.79465957e-04 3.81626043e-03 6.42562023e+01] [ 9.76830698e-04 9.99999283e-01 6.92337177e-04 1.61168003e+00] [-3.81693581e-03 -6.88603963e-04 9.99992478e-01 -2.02796905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999072329 meters 0.29313837800772324 Centerline is valid? [False, False] Translation: X:64.26, Y:1.61, Z:-2.03 [[ 9.99992058e-01 -8.05497840e-04 3.90334420e-03 6.42561997e+01] [ 8.01386889e-04 9.99999123e-01 1.05463655e-03 1.61060517e+00] [-3.90419029e-03 -1.05150009e-03 9.99991826e-01 -2.02839517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.029072329 meters 0.29870551326234324 Centerline is valid? [False, False] Translation: X:64.26, Y:1.61, Z:-2.03 [[ 9.99991765e-01 -5.83988594e-04 4.01616883e-03 6.42562355e+01] [ 5.78000010e-04 9.99998720e-01 1.49211773e-03 1.60934643e+00] [-4.01703507e-03 -1.48978409e-03 9.99990822e-01 -2.02897340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059072329 meters 0.3088578226990467 Centerline is valid? [False, False] Translation: X:64.26, Y:1.61, Z:-2.03 [[ 9.99990050e-01 -6.03271633e-04 4.42004068e-03 6.42554251e+01] [ 5.95933070e-04 9.99998442e-01 1.66142197e-03 1.60817798e+00] [-4.42103608e-03 -1.65877139e-03 9.99988851e-01 -2.02920556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.089072329 meters 0.3148212606582103 Centerline is valid? [False, False] Translation: X:64.26, Y:1.61, Z:-2.03 [[ 9.99989567e-01 -4.39849717e-04 4.54678570e-03 6.42553757e+01] [ 4.30774638e-04 9.99997914e-01 1.99671953e-03 1.60719115e+00] [-4.54765447e-03 -1.99474006e-03 9.99987670e-01 -2.02966235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119072329 meters 0.32649965322469315 Centerline is valid? [False, False] Translation: X:64.26, Y:1.61, Z:-2.03 [[ 9.99978546e-01 -4.64430399e-03 4.61937762e-03 6.42554842e+01] [ 4.65413954e-03 9.99986921e-01 -2.12072672e-03 1.60666475e+00] [-4.60946791e-03 2.14218044e-03 9.99987082e-01 -2.03006346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.149072329 meters 0.3307585210391942 Centerline is valid? [False, False] Translation: X:64.26, Y:1.60, Z:-2.03 [[ 9.99979001e-01 -4.30132217e-03 4.84719053e-03 6.42555128e+01] [ 4.30843702e-03 9.99989655e-01 -1.45834332e-03 1.60483764e+00] [-4.84086759e-03 1.47919651e-03 9.99987189e-01 -2.03109123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179072329 meters 0.33614266924579933 Centerline is valid? [False, False] Translation: X:64.26, Y:1.60, Z:-2.03 [[ 9.99978703e-01 -4.09978969e-03 5.07783516e-03 6.42554082e+01] [ 4.10519390e-03 9.99991018e-01 -1.05430846e-03 1.60375417e+00] [-5.07346711e-03 1.07513150e-03 9.99986552e-01 -2.03184672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.209072329 meters 0.34049041177644207 Centerline is valid? [False, False] Translation: X:64.26, Y:1.60, Z:-2.03 [[ 9.99978970e-01 -3.80525624e-03 5.25161935e-03 6.42554746e+01] [ 3.80790813e-03 9.99992627e-01 -4.95058855e-04 1.60219839e+00] [-5.24969680e-03 5.15046128e-04 9.99986088e-01 -2.03268302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239072329 meters 0.34847293892592895 Centerline is valid? [False, False] Translation: X:64.26, Y:1.60, Z:-2.03 [[ 9.99978686e-01 -3.59756751e-03 5.44843860e-03 6.42554242e+01] [ 3.59809717e-03 9.99993523e-01 -8.74143135e-05 1.60106714e+00] [-5.44808884e-03 1.07016462e-04 9.99985153e-01 -2.03339365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.269072329 meters 0.3562705306923491 Centerline is valid? [False, False] Translation: X:64.25, Y:1.60, Z:-2.03 [[ 9.99976904e-01 -3.43025436e-03 5.86720740e-03 6.42548146e+01] [ 3.42819703e-03 9.99994059e-01 3.60669291e-04 1.59949343e+00] [-5.86840973e-03 -3.40547018e-04 9.99982723e-01 -2.03404295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299072329 meters 0.3595016956302084 Centerline is valid? [False, False] Translation: X:64.25, Y:1.60, Z:-2.03 [[ 9.99976486e-01 -3.21058967e-03 6.05959837e-03 6.42546814e+01] [ 3.20578747e-03 9.99994540e-01 8.02040772e-04 1.59816943e+00] [-6.06214030e-03 -7.82596129e-04 9.99981319e-01 -2.03461787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.329072329 meters 0.36673077702963996 Centerline is valid? [False, False] Translation: X:64.25, Y:1.60, Z:-2.04 [[ 9.99975837e-01 -2.93695420e-03 6.30071666e-03 6.42544835e+01] [ 2.92843549e-03 9.99994786e-01 1.36082322e-03 1.59649534e+00] [-6.30468049e-03 -1.34233910e-03 9.99979224e-01 -2.03531754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359072329 meters 0.37473138302287373 Centerline is valid? [False, False] Translation: X:64.25, Y:1.59, Z:-2.04 [[ 9.99971804e-01 -2.82648744e-03 6.95713320e-03 6.42532560e+01] [ 2.81393297e-03 9.99994396e-01 1.81367308e-03 1.59450439e+00] [-6.96222054e-03 -1.79404503e-03 9.99974154e-01 -2.03582587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38907232900002 meters 0.3830121797653174 Centerline is valid? [False, False] Translation: X:64.25, Y:1.59, Z:-2.04 [[ 9.99970699e-01 -2.64305470e-03 7.18442773e-03 6.42529472e+01] [ 2.62722638e-03 9.99994103e-01 2.21168813e-03 1.59320117e+00] [-7.19023098e-03 -2.19274821e-03 9.99971746e-01 -2.03628356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41907232900002 meters 0.38073518351990115 Centerline is valid? [False, False] Translation: X:64.25, Y:1.59, Z:-2.04 [[ 9.99966762e-01 -2.40572497e-03 7.79024040e-03 6.42520510e+01] [ 2.38325271e-03 9.99992976e-01 2.89266848e-03 1.59077138e+00] [-7.79714465e-03 -2.87400622e-03 9.99965472e-01 -2.03723919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44907232900002 meters 0.38376916807893197 Centerline is valid? [False, False] Translation: X:64.25, Y:1.59, Z:-2.04 [[ 9.99965369e-01 -2.08934528e-03 8.05581616e-03 6.42520152e+01] [ 2.06100002e-03 9.99991662e-01 3.52530557e-03 1.58895120e+00] [-8.06311458e-03 -3.50858045e-03 9.99961337e-01 -2.03829898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47907232900002 meters 0.3900355855482555 Centerline is valid? [False, False] Translation: X:64.25, Y:1.59, Z:-2.04 [[ 9.99963531e-01 -1.84474717e-03 8.33868647e-03 6.42517778e+01] [ 1.81105458e-03 9.99990174e-01 4.04626205e-03 1.58732830e+00] [-8.34606886e-03 -4.03101267e-03 9.99957046e-01 -2.03910190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.509072329 meters 0.31600631216757874 Centerline is valid? [False, False] Translation: X:64.25, Y:1.59, Z:-2.04 [[ 9.99946630e-01 -5.86696007e-03 8.50383161e-03 6.42520060e+01] [ 5.86508642e-03 9.99982770e-01 2.45252591e-04 1.58596007e+00] [-8.50512397e-03 -1.95363795e-04 9.99963812e-01 -2.04006715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539072329 meters 0.322011598686833 Centerline is valid? [False, False] Translation: X:64.25, Y:1.58, Z:-2.04 [[ 9.99945729e-01 -5.54998671e-03 8.81687445e-03 6.42517302e+01] [ 5.54237728e-03 9.99984247e-01 8.87252444e-04 1.58398865e+00] [-8.82165980e-03 -8.38337847e-04 9.99960737e-01 -2.04089623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.569072329 meters 0.320315069448538 Centerline is valid? [False, False] Translation: X:64.25, Y:1.58, Z:-2.04 [[ 9.99944625e-01 -5.28016943e-03 9.10314421e-03 6.42515315e+01] [ 5.26723291e-03 9.99985085e-01 1.44449437e-03 1.58230656e+00] [-9.11063561e-03 -1.39646600e-03 9.99957522e-01 -2.04173457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599072329 meters 0.3397804922524639 Centerline is valid? [False, False] Translation: X:64.25, Y:1.58, Z:-2.04 [[ 9.99937614e-01 -5.09029049e-03 9.94268934e-03 6.42499152e+01] [ 5.06915247e-03 9.99984840e-01 2.15003181e-03 1.57937435e+00] [-9.95348290e-03 -2.09949667e-03 9.99948259e-01 -2.04236856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.629072329 meters 0.32289597216324684 Centerline is valid? [False, False] Translation: X:64.25, Y:1.58, Z:-2.04 [[ 9.99936131e-01 -4.79492964e-03 1.02344201e-02 6.42494605e+01] [ 4.76660123e-03 9.99984746e-01 2.79055524e-03 1.57718586e+00] [-1.02476445e-02 -2.74159361e-03 9.99943733e-01 -2.04286506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659072329 meters 0.32101580601707974 Centerline is valid? [False, False] Translation: X:64.25, Y:1.58, Z:-2.04 [[ 9.99933813e-01 -4.50193339e-03 1.05878505e-02 6.42490098e+01] [ 4.46611914e-03 9.99984234e-01 3.40379482e-03 1.57518661e+00] [-1.06030072e-02 -3.35628293e-03 9.99938154e-01 -2.04358499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.689072329 meters 0.32928943767340346 Centerline is valid? [False, False] Translation: X:64.24, Y:1.58, Z:-2.04 [[ 9.99978751e-01 -5.21634651e-03 3.90983539e-03 6.42351322e+01] [ 5.24925131e-03 9.99950491e-01 -8.45342961e-03 1.58237325e+00] [-3.86554580e-03 8.47377369e-03 9.99956625e-01 -2.03850390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719072329 meters 0.3319267062241101 Centerline is valid? [False, False] Translation: X:64.23, Y:1.58, Z:-2.04 [[ 9.99977691e-01 -4.60445677e-03 4.83914667e-03 6.42341280e+01] [ 4.63754800e-03 9.99965789e-01 -6.84940676e-03 1.57748631e+00] [-4.80744332e-03 6.87169573e-03 9.99964834e-01 -2.04082123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.749072329 meters 0.347132619038551 Centerline is valid? [False, False] Translation: X:64.23, Y:1.57, Z:-2.04 [[ 9.99977533e-01 -4.13782072e-03 5.27372013e-03 6.42338474e+01] [ 4.16882742e-03 9.99974011e-01 -5.88210487e-03 1.57465057e+00] [-5.24924397e-03 5.90395795e-03 9.99968794e-01 -2.04214182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779072329 meters 0.32021940748818345 Centerline is valid? [False, False] Translation: X:64.23, Y:1.57, Z:-2.04 [[ 9.99976490e-01 -3.70934726e-03 5.76723850e-03 6.42332986e+01] [ 3.73807025e-03 9.99980625e-01 -4.97759422e-03 1.57186015e+00] [-5.74866313e-03 4.99903553e-03 9.99970981e-01 -2.04326371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809072329 meters 0.3446968319933752 Centerline is valid? [False, False] Translation: X:64.23, Y:1.57, Z:-2.04 [[ 9.99970318e-01 -3.47335822e-03 6.87735663e-03 6.42311193e+01] [ 3.50071498e-03 9.99985993e-01 -3.96976803e-03 1.56783507e+00] [-6.86347187e-03 3.99372586e-03 9.99968471e-01 -2.04414083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839072329 meters 0.36286859383432624 Centerline is valid? [False, False] Translation: X:64.23, Y:1.57, Z:-2.04 [[ 9.99967567e-01 -3.13462476e-03 7.41889137e-03 6.42302861e+01] [ 3.15832067e-03 9.99989942e-01 -3.18443847e-03 1.56522679e+00] [-7.40883474e-03 3.20776643e-03 9.99967409e-01 -2.04495183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.869072329 meters 0.3525006044520561 Centerline is valid? [False, False] Translation: X:64.23, Y:1.56, Z:-2.05 [[ 9.99959197e-01 -2.86995541e-03 8.56547587e-03 6.42281446e+01] [ 2.88714213e-03 9.99993843e-01 -1.99482032e-03 1.56066925e+00] [-8.55969808e-03 2.01946867e-03 9.99961326e-01 -2.04615081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899072329 meters 0.3707588917231295 Centerline is valid? [False, False] Translation: X:64.23, Y:1.56, Z:-2.05 [[ 9.99956173e-01 -2.41810963e-03 9.04462313e-03 6.42275076e+01] [ 2.42702331e-03 9.99996580e-01 -9.74676222e-04 1.55739408e+00] [-9.04223532e-03 9.96585016e-04 9.99958622e-01 -2.04713349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.929072329 meters 0.35535954167944017 Centerline is valid? [False, False] Translation: X:64.23, Y:1.55, Z:-2.05 [[ 9.99952161e-01 -2.05590369e-03 9.56286744e-03 6.42268400e+01] [ 2.05722807e-03 9.99997876e-01 -1.28657294e-04 1.55470790e+00] [-9.56258262e-03 1.48324139e-04 9.99954266e-01 -2.04819456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959072329 meters 0.33563077102943184 Centerline is valid? [False, False] Translation: X:64.22, Y:1.55, Z:-2.05 [[ 9.99939471e-01 -2.00185026e-03 1.08188627e-02 6.42242678e+01] [ 1.99056786e-03 9.99997464e-01 1.05351366e-03 1.54957481e+00] [-1.08209442e-02 -1.03191422e-03 9.99940919e-01 -2.04931838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.989072329 meters 0.36223055980404967 Centerline is valid? [False, False] Translation: X:64.22, Y:1.55, Z:-2.05 [[ 9.99933711e-01 -1.76686842e-03 1.13776847e-02 6.42232208e+01] [ 1.74746470e-03 9.99997002e-01 1.71513390e-03 1.54719983e+00] [-1.13806810e-02 -1.69513810e-03 9.99933801e-01 -2.04996331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019072329 meters 0.3479419932363209 Centerline is valid? [False, False] Translation: X:64.22, Y:1.54, Z:-2.05 [[ 9.99927424e-01 -1.56326973e-03 1.19458334e-02 6.42220923e+01] [ 1.53550597e-03 9.99996100e-01 2.33295590e-03 1.54479257e+00] [-1.19494338e-02 -2.31444368e-03 9.99925924e-01 -2.05049961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.049072329 meters 0.3479419932363209 Centerline is valid? [False, False] Translation: X:64.22, Y:1.54, Z:-2.05 [[ 9.99927424e-01 -1.56326973e-03 1.19458334e-02 6.42220923e+01] [ 1.53550597e-03 9.99996100e-01 2.33295590e-03 1.54479257e+00] [-1.19494338e-02 -2.31444368e-03 9.99925924e-01 -2.05049961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079072329 meters 0.36579395127684916 Centerline is valid? [False, False] Translation: X:64.22, Y:1.54, Z:-2.05 [[ 9.99920889e-01 -1.35751111e-03 1.25049266e-02 6.42209154e+01] [ 1.32055640e-03 9.99994738e-01 2.96299518e-03 1.54233298e+00] [-1.25088831e-02 -2.94624731e-03 9.99917420e-01 -2.05091953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.109072329 meters 0.3351835308105619 Centerline is valid? [False, False] Translation: X:64.22, Y:1.54, Z:-2.05 [[ 9.99904826e-01 -2.78917194e-03 1.35114422e-02 6.42168810e+01] [ 2.75773709e-03 9.99993449e-01 2.34460889e-03 1.53844157e+00] [-1.35178932e-02 -2.30712474e-03 9.99905967e-01 -2.04946869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13907232900002 meters 0.3502454535891926 Centerline is valid? [False, False] Translation: X:64.22, Y:1.54, Z:-2.05 [[ 9.99897526e-01 -2.44533182e-03 1.41052069e-02 6.42157260e+01] [ 2.39970261e-03 9.99991836e-01 3.25093799e-03 1.53524958e+00] [-1.41130414e-02 -3.21675655e-03 9.99895232e-01 -2.05012672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16907232900002 meters 0.348469623492127 Centerline is valid? [False, False] Translation: X:64.21, Y:1.53, Z:-2.05 [[ 9.99869447e-01 -6.39702097e-03 1.48380201e-02 6.42138828e+01] [ 6.39773936e-03 9.99979534e-01 -9.47875231e-07 1.53097609e+00] [-1.48377104e-02 9.58775370e-05 9.99889911e-01 -2.05019814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19907232900002 meters 0.33223908463546964 Centerline is valid? [False, False] Translation: X:64.21, Y:1.53, Z:-2.05 [[ 9.99862139e-01 -5.97860220e-03 1.54906179e-02 6.42127419e+01] [ 5.96289849e-03 9.99981660e-01 1.05974573e-03 1.52745423e+00] [-1.54966696e-02 -9.67230651e-04 9.99879452e-01 -2.05112106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22907232900002 meters 0.37342114883736 Centerline is valid? [False, False] Translation: X:64.21, Y:1.52, Z:-2.05 [[ 9.99852306e-01 -5.62868458e-03 1.62383353e-02 6.42113579e+01] [ 5.59608773e-03 9.99982236e-01 2.05214221e-03 1.52400202e+00] [-1.62495977e-02 -1.96096798e-03 9.99866044e-01 -2.05199920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259072329 meters 0.3458175599818505 Centerline is valid? [False, False] Translation: X:64.21, Y:1.52, Z:-2.05 [[ 9.99813662e-01 -9.09247967e-03 1.70284415e-02 6.42101715e+01] [ 9.09626519e-03 9.99958618e-01 -1.44864318e-04 1.51750971e+00] [-1.70264196e-02 2.99732544e-04 9.99854995e-01 -2.05370724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.289072329 meters 0.3358410939467213 Centerline is valid? [False, False] Translation: X:64.21, Y:1.51, Z:-2.05 [[ 9.99804593e-01 -8.66336884e-03 1.77685755e-02 6.42089647e+01] [ 8.64669117e-03 9.99962101e-01 1.01521724e-03 1.51378552e+00] [-1.77766973e-02 -8.61379473e-04 9.99841611e-01 -2.05492694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319072329 meters 0.3483604100970362 Centerline is valid? [False, False] Translation: X:64.21, Y:1.51, Z:-2.06 [[ 9.99797259e-01 -8.21888965e-03 1.83818302e-02 6.42079402e+01] [ 8.18053644e-03 9.99964204e-01 2.16069591e-03 1.51012743e+00] [-1.83989308e-02 -2.00988461e-03 9.99828705e-01 -2.05592159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.349072329 meters 0.32549524385901274 Centerline is valid? [False, False] Translation: X:64.21, Y:1.50, Z:-2.06 [[ 9.99745494e-01 -1.18939225e-02 1.91698053e-02 6.42062506e+01] [ 1.19043783e-02 9.99929047e-01 -4.31404758e-04 1.50427400e+00] [-1.91633141e-02 6.59499577e-04 9.99816149e-01 -2.05666665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379072329 meters 0.32756563821265516 Centerline is valid? [False, False] Translation: X:64.19, Y:1.51, Z:-2.05 [[ 9.99819867e-01 -1.51555112e-02 1.14256253e-02 6.41949686e+01] [ 1.53216194e-02 9.99776112e-01 -1.45936384e-02 1.51084913e+00] [-1.12018932e-02 1.47660687e-02 9.99828226e-01 -2.05250621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.409072329 meters 0.3634961212734936 Centerline is valid? [False, False] Translation: X:64.19, Y:1.51, Z:-2.05 [[ 9.99854214e-01 -1.09896695e-02 1.30681660e-02 6.41916108e+01] [ 1.11115319e-02 9.99895115e-01 -9.28937494e-03 1.50662080e+00] [-1.29647081e-02 9.43322803e-03 9.99871457e-01 -2.05400379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439072329 meters 0.3149803713648753 Centerline is valid? [False, False] Translation: X:64.19, Y:1.50, Z:-2.06 [[ 9.99849243e-01 -1.05085494e-02 1.38225314e-02 6.41904370e+01] [ 1.06203463e-02 9.99911282e-01 -8.03963183e-03 1.50272569e+00] [-1.37368202e-02 8.18521986e-03 9.99872143e-01 -2.05531089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.469072329 meters 0.32584886126627405 Centerline is valid? [False, False] Translation: X:64.19, Y:1.50, Z:-2.06 [[ 9.99825627e-01 -1.03168540e-02 1.55652709e-02 6.41870563e+01] [ 1.04108752e-02 9.99927974e-01 -5.97155702e-03 1.49575614e+00] [-1.55025421e-02 6.13256384e-03 9.99861022e-01 -2.05762262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499072329 meters 0.3413073883544511 Centerline is valid? [False, False] Translation: X:64.19, Y:1.49, Z:-2.06 [[ 9.99817689e-01 -9.85352994e-03 1.63553131e-02 6.41858844e+01] [ 9.93234473e-03 9.99939416e-01 -4.74469507e-03 1.49198096e+00] [-1.63075703e-02 4.90627667e-03 9.99854985e-01 -2.05906611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.529072329 meters 0.34836547531264445 Centerline is valid? [False, False] Translation: X:64.18, Y:1.49, Z:-2.06 [[ 9.99810623e-01 -9.34078928e-03 1.70724392e-02 6.41847410e+01] [ 9.40067335e-03 9.99949927e-01 -3.43076388e-03 1.48791548e+00] [-1.70395383e-02 3.59060659e-03 9.99848369e-01 -2.06032311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559072329 meters 0.32244663877224367 Centerline is valid? [False, False] Translation: X:64.18, Y:1.48, Z:-2.06 [[ 9.99800975e-01 -8.86452675e-03 1.78726291e-02 6.41834718e+01] [ 8.90511125e-03 9.99957945e-01 -2.19245623e-03 1.48406114e+00] [-1.78524423e-02 2.35117762e-03 9.99837868e-01 -2.06164553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.589072329 meters 0.3487402569528722 Centerline is valid? [False, False] Translation: X:64.18, Y:1.48, Z:-2.06 [[ 9.99773499e-01 -8.78744754e-03 1.93837978e-02 6.41801083e+01] [ 8.79573860e-03 9.99961258e-01 -3.42515961e-04 1.47712087e+00] [-1.93800370e-02 5.12933200e-04 9.99812058e-01 -2.06305621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619072329 meters 0.33067115545245324 Centerline is valid? [False, False] Translation: X:64.18, Y:1.47, Z:-2.06 [[ 9.99762294e-01 -8.40432188e-03 2.01177155e-02 6.41786987e+01] [ 8.39166484e-03 9.99964535e-01 7.13486937e-04 1.47363691e+00] [-2.01229984e-02 -5.44496211e-04 9.99797364e-01 -2.06385568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.649072329 meters 0.20290515770850232 Centerline is valid? [False, False] Translation: X:64.18, Y:1.47, Z:-2.06 [[ 9.99711778e-01 -1.19354663e-02 2.08303919e-02 6.41769900e+01] [ 1.19765584e-02 9.99926569e-01 -1.84905737e-03 1.46780299e+00] [-2.08067929e-02 2.09800083e-03 9.99781314e-01 -2.06423357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679072329 meters 0.16882285001911496 Centerline is valid? [False, False] Translation: X:64.17, Y:1.47, Z:-2.06 [[ 9.99837571e-01 -1.26219435e-02 1.28654176e-02 6.41658880e+01] [ 1.27859670e-02 9.99836995e-01 -1.27476729e-02 1.47365448e+00] [-1.27024201e-02 1.29100991e-02 9.99835975e-01 -2.06078895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.709072329 meters 0.18977434442766053 Centerline is valid? [False, False] Translation: X:64.16, Y:1.47, Z:-2.06 [[ 9.99862360e-01 -8.20866941e-03 1.44180165e-02 6.41627855e+01] [ 8.31384778e-03 9.99939155e-01 -7.25020012e-03 1.46940270e+00] [-1.43576248e-02 7.36907140e-03 9.99869769e-01 -2.06229744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739072329 meters 0.1876883772222638 Centerline is valid? [False, False] Translation: X:64.16, Y:1.47, Z:-2.06 [[ 9.99855476e-01 -7.70276464e-03 1.51556963e-02 6.41614729e+01] [ 7.79466486e-03 9.99951536e-01 -6.01404313e-03 1.46548366e+00] [-1.51086370e-02 6.13130753e-03 9.99867059e-01 -2.06327758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.769072329 meters 0.1950201495279852 Centerline is valid? [False, False] Translation: X:64.16, Y:1.46, Z:-2.06 [[ 9.99835177e-01 -7.30745261e-03 1.66198706e-02 6.41582295e+01] [ 7.37617050e-03 9.99964484e-01 -4.07714767e-03 1.45901216e+00] [-1.65894868e-02 4.19906666e-03 9.99853568e-01 -2.06456472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799072329 meters 0.1900603014005617 Centerline is valid? [False, False] Translation: X:64.16, Y:1.46, Z:-2.07 [[ 9.99826895e-01 -6.85931842e-03 1.72953679e-02 6.41569078e+01] [ 6.91189036e-03 9.99971667e-01 -2.98171159e-03 1.45544147e+00] [-1.72744254e-02 3.10073912e-03 9.99845978e-01 -2.06525070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.829072329 meters 0.16793477750757677 Centerline is valid? [False, False] Translation: X:64.16, Y:1.45, Z:-2.07 [[ 9.99817337e-01 -6.44157763e-03 1.79944242e-02 6.41555553e+01] [ 6.47710291e-03 9.99977187e-01 -1.91665537e-03 1.45199969e+00] [-1.79816674e-02 2.03285701e-03 9.99836250e-01 -2.06598845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859072329 meters 0.16814748176305955 Centerline is valid? [False, False] Translation: X:64.15, Y:1.45, Z:-2.07 [[ 9.99796402e-01 -5.91862290e-03 1.92905428e-02 6.41527910e+01] [ 5.91956746e-03 9.99982479e-01 8.13665738e-06 1.44565504e+00] [-1.92902530e-02 1.06056669e-04 9.99813920e-01 -2.06723708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88907232900002 meters 0.1986758514972563 Centerline is valid? [False, False] Translation: X:64.15, Y:1.44, Z:-2.07 [[ 9.99786624e-01 -5.48951058e-03 1.99140979e-02 6.41515969e+01] [ 5.46860186e-03 9.99984437e-01 1.10425035e-03 1.44210470e+00] [-1.99198497e-02 -9.95112460e-04 9.99801085e-01 -2.06799482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91907232900002 meters 0.16446652037512727 Centerline is valid? [False, False] Translation: X:64.15, Y:1.44, Z:-2.07 [[ 9.99751289e-01 -8.83644681e-03 2.04762576e-02 6.41503731e+01] [ 8.86438715e-03 9.99959899e-01 -1.27415935e-03 1.43591609e+00] [-2.04641774e-02 1.45535193e-03 9.99789528e-01 -2.06865607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94907232900002 meters 0.2077061111542986 Centerline is valid? [False, False] Translation: X:64.15, Y:1.43, Z:-2.07 [[ 9.99742744e-01 -8.39444394e-03 2.10707979e-02 6.41492778e+01] [ 8.40044690e-03 9.99964696e-01 -1.96397337e-04 1.43245282e+00] [-2.10684054e-02 3.73350931e-04 9.99777967e-01 -2.06942004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97907232900002 meters 0.15710462305271353 Centerline is valid? [False, False] Translation: X:64.14, Y:1.44, Z:-2.07 [[ 9.99890212e-01 -7.71928131e-03 1.26481972e-02 6.41401015e+01] [ 7.83779203e-03 9.99925597e-01 -9.34714761e-03 1.43717576e+00] [-1.25751028e-02 9.44525534e-03 9.99876319e-01 -2.06745913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.009072329 meters 0.164260709073368 Centerline is valid? [False, False] Translation: X:64.14, Y:1.43, Z:-2.07 [[ 9.99885502e-01 -7.24525598e-03 1.32849315e-02 6.41390242e+01] [ 7.35496029e-03 9.99939104e-01 -8.22762177e-03 1.43363153e+00] [-1.32245113e-02 8.32438987e-03 9.99877901e-01 -2.06839628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039072329 meters 0.1502388768422984 Centerline is valid? [False, False] Translation: X:64.14, Y:1.43, Z:-2.07 [[ 9.99876179e-01 -6.52325689e-03 1.43204296e-02 6.41367291e+01] [ 6.61441888e-03 9.99958104e-01 -6.32776273e-03 1.42755423e+00] [-1.42785520e-02 6.42170054e-03 9.99877435e-01 -2.06921242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.069072329 meters 0.14543578420990222 Centerline is valid? [False, False] Translation: X:64.14, Y:1.42, Z:-2.07 [[ 9.99871940e-01 -6.13301226e-03 1.47813852e-02 6.41357640e+01] [ 6.21385618e-03 9.99965953e-01 -5.42959834e-03 1.42461045e+00] [-1.47475822e-02 5.52075243e-03 9.99876007e-01 -2.06960075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099072329 meters 0.15122429948798052 Centerline is valid? [False, False] Translation: X:64.13, Y:1.42, Z:-2.07 [[ 9.99867485e-01 -5.77949853e-03 1.52187350e-02 6.41347812e+01] [ 5.85043667e-03 9.99972210e-01 -4.62084920e-03 1.42186362e+00] [-1.51916059e-02 4.70927311e-03 9.99873511e-01 -2.06986276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.129072329 meters 0.15313703718107854 Centerline is valid? [False, False] Translation: X:64.13, Y:1.42, Z:-2.07 [[ 9.99859777e-01 -5.01981658e-03 1.59758515e-02 6.41329854e+01] [ 5.06608091e-03 9.99983087e-01 -2.85673956e-03 1.41619277e+00] [-1.59612410e-02 2.93727394e-03 9.99868297e-01 -2.07035476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159072329 meters 0.15446469281965267 Centerline is valid? [False, False] Translation: X:64.13, Y:1.41, Z:-2.07 [[ 9.99855238e-01 -4.60589713e-03 1.63795287e-02 6.41322168e+01] [ 4.63817651e-03 9.99987375e-01 -1.93327251e-03 1.41322250e+00] [-1.63704175e-02 2.00896379e-03 9.99863977e-01 -2.07084499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.189072329 meters 0.1870251675476944 Centerline is valid? [False, False] Translation: X:64.13, Y:1.41, Z:-2.07 [[ 9.99851157e-01 -4.18135706e-03 1.67386062e-02 6.41316093e+01] [ 4.19899806e-03 9.99990665e-01 -1.01890442e-03 1.41030422e+00] [-1.67341896e-02 1.08903814e-03 9.99859381e-01 -2.07141634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219072329 meters 0.15106402596095014 Centerline is valid? [False, False] Translation: X:64.13, Y:1.41, Z:-2.07 [[ 9.99847648e-01 -3.79420035e-03 1.70377503e-02 6.41309659e+01] [ 3.79792263e-03 9.99992771e-01 -1.86121432e-04 1.40755717e+00] [-1.70369210e-02 2.50801134e-04 9.99854830e-01 -2.07170334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.249072329 meters 0.1578866285722708 Centerline is valid? [False, False] Translation: X:64.13, Y:1.40, Z:-2.07 [[ 9.99842648e-01 -3.20277923e-03 1.74476859e-02 6.41296525e+01] [ 3.18437851e-03 9.99994344e-01 1.08230250e-03 1.40321217e+00] [-1.74510536e-02 -1.02657216e-03 9.99847192e-01 -2.07154654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279072329 meters 0.15033146205123635 Centerline is valid? [False, False] Translation: X:64.13, Y:1.40, Z:-2.07 [[ 9.99839895e-01 -2.92307485e-03 1.76533040e-02 6.41290140e+01] [ 2.89352160e-03 9.99994370e-01 1.69940208e-03 1.40104885e+00] [-1.76581721e-02 -1.64804978e-03 9.99842724e-01 -2.07146475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.309072329 meters 0.1691982917703664 Centerline is valid? [False, False] Translation: X:64.13, Y:1.40, Z:-2.07 [[ 9.99839509e-01 -2.69776252e-03 1.77109424e-02 6.41284756e+01] [ 2.65963850e-03 9.99994096e-01 2.17576989e-03 1.39921998e+00] [-1.77167075e-02 -2.12831600e-03 9.99840782e-01 -2.07096627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339072329 meters 0.14270971847156327 Centerline is valid? [False, False] Translation: X:64.13, Y:1.39, Z:-2.07 [[ 9.99849179e-01 -3.12478750e-03 1.70837782e-02 6.41296723e+01] [ 3.07802799e-03 9.99991447e-01 2.76268046e-03 1.39157154e+00] [-1.70922649e-02 -2.70967944e-03 9.99850245e-01 -2.07151304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.369072329 meters 0.1549931739751341 Centerline is valid? [False, False] Translation: X:64.13, Y:1.39, Z:-2.07 [[ 9.99849211e-01 -2.78209700e-03 1.71410651e-02 6.41293416e+01] [ 2.72319488e-03 9.99990311e-01 3.45869961e-03 1.38917569e+00] [-1.71505214e-02 -3.41149961e-03 9.99847099e-01 -2.07140466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399072329 meters 0.17211583833959984 Centerline is valid? [False, False] Translation: X:64.13, Y:1.39, Z:-2.07 [[ 9.99848899e-01 -2.40502898e-03 1.72161500e-02 6.41290815e+01] [ 2.33288669e-03 9.99988420e-01 4.20924213e-03 1.38667774e+00] [-1.72260740e-02 -4.16844278e-03 9.99842931e-01 -2.07144862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.429072329 meters 0.1636606110722434 Centerline is valid? [False, False] Translation: X:64.13, Y:1.38, Z:-2.07 [[ 9.99849808e-01 -1.79234256e-03 1.72380085e-02 6.41285796e+01] [ 1.69897709e-03 9.99983818e-01 5.42937628e-03 1.38267375e+00] [-1.72474609e-02 -5.39927385e-03 9.99836673e-01 -2.07113126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459072329 meters 0.1412208168326234 Centerline is valid? [False, False] Translation: X:64.13, Y:1.38, Z:-2.07 [[ 9.99852239e-01 -1.53962372e-03 1.71210497e-02 6.41285258e+01] [ 1.43873585e-03 9.99981540e-01 5.90337843e-03 1.38095730e+00] [-1.71298226e-02 -5.87787347e-03 9.99835996e-01 -2.07076443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.489072329 meters 0.13728508025717198 Centerline is valid? [False, False] Translation: X:64.12, Y:1.39, Z:-2.07 [[ 9.99965337e-01 -3.58943374e-05 8.32610598e-03 6.41206124e+01] [ 5.69057690e-05 9.99996815e-01 -2.52333725e-03 1.38670775e+00] [-8.32598889e-03 2.52372359e-03 9.99962154e-01 -2.06923802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519072329 meters 0.1596050991090435 Centerline is valid? [False, False] Translation: X:64.12, Y:1.38, Z:-2.07 [[ 9.99966524e-01 4.75963397e-04 8.16844516e-03 6.41200974e+01] [-4.63279122e-04 9.99998684e-01 -1.55466026e-03 1.38355064e+00] [-8.16917437e-03 1.55082395e-03 9.99965429e-01 -2.06830286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.549072329 meters 0.1572185883681151 Centerline is valid? [False, False] Translation: X:64.12, Y:1.38, Z:-2.07 [[ 9.99967007e-01 7.29231304e-04 8.09030079e-03 6.41199761e+01] [-7.20569333e-04 9.99999164e-01 -1.07352429e-03 1.38183804e+00] [-8.09107688e-03 1.06765925e-03 9.99966697e-01 -2.06796325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579072329 meters 0.15871981944439326 Centerline is valid? [False, False] Translation: X:64.12, Y:1.38, Z:-2.07 [[ 9.99967580e-01 1.02921762e-03 7.98617986e-03 6.41199422e+01] [-1.02513667e-03 9.99999342e-01 -5.15077859e-04 1.37993765e+00] [-7.98670474e-03 5.06874235e-04 9.99967977e-01 -2.06764628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.609072329 meters 0.1663668750383419 Centerline is valid? [False, False] Translation: X:64.12, Y:1.38, Z:-2.07 [[ 9.99969170e-01 1.57010356e-03 7.69377672e-03 6.41200750e+01] [-1.57393583e-03 9.99998640e-01 4.92069752e-04 1.37678459e+00] [-7.69299366e-03 -5.04164092e-04 9.99970281e-01 -2.06718797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63907232900002 meters 0.15078393807268048 Centerline is valid? [False, False] Translation: X:64.12, Y:1.38, Z:-2.07 [[ 9.99970691e-01 1.80486322e-03 7.44037749e-03 6.41203832e+01] [-1.81163938e-03 9.99997950e-01 9.04088176e-04 1.37540720e+00] [-7.43873048e-03 -9.17540959e-04 9.99971911e-01 -2.06687980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66907232900002 meters 0.1380925411698619 Centerline is valid? [False, False] Translation: X:64.12, Y:1.37, Z:-2.07 [[ 9.99971832e-01 2.10963666e-03 7.20307601e-03 6.41207171e+01] [-2.12006027e-03 9.99996716e-01 1.43977622e-03 1.37363622e+00] [-7.20001496e-03 -1.45500662e-03 9.99973021e-01 -2.06666477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69907232900002 meters 0.16543549118503256 Centerline is valid? [False, False] Translation: X:64.12, Y:1.37, Z:-2.07 [[ 9.99974097e-01 2.66080262e-03 6.68776318e-03 6.41210466e+01] [-2.67713696e-03 9.99993453e-01 2.43465862e-03 1.37067440e+00] [-6.68124125e-03 -2.45249962e-03 9.99974673e-01 -2.06578004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72907232900002 meters 0.16637863793725496 Centerline is valid? [False, False] Translation: X:64.14, Y:1.36, Z:-2.06 [[ 9.99995802e-01 2.76568813e-03 8.64253616e-04 6.41374855e+01] [-2.76263654e-03 9.99990016e-01 -3.51236057e-03 1.36124526e+00] [-8.73959081e-04 3.50995820e-03 9.99993458e-01 -2.06217852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759072329 meters 0.2005867402240192 Centerline is valid? [False, False] Translation: X:64.18, Y:1.34, Z:-2.06 [[ 9.99985055e-01 3.67298034e-03 -4.04952302e-03 6.41775499e+01] [-3.69034793e-03 9.99983990e-01 -4.28970044e-03 1.33686256e+00] [ 4.03370220e-03 4.30458048e-03 9.99982600e-01 -2.05755387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.789072329 meters 0.15313496782117986 Centerline is valid? [False, False] Translation: X:64.13, Y:1.36, Z:-2.06 [[ 9.99949144e-01 9.79034953e-03 2.42059040e-03 6.41333825e+01] [-9.79574068e-03 9.99949544e-01 2.22547392e-03 1.35643475e+00] [-2.39868009e-03 -2.24907222e-03 9.99994594e-01 -2.05907198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819072329 meters 0.1599519909327645 Centerline is valid? [False, False] Translation: X:64.14, Y:1.36, Z:-2.06 [[ 9.99981934e-01 5.90943715e-03 1.09966402e-03 6.41355993e+01] [-5.90773890e-03 9.99981361e-01 -1.54123231e-03 1.35525709e+00] [-1.10875134e-03 1.53470794e-03 9.99998208e-01 -2.05826869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.849072329 meters 0.12860665590647566 Centerline is valid? [False, False] Translation: X:64.14, Y:1.35, Z:-2.06 [[ 9.99978451e-01 6.55522835e-03 3.55931844e-04 6.41364457e+01] [-6.55507548e-03 9.99978423e-01 -4.28952351e-04 1.35214764e+00] [-3.58736044e-04 4.26609947e-04 9.99999845e-01 -2.05748092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879072329 meters 0.13815590217354837 Centerline is valid? [False, False] Translation: X:64.14, Y:1.35, Z:-2.06 [[ 9.99993778e-01 3.29698968e-03 -1.25472363e-03 6.41397920e+01] [-3.30115887e-03 9.99988989e-01 -3.33536075e-03 1.34952520e+00] [ 1.24371317e-03 3.33948204e-03 9.99993650e-01 -2.05756327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.909072329 meters 0.17552120712153818 Centerline is valid? [False, False] Translation: X:64.14, Y:1.35, Z:-2.06 [[ 9.99992226e-01 3.63168931e-03 -1.53595973e-03 6.41403207e+01] [-3.63591991e-03 9.99989580e-01 -2.76059979e-03 1.34775436e+00] [ 1.52591808e-03 2.76616296e-03 9.99995010e-01 -2.05750208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939072329 meters 0.17552120712153818 Centerline is valid? [False, False] Translation: X:64.14, Y:1.35, Z:-2.06 [[ 9.99992226e-01 3.63168931e-03 -1.53595973e-03 6.41403207e+01] [-3.63591991e-03 9.99989580e-01 -2.76059979e-03 1.34775436e+00] [ 1.52591808e-03 2.76616296e-03 9.99995010e-01 -2.05750208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.969072329 meters 0.1363533675468949 Centerline is valid? [False, False] Translation: X:64.14, Y:1.35, Z:-2.06 [[ 9.99990517e-01 3.95010218e-03 -1.83356671e-03 6.41408435e+01] [-3.95417781e-03 9.99989708e-01 -2.22450730e-03 1.34610267e+00] [ 1.82476081e-03 2.23173646e-03 9.99995845e-01 -2.05734764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999072329 meters 0.1452520364381099 Centerline is valid? [False, False] Translation: X:64.14, Y:1.34, Z:-2.06 [[ 9.99987132e-01 4.35304438e-03 -2.60532816e-03 6.41414939e+01] [-4.35721502e-03 9.99989232e-01 -1.59728241e-03 1.34424116e+00] [ 2.59834706e-03 1.60861383e-03 9.99995330e-01 -2.05594863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.029072329 meters 0.13293839162219723 Centerline is valid? [False, False] Translation: X:64.14, Y:1.34, Z:-2.06 [[ 9.99985118e-01 4.62335073e-03 -2.89612887e-03 6.41418960e+01] [-4.62663043e-03 9.99988662e-01 -1.12676832e-03 1.34267312e+00] [ 2.89088659e-03 1.14015087e-03 9.99995171e-01 -2.05566387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059072329 meters 0.14616300413531808 Centerline is valid? [False, False] Translation: X:64.15, Y:1.34, Z:-2.06 [[ 9.99988037e-01 1.92344843e-03 -4.49746341e-03 6.41460161e+01] [-1.93836153e-03 9.99992630e-01 -3.31388671e-03 1.33906477e+00] [ 4.49105618e-03 3.32256477e-03 9.99984395e-01 -2.05673884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.089072329 meters 0.18784570631211378 Centerline is valid? [False, False] Translation: X:64.15, Y:1.34, Z:-2.06 [[ 9.99985901e-01 2.22771999e-03 -4.82025871e-03 6.41465257e+01] [-2.24114303e-03 9.99993621e-01 -2.78110592e-03 1.33742643e+00] [ 4.81403244e-03 2.79186960e-03 9.99984515e-01 -2.05649959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119072329 meters 0.16451536985364007 Centerline is valid? [False, False] Translation: X:64.15, Y:1.33, Z:-2.06 [[ 9.99977728e-01 3.11244807e-03 -5.90389388e-03 6.41483853e+01] [-3.12085346e-03 9.99994129e-01 -1.41502450e-03 1.33417192e+00] [ 5.89945503e-03 1.43341818e-03 9.99981571e-01 -2.05616552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.149072329 meters 0.1612901768719223 Centerline is valid? [False, False] Translation: X:64.15, Y:1.33, Z:-2.06 [[ 9.99974885e-01 3.44912752e-03 -6.19137642e-03 6.41489948e+01] [-3.45437474e-03 9.99993683e-01 -8.37010331e-04 1.33244881e+00] [ 6.18845035e-03 8.58376644e-04 9.99980483e-01 -2.05621207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179072329 meters 0.15594797735309032 Centerline is valid? [False, False] Translation: X:64.17, Y:1.32, Z:-2.05 [[ 9.99969630e-01 6.76414379e-03 -3.87115106e-03 6.41731806e+01] [-6.74082294e-03 9.99959244e-01 6.00593872e-03 1.31556547e+00] [ 3.91161832e-03 -5.97966158e-03 9.99974471e-01 -2.05361289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.209072329 meters 0.1658541011178722 Centerline is valid? [False, False] Translation: X:64.17, Y:1.31, Z:-2.05 [[ 9.99966843e-01 6.95548304e-03 -4.23488245e-03 6.41736547e+01] [-6.92864122e-03 9.99956023e-01 6.32028668e-03 1.31451865e+00] [ 4.27865686e-03 -6.29073514e-03 9.99971059e-01 -2.05313241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239072329 meters 0.18583779975259937 Centerline is valid? [False, False] Translation: X:64.17, Y:1.31, Z:-2.05 [[ 9.99964343e-01 7.09429283e-03 -4.58077918e-03 6.41739351e+01] [-7.06420876e-03 9.99953592e-01 6.55057354e-03 1.31367691e+00] [ 4.62703829e-03 -6.51798039e-03 9.99968053e-01 -2.05240894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.269072329 meters 0.1575428116326319 Centerline is valid? [False, False] Translation: X:64.18, Y:1.31, Z:-2.05 [[ 9.99973602e-01 3.58186921e-03 -6.32175238e-03 6.41766573e+01] [-3.56298409e-03 9.99989164e-01 2.99606290e-03 1.31289899e+00] [ 6.33241538e-03 -2.97345950e-03 9.99975529e-01 -2.05101539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299072329 meters 0.15402780825633128 Centerline is valid? [False, False] Translation: X:64.18, Y:1.31, Z:-2.05 [[ 9.99968843e-01 1.86733206e-04 -7.89162129e-03 6.41800608e+01] [-1.88002277e-04 9.99999970e-01 -1.60070827e-04 1.31094207e+00] [ 7.89159116e-03 1.61549483e-04 9.99968848e-01 -2.05117490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.329072329 meters 0.15612956990215038 Centerline is valid? [False, False] Translation: X:64.18, Y:1.31, Z:-2.05 [[ 9.99966340e-01 4.38614815e-04 -8.19313398e-03 6.41805409e+01] [-4.36361818e-04 9.99999866e-01 2.76771683e-04 1.30958304e+00] [ 8.19325428e-03 -2.73187196e-04 9.99966397e-01 -2.05093499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359072329 meters 0.17908935426136285 Centerline is valid? [False, False] Translation: X:64.18, Y:1.31, Z:-2.05 [[ 9.99959464e-01 1.10618198e-03 -8.93565749e-03 6.41816026e+01] [-1.09364230e-03 9.99998411e-01 1.40809414e-03 1.30655708e+00] [ 8.93720090e-03 -1.39826465e-03 9.99959085e-01 -2.05045520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38907232900002 meters 0.16469574607044615 Centerline is valid? [False, False] Translation: X:64.18, Y:1.31, Z:-2.05 [[ 9.99955609e-01 1.32076907e-03 -9.32930550e-03 6.41822089e+01] [-1.30444158e-03 9.99997607e-01 1.75599703e-03 1.30542358e+00] [ 9.33160244e-03 -1.74374955e-03 9.99954939e-01 -2.05008077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41907232900002 meters 0.18460443199940016 Centerline is valid? [False, False] Translation: X:64.20, Y:1.30, Z:-2.05 [[ 9.99899948e-01 5.44643713e-03 -1.30548691e-02 6.41977967e+01] [-5.46733692e-03 9.99983828e-01 -1.56576412e-03 1.29710137e+00] [ 1.30461301e-02 1.63698283e-03 9.99913556e-01 -2.04787477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44907232900002 meters 0.1596700770762501 Centerline is valid? [False, False] Translation: X:64.20, Y:1.30, Z:-2.05 [[ 9.99886247e-01 5.78475350e-03 -1.39294697e-02 6.41986936e+01] [-5.80092748e-03 9.99982546e-01 -1.12101022e-03 1.29598390e+00] [ 1.39227418e-02 1.20168655e-03 9.99902352e-01 -2.04644235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47907232900002 meters 0.1633366389210572 Centerline is valid? [False, False] Translation: X:64.20, Y:1.30, Z:-2.05 [[ 9.99880467e-01 5.93535985e-03 -1.42766810e-02 6.41990755e+01] [-5.94850027e-03 9.99981922e-01 -8.78122478e-04 1.29515685e+00] [ 1.42712109e-02 9.62942355e-04 9.99897697e-01 -2.04585476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.509072329 meters 0.19775069012567875 Centerline is valid? [False, False] Translation: X:64.20, Y:1.29, Z:-2.05 [[ 9.99874952e-01 6.11597216e-03 -1.45834150e-02 6.41995143e+01] [-6.12506950e-03 9.99981074e-01 -5.79230497e-04 1.29417582e+00] [ 1.45795964e-02 6.68482496e-04 9.99893489e-01 -2.04548499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539072329 meters 0.18330249115209765 Centerline is valid? [False, False] Translation: X:64.20, Y:1.29, Z:-2.05 [[ 9.99869491e-01 6.29283419e-03 -1.48795770e-02 6.41999489e+01] [-6.29784395e-03 9.99980126e-01 -2.89853188e-04 1.29321976e+00] [ 1.48774573e-02 3.83524613e-04 9.99889251e-01 -2.04516457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.569072329 meters 0.17372920746396828 Centerline is valid? [False, False] Translation: X:64.20, Y:1.29, Z:-2.04 [[ 9.99854822e-01 6.66232417e-03 -1.56827433e-02 6.42010889e+01] [-6.65836666e-03 9.99977786e-01 3.04549318e-04 1.29150825e+00] [ 1.56844239e-02 -2.00083649e-04 9.99876972e-01 -2.04442814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599072329 meters 0.18140965309251622 Centerline is valid? [False, False] Translation: X:64.21, Y:1.28, Z:-2.05 [[ 9.99932533e-01 8.27890203e-03 -8.14794095e-03 6.42126685e+01] [-8.18532374e-03 9.99900921e-01 1.14520059e-02 1.28207071e+00] [ 8.24194369e-03 -1.13845397e-02 9.99901226e-01 -2.04648555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.629072329 meters 0.20620837099266603 Centerline is valid? [False, False] Translation: X:64.21, Y:1.28, Z:-2.05 [[ 9.99947903e-01 4.03844203e-03 -9.37458950e-03 6.42147374e+01] [-3.97168576e-03 9.99966703e-01 7.12870792e-03 1.28239753e+00] [ 9.40306623e-03 -7.09110361e-03 9.99930647e-01 -2.04568930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659072329 meters 0.19654160833042955 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99941136e-01 4.17758719e-04 -1.08420310e-02 6.42169721e+01] [-3.82037134e-04 9.99994493e-01 3.29659388e-03 1.28227475e+00] [ 1.08433484e-02 -3.29225777e-03 9.99935789e-01 -2.04435898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.689072329 meters 0.16993127828193647 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99938328e-01 5.96798477e-04 -1.10898190e-02 6.42172864e+01] [-5.56810825e-04 9.99993334e-01 3.60853615e-03 1.28124725e+00] [ 1.10918986e-02 -3.60213868e-03 9.99931995e-01 -2.04402473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719072329 meters 0.19532745743297172 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99928933e-01 9.40942171e-04 -1.18845785e-02 6.42181865e+01] [-8.91976228e-04 9.99991095e-01 4.12475326e-03 1.27973858e+00] [ 1.18883539e-02 -4.11385937e-03 9.99920868e-01 -2.04286924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.749072329 meters 0.19567128919538765 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99924071e-01 1.02719462e-03 -1.22799800e-02 6.42187038e+01] [-9.75141947e-04 9.99990518e-01 4.24406016e-03 1.27931741e+00] [ 1.22842231e-02 -4.23176319e-03 9.99915591e-01 -2.04233767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779072329 meters 0.19909606928000428 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99919809e-01 1.13585722e-03 -1.26129000e-02 6.42191842e+01] [-1.08025965e-03 9.99989675e-01 4.41393096e-03 1.27875131e+00] [ 1.26177833e-02 -4.39995180e-03 9.99910712e-01 -2.04198526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.809072329 meters 0.19928286674152548 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99908990e-01 1.44716635e-03 -1.34133458e-02 6.42203492e+01] [-1.38197081e-03 9.99987194e-01 4.86849293e-03 1.27749041e+00] [ 1.34202196e-02 -4.84951299e-03 9.99898185e-01 -2.04120060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839072329 meters 0.1824599987460946 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99903950e-01 1.63042825e-03 -1.37634760e-02 6.42208915e+01] [-1.55932166e-03 9.99985391e-01 5.17547608e-03 1.27649666e+00] [ 1.37717132e-02 -5.15351728e-03 9.99891885e-01 -2.04091361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.869072329 meters 0.19740002919587182 Centerline is valid? [False, False] Translation: X:64.22, Y:1.28, Z:-2.04 [[ 9.99898626e-01 1.77441485e-03 -1.41276332e-02 6.42213967e+01] [-1.69817260e-03 9.99983941e-01 5.40684335e-03 1.27573575e+00] [ 1.41370003e-02 -5.38230408e-03 9.99885581e-01 -2.04049443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899072329 meters 0.20385587513059725 Centerline is valid? [False, False] Translation: X:64.22, Y:1.27, Z:-2.04 [[ 9.99888460e-01 2.05111494e-03 -1.47939190e-02 6.42220668e+01] [-1.96458804e-03 9.99980894e-01 5.86097869e-03 1.27437944e+00] [ 1.48056578e-02 -5.83126100e-03 9.99873386e-01 -2.03944798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.929072329 meters 0.21390243778131718 Centerline is valid? [False, False] Translation: X:64.22, Y:1.27, Z:-2.04 [[ 9.99884616e-01 2.12201667e-03 -1.50416689e-02 6.42224344e+01] [-2.03255037e-03 9.99980169e-01 5.96069127e-03 1.27401263e+00] [ 1.50540193e-02 -5.92943055e-03 9.99869101e-01 -2.03916485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959072329 meters 0.18032634393590594 Centerline is valid? [False, False] Translation: X:64.22, Y:1.27, Z:-2.04 [[ 9.99878666e-01 2.16148861e-03 -1.54266202e-02 6.42228519e+01] [-2.06913973e-03 9.99979860e-01 5.99978511e-03 1.27381935e+00] [ 1.54392780e-02 -5.96713730e-03 9.99863002e-01 -2.03851794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.989072329 meters 0.19170111930806327 Centerline is valid? [False, False] Translation: X:64.22, Y:1.27, Z:-2.04 [[ 9.99867018e-01 2.25717275e-03 -1.61508858e-02 6.42235979e+01] [-2.15948090e-03 9.99979285e-01 6.06358462e-03 1.27363297e+00] [ 1.61642378e-02 -6.02790074e-03 9.99851180e-01 -2.03724496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019072329 meters 0.1876608780721539 Centerline is valid? [False, False] Translation: X:64.22, Y:1.27, Z:-2.04 [[ 9.99860298e-01 2.30432122e-03 -1.65551949e-02 6.42240087e+01] [-2.20326209e-03 9.99978845e-01 6.12002405e-03 1.27339006e+00] [ 1.65689471e-02 -6.08269364e-03 9.99844223e-01 -2.03654257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.049072329 meters 0.1779945594553998 Centerline is valid? [False, False] Translation: X:64.22, Y:1.27, Z:-2.04 [[ 9.99849968e-01 2.48274205e-03 -1.71428594e-02 6.42246217e+01] [-2.37400704e-03 9.99976955e-01 6.36031455e-03 1.27272538e+00] [ 1.71582553e-02 -6.31866303e-03 9.99832820e-01 -2.03558745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079072329 meters 0.18006356442497023 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99842696e-01 2.52191785e-03 -1.75562598e-02 6.42251267e+01] [-2.40990528e-03 9.99976626e-01 6.39844191e-03 1.27258265e+00] [ 1.75719858e-02 -6.35512649e-03 9.99825404e-01 -2.03498635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.109072329 meters 0.19115041897807383 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99837441e-01 2.56758304e-03 -1.78465187e-02 6.42255309e+01] [-2.45254034e-03 9.99976093e-01 6.46512671e-03 1.27235071e+00] [ 1.78626918e-02 -6.42030645e-03 9.99819836e-01 -2.03466407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13907232900002 meters 0.168573227829833 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99831517e-01 2.61785401e-03 -1.81682450e-02 6.42260465e+01] [-2.49964715e-03 9.99975582e-01 6.52589680e-03 1.27219159e+00] [ 1.81848852e-02 -6.47938310e-03 9.99813646e-01 -2.03435152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16907232900002 meters 0.1804426255825729 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99822584e-01 2.75781902e-03 -1.86331845e-02 6.42265278e+01] [-2.63342189e-03 9.99974105e-01 6.69734836e-03 1.27173849e+00] [ 1.86511721e-02 -6.64709110e-03 9.99803956e-01 -2.03358535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19907232900002 meters 0.16051902712543906 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99817355e-01 2.79901254e-03 -1.89056174e-02 6.42268977e+01] [-2.67171346e-03 9.99973614e-01 6.75530434e-03 1.27156762e+00] [ 1.89240267e-02 -6.70356012e-03 9.99798451e-01 -2.03327278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22907232900002 meters 0.16329713101845889 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.04 [[ 9.99869784e-01 1.01857694e-02 -1.25166224e-02 6.42316997e+01] [-1.01912339e-02 9.99947999e-01 -3.72868011e-04 1.26766060e+00] [ 1.25121736e-02 5.00379283e-04 9.99921594e-01 -2.03691221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259072329 meters 0.170319268566495 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.04 [[ 9.99866475e-01 1.01514592e-02 -1.28054540e-02 6.42320672e+01] [-1.01582183e-02 9.99948297e-01 -4.62896303e-04 1.26791711e+00] [ 1.28000928e-02 5.92915091e-04 9.99917900e-01 -2.03649400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.289072329 meters 0.15949330271140977 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.04 [[ 9.99891941e-01 5.70993657e-03 -1.35463018e-02 6.42332416e+01] [-5.78027821e-03 9.99969985e-01 -5.15922439e-03 1.26930858e+00] [ 1.35164363e-02 5.23696829e-03 9.99894935e-01 -2.03589992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319072329 meters 0.17507988469683194 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99884282e-01 5.82217961e-03 -1.40543339e-02 6.42337342e+01] [-5.89403359e-03 9.99969744e-01 -5.07658996e-03 1.26914244e+00] [ 1.40243519e-02 5.15883923e-03 9.99888346e-01 -2.03493377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349072329 meters 0.17635896874832369 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99880068e-01 5.86834856e-03 -1.43322062e-02 6.42341295e+01] [-5.94068047e-03 9.99969806e-01 -5.00946002e-03 1.26895931e+00] [ 1.43023762e-02 5.09400228e-03 9.99884740e-01 -2.03462093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379072329 meters 0.17948701591942592 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99877248e-01 5.89547731e-03 -1.45166494e-02 6.42344257e+01] [-5.96814903e-03 9.99969850e-01 -4.96787256e-03 1.26883878e+00] [ 1.44869237e-02 5.05390026e-03 9.99882287e-01 -2.03446575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409072329 meters 0.1682844730981231 Centerline is valid? [False, False] Translation: X:64.23, Y:1.27, Z:-2.03 [[ 9.99874539e-01 5.91047141e-03 -1.46960201e-02 6.42346955e+01] [-5.98380092e-03 9.99969841e-01 -4.95079777e-03 1.26880992e+00] [ 1.46663153e-02 5.03811469e-03 9.99879751e-01 -2.03424634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439072329 meters 0.16692807874855795 Centerline is valid? [False, False] Translation: X:64.24, Y:1.27, Z:-2.03 [[ 9.99866317e-01 5.98244335e-03 -1.52170461e-02 6.42354663e+01] [-6.05804359e-03 9.99969512e-01 -4.92689405e-03 1.26889686e+00] [ 1.51871073e-02 5.01842094e-03 9.99872075e-01 -2.03370383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469072329 meters 0.16266162260405434 Centerline is valid? [False, False] Translation: X:64.25, Y:1.26, Z:-2.03 [[ 9.99942707e-01 5.68724641e-03 -9.06846569e-03 6.42460720e+01] [-5.64198202e-03 9.99971538e-01 5.00919967e-03 1.26393378e+00] [ 9.09669613e-03 -4.95774856e-03 9.99946334e-01 -2.03430552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499072329 meters 0.15442837056423986 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99951961e-01 1.48962076e-03 -9.68796847e-03 6.42470053e+01] [-1.48547976e-03 9.99998802e-01 4.34619639e-04 1.26531509e+00] [ 9.68860429e-03 -4.20207479e-04 9.99952976e-01 -2.03366641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529072329 meters 0.17130434417780574 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99950158e-01 1.48937178e-03 -9.87239564e-03 6.42472834e+01] [-1.48525364e-03 9.99998807e-01 4.24455671e-04 1.26536396e+00] [ 9.87301603e-03 -4.09771503e-04 9.99951177e-01 -2.03348432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559072329 meters 0.16707100738026845 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99948460e-01 1.49437254e-03 -1.00421366e-02 6.42475630e+01] [-1.49024315e-03 9.99998802e-01 4.18676149e-04 1.26537760e+00] [ 1.00427502e-02 -4.03689345e-04 9.99949489e-01 -2.03331164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.589072329 meters 0.1505512188440946 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99944901e-01 1.51624885e-03 -1.03872514e-02 6.42479872e+01] [-1.51213001e-03 9.99998775e-01 4.04370220e-04 1.26548310e+00] [ 1.03878518e-02 -3.88641065e-04 9.99945969e-01 -2.03281032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619072329 meters 0.16159403735889252 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99943626e-01 1.47390316e-03 -1.05153552e-02 6.42482166e+01] [-1.47070468e-03 9.99998870e-01 3.11898136e-04 1.26579451e+00] [ 1.05158031e-02 -2.96415571e-04 9.99944663e-01 -2.03272092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.649072329 meters 0.14094295686880065 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99940694e-01 1.53030517e-03 -1.07827208e-02 6.42485851e+01] [-1.52609266e-03 9.99998756e-01 3.98889850e-04 1.26555225e+00] [ 1.07833178e-02 -3.82410762e-04 9.99941785e-01 -2.03241950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679072329 meters 0.15682007780406354 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99939464e-01 1.53133498e-03 -1.08960433e-02 6.42486790e+01] [-1.52710944e-03 9.99998756e-01 3.96115289e-04 1.26555427e+00] [ 1.08966363e-02 -3.79451859e-04 9.99940558e-01 -2.03215056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.709072329 meters 0.14464350728798944 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99937615e-01 1.52620396e-03 -1.10650858e-02 6.42489165e+01] [-1.52213758e-03 9.99998771e-01 3.75908440e-04 1.26562836e+00] [ 1.10656459e-02 -3.59042406e-04 9.99938709e-01 -2.03194420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739072329 meters 0.14448699676792776 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99936598e-01 1.47433232e-03 -1.11636460e-02 6.42491224e+01] [-1.47146762e-03 9.99998882e-01 2.64819137e-04 1.26598296e+00] [ 1.11640239e-02 -2.48375404e-04 9.99937649e-01 -2.03189537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.769072329 meters 0.14061093542680103 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99934629e-01 1.48779656e-03 -1.13368937e-02 6.42492297e+01] [-1.48472774e-03 9.99998859e-01 2.79104284e-04 1.26596605e+00] [ 1.13372960e-02 -2.62253837e-04 9.99935696e-01 -2.03147541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799072329 meters 0.14172150153041813 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99932426e-01 1.53390514e-03 -1.15234804e-02 6.42496116e+01] [-1.52986304e-03 9.99998765e-01 3.59578285e-04 1.26573838e+00] [ 1.15240177e-02 -3.41924640e-04 9.99933538e-01 -2.03145727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.829072329 meters 0.14711724413781604 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99931332e-01 1.52793829e-03 -1.16187793e-02 6.42496123e+01] [-1.52406339e-03 9.99998780e-01 3.42350046e-04 1.26576683e+00] [ 1.16192882e-02 -3.24618782e-04 9.99932441e-01 -2.03109933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859072329 meters 0.14711724413781604 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99931332e-01 1.52793829e-03 -1.16187793e-02 6.42496123e+01] [-1.52406339e-03 9.99998780e-01 3.42350046e-04 1.26576683e+00] [ 1.16192882e-02 -3.24618782e-04 9.99932441e-01 -2.03109933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88907232900002 meters 0.15424142644175215 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99929794e-01 1.49723115e-03 -1.17544010e-02 6.42498712e+01] [-1.49410782e-03 9.99998846e-01 2.74492869e-04 1.26600066e+00] [ 1.17547984e-02 -2.56911256e-04 9.99930877e-01 -2.03105634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91907232900002 meters 0.12462785065105596 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99926700e-01 1.45159774e-03 -1.20203077e-02 6.42503358e+01] [-1.44961434e-03 9.99998934e-01 1.73715370e-04 1.26634209e+00] [ 1.20205471e-02 -1.56277826e-04 9.99927738e-01 -2.03088760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94907232900002 meters 0.14433656974100623 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99926190e-01 1.48817552e-03 -1.20581756e-02 6.42504461e+01] [-1.48524374e-03 9.99998865e-01 2.52087246e-04 1.26611012e+00] [ 1.20585371e-02 -2.34159309e-04 9.99927266e-01 -2.03095393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97907232900002 meters 0.1270753354022027 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99924374e-01 1.52375231e-03 -1.22034398e-02 6.42505760e+01] [-1.52001952e-03 9.99998795e-01 3.15149525e-04 1.26592143e+00] [ 1.22039053e-02 -2.96576225e-04 9.99925486e-01 -2.03065015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.009072329 meters 0.12102050872567743 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99924176e-01 1.50505956e-03 -1.22219968e-02 6.42506691e+01] [-1.50178038e-03 9.99998834e-01 2.77474841e-04 1.26604411e+00] [ 1.22224002e-02 -2.59099046e-04 9.99925270e-01 -2.03075354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039072329 meters 0.12982392230331713 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99923829e-01 1.54251132e-03 -1.22457098e-02 6.42507500e+01] [-1.53826118e-03 9.99998753e-01 3.56483500e-04 1.26579064e+00] [ 1.22462444e-02 -3.37619246e-04 9.99924955e-01 -2.03081129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069072329 meters 0.12356598422628036 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99921421e-01 1.52966028e-03 -1.24423781e-02 6.42510695e+01] [-1.52575212e-03 9.99998784e-01 3.23587352e-04 1.26592063e+00] [ 1.24428579e-02 -3.04577940e-04 9.99922538e-01 -2.03067466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099072329 meters 0.12439584444495833 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99920470e-01 1.54999358e-03 -1.25160010e-02 6.42512457e+01] [-1.54550170e-03 9.99998738e-01 3.68555776e-04 1.26578869e+00] [ 1.25165564e-02 -3.49182964e-04 9.99921604e-01 -2.03069547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129072329 meters 0.11888734834309864 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99920316e-01 1.54154999e-03 -1.25293692e-02 6.42512352e+01] [-1.53724185e-03 9.99998756e-01 3.53467322e-04 1.26583030e+00] [ 1.25298985e-02 -3.34178485e-04 9.99921442e-01 -2.03062342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159072329 meters 0.11476338259247626 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99918268e-01 1.58360162e-03 -1.26865597e-02 6.42512676e+01] [-1.57826073e-03 9.99998662e-01 4.30988556e-04 1.26562853e+00] [ 1.26872253e-02 -4.10930631e-04 9.99919429e-01 -2.03015333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189072329 meters 0.11305879519887214 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99917900e-01 1.54379219e-03 -1.27204370e-02 6.42512827e+01] [-1.53942863e-03 9.99998753e-01 3.52820225e-04 1.26588750e+00] [ 1.27209658e-02 -3.33209053e-04 9.99919030e-01 -2.03004480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219072329 meters 0.11594813087872376 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99916409e-01 1.49576087e-03 -1.28427798e-02 6.42514229e+01] [-1.49266225e-03 9.99998855e-01 2.50855513e-04 1.26620551e+00] [ 1.28431403e-02 -2.31664611e-04 9.99917497e-01 -2.02982741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249072329 meters 0.11452022090717294 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99915796e-01 1.43002959e-03 -1.28978906e-02 6.42515352e+01] [-1.42865875e-03 9.99998973e-01 1.15496829e-04 1.26663442e+00] [ 1.28980425e-02 -9.70604194e-05 9.99916812e-01 -2.02978093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279072329 meters 0.11357251579413757 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99914819e-01 1.33119880e-03 -1.29839311e-02 6.42517400e+01] [-1.33255285e-03 9.99999108e-01 -9.56355317e-05 1.26728435e+00] [ 1.29837922e-02 1.12929160e-04 9.99915701e-01 -2.02977073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.309072329 meters 0.11927483850697612 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99913658e-01 1.25417040e-03 -1.30806548e-02 6.42519126e+01] [-1.25761520e-03 9.99999177e-01 -2.55128253e-04 1.26780104e+00] [ 1.30803240e-02 2.71556655e-04 9.99914412e-01 -2.02970119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339072329 meters 0.11356753211695414 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99912632e-01 1.23309151e-03 -1.31608120e-02 6.42520731e+01] [-1.23714362e-03 9.99999190e-01 -2.99755615e-04 1.26795255e+00] [ 1.31604318e-02 3.16011241e-04 9.99913348e-01 -2.02967753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.369072329 meters 0.10285399062880812 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99910632e-01 1.16142342e-03 -1.33183671e-02 6.42523264e+01] [-1.16755876e-03 9.99999216e-01 -4.52901769e-04 1.26842684e+00] [ 1.33178306e-02 4.68411270e-04 9.99911204e-01 -2.02954427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399072329 meters 0.10479725949362753 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99909903e-01 1.14778782e-03 -1.33741577e-02 6.42524046e+01] [-1.15433449e-03 9.99999218e-01 -4.81792711e-04 1.26851034e+00] [ 1.33735943e-02 4.97187555e-04 9.99910446e-01 -2.02946948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.429072329 meters 0.1025108979675309 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99908786e-01 1.10481002e-03 -1.34610507e-02 6.42525428e+01] [-1.11257558e-03 9.99999219e-01 -5.69416158e-04 1.26879570e+00] [ 1.34604111e-02 5.84340655e-04 9.99909234e-01 -2.02938893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459072329 meters 0.11005547201575147 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99906675e-01 1.01735337e-03 -1.36237614e-02 6.42527915e+01] [-1.02777509e-03 9.99999185e-01 -7.57987007e-04 1.26940053e+00] [ 1.36229792e-02 7.71918431e-04 9.99906905e-01 -2.02921659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.489072329 meters 0.1008283941926632 Centerline is valid? [False, False] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99905964e-01 1.00617436e-03 -1.36766677e-02 6.42529098e+01] [-1.01693475e-03 9.99999179e-01 -7.79838209e-04 1.26948282e+00] [ 1.36758718e-02 7.93673155e-04 9.99906166e-01 -2.02922111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519072329 meters 0.09683322301283862 Centerline is valid? [False, True] Translation: X:64.25, Y:1.27, Z:-2.03 [[ 9.99904616e-01 9.97083021e-04 -1.37754785e-02 6.42531235e+01] [-1.00819309e-03 9.99999172e-01 -7.99589831e-04 1.26954452e+00] [ 1.37746698e-02 8.13401905e-04 9.99904794e-01 -2.02922657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.549072329 meters 0.09503896308352193 Centerline is valid? [True, True] Translation: X:64.28, Y:1.27, Z:-2.03 [[ 9.99887888e-01 5.28469510e-03 -1.40101033e-02 6.42833417e+01] [-5.25851885e-03 9.99984360e-01 1.90456423e-03 1.26573448e+00] [ 1.40199492e-02 -1.83067831e-03 9.99900040e-01 -2.02962279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579072329 meters 0.0887241319651735 Centerline is valid? [True, True] Translation: X:64.31, Y:1.27, Z:-2.03 [[ 9.99879213e-01 7.13136808e-03 -1.38095277e-02 6.43145962e+01] [-7.10610988e-03 9.99972989e-01 1.87724709e-03 1.26934716e+00] [ 1.38225420e-02 -1.77888832e-03 9.99902882e-01 -2.02829371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.609072329 meters 0.09426798525486814 Centerline is valid? [True, True] Translation: X:64.34, Y:1.26, Z:-2.03 [[ 9.99855654e-01 1.15319537e-02 -1.24774141e-02 6.43422082e+01] [-1.15116720e-02 9.99932300e-01 1.69607561e-03 1.25722775e+00] [ 1.24961284e-02 -1.55219489e-03 9.99920716e-01 -2.02720772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63907232900002 meters 0.09330357118073286 Centerline is valid? [True, True] Translation: X:64.37, Y:1.25, Z:-2.03 [[ 9.99833914e-01 1.38379509e-02 -1.18598607e-02 6.43730119e+01] [-1.38197856e-02 9.99903202e-01 1.61224795e-03 1.25385500e+00] [ 1.18810229e-02 -1.44807945e-03 9.99928370e-01 -2.02607169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66907232900002 meters 0.0836288491195736 Centerline is valid? [True, True] Translation: X:64.40, Y:1.26, Z:-2.02 [[ 9.99805564e-01 1.59788724e-02 -1.15546264e-02 6.44047660e+01] [-1.59617711e-02 9.99871369e-01 1.57075595e-03 1.26178332e+00] [ 1.15782390e-02 -1.38601824e-03 9.99932009e-01 -2.02376757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69907232900002 meters 0.09490824942666339 Centerline is valid? [True, True] Translation: X:64.43, Y:1.24, Z:-2.02 [[ 9.99778450e-01 1.78367095e-02 -1.11760050e-02 6.44317548e+01] [-1.78208272e-02 9.99840042e-01 1.51908958e-03 1.24289708e+00] [ 1.12013129e-02 -1.31958737e-03 9.99936393e-01 -2.02479066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72907232900002 meters 0.08896427158525505 Centerline is valid? [True, True] Translation: X:64.46, Y:1.25, Z:-2.02 [[ 9.99702448e-01 2.13477024e-02 -1.18021316e-02 6.44635259e+01] [-2.13302315e-02 9.99771198e-01 1.60423237e-03 1.24555713e+00] [ 1.18336779e-02 -1.35201282e-03 9.99929066e-01 -2.02475308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759072329 meters 0.08373215721830113 Centerline is valid? [True, True] Translation: X:64.49, Y:1.25, Z:-2.02 [[ 9.99661591e-01 2.29616348e-02 -1.22256849e-02 6.44945846e+01] [-2.29430061e-02 9.99735393e-01 1.66182636e-03 1.24768637e+00] [ 1.22606082e-02 -1.38077002e-03 9.99923883e-01 -2.02448991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.789072329 meters 0.08575236478251815 Centerline is valid? [True, True] Translation: X:64.52, Y:1.24, Z:-2.03 [[ 9.99617962e-01 2.47969917e-02 -1.22081950e-02 6.45233124e+01] [-2.47785535e-02 9.99691587e-01 1.65928079e-03 1.24041750e+00] [ 1.22455751e-02 -1.35614546e-03 9.99924101e-01 -2.02531926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819072329 meters 0.07831436181260025 Centerline is valid? [True, True] Translation: X:64.55, Y:1.25, Z:-2.02 [[ 9.99529958e-01 2.79626859e-02 -1.25679041e-02 6.45549253e+01] [-2.79433931e-02 9.99608048e-01 1.70810381e-03 1.24519645e+00] [ 1.26107413e-02 -1.35611104e-03 9.99919562e-01 -2.02451045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.849072329 meters 0.08368178391816043 Centerline is valid? [True, True] Translation: X:64.58, Y:1.23, Z:-2.03 [[ 9.99483290e-01 2.94249327e-02 -1.29355047e-02 6.45834361e+01] [-2.94046159e-02 9.99566045e-01 1.75805818e-03 1.23375394e+00] [ 1.29816221e-02 -1.37678622e-03 9.99914787e-01 -2.02579040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879072329 meters 0.07509664631045991 Centerline is valid? [True, True] Translation: X:64.62, Y:1.24, Z:-2.02 [[ 9.99435302e-01 3.10262538e-02 -1.29015240e-02 6.46157384e+01] [-3.10061731e-02 9.99517655e-01 1.75362656e-03 1.24008101e+00] [ 1.29497094e-02 -1.35260941e-03 9.99915234e-01 -2.02398476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.909072329 meters 0.08841707995650253 Centerline is valid? [True, True] Translation: X:64.64, Y:1.22, Z:-2.03 [[ 9.99343154e-01 3.39771671e-02 -1.26020788e-02 6.46429446e+01] [-3.39582394e-02 9.99421785e-01 1.71296380e-03 1.21796380e+00] [ 1.26529937e-02 -1.28389424e-03 9.99919123e-01 -2.02523005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939072329 meters 0.0750168097779845 Centerline is valid? [True, True] Translation: X:64.68, Y:1.23, Z:-2.02 [[ 9.99268659e-01 3.60533108e-02 -1.27399627e-02 6.46761184e+01] [-3.60341297e-02 9.99349059e-01 1.73200555e-03 1.23009437e+00] [ 1.27941142e-02 -1.27166539e-03 9.99917343e-01 -2.02246367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.969072329 meters 0.07176583373303294 Centerline is valid? [True, True] Translation: X:64.71, Y:1.23, Z:-2.02 [[ 9.99158815e-01 3.90219465e-02 -1.26075483e-02 6.47066482e+01] [-3.90033944e-02 9.99237608e-01 1.71414368e-03 1.22865275e+00] [ 1.26648257e-02 -1.22096459e-03 9.99919052e-01 -2.02176672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999072329 meters 0.06968797145820958 Centerline is valid? [True, True] Translation: X:64.74, Y:1.23, Z:-2.02 [[ 9.99109707e-01 4.02706175e-02 -1.25726393e-02 6.47369828e+01] [-4.02522657e-02 9.99188087e-01 1.70941395e-03 1.22666403e+00] [ 1.26312706e-02 -1.20181485e-03 9.99919500e-01 -2.02070209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.029072329 meters 0.07780953835642608 Centerline is valid? [True, True] Translation: X:64.77, Y:1.21, Z:-2.02 [[ 9.99056732e-01 4.16201899e-02 -1.23857579e-02 6.47653431e+01] [-4.16024803e-02 9.99132823e-01 1.68418379e-03 1.21155587e+00] [ 1.24451133e-02 -1.16731690e-03 9.99921875e-01 -2.02225664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059072329 meters 0.07338484629500261 Centerline is valid? [True, True] Translation: X:64.80, Y:1.21, Z:-2.02 [[ 9.98990236e-01 4.30428788e-02 -1.28771029e-02 6.47972293e+01] [-4.30238480e-02 9.99072510e-01 1.75139653e-03 1.21214745e+00] [ 1.29405447e-02 -1.19560552e-03 9.99915553e-01 -2.02217885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.089072329 meters 0.06686347073913926 Centerline is valid? [True, True] Translation: X:64.83, Y:1.22, Z:-2.02 [[ 9.98872238e-01 4.56540225e-02 -1.30369994e-02 6.48292259e+01] [-4.56347335e-02 9.98956619e-01 1.77338089e-03 1.21526176e+00] [ 1.31043588e-02 -1.17644094e-03 9.99913442e-01 -2.02130684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119072329 meters 0.07346628995629885 Centerline is valid? [True, True] Translation: X:64.86, Y:1.20, Z:-2.02 [[ 9.98807658e-01 4.71451809e-02 -1.26725466e-02 6.48583059e+01] [-4.71270693e-02 9.98887414e-01 1.72420260e-03 1.20192436e+00] [ 1.27397352e-02 -1.12492678e-03 9.99918213e-01 -2.02194497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.149072329 meters 0.06819719621976761 Centerline is valid? [True, True] Translation: X:64.89, Y:1.20, Z:-2.02 [[ 9.98730926e-01 4.87196871e-02 -1.27643908e-02 6.48899533e+01] [-4.87014363e-02 9.98811871e-01 1.73695729e-03 1.20356462e+00] [ 1.28338491e-02 -1.11310880e-03 9.99917023e-01 -2.02164666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179072329 meters 0.07137065386057126 Centerline is valid? [True, True] Translation: X:64.92, Y:1.19, Z:-2.02 [[ 9.98660490e-01 5.02075449e-02 -1.25071265e-02 6.49194497e+01] [-5.01901356e-02 9.98738230e-01 1.70216225e-03 1.19493897e+00] [ 1.25768068e-02 -1.07214781e-03 9.99920334e-01 -2.02144592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.209072329 meters 0.06829605547793147 Centerline is valid? [True, True] Translation: X:64.95, Y:1.19, Z:-2.02 [[ 9.98513263e-01 5.30928916e-02 -1.23453970e-02 6.49502341e+01] [-5.30761476e-02 9.98589054e-01 1.68022899e-03 1.19342076e+00] [ 1.24171865e-02 -1.02248482e-03 9.99922381e-01 -2.02063427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239072329 meters 0.06078913741436043 Centerline is valid? [True, True] Translation: X:64.98, Y:1.20, Z:-2.02 [[ 9.98447064e-01 5.42816591e-02 -1.25284760e-02 6.49823629e+01] [-5.42645030e-02 9.98525140e-01 1.70551779e-03 1.19826668e+00] [ 1.26025766e-02 -1.02301770e-03 9.99920061e-01 -2.01920687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.269072329 meters 0.0672664148392038 Centerline is valid? [True, True] Translation: X:65.01, Y:1.19, Z:-2.02 [[ 9.98367986e-01 5.56307198e-02 -1.29068501e-02 6.50113792e+01] [-5.56126202e-02 9.98450874e-01 1.75729706e-03 1.18518824e+00] [ 1.29846155e-02 -1.03664538e-03 9.99915159e-01 -2.02105167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299072329 meters 0.06683056818899288 Centerline is valid? [True, True] Translation: X:65.04, Y:1.18, Z:-2.02 [[ 9.98249682e-01 5.75759010e-02 -1.35125420e-02 6.50429784e+01] [-5.75562316e-02 9.98340570e-01 1.84036188e-03 1.18025153e+00] [ 1.35960794e-02 -1.05940966e-03 9.99907008e-01 -2.02150135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.329072329 meters 0.0666597714201406 Centerline is valid? [True, True] Translation: X:65.07, Y:1.18, Z:-2.02 [[ 9.98192654e-01 5.86064682e-02 -1.32931456e-02 6.50742372e+01] [-5.85875144e-02 9.98280633e-01 1.81113602e-03 1.17509255e+00] [ 1.33764341e-02 -1.02905030e-03 9.99910002e-01 -2.02051022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359072329 meters 0.05739650689265621 Centerline is valid? [True, True] Translation: X:65.11, Y:1.18, Z:-2.02 [[ 9.98096887e-01 6.02239939e-02 -1.32542376e-02 6.51070719e+01] [-6.02052834e-02 9.98184382e-01 1.80652913e-03 1.18122989e+00] [ 1.33389694e-02 -1.00511597e-03 9.99910527e-01 -2.01764853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38907232900002 meters 0.06123961099871376 Centerline is valid? [True, True] Translation: X:65.14, Y:1.17, Z:-2.02 [[ 9.98028563e-01 6.12978938e-02 -1.34742292e-02 6.51371865e+01] [-6.12786181e-02 9.98119005e-01 1.83918702e-03 1.17115426e+00] [ 1.35616225e-02 -1.00987904e-03 9.99907527e-01 -2.01814856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41907232900002 meters 0.05647718690333361 Centerline is valid? [True, True] Translation: X:65.17, Y:1.17, Z:-2.02 [[ 9.97957807e-01 6.25012537e-02 -1.31836325e-02 6.51685772e+01] [-6.24828932e-02 9.98044411e-01 1.80040807e-03 1.17198171e+00] [ 1.32703785e-02 -9.72979788e-04 9.99911471e-01 -2.01758256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44907232900002 meters 0.057872070126378704 Centerline is valid? [True, True] Translation: X:65.20, Y:1.17, Z:-2.02 [[ 9.97811846e-01 6.46725507e-02 -1.37470613e-02 6.51982597e+01] [-6.46527881e-02 9.97906053e-01 1.87763471e-03 1.16503182e+00] [ 1.38397072e-02 -9.84740310e-04 9.99903742e-01 -2.01832937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47907232900002 meters 0.060244507003630286 Centerline is valid? [True, True] Translation: X:65.23, Y:1.16, Z:-2.02 [[ 9.97751124e-01 6.56513610e-02 -1.35127181e-02 6.52284974e+01] [-6.56323216e-02 9.97842163e-01 1.84814276e-03 1.15695095e+00] [ 1.36048930e-02 -9.57115455e-04 9.99906991e-01 -2.01862412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.509072329 meters 0.05401037950932358 Centerline is valid? [True, True] Translation: X:65.26, Y:1.16, Z:-2.02 [[ 9.97664808e-01 6.69404598e-02 -1.35612002e-02 6.52606468e+01] [-6.69213897e-02 9.97756525e-01 1.85567216e-03 1.15942783e+00] [ 1.36549955e-02 -9.43804453e-04 9.99906321e-01 -2.01692299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539072329 meters 0.053278033006701024 Centerline is valid? [True, True] Translation: X:65.29, Y:1.15, Z:-2.02 [[ 9.97608448e-01 6.77587142e-02 -1.36433813e-02 6.52928259e+01] [-6.77394490e-02 9.97701293e-01 1.86979045e-03 1.15479050e+00] [ 1.37387138e-02 -9.41123620e-04 9.99905177e-01 -2.01716904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569072329 meters 0.05617152261255703 Centerline is valid? [True, True] Translation: X:65.32, Y:1.14, Z:-2.02 [[ 9.97508526e-01 6.92725448e-02 -1.33437349e-02 6.53221722e+01] [-6.92542415e-02 9.97597365e-01 1.82946280e-03 1.14400653e+00] [ 1.34384063e-02 -9.00794501e-04 9.99909295e-01 -2.01648576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599072329 meters 0.055356053176364536 Centerline is valid? [True, True] Translation: X:65.35, Y:1.14, Z:-2.02 [[ 9.97456691e-01 7.00846349e-02 -1.29727875e-02 6.53544603e+01] [-7.00673911e-02 9.97540673e-01 1.77955287e-03 1.13959644e+00] [ 1.30656025e-02 -8.66057540e-04 9.99914266e-01 -2.01576938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629072329 meters 0.05534087990734722 Centerline is valid? [True, True] Translation: X:65.39, Y:1.13, Z:-2.02 [[ 9.97417612e-01 7.06348075e-02 -1.29935076e-02 6.53867576e+01] [-7.06175406e-02 9.97501871e-01 1.78349439e-03 1.13436488e+00] [ 1.30870249e-02 -8.61319162e-04 9.99913990e-01 -2.01570603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659072329 meters 0.05366635920769961 Centerline is valid? [True, True] Translation: X:65.42, Y:1.13, Z:-2.02 [[ 9.97308668e-01 7.20307390e-02 -1.36745710e-02 6.54191978e+01] [-7.20117291e-02 9.97402017e-01 1.87813948e-03 1.13036232e+00] [ 1.37743284e-02 -8.88355285e-04 9.99904735e-01 -2.01548563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.689072329 meters 0.053704712555057064 Centerline is valid? [True, True] Translation: X:65.45, Y:1.12, Z:-2.02 [[ 9.97231406e-01 7.30102966e-02 -1.41074491e-02 6.54507665e+01] [-7.29901190e-02 9.97330776e-01 1.94059098e-03 1.12486869e+00] [ 1.42114763e-02 -9.05513881e-04 9.99898602e-01 -2.01641591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719072329 meters 0.054438425373251886 Centerline is valid? [True, True] Translation: X:65.48, Y:1.12, Z:-2.02 [[ 9.97164631e-01 7.38221617e-02 -1.45941046e-02 6.54817319e+01] [-7.38006037e-02 9.97270990e-01 2.01098489e-03 1.11803636e+00] [ 1.47027324e-02 -9.28229273e-04 9.99891478e-01 -2.01681741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749072329 meters 0.054438425373251886 Centerline is valid? [True, True] Translation: X:65.51, Y:1.11, Z:-2.02 [[ 9.97147617e-01 7.40517110e-02 -1.45936411e-02 6.55131351e+01] [-7.40301285e-02 9.97253971e-01 2.01434496e-03 1.11353813e+00] [ 1.47027323e-02 -9.28230148e-04 9.99891478e-01 -2.01674496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779072329 meters 0.055038761385368645 Centerline is valid? [True, True] Translation: X:65.54, Y:1.11, Z:-2.02 [[ 9.97097698e-01 7.47888428e-02 -1.42411387e-02 6.55440726e+01] [-7.47683178e-02 9.97198988e-01 1.96899617e-03 1.10586148e+00] [ 1.43485080e-02 -8.98495570e-04 9.99896651e-01 -2.01696978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.809072329 meters 0.05499848109451518 Centerline is valid? [True, True] Translation: X:65.58, Y:1.10, Z:-2.02 [[ 9.97048820e-01 7.55332245e-02 -1.37252734e-02 6.55756698e+01] [-7.55141862e-02 9.97142916e-01 1.90083653e-03 1.09987249e+00] [ 1.38296354e-02 -8.58773970e-04 9.99903997e-01 -2.01643823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839072329 meters 0.05467050963019599 Centerline is valid? [True, True] Translation: X:65.61, Y:1.09, Z:-2.02 [[ 9.97006765e-01 7.61900751e-02 -1.31370605e-02 6.56073493e+01] [-7.61726507e-02 9.97092978e-01 1.82238454e-03 1.09381452e+00] [ 1.32377184e-02 -8.16244996e-04 9.99912044e-01 -2.01514835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.869072329 meters 0.054726675394051065 Centerline is valid? [True, True] Translation: X:65.64, Y:1.09, Z:-2.01 [[ 9.96971752e-01 7.67060538e-02 -1.27869534e-02 6.56390655e+01] [-7.66895505e-02 9.97053437e-01 1.77673415e-03 1.08811222e+00] [ 1.28855621e-02 -7.90728052e-04 9.99916665e-01 -2.01393444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899072329 meters 0.05596287664824618 Centerline is valid? [True, True] Translation: X:65.67, Y:1.08, Z:-2.01 [[ 9.96909357e-01 7.75493121e-02 -1.25633775e-02 6.56694862e+01] [-7.75334115e-02 9.96988221e-01 1.74851635e-03 1.08063516e+00] [ 1.26611356e-02 -7.69030794e-04 9.99919549e-01 -2.01407261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.929072329 meters 0.056592072655181645 Centerline is valid? [True, True] Translation: X:65.70, Y:1.07, Z:-2.01 [[ 9.96894455e-01 7.77326218e-02 -1.26129151e-02 6.57009786e+01] [-7.77165717e-02 9.96973943e-01 1.75844078e-03 1.07413961e+00] [ 1.27114359e-02 -7.72747342e-04 9.99918908e-01 -2.01404285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959072329 meters 0.05619148560914916 Centerline is valid? [True, True] Translation: X:65.73, Y:1.07, Z:-2.01 [[ 9.96820938e-01 7.85453138e-02 -1.33660700e-02 6.57329297e+01] [-7.85273208e-02 9.96910215e-01 1.86652173e-03 1.06752030e+00] [ 1.34713782e-02 -8.10986279e-04 9.99908928e-01 -2.01476332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.989072329 meters 0.04585677644729577 Centerline is valid? [True, True] Translation: X:65.77, Y:1.07, Z:-2.01 [[ 9.96772858e-01 7.91300050e-02 -1.35022729e-02 6.57669442e+01] [-7.91116761e-02 9.96863974e-01 1.88706724e-03 1.07492531e+00] [ 1.36092530e-02 -8.12789971e-04 9.99907059e-01 -2.01223581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019072329 meters 0.05805081258510693 Centerline is valid? [True, True] Translation: X:65.79, Y:1.05, Z:-2.02 [[ 9.96730767e-01 7.96591715e-02 -1.34979206e-02 6.57949495e+01] [-7.96408645e-02 9.96821831e-01 1.88927095e-03 1.05210495e+00] [ 1.36055197e-02 -8.08108415e-04 9.99907114e-01 -2.01524882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.049072329 meters 0.04618589333055948 Centerline is valid? [True, True] Translation: X:65.83, Y:1.06, Z:-2.01 [[ 9.96703585e-01 7.99881776e-02 -1.35593398e-02 6.58287963e+01] [-7.99696877e-02 9.96795483e-01 1.90124789e-03 1.06152783e+00] [ 1.36679660e-02 -8.10644422e-04 9.99906260e-01 -2.01192089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079072329 meters 0.05783228165907309 Centerline is valid? [True, True] Translation: X:65.86, Y:1.04, Z:-2.01 [[ 9.96682453e-01 8.02778137e-02 -1.34000289e-02 6.58583568e+01] [-8.02597338e-02 9.96772206e-01 1.88246620e-03 1.04055183e+00] [ 1.35078966e-02 -8.00738276e-04 9.99908444e-01 -2.01409925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.109072329 meters 0.05853563062307938 Centerline is valid? [True, True] Translation: X:65.89, Y:1.03, Z:-2.01 [[ 9.96640061e-01 8.08429150e-02 -1.31533639e-02 6.58900715e+01] [-8.08255044e-02 9.96726548e-01 1.85078230e-03 1.03349249e+00] [ 1.32599296e-02 -7.81436522e-04 9.99911778e-01 -2.01391725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13907232900002 meters 0.05878731620482637 Centerline is valid? [True, True] Translation: X:65.92, Y:1.03, Z:-2.01 [[ 9.96613502e-01 8.12490225e-02 -1.26539713e-02 6.59213474e+01] [-8.12329066e-02 9.96693551e-01 1.78325009e-03 1.02603922e+00] [ 1.27570189e-02 -7.49292244e-04 9.99918345e-01 -2.01276453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16907232900002 meters 0.046069413845120574 Centerline is valid? [True, True] Translation: X:65.95, Y:1.04, Z:-2.01 [[ 9.96565889e-01 8.18321562e-02 -1.26462055e-02 6.59549647e+01] [-8.18160675e-02 9.96645847e-01 1.78523752e-03 1.03657019e+00] [ 1.27498780e-02 -7.44444016e-04 9.99918440e-01 -2.00952888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19907232900002 meters 0.05925939646819091 Centerline is valid? [True, True] Translation: X:65.98, Y:1.01, Z:-2.01 [[ 9.96542863e-01 8.21340680e-02 -1.25026491e-02 6.59843070e+01] [-8.21183249e-02 9.96621018e-01 1.76824779e-03 1.01343686e+00] [ 1.26056363e-02 -7.35438112e-04 9.99920275e-01 -2.01207131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22907232900002 meters 0.04885201192805073 Centerline is valid? [True, True] Translation: X:66.02, Y:1.02, Z:-2.01 [[ 9.96490160e-01 8.27840931e-02 -1.24158817e-02 6.60174466e+01] [-8.27685803e-02 9.96567242e-01 1.75900126e-03 1.01956470e+00] [ 1.25188783e-02 -7.25182547e-04 9.99921373e-01 -2.00948658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259072329 meters 0.047200258054581445 Centerline is valid? [True, True] Translation: X:66.05, Y:1.02, Z:-2.01 [[ 9.96474303e-01 8.30625844e-02 -1.18139846e-02 6.60501421e+01] [-8.30485208e-02 9.96544094e-01 1.67691859e-03 1.01594512e+00] [ 1.19124457e-02 -6.89872341e-04 9.99928806e-01 -2.00878218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289072329 meters 0.04416596913552441 Centerline is valid? [True, True] Translation: X:66.08, Y:1.01, Z:-2.01 [[ 9.96426299e-01 8.35642370e-02 -1.23145501e-02 6.60821351e+01] [-8.35489545e-02 9.96502135e-01 1.75118048e-03 1.01412050e+00] [ 1.24178115e-02 -7.16054500e-04 9.99922640e-01 -2.00811057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319072329 meters 0.04678518452441381 Centerline is valid? [True, True] Translation: X:66.11, Y:1.00, Z:-2.01 [[ 9.96361040e-01 8.43863152e-02 -1.19844932e-02 6.61121921e+01] [-8.43718660e-02 9.96432875e-01 1.70707736e-03 1.00386997e+00] [ 1.20857970e-02 -6.89711323e-04 9.99926726e-01 -2.00769095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349072329 meters 0.04507241253235015 Centerline is valid? [True, True] Translation: X:66.14, Y:1.00, Z:-2.01 [[ 9.96296878e-01 8.52086165e-02 -1.14900740e-02 6.61437935e+01] [-8.51953741e-02 9.96362918e-01 1.63798059e-03 1.00023067e+00] [ 1.15878537e-02 -6.53013801e-04 9.99932645e-01 -2.00717301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379072329 meters 0.044041821516962884 Centerline is valid? [True, True] Translation: X:66.18, Y:1.00, Z:-2.01 [[ 9.96260287e-01 8.56479683e-02 -1.13959209e-02 6.61757999e+01] [-8.56349419e-02 9.96325253e-01 1.62706685e-03 9.96246109e-01] [ 1.14933987e-02 -6.45093066e-04 9.99933741e-01 -2.00624324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409072329 meters 0.04253874983531399 Centerline is valid? [True, True] Translation: X:66.21, Y:0.99, Z:-2.01 [[ 9.96104085e-01 8.74009111e-02 -1.17359277e-02 6.62073191e+01] [-8.73871818e-02 9.96173008e-01 1.67859081e-03 9.91512427e-01] [ 1.18377248e-02 -6.46481517e-04 9.99929723e-01 -2.00672949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439072329 meters 0.04337713726511782 Centerline is valid? [True, True] Translation: X:66.24, Y:0.99, Z:-2.01 [[ 9.96062381e-01 8.78899228e-02 -1.16230515e-02 6.62380038e+01] [-8.78764574e-02 9.96129989e-01 1.66518289e-03 9.85098648e-01] [ 1.17244230e-02 -6.37233439e-04 9.99931064e-01 -2.00719610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469072329 meters 0.04292460014097552 Centerline is valid? [True, True] Translation: X:66.27, Y:0.98, Z:-2.01 [[ 9.96010011e-01 8.84976730e-02 -1.14987329e-02 6.62702399e+01] [-8.84845188e-02 9.96076188e-01 1.64871653e-03 9.80024958e-01] [ 1.15995216e-02 -6.24678323e-04 9.99932528e-01 -2.00725966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499072329 meters 0.041668759933910005 Centerline is valid? [True, True] Translation: X:66.30, Y:0.97, Z:-2.01 [[ 9.95900934e-01 8.96835328e-02 -1.17556184e-02 6.63025443e+01] [-8.96698542e-02 9.95970116e-01 1.68660690e-03 9.74841881e-01] [ 1.18595055e-02 -6.25568794e-04 9.99929478e-01 -2.00714298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529072329 meters 0.04298235622445697 Centerline is valid? [True, True] Translation: X:66.33, Y:0.97, Z:-2.01 [[ 9.95846635e-01 9.03310454e-02 -1.13922200e-02 6.63328816e+01] [-9.03182152e-02 9.95911613e-01 1.63677598e-03 9.67507692e-01] [ 1.14934959e-02 -6.01052873e-04 9.99933767e-01 -2.00649031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559072329 meters 0.04120391565541675 Centerline is valid? [True, True] Translation: X:66.37, Y:0.96, Z:-2.00 [[ 9.95770732e-01 9.12411091e-02 -1.07568377e-02 6.63653229e+01] [-9.12297095e-02 9.95828674e-01 1.54674231e-03 9.63613507e-01] [ 1.08530940e-02 -5.58857534e-04 9.99940947e-01 -2.00474193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.589072329 meters 0.039616324023192234 Centerline is valid? [True, True] Translation: X:66.40, Y:0.96, Z:-2.00 [[ 9.95691172e-01 9.21475832e-02 -1.03880713e-02 6.63976740e+01] [-9.21369912e-02 9.95745219e-01 1.49465061e-03 9.58823730e-01] [ 1.04816007e-02 -5.31084790e-04 9.99944925e-01 -2.00352311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619072329 meters 0.04221754761105375 Centerline is valid? [True, True] Translation: X:66.43, Y:0.95, Z:-2.00 [[ 9.95619996e-01 9.29221464e-02 -1.03100608e-02 6.64280022e+01] [-9.29117327e-02 9.95673241e-01 1.48551147e-03 9.49659380e-01] [ 1.04034886e-02 -5.21079308e-04 9.99945746e-01 -2.00469699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.649072329 meters 0.04363824509522927 Centerline is valid? [True, True] Translation: X:66.46, Y:0.94, Z:-2.01 [[ 9.95494185e-01 9.41235471e-02 -1.14928822e-02 6.64585869e+01] [-9.41106559e-02 9.95560362e-01 1.65858491e-03 9.41274044e-01] [ 1.15979698e-02 -5.69508953e-04 9.99932579e-01 -2.00656680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679072329 meters 0.03902755542287464 Centerline is valid? [True, True] Translation: X:66.49, Y:0.94, Z:-2.01 [[ 9.95476781e-01 9.42982597e-02 -1.15678928e-02 6.64915840e+01] [-9.42851740e-02 9.95543825e-01 1.67261470e-03 9.41588663e-01] [ 1.16740689e-02 -5.74368308e-04 9.99931691e-01 -2.00524853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.709072329 meters 0.043441637986806565 Centerline is valid? [True, True] Translation: X:66.52, Y:0.93, Z:-2.01 [[ 9.95440636e-01 9.46727451e-02 -1.16194671e-02 6.65222653e+01] [-9.46595307e-02 9.95508282e-01 1.68324803e-03 9.30097336e-01] [ 1.17266334e-02 -5.75680185e-04 9.99931075e-01 -2.00639582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739072329 meters 0.03868149274717217 Centerline is valid? [True, True] Translation: X:66.56, Y:0.93, Z:-2.00 [[ 9.95392814e-01 9.52247360e-02 -1.11980416e-02 6.65550946e+01] [-9.52124655e-02 9.95455647e-01 1.62504304e-03 9.30127747e-01] [ 1.13018980e-02 -5.51363021e-04 9.99935980e-01 -2.00454998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.769072329 meters 0.039361581021509655 Centerline is valid? [True, True] Translation: X:66.59, Y:0.92, Z:-2.00 [[ 9.95371400e-01 9.56299152e-02 -9.52341195e-03 6.65852797e+01] [-9.56210380e-02 9.95416848e-01 1.38419948e-03 9.22229423e-01] [ 9.61213559e-03 -4.67154040e-04 9.99953693e-01 -2.00272801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799072329 meters 0.04320576068298502 Centerline is valid? [True, True] Translation: X:66.61, Y:0.91, Z:-2.00 [[ 9.95322421e-01 9.61532972e-02 -9.37132693e-03 6.66147793e+01] [-9.61447040e-02 9.95366432e-01 1.36424995e-03 9.11305880e-01] [ 9.45908139e-03 -4.56865107e-04 9.99955158e-01 -2.00264472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.829072329 meters 0.04135958431742047 Centerline is valid? [True, True] Translation: X:66.65, Y:0.91, Z:-2.00 [[ 9.95292071e-01 9.65023330e-02 -8.99964066e-03 6.66470665e+01] [-9.64944007e-02 9.95332662e-01 1.31251633e-03 9.07482358e-01] [ 9.08429719e-03 -4.37922165e-04 9.99958641e-01 -2.00191915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859072329 meters 0.038517493961725977 Centerline is valid? [True, True] Translation: X:66.68, Y:0.90, Z:-2.00 [[ 9.95241931e-01 9.69907843e-02 -9.28904043e-03 6.66796425e+01] [-9.69823297e-02 9.95285178e-01 1.35740001e-03 9.03991869e-01] [ 9.37689955e-03 -4.50068629e-04 9.99955935e-01 -2.00137458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88907232900002 meters 0.04056872827387228 Centerline is valid? [True, True] Translation: X:66.71, Y:0.90, Z:-2.00 [[ 9.95203384e-01 9.73543413e-02 -9.61028748e-03 6.67105914e+01] [-9.73452831e-02 9.95249675e-01 1.40698320e-03 8.95267589e-01] [ 9.70161142e-03 -4.64718281e-04 9.99952830e-01 -2.00248459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91907232900002 meters 0.03793808867159281 Centerline is valid? [True, True] Translation: X:66.74, Y:0.89, Z:-2.00 [[ 9.95219493e-01 9.71801930e-02 -9.70417398e-03 6.67426628e+01] [-9.71709240e-02 9.95266691e-01 1.42324366e-03 8.93025537e-01] [ 9.79655222e-03 -4.73476284e-04 9.99951901e-01 -2.00239884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94907232900002 meters 0.04120722440889805 Centerline is valid? [True, True] Translation: X:66.77, Y:0.88, Z:-2.00 [[ 9.95145761e-01 9.78477140e-02 -1.05232914e-02 6.67722803e+01] [-9.78368240e-02 9.95201269e-01 1.54595294e-03 8.81634822e-01] [ 1.06240609e-02 -5.08883106e-04 9.99943434e-01 -2.00385640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97907232900002 meters 0.03991611243817325 Centerline is valid? [True, True] Translation: X:66.80, Y:0.88, Z:-2.00 [[ 9.95124625e-01 9.80906980e-02 -1.02564875e-02 6.68049903e+01] [-9.80803372e-02 9.95177355e-01 1.50954207e-03 8.76900480e-01] [ 1.03550961e-02 -4.96222734e-04 9.99946261e-01 -2.00339484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009072329 meters 0.04052893490699947 Centerline is valid? [True, True] Translation: X:66.84, Y:0.87, Z:-2.00 [[ 9.95138409e-01 9.79475308e-02 -1.02872687e-02 6.68359536e+01] [-9.79370743e-02 9.95191454e-01 1.51654977e-03 8.70077982e-01] [ 1.03863442e-02 -5.01671930e-04 9.99945935e-01 -2.00257783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039072329 meters 0.04164690128661792 Centerline is valid? [True, True] Translation: X:66.87, Y:0.86, Z:-2.00 [[ 9.95164404e-01 9.77956243e-02 -9.15558957e-03 6.68669693e+01] [-9.77873202e-02 9.95206418e-01 1.35138179e-03 8.60797526e-01] [ 9.24386073e-03 -4.49546487e-04 9.99957174e-01 -2.00159125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069072329 meters 0.03965329722951838 Centerline is valid? [True, True] Translation: X:66.90, Y:0.86, Z:-2.00 [[ 9.95137255e-01 9.80820999e-02 -9.04127356e-03 6.69000235e+01] [-9.80739924e-02 9.95178228e-01 1.33683711e-03 8.56668735e-01] [ 9.12879839e-03 -4.43622619e-04 9.99958233e-01 -2.00102348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099072329 meters 0.03914759332355558 Centerline is valid? [True, True] Translation: X:66.93, Y:0.85, Z:-2.00 [[ 9.95151048e-01 9.79658752e-02 -8.77944939e-03 6.69317354e+01] [-9.79582058e-02 9.95189680e-01 1.30039230e-03 8.51253331e-01] [ 8.86461150e-03 -4.34067648e-04 9.99960614e-01 -2.00027912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129072329 meters 0.037665003657267514 Centerline is valid? [True, True] Translation: X:66.96, Y:0.85, Z:-2.00 [[ 9.95201417e-01 9.74815816e-02 -8.45467157e-03 6.69631923e+01] [-9.74744334e-02 9.95237239e-01 1.25443515e-03 8.46305191e-01] [ 8.53668831e-03 -4.24301315e-04 9.99963472e-01 -2.00039018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159072329 meters 0.04009402182274282 Centerline is valid? [True, True] Translation: X:66.99, Y:0.84, Z:-2.00 [[ 9.95187547e-01 9.76536546e-02 -8.09382952e-03 6.69944790e+01] [-9.76470916e-02 9.95220377e-01 1.20306090e-03 8.36715946e-01] [ 8.17262736e-03 -4.06932313e-04 9.99966521e-01 -2.00046433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189072329 meters 0.03858447176635743 Centerline is valid? [True, True] Translation: X:67.03, Y:0.83, Z:-2.00 [[ 9.95185591e-01 9.76420148e-02 -8.46623286e-03 6.70260232e+01] [-9.76348144e-02 9.95221510e-01 1.26066029e-03 8.32416207e-01] [ 8.54887046e-03 -4.27991883e-04 9.99963366e-01 -2.00072423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219072329 meters 0.04784866418826528 Centerline is valid? [True, True] Translation: X:67.05, Y:0.81, Z:-2.00 [[ 9.95226187e-01 9.71941688e-02 -8.83914472e-03 6.70543604e+01] [-9.71862832e-02 9.95265336e-01 1.31834716e-03 8.12947885e-01] [ 8.92542999e-03 -4.53009999e-04 9.99960065e-01 -2.00238352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249072329 meters 0.039344982083699354 Centerline is valid? [True, True] Translation: X:67.09, Y:0.82, Z:-2.00 [[ 9.95236674e-01 9.70923423e-02 -8.77726999e-03 6.70875199e+01] [-9.70845431e-02 9.95275274e-01 1.31132617e-03 8.17598624e-01] [ 8.86311952e-03 -4.52942647e-04 9.99960619e-01 -2.00076096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279072329 meters 0.04256148687210417 Centerline is valid? [True, True] Translation: X:67.12, Y:0.81, Z:-2.00 [[ 9.95284858e-01 9.66401535e-02 -8.29045457e-03 6.71175843e+01] [-9.66331633e-02 9.95319292e-01 1.24057334e-03 8.07516579e-01] [ 8.37153857e-03 -4.33591008e-04 9.99964864e-01 -2.00029058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.309072329 meters 0.03954494740777124 Centerline is valid? [True, True] Translation: X:67.15, Y:0.81, Z:-2.00 [[ 9.95287979e-01 9.66246084e-02 -8.09472405e-03 6.71492394e+01] [-9.66179273e-02 9.95320805e-01 1.21331505e-03 8.05020926e-01] [ 8.17408334e-03 -4.25502428e-04 9.99966501e-01 -1.99916049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339072329 meters 0.041460506537453944 Centerline is valid? [True, True] Translation: X:67.18, Y:0.80, Z:-2.00 [[ 9.95387017e-01 9.56951874e-02 -6.86425591e-03 6.71796331e+01] [-9.56903501e-02 9.95410616e-01 1.03046539e-03 7.95012451e-01] [ 6.93136378e-03 -3.68868817e-04 9.99975910e-01 -1.99800588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.369072329 meters 0.05026209481547699 Centerline is valid? [True, True] Translation: X:67.21, Y:0.78, Z:-2.00 [[ 9.95424835e-01 9.52910035e-02 -7.00165246e-03 6.72088502e+01] [-9.52859489e-02 9.95449386e-01 1.05274622e-03 7.77076170e-01] [ 7.07010788e-03 -3.80770631e-04 9.99974934e-01 -1.99862646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399072329 meters 0.04147265876932166 Centerline is valid? [True, True] Translation: X:67.24, Y:0.78, Z:-2.00 [[ 9.95469916e-01 9.48206831e-02 -6.97738830e-03 6.72424584e+01] [-9.48156397e-02 9.95494294e-01 1.05084192e-03 7.82159097e-01] [ 7.04559179e-03 -3.84515988e-04 9.99975106e-01 -1.99721109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.429072329 meters 0.04244604568803949 Centerline is valid? [True, True] Translation: X:67.27, Y:0.77, Z:-2.00 [[ 9.95573850e-01 9.37328931e-02 -6.84503003e-03 6.72729159e+01] [-9.37280020e-02 9.95597306e-01 1.03257955e-03 7.72180531e-01] [ 6.91168013e-03 -3.86438212e-04 9.99976039e-01 -1.99722027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459072329 meters 0.04430058902066697 Centerline is valid? [True, True] Translation: X:67.30, Y:0.76, Z:-2.00 [[ 9.95640591e-01 9.30464871e-02 -6.49340407e-03 6.73029836e+01] [-9.30420610e-02 9.95661696e-01 9.81061060e-04 7.63364724e-01] [ 6.55651799e-03 -3.72624516e-04 9.99978436e-01 -1.99689282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.489072329 meters 0.04647025535302947 Centerline is valid? [True, True] Translation: X:67.33, Y:0.75, Z:-2.00 [[ 9.95693160e-01 9.24603082e-02 -6.79864927e-03 6.73329096e+01] [-9.24554315e-02 9.95716292e-01 1.02880375e-03 7.54256345e-01] [ 6.86464935e-03 -3.95800803e-04 9.99976360e-01 -1.99713740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519072329 meters 0.05033181199121101 Centerline is valid? [True, True] Translation: X:67.36, Y:0.74, Z:-2.00 [[ 9.95858259e-01 9.06940301e-02 -6.39693162e-03 6.73621180e+01] [-9.06896722e-02 9.95878730e-01 9.68657229e-04 7.41605090e-01] [ 6.45841957e-03 -3.84509670e-04 9.99979070e-01 -1.99632016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.549072329 meters 0.04809353012490652 Centerline is valid? [True, True] Translation: X:67.39, Y:0.74, Z:-2.00 [[ 9.95856872e-01 9.06899259e-02 -6.66538851e-03 6.73937129e+01] [-9.06851865e-02 9.95879097e-01 1.01048726e-03 7.37740411e-01] [ 6.72956210e-03 -4.01848685e-04 9.99977275e-01 -1.99613374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579072329 meters 0.046807345153208564 Centerline is valid? [True, True] Translation: X:67.43, Y:0.73, Z:-2.00 [[ 9.95961115e-01 8.94796947e-02 -7.40552907e-03 6.74253635e+01] [-8.94738036e-02 9.95988542e-01 1.12368986e-03 7.33402303e-01] [ 7.47636953e-03 -4.56550547e-04 9.99971947e-01 -1.99667722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.609072329 meters 0.05215108327348464 Centerline is valid? [True, True] Translation: X:67.45, Y:0.72, Z:-2.00 [[ 9.96068651e-01 8.82504408e-02 -7.68775790e-03 6.74547867e+01] [-8.82440445e-02 9.96098200e-01 1.16794916e-03 7.18070874e-01] [ 7.76083384e-03 -4.84958692e-04 9.99969767e-01 -1.99741816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63907232900002 meters 0.05022920192226818 Centerline is valid? [True, True] Translation: X:67.49, Y:0.71, Z:-2.00 [[ 9.96130640e-01 8.75458986e-02 -7.71127121e-03 6.74870365e+01] [-8.75394273e-02 9.96160364e-01 1.17342176e-03 7.13742687e-01] [ 7.78439100e-03 -4.93841108e-04 9.99969579e-01 -1.99730052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66907232900002 meters 0.05022920192226818 Centerline is valid? [True, True] Translation: X:67.52, Y:0.71, Z:-2.00 [[ 9.96105935e-01 8.78265765e-02 -7.71095248e-03 6.75191587e+01] [-8.78200974e-02 9.96135658e-01 1.17551388e-03 7.08634299e-01] [ 7.78439608e-03 -4.93759758e-04 9.99969579e-01 -1.99722618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69907232900002 meters 0.05119103260043474 Centerline is valid? [True, True] Translation: X:67.55, Y:0.70, Z:-2.00 [[ 9.96278421e-01 8.59166872e-02 -6.90149301e-03 6.75491751e+01] [-8.59114456e-02 9.96302221e-01 1.05293943e-03 6.99531578e-01] [ 6.96643788e-03 -4.56103591e-04 9.99975630e-01 -1.99682101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72907232900002 meters 0.05520112711950041 Centerline is valid? [True, True] Translation: X:67.58, Y:0.69, Z:-2.00 [[ 9.96311323e-01 8.55729364e-02 -6.40475805e-03 6.75788204e+01] [-8.55684081e-02 9.96331818e-01 9.78230188e-04 6.87778287e-01] [ 6.46497426e-03 -4.26576861e-04 9.99979011e-01 -1.99662925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759072329 meters 0.05287436862799233 Centerline is valid? [True, True] Translation: X:67.61, Y:0.68, Z:-2.00 [[ 9.96373099e-01 8.48304505e-02 -6.66646690e-03 6.76106258e+01] [-8.48255169e-02 9.96395299e-01 1.01985436e-03 6.84284108e-01] [ 6.72895098e-03 -4.50668946e-04 9.99977259e-01 -1.99642604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.789072329 meters 0.055535887615639226 Centerline is valid? [True, True] Translation: X:67.64, Y:0.67, Z:-2.00 [[ 9.96432754e-01 8.41245222e-02 -6.69557679e-03 6.76406290e+01] [-8.41195219e-02 9.96455144e-01 1.02544708e-03 6.74050740e-01] [ 6.75810718e-03 -4.58560343e-04 9.99977059e-01 -1.99649049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819072329 meters 0.05741599682448907 Centerline is valid? [True, True] Translation: X:67.67, Y:0.66, Z:-2.00 [[ 9.96570379e-01 8.24604994e-02 -6.90976447e-03 6.76705210e+01] [-8.24551310e-02 9.96594216e-01 1.05871253e-03 6.63313724e-01] [ 6.97353326e-03 -4.85336016e-04 9.99975567e-01 -1.99759829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849072329 meters 0.05824777345852609 Centerline is valid? [True, True] Translation: X:67.70, Y:0.66, Z:-2.00 [[ 9.96639336e-01 8.16654678e-02 -6.38633509e-03 6.77021376e+01] [-8.16608589e-02 9.96659693e-01 9.79580903e-04 6.55597657e-01] [ 6.44500071e-03 -4.54775252e-04 9.99979127e-01 -1.99744744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879072329 meters 0.05762132097666408 Centerline is valid? [True, True] Translation: X:67.73, Y:0.65, Z:-2.00 [[ 9.96660226e-01 8.13756086e-02 -6.81203136e-03 6.77333638e+01] [-8.13703463e-02 9.96683386e-01 1.04657475e-03 6.49575240e-01] [ 6.87460414e-03 -4.88782080e-04 9.99976250e-01 -1.99742338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909072329 meters 0.05816224068033666 Centerline is valid? [True, True] Translation: X:67.76, Y:0.64, Z:-2.00 [[ 9.96698523e-01 8.09143562e-02 -6.70232269e-03 6.77645842e+01] [-8.09092407e-02 9.96720939e-01 1.03135300e-03 6.40352719e-01] [ 6.76379663e-03 -4.85668176e-04 9.99977007e-01 -1.99711652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939072329 meters 0.0537306322041444 Centerline is valid? [True, True] Translation: X:67.80, Y:0.64, Z:-2.00 [[ 9.96727384e-01 8.05827229e-02 -6.39903190e-03 6.77970135e+01] [-8.05780428e-02 9.96747815e-01 9.86268191e-04 6.39911413e-01] [ 6.45769724e-03 -4.67419047e-04 9.99979040e-01 -1.99688667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969072329 meters 0.06112423692409769 Centerline is valid? [True, True] Translation: X:67.83, Y:0.62, Z:-2.00 [[ 9.96741394e-01 8.04361770e-02 -6.05104061e-03 6.78253666e+01] [-8.04319806e-02 9.96759662e-01 9.34069639e-04 6.22065439e-01] [ 6.10656619e-03 -4.44328693e-04 9.99981256e-01 -1.99642584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999072329 meters 0.06246600623418456 Centerline is valid? [True, True] Translation: X:67.86, Y:0.61, Z:-2.00 [[ 9.96771497e-01 8.00856858e-02 -5.73284929e-03 6.78568678e+01] [-8.00819057e-02 9.96787893e-01 8.86283750e-04 6.13467047e-01] [ 5.78541341e-03 -4.24324883e-04 9.99983174e-01 -1.99602564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029072329 meters 0.05880108142282844 Centerline is valid? [True, True] Translation: X:67.89, Y:0.61, Z:-1.99 [[ 9.96782220e-01 7.99739490e-02 -5.41966611e-03 6.78886462e+01] [-7.99705619e-02 9.96796873e-01 8.39158336e-04 6.11634591e-01] [ 5.46941704e-03 -4.03044366e-04 9.99984961e-01 -1.99490265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059072329 meters 0.06282887757469861 Centerline is valid? [True, True] Translation: X:67.92, Y:0.60, Z:-1.99 [[ 9.96792444e-01 7.98582129e-02 -5.24312297e-03 6.79180615e+01] [-7.98550349e-02 9.96806156e-01 8.13043999e-04 5.99594156e-01] [ 5.29130549e-03 -3.91746347e-04 9.99985924e-01 -1.99472677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.089072329 meters 0.05683483593751655 Centerline is valid? [True, True] Translation: X:67.95, Y:0.60, Z:-1.99 [[ 9.96835672e-01 7.93293345e-02 -5.04972891e-03 6.79507980e+01] [-7.93263737e-02 9.96848389e-01 7.84254386e-04 5.99103634e-01] [ 5.09602851e-03 -3.81196065e-04 9.99986943e-01 -1.99417694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119072329 meters 0.05869262950626621 Centerline is valid? [True, True] Translation: X:67.98, Y:0.59, Z:-1.99 [[ 9.96835879e-01 7.93269687e-02 -5.04593979e-03 6.79804614e+01] [-7.93240067e-02 9.96848577e-01 7.84787075e-04 5.90372791e-01] [ 5.09229268e-03 -3.82039752e-04 9.99986961e-01 -1.99449195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.149072329 meters 0.054706531761180226 Centerline is valid? [True, True] Translation: X:68.01, Y:0.59, Z:-2.00 [[ 9.96869887e-01 7.88689798e-02 -5.48755123e-03 6.80126458e+01] [-7.88654624e-02 9.96884902e-01 8.54795460e-04 5.87796377e-01] [ 5.53787382e-03 -4.19341588e-04 9.99984578e-01 -1.99506129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179072329 meters 0.06089248163893841 Centerline is valid? [True, True] Translation: X:68.04, Y:0.57, Z:-2.00 [[ 9.96845392e-01 7.91410534e-02 -5.99650178e-03 6.80425720e+01] [-7.91368479e-02 9.96863322e-01 9.35745137e-04 5.73110264e-01] [ 6.05174854e-03 -4.58248978e-04 9.99981583e-01 -1.99565103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.209072329 meters 0.06202524216898433 Centerline is valid? [True, True] Translation: X:68.07, Y:0.57, Z:-2.00 [[ 9.96862571e-01 7.89183634e-02 -6.07501381e-03 6.80731869e+01] [-7.89140338e-02 9.96880973e-01 9.49497199e-04 5.65204074e-01] [ 6.13099844e-03 -4.67114374e-04 9.99981096e-01 -1.99573214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239072329 meters 0.06096574925086385 Centerline is valid? [True, True] Translation: X:68.10, Y:0.56, Z:-2.00 [[ 9.96861775e-01 7.89607316e-02 -5.63946013e-03 6.81049425e+01] [-7.89569938e-02 9.96877632e-01 8.82737089e-04 5.59548046e-01] [ 5.69155323e-03 -4.34692043e-04 9.99983708e-01 -1.99522170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.269072329 meters 0.059739835492982 Centerline is valid? [True, True] Translation: X:68.14, Y:0.55, Z:-1.99 [[ 9.96884308e-01 7.87170419e-02 -5.03025999e-03 6.81364752e+01] [-7.87140589e-02 9.96896923e-01 7.88573804e-04 5.51866297e-01] [ 5.07672490e-03 -3.90164670e-04 9.99987037e-01 -1.99356226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299072329 meters 0.06171138479262345 Centerline is valid? [True, True] Translation: X:68.17, Y:0.54, Z:-1.99 [[ 9.96921385e-01 7.82687520e-02 -4.66415405e-03 6.81669077e+01] [-7.82661785e-02 9.96932229e-01 7.32024389e-04 5.42623466e-01] [ 4.70714013e-03 -3.64725254e-04 9.99988855e-01 -1.99293768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.329072329 meters 0.06194004484127982 Centerline is valid? [True, True] Translation: X:68.20, Y:0.53, Z:-1.99 [[ 9.96955733e-01 7.78449463e-02 -4.40792928e-03 6.81984662e+01] [-7.78426400e-02 9.96965417e-01 6.92625973e-04 5.33867796e-01] [ 4.44847048e-03 -3.47392583e-04 9.99990045e-01 -1.99208899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359072329 meters 0.06195050136730357 Centerline is valid? [True, True] Translation: X:68.23, Y:0.53, Z:-1.99 [[ 9.96935132e-01 7.81181858e-02 -4.22991963e-03 6.82306171e+01] [-7.81160598e-02 9.96944050e-01 6.65751720e-04 5.26827230e-01] [ 4.26900052e-03 -3.33286624e-04 9.99990832e-01 -1.99213371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38907232900002 meters 0.06785810885463675 Centerline is valid? [True, True] Translation: X:68.26, Y:0.51, Z:-1.99 [[ 9.96930166e-01 7.81568940e-02 -4.66296749e-03 6.82595085e+01] [-7.81543060e-02 9.96941003e-01 7.34944513e-04 5.12796252e-01] [ 4.70614447e-03 -3.68257367e-04 9.99988858e-01 -1.99242784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41907232900002 meters 0.06277499187091201 Centerline is valid? [True, True] Translation: X:68.29, Y:0.51, Z:-1.99 [[ 9.96890867e-01 7.86598160e-02 -4.60793437e-03 6.82919556e+01] [-7.86572899e-02 9.96901450e-01 7.27157270e-04 5.10619516e-01] [ 4.65085451e-03 -3.62448812e-04 9.99989119e-01 -1.99258406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44907232900002 meters 0.0629008749185172 Centerline is valid? [True, True] Translation: X:68.32, Y:0.50, Z:-1.99 [[ 9.96856759e-01 7.90818017e-02 -4.76128432e-03 6.83231442e+01] [-7.90791038e-02 9.96868060e-01 7.52547536e-04 5.03014308e-01] [ 4.80588508e-03 -3.73664001e-04 9.99988382e-01 -1.99261113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47907232900002 meters 0.06412282764697368 Centerline is valid? [True, True] Translation: X:68.35, Y:0.49, Z:-1.99 [[ 9.96848737e-01 7.91891324e-02 -4.65583105e-03 6.83545144e+01] [-7.91865483e-02 9.96859542e-01 7.37045955e-04 4.94286985e-01] [ 4.69957564e-03 -3.66044139e-04 9.99988890e-01 -1.99287759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.509072329 meters 0.06223843573507509 Centerline is valid? [True, True] Translation: X:68.39, Y:0.49, Z:-1.99 [[ 9.96859158e-01 7.90580377e-02 -4.65252849e-03 6.83864651e+01] [-7.90554503e-02 9.96869947e-01 7.37704047e-04 4.90159435e-01] [ 4.69628726e-03 -3.67579300e-04 9.99988905e-01 -1.99267986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539072329 meters 0.06299671837627466 Centerline is valid? [True, True] Translation: X:68.42, Y:0.48, Z:-1.99 [[ 9.96850367e-01 7.91955787e-02 -4.17212268e-03 6.84183015e+01] [-7.91934949e-02 9.96859043e-01 6.62573363e-04 4.80844981e-01] [ 4.21149111e-03 -3.30081523e-04 9.99991077e-01 -1.99343401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569072329 meters 0.06471714083030504 Centerline is valid? [True, True] Translation: X:68.45, Y:0.47, Z:-1.99 [[ 9.96779694e-01 8.00735050e-02 -4.29821695e-03 6.84489069e+01] [-8.00712965e-02 9.96788904e-01 6.83754186e-04 4.71757087e-01] [ 4.33916556e-03 -3.37388484e-04 9.99990529e-01 -1.99360888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599072329 meters 0.06609674572342827 Centerline is valid? [True, True] Translation: X:68.48, Y:0.46, Z:-1.99 [[ 9.96768927e-01 8.01971332e-02 -4.48615691e-03 6.84803696e+01] [-8.01947233e-02 9.96778960e-01 7.14802637e-04 4.63392900e-01] [ 4.52903194e-03 -3.52726946e-04 9.99989682e-01 -1.99325012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629072329 meters 0.0632562923849328 Centerline is valid? [True, True] Translation: X:68.51, Y:0.46, Z:-1.99 [[ 9.96718951e-01 8.08200800e-02 -4.40999000e-03 6.85120907e+01] [-8.08177525e-02 9.96728647e-01 7.03767052e-04 4.58347139e-01] [ 4.45244187e-03 -3.45052478e-04 9.99990028e-01 -1.99337213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659072329 meters 0.06435369799501356 Centerline is valid? [True, True] Translation: X:68.54, Y:0.45, Z:-1.99 [[ 9.96680431e-01 8.12915055e-02 -4.45074583e-03 6.85422613e+01] [-8.12891346e-02 9.96690308e-01 7.11326762e-04 4.49797792e-01] [ 4.49384006e-03 -3.47168187e-04 9.99989842e-01 -1.99287525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689072329 meters 0.06043563806747072 Centerline is valid? [True, True] Translation: X:68.57, Y:0.45, Z:-1.99 [[ 9.96623259e-01 8.19801797e-02 -4.61847964e-03 6.85737625e+01] [-8.19776289e-02 9.96633896e-01 7.39257881e-04 4.46176477e-01] [ 4.66353785e-03 -3.58149588e-04 9.99989062e-01 -1.99218824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719072329 meters 0.06414997552946146 Centerline is valid? [True, True] Translation: X:68.60, Y:0.44, Z:-1.99 [[ 9.96633650e-01 8.18503137e-02 -4.67906607e-03 6.86039898e+01] [-8.18476887e-02 9.96644567e-01 7.50090996e-04 4.35249617e-01] [ 4.72476096e-03 -3.64595184e-04 9.99988772e-01 -1.99283617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749072329 meters 0.06018913292789997 Centerline is valid? [True, True] Translation: X:68.64, Y:0.43, Z:-1.99 [[ 9.96564706e-01 8.26941685e-02 -4.52342227e-03 6.86358245e+01] [-8.26917190e-02 9.96574910e-01 7.26210691e-04 4.33033074e-01] [ 4.56798254e-03 -3.49666380e-04 9.99989506e-01 -1.99251916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779072329 meters 0.060302121019160514 Centerline is valid? [True, True] Translation: X:68.67, Y:0.42, Z:-1.99 [[ 9.96514541e-01 8.33478710e-02 -3.44992207e-03 6.86674593e+01] [-8.33464482e-02 9.96520478e-01 5.54401011e-04 4.24377264e-01] [ 3.48412613e-03 -2.64929918e-04 9.99993895e-01 -1.99246970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.809072329 meters 0.05752727503198249 Centerline is valid? [True, True] Translation: X:68.70, Y:0.42, Z:-1.99 [[ 9.96443201e-01 8.41925914e-02 -3.54314864e-03 6.86996857e+01] [-8.41910941e-02 9.96449464e-01 5.69916889e-04 4.20854182e-01] [ 3.57855135e-03 -2.69588249e-04 9.99993561e-01 -1.99173677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839072329 meters 0.07039586542886071 Centerline is valid? [True, True] Translation: X:68.73, Y:0.40, Z:-1.99 [[ 9.96381852e-01 8.49278762e-02 -3.23424973e-03 6.87275538e+01] [-8.49266300e-02 9.96387071e-01 5.20984171e-04 3.97246020e-01] [ 3.26681069e-03 -2.44425244e-04 9.99994634e-01 -1.99202802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.869072329 meters 0.059119664727744804 Centerline is valid? [True, True] Translation: X:68.76, Y:0.40, Z:-1.99 [[ 9.96298453e-01 8.59063895e-02 -3.07979880e-03 6.87616375e+01] [-8.59052619e-02 9.96303186e-01 4.96814091e-04 4.04833325e-01] [ 3.11109286e-03 -2.30404188e-04 9.99995134e-01 -1.99159465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899072329 meters 0.05503032130727589 Centerline is valid? [True, True] Translation: X:68.79, Y:0.40, Z:-1.99 [[ 9.96164083e-01 8.74597210e-02 -2.81382493e-03 6.87932498e+01] [-8.74587843e-02 9.96168035e-01 4.54452177e-04 4.02281045e-01] [ 2.84278871e-03 -2.06615228e-04 9.99995938e-01 -1.99122906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.929072329 meters 0.057035015576952626 Centerline is valid? [True, True] Translation: X:68.82, Y:0.39, Z:-1.99 [[ 9.96118832e-01 8.79735022e-02 -2.81690523e-03 6.88228476e+01] [-8.79725648e-02 9.96122794e-01 4.55209110e-04 3.93058381e-01] [ 2.84602985e-03 -2.05631989e-04 9.99995929e-01 -1.99115025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959072329 meters 0.05738508049984467 Centerline is valid? [True, True] Translation: X:68.85, Y:0.39, Z:-1.99 [[ 9.96034865e-01 8.89372177e-02 -2.17250811e-03 6.88529877e+01] [-8.89366616e-02 9.96037222e-01 3.51470992e-04 3.86190949e-01] [ 2.19515780e-03 -1.56861744e-04 9.99997578e-01 -1.99091672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.989072329 meters 0.0583968567152177 Centerline is valid? [True, True] Translation: X:68.88, Y:0.38, Z:-1.99 [[ 9.95925228e-01 9.01564404e-02 -2.18081263e-03 6.88818346e+01] [-9.01558817e-02 9.95927604e-01 3.53334362e-04 3.76366356e-01] [ 2.20378686e-03 -1.55281520e-04 9.99997560e-01 -1.99016375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019072329 meters 0.05587246576721211 Centerline is valid? [True, True] Translation: X:68.91, Y:0.37, Z:-1.99 [[ 9.95858450e-01 9.08771525e-02 -2.69995544e-03 6.89143679e+01] [-9.08762986e-02 9.95862092e-01 4.37534673e-04 3.72804324e-01] [ 2.72854518e-03 -1.90360645e-04 9.99996259e-01 -1.99025859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.049072329 meters 0.05629135814795706 Centerline is valid? [True, True] Translation: X:68.94, Y:0.36, Z:-1.99 [[ 9.95707455e-01 9.24914503e-02 -3.46347678e-03 6.89436982e+01] [-9.24900539e-02 9.95713450e-01 5.61545957e-04 3.64275208e-01] [ 3.50056861e-03 -2.38798342e-04 9.99993844e-01 -1.99157502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079072329 meters 0.0546536031798163 Centerline is valid? [True, True] Translation: X:68.98, Y:0.36, Z:-1.99 [[ 9.95643426e-01 9.31683540e-02 -3.71838920e-03 6.89760304e+01] [-9.31667482e-02 9.95650337e-01 6.03117817e-04 3.59860570e-01] [ 3.75840696e-03 -2.54060058e-04 9.99992905e-01 -1.99217643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.109072329 meters 0.057033297215032294 Centerline is valid? [True, True] Translation: X:69.01, Y:0.35, Z:-1.99 [[ 9.95543269e-01 9.42390474e-02 -3.54986929e-03 6.90059743e+01] [-9.42375886e-02 9.95549569e-01 5.76373760e-04 3.50060519e-01] [ 3.58838776e-03 -2.39273896e-04 9.99993533e-01 -1.99208103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13907232900002 meters 0.050996208099403105 Centerline is valid? [True, True] Translation: X:69.04, Y:0.35, Z:-1.99 [[ 9.95452101e-01 9.52162049e-02 -2.99822764e-03 6.90389418e+01] [-9.52151671e-02 9.95456596e-01 4.87313343e-04 3.49243880e-01] [ 3.03100561e-03 -1.99620346e-04 9.99995387e-01 -1.99144107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16907232900002 meters 0.05066213224889017 Centerline is valid? [True, True] Translation: X:69.07, Y:0.34, Z:-1.99 [[ 9.95376034e-01 9.60141420e-02 -2.79919795e-03 6.90708413e+01] [-9.60132399e-02 9.95379953e-01 4.55207625e-04 3.42580515e-01] [ 2.82997190e-03 -1.84342696e-04 9.99995979e-01 -1.99084344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19907232900002 meters 0.05334109022451939 Centerline is valid? [True, True] Translation: X:69.10, Y:0.33, Z:-1.99 [[ 9.95267206e-01 9.71462371e-02 -2.40774574e-03 6.91007578e+01] [-9.71455724e-02 9.95270106e-01 3.91765716e-04 3.32319863e-01] [ 2.43441593e-03 -1.56009731e-04 9.99997025e-01 -1.99026932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22907232900002 meters 0.050271519290057375 Centerline is valid? [True, True] Translation: X:69.13, Y:0.33, Z:-1.99 [[ 9.95227343e-01 9.75637935e-02 -1.96003605e-03 6.91324835e+01] [-9.75633531e-02 9.95229265e-01 3.19306271e-04 3.30183938e-01] [ 1.98183797e-03 -1.26554643e-04 9.99998028e-01 -1.98954485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259072329 meters 0.04958191366235313 Centerline is valid? [True, True] Translation: X:69.16, Y:0.32, Z:-1.99 [[ 9.95015061e-01 9.97136863e-02 -1.48655238e-03 6.91624045e+01] [-9.97134347e-02 9.95016167e-01 2.42583465e-04 3.23108079e-01] [ 1.50333254e-03 -9.31449575e-05 9.99998866e-01 -1.98927621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289072329 meters 0.04790103642333441 Centerline is valid? [True, True] Translation: X:69.19, Y:0.32, Z:-1.99 [[ 9.94890724e-01 1.00946892e-01 -1.47354952e-03 6.91940145e+01] [-1.00946646e-01 9.94891812e-01 2.40343249e-04 3.18377826e-01] [ 1.49028426e-03 -9.03653868e-05 9.99998885e-01 -1.98972008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319072329 meters 0.047646873292126656 Centerline is valid? [True, True] Translation: X:69.23, Y:0.31, Z:-1.99 [[ 9.94788681e-01 1.01941987e-01 -1.81996881e-03 6.92255486e+01] [-1.01941613e-01 9.94790339e-01 2.97450315e-04 3.11968119e-01] [ 1.84081007e-03 -1.10369651e-04 9.99998300e-01 -1.98935037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349072329 meters 0.047701976390118576 Centerline is valid? [True, True] Translation: X:69.26, Y:0.30, Z:-1.99 [[ 9.94659600e-01 1.03183251e-01 -2.34433139e-03 6.92557193e+01] [-1.03182632e-01 9.94662353e-01 3.83917356e-04 3.03097976e-01] [ 2.37143202e-03 -1.39972801e-04 9.99997178e-01 -1.99019228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379072329 meters 0.04831982638646503 Centerline is valid? [True, True] Translation: X:69.29, Y:0.30, Z:-1.99 [[ 9.94620697e-01 1.03554429e-01 -2.47995775e-03 6.92877255e+01] [-1.03553735e-01 9.94623777e-01 4.06759386e-04 2.95138184e-01] [ 2.50874668e-03 -1.47762417e-04 9.99996842e-01 -1.99086346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409072329 meters 0.04833839770238084 Centerline is valid? [True, True] Translation: X:69.32, Y:0.29, Z:-1.99 [[ 9.94501795e-01 1.04676594e-01 -2.99828446e-03 6.93195110e+01] [-1.04675583e-01 9.94506299e-01 4.92630341e-04 2.86720384e-01] [ 3.03337965e-03 -1.76074585e-04 9.99995384e-01 -1.99129735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439072329 meters 0.048146404696036434 Centerline is valid? [True, True] Translation: X:69.35, Y:0.28, Z:-1.99 [[ 9.94425651e-01 1.05393592e-01 -3.13279886e-03 6.93505898e+01] [-1.05392490e-01 9.94430570e-01 5.15164957e-04 2.80456338e-01] [ 3.16964604e-03 -1.82119774e-04 9.99994960e-01 -1.99121810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469072329 meters 0.04593437494097206 Centerline is valid? [True, True] Translation: X:69.38, Y:0.28, Z:-1.99 [[ 9.94306541e-01 1.06524781e-01 -2.64063129e-03 6.93821938e+01] [-1.06524001e-01 9.94310036e-01 4.34807876e-04 2.76490531e-01] [ 2.67192400e-03 -1.51041706e-04 9.99996419e-01 -1.99114526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499072329 meters 0.0427470587480286 Centerline is valid? [True, True] Translation: X:69.41, Y:0.27, Z:-1.99 [[ 9.94110883e-01 1.08344056e-01 -2.26221594e-03 6.94136774e+01] [-1.08343487e-01 9.94113449e-01 3.72990720e-04 2.72319010e-01] [ 2.28931062e-03 -1.25697770e-04 9.99997372e-01 -1.99055921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.529072329 meters 0.047356247257872935 Centerline is valid? [True, True] Translation: X:69.44, Y:0.26, Z:-1.99 [[ 9.94025474e-01 1.09124119e-01 -2.29869353e-03 6.94430404e+01] [-1.09123533e-01 9.94028124e-01 3.79145626e-04 2.59652704e-01] [ 2.32633994e-03 -1.26038853e-04 9.99997286e-01 -1.99009463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559072329 meters 0.047356247257872935 Centerline is valid? [True, True] Translation: X:69.48, Y:0.25, Z:-1.99 [[ 9.93995391e-01 1.09397800e-01 -2.29860368e-03 6.94750399e+01] [-1.09397214e-01 9.93998041e-01 3.79689556e-04 2.54125287e-01] [ 2.32634476e-03 -1.25948830e-04 9.99997286e-01 -1.99002035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.589072329 meters 0.04308673711690874 Centerline is valid? [True, True] Translation: X:69.51, Y:0.25, Z:-1.99 [[ 9.93875865e-01 1.10473238e-01 -2.53536428e-03 6.95079261e+01] [-1.10472526e-01 9.93879090e-01 4.19527035e-04 2.52574017e-01] [ 2.56619206e-03 -1.36869698e-04 9.99996698e-01 -1.99016724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619072329 meters 0.03957017846656567 Centerline is valid? [True, True] Translation: X:69.54, Y:0.25, Z:-1.99 [[ 9.93782416e-01 1.11314792e-01 -2.35079694e-03 6.95399581e+01] [-1.11314182e-01 9.93785189e-01 3.89206847e-04 2.50729795e-01] [ 2.37951166e-03 -1.25109883e-04 9.99997161e-01 -1.99012669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.649072329 meters 0.04169226707955087 Centerline is valid? [True, True] Translation: X:69.57, Y:0.24, Z:-1.99 [[ 9.93504361e-01 1.13768383e-01 -2.41669942e-03 6.95688131e+01] [-1.13767744e-01 9.93507292e-01 4.00745291e-04 2.40595320e-01] [ 2.44660064e-03 -1.23199753e-04 9.99996999e-01 -1.99013103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679072329 meters 0.038426905029892745 Centerline is valid? [True, True] Translation: X:69.60, Y:0.24, Z:-1.99 [[ 9.93385371e-01 1.14804875e-01 -2.31196698e-03 6.96007713e+01] [-1.14804292e-01 9.93388055e-01 3.83435843e-04 2.38858754e-01] [ 2.34070069e-03 -1.15475824e-04 9.99997254e-01 -1.98915278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.709072329 meters 0.03568164017578687 Centerline is valid? [True, True] Translation: X:69.63, Y:0.24, Z:-1.99 [[ 9.93100693e-01 1.17255542e-01 -1.46669437e-03 6.96316546e+01] [-1.17255310e-01 9.93101774e-01 2.43595020e-04 2.35549536e-01] [ 1.48513965e-03 -6.99366803e-05 9.99998895e-01 -1.98842172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739072329 meters 0.0377024964785691 Centerline is valid? [True, True] Translation: X:69.66, Y:0.23, Z:-1.99 [[ 9.92914832e-01 1.18820085e-01 -1.38716185e-03 6.96613832e+01] [-1.18819879e-01 9.92915799e-01 2.30255601e-04 2.26515628e-01] [ 1.40469391e-03 -6.38017985e-05 9.99999011e-01 -1.98803984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.769072329 meters 0.03534517835757508 Centerline is valid? [True, True] Translation: X:69.69, Y:0.22, Z:-1.99 [[ 9.92759158e-01 1.20097435e-01 -2.42098715e-03 6.96935538e+01] [-1.20096809e-01 9.92762104e-01 4.02869211e-04 2.23209345e-01] [ 2.45184785e-03 -1.09199267e-04 9.99996988e-01 -1.98808747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799072329 meters 0.03518974579240993 Centerline is valid? [True, True] Translation: X:69.72, Y:0.22, Z:-1.99 [[ 9.92455084e-01 1.22573476e-01 -2.94097716e-03 6.97231631e+01] [-1.22572561e-01 9.92459433e-01 4.90129393e-04 2.16221906e-01] [ 2.97887739e-03 -1.25948306e-04 9.99995555e-01 -1.98848158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.829072329 meters 0.035148699609514 Centerline is valid? [True, True] Translation: X:69.75, Y:0.21, Z:-1.99 [[ 9.92267582e-01 1.24082920e-01 -2.91115733e-03 6.97539360e+01] [-1.24082029e-01 9.92271845e-01 4.85356274e-04 2.09908584e-01] [ 2.94888387e-03 -1.20380989e-04 9.99995645e-01 -1.98877921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859072329 meters 0.032538646077802096 Centerline is valid? [True, True] Translation: X:69.79, Y:0.21, Z:-1.99 [[ 9.92073605e-01 1.25624761e-01 -2.89504764e-03 6.97863481e+01] [-1.25623885e-01 9.92077823e-01 4.83358715e-04 2.07089882e-01] [ 2.93283439e-03 -1.15840291e-04 9.99995693e-01 -1.98890544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88907232900002 meters 0.030480298908929986 Centerline is valid? [True, True] Translation: X:69.82, Y:0.20, Z:-1.99 [[ 9.91882670e-01 1.27137185e-01 -2.21461470e-03 6.98179003e+01] [-1.27136675e-01 9.91885139e-01 3.70185616e-04 2.03573881e-01] [ 2.24370776e-03 -8.56219487e-05 9.99997479e-01 -1.98909874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91907232900002 meters 0.030968096880543215 Centerline is valid? [True, True] Translation: X:69.85, Y:0.20, Z:-1.99 [[ 9.91560862e-01 1.29636497e-01 -1.19841481e-03 6.98475286e+01] [-1.29636349e-01 9.91561585e-01 2.00526051e-04 1.96216736e-01] [ 1.21429758e-03 -4.34756632e-05 9.99999262e-01 -1.98679532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94907232900002 meters 0.028878580957420203 Centerline is valid? [True, True] Translation: X:69.88, Y:0.19, Z:-1.99 [[ 9.91362317e-01 1.31151537e-01 -1.73407630e-04 6.98791647e+01] [-1.31151534e-01 9.91362332e-01 2.85227001e-05 1.92646863e-01] [ 1.75650589e-04 -5.53365327e-06 9.99999985e-01 -1.98594128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97907232900002 meters 0.026924973372928672 Centerline is valid? [True, True] Translation: X:69.91, Y:0.19, Z:-1.99 [[ 9.90954487e-01 1.34197291e-01 -5.40869463e-04 6.99092484e+01] [-1.34197261e-01 9.90954634e-01 9.07185401e-05 1.88614661e-01] [ 5.48151283e-04 -1.73147439e-05 9.99999850e-01 -1.98524285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009072329 meters 0.025545065415770625 Centerline is valid? [True, True] Translation: X:69.94, Y:0.18, Z:-1.99 [[ 9.90663299e-01 1.36325501e-01 -1.25953277e-03 6.99407849e+01] [-1.36325342e-01 9.90664099e-01 2.11104993e-04 1.84575371e-01] [ 1.27655289e-03 -3.74277336e-05 9.99999185e-01 -1.98566846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039072329 meters 0.023442703376747785 Centerline is valid? [True, True] Translation: X:69.97, Y:0.18, Z:-1.99 [[ 9.90374445e-01 1.38404588e-01 -1.62120588e-03 6.99731891e+01] [-1.38404327e-01 9.90375771e-01 2.72287131e-04 1.81705827e-01] [ 1.64328882e-03 -4.52843067e-05 9.99998649e-01 -1.98651270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069072329 meters 0.020665257055052462 Centerline is valid? [True, True] Translation: X:70.01, Y:0.18, Z:-1.99 [[ 9.89892734e-01 1.41776743e-01 -3.42502952e-03 7.00052986e+01] [-1.41775596e-01 9.89898655e-01 5.76518139e-04 1.79987668e-01] [ 3.47216898e-03 -8.51055149e-05 9.99993968e-01 -1.98922865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099072329 meters 0.019947198726915097 Centerline is valid? [True, True] Translation: X:70.04, Y:0.18, Z:-1.99 [[ 9.89587624e-01 1.43889682e-01 -3.47758609e-03 7.00364635e+01] [-1.43888512e-01 9.89593731e-01 5.85783085e-04 1.75300498e-01] [ 3.52568554e-03 -7.92990036e-05 9.99993782e-01 -1.98979563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129072329 meters 0.0198051021404673 Centerline is valid? [True, True] Translation: X:70.07, Y:0.17, Z:-1.99 [[ 9.89295364e-01 1.45896878e-01 -2.96376718e-03 7.00668391e+01] [-1.45896035e-01 9.89299801e-01 4.99853890e-04 1.69678336e-01] [ 3.00498140e-03 -6.21012552e-05 9.99995483e-01 -1.98953131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159072329 meters 0.015224044385814855 Centerline is valid? [True, True] Translation: X:70.10, Y:0.17, Z:-1.99 [[ 9.88734350e-01 1.49668885e-01 -1.90001079e-03 7.00997820e+01] [-1.49668545e-01 9.88736175e-01 3.20688375e-04 1.70433898e-01] [ 1.92660647e-03 -3.27037614e-05 9.99998144e-01 -1.98759562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189072329 meters 0.014886449161391377 Centerline is valid? [True, True] Translation: X:70.13, Y:0.17, Z:-1.99 [[ 9.88386869e-01 1.51953777e-01 -1.20269189e-03 7.01310639e+01] [-1.51953642e-01 9.88387601e-01 2.03096113e-04 1.65645255e-01] [ 1.21958698e-03 -1.79841177e-05 9.99999256e-01 -1.98638297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219072329 meters 0.01423959245717866 Centerline is valid? [True, True] Translation: X:70.16, Y:0.16, Z:-1.99 [[ 9.88063230e-01 1.54047169e-01 -7.23383630e-04 7.01616463e+01] [-1.54047121e-01 9.88063495e-01 1.22158698e-04 1.61583500e-01] [ 7.33567159e-04 -9.26535297e-06 9.99999731e-01 -1.98540782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249072329 meters 0.010959930254956302 Centerline is valid? [True, True] Translation: X:70.19, Y:0.16, Z:-1.99 [[ 9.87411284e-01 1.58170907e-01 -9.59274425e-04 7.01948761e+01] [-1.58170824e-01 9.87411750e-01 1.62560506e-04 1.62590295e-01] [ 9.72911181e-04 -8.78485184e-06 9.99999527e-01 -1.98564447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279072329 meters 0.010391066982966548 Centerline is valid? [True, True] Translation: X:70.23, Y:0.16, Z:-1.99 [[ 9.87024953e-01 1.60555026e-01 -1.95614275e-03 7.02256332e+01] [-1.60554683e-01 9.87026891e-01 3.31845583e-04 1.58752577e-01] [ 1.98404497e-03 -1.34719917e-05 9.99998032e-01 -1.98606894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.309072329 meters 0.00964293135547376 Centerline is valid? [True, True] Translation: X:70.26, Y:0.16, Z:-1.99 [[ 9.86663488e-01 1.62751031e-01 -2.69494851e-03 7.02572684e+01] [-1.62750387e-01 9.86667169e-01 4.58023985e-04 1.55611985e-01] [ 2.73356109e-03 -1.33116297e-05 9.99996264e-01 -1.98728212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339072329 meters 0.009125405101188018 Centerline is valid? [True, True] Translation: X:70.29, Y:0.15, Z:-1.99 [[ 9.86338181e-01 1.64706600e-01 -2.95435391e-03 7.02902675e+01] [-1.64705832e-01 9.86342606e-01 5.02918017e-04 1.52054530e-01] [ 2.99683905e-03 -9.44792195e-06 9.99995509e-01 -1.98786904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.369072329 meters 0.008636955904853829 Centerline is valid? [True, True] Translation: X:70.32, Y:0.15, Z:-1.99 [[ 9.85625436e-01 1.68913478e-01 -3.27669018e-03 7.03235405e+01] [-1.68912554e-01 9.85630883e-01 5.58802787e-04 1.50750174e-01] [ 3.32399635e-03 2.70386523e-06 9.99994476e-01 -1.98772199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399072329 meters 0.008944441193894247 Centerline is valid? [True, True] Translation: X:70.36, Y:0.15, Z:-1.99 [[ 9.85236449e-01 1.71175240e-01 -2.85967700e-03 7.03559793e+01] [-1.71174543e-01 9.85240599e-01 4.88449336e-04 1.47256458e-01] [ 2.90108031e-03 8.26581476e-06 9.99995792e-01 -1.98746771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.429072329 meters 0.010054028127068928 Centerline is valid? [True, True] Translation: X:70.39, Y:0.15, Z:-1.99 [[ 9.84550335e-01 1.75091091e-01 -1.93588159e-03 7.03874014e+01] [-1.75090778e-01 9.84552238e-01 3.31034745e-04 1.47254734e-01] [ 1.96393779e-03 1.30346443e-05 9.99998071e-01 -1.98709057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459072329 meters 0.010947829149038139 Centerline is valid? [True, True] Translation: X:70.42, Y:0.14, Z:-1.99 [[ 9.84175996e-01 1.77179095e-01 -2.27523344e-03 7.04198395e+01] [-1.77178667e-01 9.84178626e-01 3.89697148e-04 1.43950132e-01] [ 2.30828231e-03 1.95922496e-05 9.99997336e-01 -1.98672458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.489072329 meters 0.012500712528079655 Centerline is valid? [True, True] Translation: X:70.45, Y:0.14, Z:-1.99 [[ 9.83805023e-01 1.79222427e-01 -2.64540949e-03 7.04506975e+01] [-1.79221854e-01 9.83808579e-01 4.53829704e-04 1.41807473e-01] [ 2.68391302e-03 2.76352527e-05 9.99996398e-01 -1.98659828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519072329 meters 0.014545165747230278 Centerline is valid? [True, True] Translation: X:70.48, Y:0.14, Z:-1.99 [[ 9.83080300e-01 1.83157356e-01 -2.55073920e-03 7.04831876e+01] [-1.83156835e-01 9.83083609e-01 4.38149299e-04 1.40413868e-01] [ 2.58784017e-03 3.64493759e-05 9.99996651e-01 -1.98647281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.549072329 meters 0.014823766798708135 Centerline is valid? [True, True] Translation: X:70.51, Y:0.14, Z:-1.99 [[ 9.82742566e-01 1.84961343e-01 -2.51991533e-03 7.05149767e+01] [-1.84960839e-01 9.82745796e-01 4.33451139e-04 1.35954034e-01] [ 2.55660791e-03 4.01147700e-05 9.99996731e-01 -1.98609219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579072329 meters 0.01603529677173137 Centerline is valid? [True, True] Translation: X:70.55, Y:0.13, Z:-1.99 [[ 9.82419757e-01 1.86675356e-01 -1.93220712e-03 7.05462003e+01] [-1.86675062e-01 9.82421656e-01 3.32714878e-04 1.33527899e-01] [ 1.96035179e-03 3.38292159e-05 9.99998078e-01 -1.98557633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.609072329 meters 0.018105875180883357 Centerline is valid? [True, True] Translation: X:70.58, Y:0.13, Z:-1.99 [[ 9.81767598e-01 1.90077813e-01 -1.67598868e-03 7.05782915e+01] [-1.90077597e-01 9.81769028e-01 2.88969578e-04 1.33290648e-01] [ 1.70036049e-03 3.48669323e-05 9.99998554e-01 -1.98572679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63907232900002 meters 0.019657109331928428 Centerline is valid? [True, True] Translation: X:70.61, Y:0.13, Z:-1.99 [[ 9.81349633e-01 1.92218707e-01 -2.20601063e-03 7.06099924e+01] [-1.92218337e-01 9.81352111e-01 3.80719961e-04 1.30582423e-01] [ 2.23805469e-03 5.04163012e-05 9.99997494e-01 -1.98617256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66907232900002 meters 0.02115673137826344 Centerline is valid? [True, True] Translation: X:70.64, Y:0.13, Z:-1.99 [[ 9.80968417e-01 1.94152779e-01 -2.37963637e-03 7.06409679e+01] [-1.94152353e-01 9.80971302e-01 4.11267604e-04 1.27899047e-01] [ 2.41420373e-03 5.85714682e-05 9.99997084e-01 -1.98648524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69907232900002 meters 0.022163575556532367 Centerline is valid? [True, True] Translation: X:70.67, Y:0.13, Z:-1.99 [[ 9.80375872e-01 1.97121089e-01 -2.53487634e-03 7.06726791e+01] [-1.97120613e-01 9.80379147e-01 4.38705190e-04 1.25547278e-01] [ 2.57161795e-03 6.95803957e-05 9.99996691e-01 -1.98642537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72907232900002 meters 0.022922516700478502 Centerline is valid? [True, True] Translation: X:70.70, Y:0.12, Z:-1.99 [[ 9.80113031e-01 1.98424622e-01 -2.47292654e-03 7.07048273e+01] [-1.98424171e-01 9.80116148e-01 4.28548441e-04 1.21743620e-01] [ 2.50878980e-03 7.06624876e-05 9.99996850e-01 -1.98614315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759072329 meters 0.024730918026175594 Centerline is valid? [True, True] Translation: X:70.74, Y:0.12, Z:-1.99 [[ 9.79810700e-01 1.99915585e-01 -2.17979795e-03 7.07360908e+01] [-1.99915238e-01 9.79813122e-01 3.78228468e-04 1.19712545e-01] [ 2.21140840e-03 6.51825250e-05 9.99997553e-01 -1.98638470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789072329 meters 0.0253244049636575 Centerline is valid? [True, True] Translation: X:70.77, Y:0.12, Z:-1.99 [[ 9.79608494e-01 2.00901184e-01 -2.43173129e-03 7.07679810e+01] [-2.00900753e-01 9.79611509e-01 4.22563156e-04 1.15786055e-01] [ 2.46704540e-03 7.45901902e-05 9.99996954e-01 -1.98638841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819072329 meters 0.027409399797818437 Centerline is valid? [True, True] Translation: X:70.80, Y:0.11, Z:-1.99 [[ 9.79173361e-01 2.03011606e-01 -2.41202689e-03 7.07995617e+01] [-2.03011187e-01 9.79176328e-01 4.19719033e-04 1.14745006e-01] [ 2.44700747e-03 7.86907469e-05 9.99997003e-01 -1.98642336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849072329 meters 0.026986984082941243 Centerline is valid? [True, True] Translation: X:70.83, Y:0.11, Z:-1.99 [[ 9.78894192e-01 2.04346870e-01 -2.91837338e-03 7.08313805e+01] [-2.04346261e-01 9.78898538e-01 5.08604781e-04 1.08933058e-01] [ 2.96072323e-03 9.84884229e-05 9.99995612e-01 -1.98669163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879072329 meters 0.02702981014953558 Centerline is valid? [True, True] Translation: X:70.86, Y:0.10, Z:-1.99 [[ 9.78674962e-01 2.05393211e-01 -2.99134495e-03 7.08634149e+01] [-2.05392574e-01 9.78679528e-01 5.22077133e-04 1.04040228e-01] [ 3.03479916e-03 1.03456221e-04 9.99995390e-01 -1.98742200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909072329 meters 0.028606213454225926 Centerline is valid? [True, True] Translation: X:70.90, Y:0.10, Z:-1.99 [[ 9.78242047e-01 2.07446587e-01 -2.90005669e-03 7.08956126e+01] [-2.07445994e-01 9.78246340e-01 5.06851174e-04 1.02235949e-01] [ 2.94211439e-03 1.05782015e-04 9.99995666e-01 -1.98686884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939072329 meters 0.02923437346848214 Centerline is valid? [True, True] Translation: X:70.93, Y:0.10, Z:-1.99 [[ 9.77937937e-01 2.08883572e-01 -2.24620784e-03 7.09273497e+01] [-2.08883219e-01 9.77940513e-01 3.93008516e-04 9.81349103e-02] [ 2.27875067e-03 8.48571884e-05 9.99997400e-01 -1.98646367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969072329 meters 0.031071910037956663 Centerline is valid? [True, True] Translation: X:70.96, Y:0.10, Z:-1.99 [[ 9.77710045e-01 2.09947390e-01 -2.27185658e-03 7.09581577e+01] [-2.09947031e-01 9.77712680e-01 3.98064394e-04 9.60996646e-02] [ 2.30479557e-03 8.77779886e-05 9.99997340e-01 -1.98609961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999072329 meters 0.03177199054644046 Centerline is valid? [True, True] Translation: X:70.99, Y:0.09, Z:-1.99 [[ 9.77274360e-01 2.11964498e-01 -2.42418182e-03 7.09903772e+01] [-2.11964095e-01 9.77277362e-01 4.25062739e-04 9.33820090e-02] [ 2.45919623e-03 9.84365895e-05 9.99996971e-01 -1.98563431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.029072329 meters 0.034218002653219934 Centerline is valid? [True, True] Translation: X:71.02, Y:0.09, Z:-1.99 [[ 9.77084164e-01 2.12839845e-01 -2.39502654e-03 7.10218472e+01] [-2.12839453e-01 9.77087095e-01 4.20141065e-04 9.26928272e-02] [ 2.42957229e-03 9.92429582e-05 9.99997044e-01 -1.98634619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059072329 meters 0.033883067384100476 Centerline is valid? [True, True] Translation: X:71.05, Y:0.09, Z:-1.99 [[ 9.76816698e-01 2.14056273e-01 -3.00822448e-03 7.10536042e+01] [-2.14055659e-01 9.76821322e-01 5.28535784e-04 8.75558762e-02] [ 3.05163421e-03 1.27644894e-04 9.99995336e-01 -1.98623673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.089072329 meters 0.034597982097645745 Centerline is valid? [True, True] Translation: X:71.09, Y:0.09, Z:-1.99 [[ 9.76485500e-01 2.15545744e-01 -4.01264562e-03 7.10853270e+01] [-2.15544659e-01 9.76493728e-01 7.05959912e-04 8.51375439e-02] [ 4.07048993e-03 1.75544715e-04 9.99991700e-01 -1.98791853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119072329 meters 0.03535952758916649 Centerline is valid? [True, True] Translation: X:71.12, Y:0.08, Z:-1.99 [[ 9.76252649e-01 2.16596849e-01 -4.07057337e-03 7.11167206e+01] [-2.16595739e-01 9.76261119e-01 7.16850763e-04 8.13268361e-02] [ 4.12921012e-03 1.81841391e-04 9.99991458e-01 -1.98805331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.149072329 meters 0.03583104233785941 Centerline is valid? [True, True] Translation: X:71.15, Y:0.08, Z:-1.99 [[ 9.76121819e-01 2.17185500e-01 -4.08082106e-03 7.11482684e+01] [-2.17184386e-01 9.76130332e-01 7.19611955e-04 7.72150255e-02] [ 4.13970250e-03 1.83861687e-04 9.99991414e-01 -1.98810107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179072329 meters 0.037737386735248 Centerline is valid? [True, True] Translation: X:71.18, Y:0.08, Z:-1.99 [[ 9.75956418e-01 2.17938373e-01 -3.45476009e-03 7.11800564e+01] [-2.17937577e-01 9.75962520e-01 6.09945854e-04 7.62425836e-02] [ 3.50464698e-03 1.57641473e-04 9.99993846e-01 -1.98727633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.209072329 meters 0.036727700890927424 Centerline is valid? [True, True] Translation: X:71.21, Y:0.07, Z:-1.99 [[ 9.75844129e-01 2.18443075e-01 -3.29538234e-03 7.12120092e+01] [-2.18442350e-01 9.75849681e-01 5.82577819e-04 7.00913112e-02] [ 3.34305790e-03 1.51345920e-04 9.99994401e-01 -1.98686750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239072329 meters 0.03645686005892325 Centerline is valid? [True, True] Translation: X:71.24, Y:0.06, Z:-1.99 [[ 9.75790369e-01 2.18691148e-01 -2.70872338e-03 7.12442165e+01] [-2.18690657e-01 9.75794121e-01 4.79503797e-04 6.48349972e-02] [ 2.74801958e-03 1.24477309e-04 9.99996216e-01 -1.98609176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.269072329 meters 0.03599900379440891 Centerline is valid? [True, True] Translation: X:71.28, Y:0.06, Z:-1.99 [[ 9.75666560e-01 2.19240187e-01 -2.91605787e-03 7.12753829e+01] [-2.19239619e-01 9.75670909e-01 5.17042533e-04 5.91515027e-02] [ 2.95846933e-03 1.34854306e-04 9.99995615e-01 -1.98638001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299072329 meters 0.03594799558679868 Centerline is valid? [True, True] Translation: X:71.31, Y:0.06, Z:-1.99 [[ 9.75760497e-01 2.18819555e-01 -3.07501236e-03 7.13075469e+01] [-2.18818919e-01 9.75765332e-01 5.46009478e-04 5.52294101e-02] [ 3.11996801e-03 1.40096401e-04 9.99995123e-01 -1.98670307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.329072329 meters 0.036787997731496325 Centerline is valid? [True, True] Translation: X:71.34, Y:0.05, Z:-1.99 [[ 9.75764327e-01 2.18795144e-01 -3.55839898e-03 7.13387562e+01] [-2.18794289e-01 9.75770802e-01 6.32770915e-04 5.13310316e-02] [ 3.61062903e-03 1.61122086e-04 9.99993469e-01 -1.98701278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359072329 meters 0.035144011900700926 Centerline is valid? [True, True] Translation: X:71.37, Y:0.04, Z:-1.99 [[ 9.75766673e-01 2.18790799e-01 -3.16016511e-03 7.13699944e+01] [-2.18790122e-01 9.75771780e-01 5.62628883e-04 4.38281216e-02] [ 3.20669795e-03 1.42418396e-04 9.99994848e-01 -1.98685423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38907232900002 meters 0.03390740012935381 Centerline is valid? [True, True] Translation: X:71.40, Y:0.04, Z:-1.99 [[ 9.75869136e-01 2.18334964e-01 -3.04507758e-03 7.14017842e+01] [-2.18334331e-01 9.75873878e-01 5.42868826e-04 3.74318790e-02] [ 3.09013891e-03 1.35076044e-04 9.99995216e-01 -1.98704285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41907232900002 meters 0.03555027324209383 Centerline is valid? [True, True] Translation: X:71.43, Y:0.04, Z:-1.99 [[ 9.76007942e-01 2.17719563e-01 -2.58635470e-03 7.14333246e+01] [-2.17719102e-01 9.76011362e-01 4.61611058e-04 3.56506270e-02] [ 2.62481333e-03 1.12562766e-04 9.99996549e-01 -1.98658997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44907232900002 meters 0.03404102207104477 Centerline is valid? [True, True] Translation: X:71.46, Y:0.03, Z:-1.99 [[ 9.76011409e-01 2.17706716e-01 -2.34834182e-03 7.14643348e+01] [-2.17706336e-01 9.76014229e-01 4.19444177e-04 2.83225682e-02] [ 2.38333085e-03 1.01866591e-04 9.99997155e-01 -1.98584465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47907232900002 meters 0.03404102207104477 Centerline is valid? [True, True] Translation: X:71.50, Y:0.02, Z:-1.99 [[ 9.75952182e-01 2.17972073e-01 -2.34824149e-03 7.14962811e+01] [-2.17971692e-01 9.75955001e-01 4.20005135e-04 2.24100513e-02] [ 2.38332742e-03 1.01945245e-04 9.99997155e-01 -1.98577040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509072329 meters 0.03477075244387759 Centerline is valid? [True, True] Translation: X:71.53, Y:0.02, Z:-1.99 [[ 9.76089433e-01 2.17352572e-01 -2.69783490e-03 7.15276950e+01] [-2.17352065e-01 9.76093154e-01 4.83367225e-04 1.87860948e-02] [ 2.73839928e-03 1.14570346e-04 9.99996244e-01 -1.98587078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539072329 meters 0.032759874887893406 Centerline is valid? [True, True] Translation: X:71.56, Y:0.01, Z:-1.99 [[ 9.76165923e-01 2.17007433e-01 -2.80430910e-03 7.15594220e+01] [-2.17006881e-01 9.76169944e-01 5.03149446e-04 1.12353810e-02] [ 2.84666943e-03 1.17397029e-04 9.99995941e-01 -1.98602793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569072329 meters 0.034576702696299214 Centerline is valid? [True, True] Translation: X:71.59, Y:0.01, Z:-1.99 [[ 9.76139713e-01 2.17121626e-01 -3.07578361e-03 7.15912592e+01] [-2.17120960e-01 9.76144550e-01 5.52681403e-04 8.64824606e-03] [ 3.12240849e-03 1.28322823e-04 9.99995117e-01 -1.98577803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599072329 meters 0.03291716107561919 Centerline is valid? [True, True] Translation: X:71.62, Y:0.00, Z:-1.99 [[ 9.76242170e-01 2.16659151e-01 -3.16827880e-03 7.16225464e+01] [-2.16658439e-01 9.76247302e-01 5.70133323e-04 3.04041290e-03] [ 3.21654823e-03 1.29846147e-04 9.99994818e-01 -1.98611798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629072329 meters 0.031519499315394224 Centerline is valid? [True, True] Translation: X:71.65, Y:-0.00, Z:-1.99 [[ 9.76215423e-01 2.16769371e-01 -3.80623974e-03 7.16547354e+01] [-2.16768341e-01 9.76222831e-01 6.86035544e-04 -3.96022432e-03] [ 3.86444962e-03 1.55353796e-04 9.99992521e-01 -1.98626021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659072329 meters 0.031081455648815256 Centerline is valid? [True, True] Translation: X:71.69, Y:-0.01, Z:-1.99 [[ 9.76262970e-01 2.16563012e-01 -3.32796283e-03 7.16865583e+01] [-2.16562221e-01 9.76268633e-01 6.00658874e-04 -9.54068114e-03] [ 3.37906622e-03 1.34310005e-04 9.99994282e-01 -1.98628209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689072329 meters 0.03140839249169418 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.01, Z:-1.99 [[ 9.76276456e-01 2.16486914e-01 -4.20687368e-03 7.17172016e+01] [-2.16485644e-01 9.76285505e-01 7.60449642e-04 -1.27431185e-02] [ 4.27173719e-03 1.68318677e-04 9.99990862e-01 -1.98669397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719072329 meters 0.03143545953702414 Centerline is valid? [True, True] Translation: X:71.75, Y:-0.02, Z:-1.99 [[ 9.76139034e-01 2.17101821e-01 -4.40295900e-03 7.17486042e+01] [-2.17100431e-01 9.76148948e-01 7.96968905e-04 -1.78196735e-02] [ 4.47096719e-03 1.77931838e-04 9.99989989e-01 -1.98647851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749072329 meters 0.03374755202732151 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.02, Z:-1.99 [[ 9.76016916e-01 2.17650407e-01 -4.39100703e-03 7.17801658e+01] [-2.17649025e-01 9.76026776e-01 7.95850116e-04 -1.90867165e-02] [ 4.45895754e-03 1.78935225e-04 9.99990043e-01 -1.98690199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779072329 meters 0.03258520507826532 Centerline is valid? [True, True] Translation: X:71.81, Y:-0.02, Z:-1.99 [[ 9.75914236e-01 2.18126322e-01 -3.50877662e-03 7.18130633e+01] [-2.18125440e-01 9.75920533e-01 6.36713626e-04 -2.34605270e-02] [ 3.56317115e-03 1.43975554e-04 9.99993642e-01 -1.98656048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.809072329 meters 0.03196499201136733 Centerline is valid? [True, True] Translation: X:71.85, Y:-0.03, Z:-1.99 [[ 9.75816181e-01 2.18565438e-01 -3.45393509e-03 7.18460090e+01] [-2.18564583e-01 9.75822284e-01 6.27723777e-04 -2.91550003e-02] [ 3.50762555e-03 1.42364862e-04 9.99993838e-01 -1.98620443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839072329 meters 0.03313584021579393 Centerline is valid? [True, True] Translation: X:71.88, Y:-0.03, Z:-1.99 [[ 9.75639435e-01 2.19358695e-01 -3.07517067e-03 7.18766286e+01] [-2.19358019e-01 9.75644272e-01 5.59614867e-04 -3.20306518e-02] [ 3.12302904e-03 1.28581013e-04 9.99995115e-01 -1.98558947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.869072329 meters 0.033168408823516314 Centerline is valid? [True, True] Translation: X:71.91, Y:-0.04, Z:-1.99 [[ 9.75303883e-01 2.20837777e-01 -3.60712103e-03 7.19085713e+01] [-2.20836853e-01 9.75310541e-01 6.57268647e-04 -3.54668812e-02] [ 3.66321291e-03 1.55548594e-04 9.99993278e-01 -1.98517873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899072329 meters 0.03329028206790316 Centerline is valid? [True, True] Translation: X:71.94, Y:-0.04, Z:-1.99 [[ 9.75097057e-01 2.21749063e-01 -3.61697168e-03 7.19405564e+01] [-2.21748137e-01 9.75103752e-01 6.59966197e-04 -3.95153172e-02] [ 3.67326954e-03 1.58525635e-04 9.99993241e-01 -1.98518317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.929072329 meters 0.03602310517828998 Centerline is valid? [True, True] Translation: X:71.97, Y:-0.04, Z:-1.99 [[ 9.74867047e-01 2.22755321e-01 -3.78247392e-03 7.19718510e+01] [-2.22754312e-01 9.74874371e-01 6.91104807e-04 -3.98789836e-02] [ 3.84138415e-03 1.68827074e-04 9.99992608e-01 -1.98521114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959072329 meters 0.03457933553463968 Centerline is valid? [True, True] Translation: X:72.00, Y:-0.05, Z:-1.98 [[ 9.74613740e-01 2.23855002e-01 -4.12252812e-03 7.20037015e+01] [-2.23853810e-01 9.74622441e-01 7.54267675e-04 -4.60766668e-02] [ 4.18675501e-03 1.87723987e-04 9.99991218e-01 -1.98495045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.989072329 meters 0.040364978663941675 Centerline is valid? [True, True] Translation: X:72.04, Y:-0.04, Z:-1.99 [[ 9.74219489e-01 2.25571441e-01 -3.72979999e-03 7.20362221e+01] [-2.25570476e-01 9.74226613e-01 6.83106368e-04 -4.10363220e-02] [ 3.78775970e-03 1.75837220e-04 9.99992811e-01 -1.98533173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019072329 meters 0.04139317234237419 Centerline is valid? [True, True] Translation: X:72.07, Y:-0.04, Z:-1.99 [[ 9.73991366e-01 2.26557011e-01 -3.56924663e-03 7.20673450e+01] [-2.26556131e-01 9.73997891e-01 6.54256817e-04 -4.39014329e-02] [ 3.62466516e-03 1.71394216e-04 9.99993416e-01 -1.98536980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.049072329 meters 0.03881817409116453 Centerline is valid? [True, True] Translation: X:72.10, Y:-0.05, Z:-1.98 [[ 9.73717514e-01 2.27727949e-01 -3.76616051e-03 7.20987758e+01] [-2.27726974e-01 9.73724780e-01 6.91230161e-04 -5.16861547e-02] [ 3.82461624e-03 1.84593424e-04 9.99992669e-01 -1.98440536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079072329 meters 0.03887187961377061 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.06, Z:-1.98 [[ 9.73539088e-01 2.28497308e-01 -3.25960621e-03 7.21308216e+01] [-2.28496580e-01 9.73544531e-01 5.98975748e-04 -5.52902925e-02] [ 3.31023615e-03 1.61682570e-04 9.99994508e-01 -1.98396808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.109072329 meters 0.040336403648788835 Centerline is valid? [True, True] Translation: X:72.16, Y:-0.06, Z:-1.98 [[ 9.72984218e-01 2.30851798e-01 -3.02627791e-03 7.21628232e+01] [-2.30851180e-01 9.72988912e-01 5.56784413e-04 -5.58686644e-02] [ 3.07306953e-03 1.56877379e-04 9.99995266e-01 -1.98374228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13907232900002 meters 0.042050051795160796 Centerline is valid? [True, True] Translation: X:72.19, Y:-0.06, Z:-1.98 [[ 9.72700948e-01 2.32044328e-01 -2.88018068e-03 7.21943043e+01] [-2.32043772e-01 9.72705200e-01 5.30532770e-04 -5.75825438e-02] [ 2.92467385e-03 1.52278261e-04 9.99995712e-01 -1.98334324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16907232900002 meters 0.04126388892159689 Centerline is valid? [True, True] Translation: X:72.23, Y:-0.06, Z:-1.98 [[ 9.72331278e-01 2.33585987e-01 -3.07759527e-03 7.22266457e+01] [-2.33585357e-01 9.72336135e-01 5.67638538e-04 -6.13416112e-02] [ 3.12504950e-03 1.66948486e-04 9.99995103e-01 -1.98346857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19907232900002 meters 0.04276566202653143 Centerline is valid? [True, True] Translation: X:72.26, Y:-0.06, Z:-1.98 [[ 9.72214006e-01 2.34063061e-01 -3.79605211e-03 7.22583661e+01] [-2.34062102e-01 9.72221395e-01 7.01175584e-04 -6.35185962e-02] [ 3.85472238e-03 2.06819214e-04 9.99992549e-01 -1.98424155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22907232900002 meters 0.04204945556455793 Centerline is valid? [True, True] Translation: X:72.29, Y:-0.07, Z:-1.98 [[ 9.71973618e-01 2.35049844e-01 -4.34235134e-03 7.22901836e+01] [-2.35048594e-01 9.71983289e-01 8.03183708e-04 -6.91602294e-02] [ 4.40948114e-03 2.39990203e-04 9.99990249e-01 -1.98492912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259072329 meters 0.04427379429490436 Centerline is valid? [True, True] Translation: X:72.32, Y:-0.07, Z:-1.99 [[ 9.71775683e-01 2.35864786e-01 -4.45254421e-03 7.23218561e+01] [-2.35863475e-01 9.71785851e-01 8.24632249e-04 -6.81888416e-02] [ 4.52142118e-03 2.48834985e-04 9.99989747e-01 -1.98576492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289072329 meters 0.04463733562573799 Centerline is valid? [True, True] Translation: X:72.35, Y:-0.07, Z:-1.99 [[ 9.71664639e-01 2.36319498e-01 -4.57430778e-03 7.23534154e+01] [-2.36318115e-01 9.71675372e-01 8.48267252e-04 -7.19937965e-02] [ 4.64520430e-03 2.56760499e-04 9.99989178e-01 -1.98645002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319072329 meters 0.04347604863257722 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.08, Z:-1.99 [[ 9.71478314e-01 2.37085015e-01 -4.53672211e-03 7.23847164e+01] [-2.37083658e-01 9.71488873e-01 8.42396045e-04 -7.79375090e-02] [ 4.60709453e-03 2.57213183e-04 9.99989354e-01 -1.98604512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349072329 meters 0.045348943826778974 Centerline is valid? [True, True] Translation: X:72.42, Y:-0.08, Z:-1.99 [[ 9.71337296e-01 2.37673383e-01 -3.90132772e-03 7.24162168e+01] [-2.37672380e-01 9.71345105e-01 7.25261880e-04 -7.81955821e-02] [ 3.96191103e-03 2.22763932e-04 9.99992127e-01 -1.98601227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379072329 meters 0.04381092297711481 Centerline is valid? [True, True] Translation: X:72.45, Y:-0.09, Z:-1.99 [[ 9.71235138e-01 2.38092265e-01 -3.79216637e-03 7.24488907e+01] [-2.38091317e-01 9.71242517e-01 7.05896742e-04 -8.52984343e-02] [ 3.85118177e-03 2.17290168e-04 9.99992561e-01 -1.98509177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409072329 meters 0.046116737517150265 Centerline is valid? [True, True] Translation: X:72.48, Y:-0.09, Z:-1.99 [[ 9.71126893e-01 2.38540705e-01 -3.29989275e-03 7.24814377e+01] [-2.38539988e-01 9.71132481e-01 6.15086160e-04 -8.71322417e-02] [ 3.35135612e-03 1.89829664e-04 9.99994366e-01 -1.98504841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439072329 meters 0.04517720432877086 Centerline is valid? [True, True] Translation: X:72.51, Y:-0.09, Z:-1.98 [[ 9.71176876e-01 2.38339068e-01 -3.15652179e-03 7.25127587e+01] [-2.38338408e-01 9.71181989e-01 5.89143179e-04 -9.22759880e-02] [ 3.20597295e-03 1.80158145e-04 9.99994845e-01 -1.98449583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469072329 meters 0.04458903213360907 Centerline is valid? [True, True] Translation: X:72.55, Y:-0.10, Z:-1.98 [[ 9.71092024e-01 2.38685494e-01 -3.08466995e-03 7.25459595e+01] [-2.38684863e-01 9.71096908e-01 5.76495268e-04 -9.63209134e-02] [ 3.13311451e-03 1.76434068e-04 9.99995076e-01 -1.98446574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499072329 meters 0.04440522570806114 Centerline is valid? [True, True] Translation: X:72.58, Y:-0.10, Z:-1.98 [[ 9.71133154e-01 2.38512639e-01 -3.48119101e-03 7.25782512e+01] [-2.38511832e-01 9.71139373e-01 6.51412981e-04 -1.01220087e-01] [ 3.53609188e-03 1.97696500e-04 9.99993728e-01 -1.98452221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.529072329 meters 0.0457175720087023 Centerline is valid? [True, True] Translation: X:72.61, Y:-0.10, Z:-1.99 [[ 9.71044581e-01 2.38872935e-01 -3.48463169e-03 7.26101015e+01] [-2.38872126e-01 9.71050813e-01 6.52571787e-04 -1.04359734e-01] [ 3.53963617e-03 1.98705083e-04 9.99993716e-01 -1.98530718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559072329 meters 0.04440041144118599 Centerline is valid? [True, True] Translation: X:72.64, Y:-0.11, Z:-1.99 [[ 9.71258355e-01 2.37988883e-01 -4.30105016e-03 7.26420852e+01] [-2.37987637e-01 9.71267849e-01 8.06674263e-04 -1.10145698e-01] [ 4.36945124e-03 2.40107646e-04 9.99990425e-01 -1.98599945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.589072329 meters 0.04421757939233183 Centerline is valid? [True, True] Translation: X:72.67, Y:-0.12, Z:-1.99 [[ 9.71344838e-01 2.37628860e-01 -4.66169235e-03 7.26736603e+01] [-2.37627387e-01 9.71355990e-01 8.75479795e-04 -1.15351257e-01] [ 4.73620205e-03 2.57352990e-04 9.99988751e-01 -1.98626540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619072329 meters 0.042023413365687164 Centerline is valid? [True, True] Translation: X:72.71, Y:-0.12, Z:-1.99 [[ 9.71491134e-01 2.37025462e-01 -4.88943010e-03 7.27050775e+01] [-2.37023827e-01 9.71503402e-01 9.19460296e-04 -1.23276367e-01] [ 4.96803348e-03 2.65663909e-04 9.99987624e-01 -1.98728863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.649072329 meters 0.0403386637912334 Centerline is valid? [True, True] Translation: X:72.74, Y:-0.13, Z:-1.99 [[ 9.71750780e-01 2.35948563e-01 -5.35703996e-03 7.27365176e+01] [-2.35946577e-01 9.71765504e-01 1.00876746e-03 -1.29417023e-01] [ 5.44380387e-03 2.83704678e-04 9.99985142e-01 -1.98776752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679072329 meters 0.042388048515423105 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.13, Z:-1.99 [[ 9.71913932e-01 2.35288481e-01 -4.75815602e-03 7.27681077e+01] [-2.35286902e-01 9.71925547e-01 8.97064023e-04 -1.31172894e-01] [ 4.83564223e-03 2.47662767e-04 9.99988278e-01 -1.98778907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.709072329 meters 0.041978376750336964 Centerline is valid? [True, True] Translation: X:72.80, Y:-0.14, Z:-1.99 [[ 9.72075756e-01 2.34626872e-01 -4.35390867e-03 7.27999787e+01] [-2.34625538e-01 9.72085481e-01 8.21824318e-04 -1.36550797e-01] [ 4.42519347e-03 2.22662671e-04 9.99990184e-01 -1.98694215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739072329 meters 0.04121822818867834 Centerline is valid? [True, True] Translation: X:72.83, Y:-0.14, Z:-1.99 [[ 9.72244533e-01 2.33938967e-01 -3.62327916e-03 7.28320282e+01] [-2.33938036e-01 9.72251267e-01 6.84476985e-04 -1.42687478e-01] [ 3.68286359e-03 1.82143805e-04 9.99993202e-01 -1.98683278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.769072329 meters 0.04143824527771294 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.15, Z:-1.99 [[ 9.72784800e-01 2.31682395e-01 -3.60568429e-03 7.28618684e+01] [-2.31681457e-01 9.72791467e-01 6.81367500e-04 -1.46735406e-01] [ 3.66543977e-03 1.72546243e-04 9.99993267e-01 -1.98563398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799072329 meters 0.036932915985722424 Centerline is valid? [True, True] Translation: X:72.89, Y:-0.16, Z:-1.99 [[ 9.73040915e-01 2.30606315e-01 -3.47919567e-03 7.28925484e+01] [-2.30605434e-01 9.73047122e-01 6.57803586e-04 -1.58290901e-01] [ 3.53711500e-03 1.62251626e-04 9.99993731e-01 -1.98557453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.829072329 meters 0.036653513138449445 Centerline is valid? [True, True] Translation: X:72.92, Y:-0.16, Z:-1.99 [[ 9.73649975e-01 2.28002781e-01 -4.52305906e-03 7.29229323e+01] [-2.28001260e-01 9.73660461e-01 8.55954287e-04 -1.62888605e-01] [ 4.59908372e-03 1.97863293e-04 9.99989405e-01 -1.98669457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859072329 meters 0.03586343135614986 Centerline is valid? [True, True] Translation: X:72.95, Y:-0.17, Z:-1.99 [[ 9.73877069e-01 2.27022350e-01 -4.93027959e-03 7.29546361e+01] [-2.27020527e-01 9.73889526e-01 9.33740607e-04 -1.69279963e-01] [ 5.01352764e-03 2.09926105e-04 9.99987410e-01 -1.98757092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88907232900002 meters 0.033846881158137415 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.18, Z:-1.99 [[ 9.74174066e-01 2.25735248e-01 -5.33734444e-03 7.29864381e+01] [-2.25733088e-01 9.74188662e-01 1.01167740e-03 -1.77269443e-01] [ 5.42795169e-03 2.19265353e-04 9.99985245e-01 -1.98833570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91907232900002 meters 0.03328838304173782 Centerline is valid? [True, True] Translation: X:73.02, Y:-0.18, Z:-1.99 [[ 9.74860511e-01 2.22761789e-01 -4.91620196e-03 7.30164421e+01] [-2.22759917e-01 9.74872890e-01 9.32075775e-04 -1.82012792e-01] [ 5.00030288e-03 1.86488873e-04 9.99987481e-01 -1.98914402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94907232900002 meters 0.030200716913272217 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.19, Z:-1.99 [[ 9.75135646e-01 2.21564328e-01 -4.44086662e-03 7.30476954e+01] [-2.21562787e-01 9.75145744e-01 8.42181521e-04 -1.92110988e-01] [ 4.51708957e-03 1.62689563e-04 9.99989785e-01 -1.98867608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97907232900002 meters 0.02664605589653313 Centerline is valid? [True, True] Translation: X:73.08, Y:-0.20, Z:-1.99 [[ 9.75595044e-01 2.19536858e-01 -4.22831906e-03 7.30790007e+01] [-2.19535440e-01 9.75604196e-01 8.02237305e-04 -2.02140419e-01] [ 4.30128647e-03 1.45607148e-04 9.99990739e-01 -1.98752838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009072329 meters 0.02502279170299432 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.21, Z:-1.99 [[ 9.76216342e-01 2.16780265e-01 -2.82322713e-03 7.31098353e+01] [-2.16779621e-01 9.76220420e-01 5.35805518e-04 -2.09096962e-01] [ 2.87224403e-03 8.89560035e-05 9.99995871e-01 -1.98560244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039072329 meters 0.024262585886689662 Centerline is valid? [True, True] Translation: X:73.14, Y:-0.22, Z:-1.99 [[ 9.76516840e-01 2.15426720e-01 -2.48805709e-03 7.31418927e+01] [-2.15426215e-01 9.76520006e-01 4.72288309e-04 -2.15665306e-01] [ 2.53138105e-03 7.47952352e-05 9.99996793e-01 -1.98506689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069072329 meters 0.02369195977478948 Centerline is valid? [True, True] Translation: X:73.17, Y:-0.22, Z:-1.99 [[ 9.76825707e-01 2.14013769e-01 -3.10561605e-03 7.31720728e+01] [-2.14012974e-01 9.76830640e-01 5.89963135e-04 -2.21746879e-01] [ 3.15992115e-03 8.83509725e-05 9.99995004e-01 -1.98510076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099072329 meters 0.02141678991368641 Centerline is valid? [True, True] Translation: X:73.20, Y:-0.23, Z:-1.99 [[ 9.77202697e-01 2.12281059e-01 -3.41185232e-03 7.32036625e+01] [-2.12280086e-01 9.77208649e-01 6.48810350e-04 -2.30270122e-01] [ 3.47182175e-03 9.02490811e-05 9.99993969e-01 -1.98584155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129072329 meters 0.01870074032815923 Centerline is valid? [True, True] Translation: X:73.23, Y:-0.24, Z:-1.99 [[ 9.78027463e-01 2.08419852e-01 -4.84211779e-03 7.32342177e+01] [-2.08417844e-01 9.78039444e-01 9.21221220e-04 -2.39185929e-01] [ 4.92778298e-03 1.08204098e-04 9.99987853e-01 -1.98746927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159072329 meters 0.017564986462935583 Centerline is valid? [True, True] Translation: X:73.26, Y:-0.25, Z:-1.99 [[ 9.78390403e-01 2.06702054e-01 -5.14584534e-03 7.32648349e+01] [-2.06699759e-01 9.78403930e-01 9.79806854e-04 -2.46457298e-01] [ 5.23724339e-03 1.05011366e-04 9.99986280e-01 -1.98821235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189072329 meters 0.015082728776738835 Centerline is valid? [True, True] Translation: X:73.29, Y:-0.26, Z:-1.99 [[ 9.79223794e-01 2.02725392e-01 -4.81431320e-03 7.32949376e+01] [-2.02723329e-01 9.79235625e-01 9.17755073e-04 -2.55446791e-01] [ 4.90039925e-03 7.72859936e-05 9.99987990e-01 -1.98849299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219072329 meters 0.013895189301493905 Centerline is valid? [True, True] Translation: X:73.33, Y:-0.26, Z:-1.99 [[ 9.79535187e-01 2.01225628e-01 -4.36614346e-03 7.33258516e+01] [-2.01223912e-01 9.79544916e-01 8.33304937e-04 -2.63221566e-01] [ 4.44451594e-03 6.23209610e-05 9.99990121e-01 -1.98779653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249072329 meters 0.0120224096221724 Centerline is valid? [True, True] Translation: X:73.36, Y:-0.27, Z:-1.99 [[ 9.79950352e-01 1.99203560e-01 -3.90497626e-03 7.33567121e+01] [-1.99202168e-01 9.79958131e-01 7.46198566e-04 -2.71953418e-01] [ 3.97535865e-03 4.66421885e-05 9.99992097e-01 -1.98734434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279072329 meters 0.009865613419638705 Centerline is valid? [True, True] Translation: X:73.39, Y:-0.28, Z:-1.99 [[ 9.80737494e-01 1.95299569e-01 -3.47069004e-03 7.33872264e+01] [-1.95298442e-01 9.80743635e-01 6.64025478e-04 -2.81782404e-01] [ 3.53354105e-03 2.65856742e-05 9.99993757e-01 -1.98658356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.309072329 meters 0.00894630410222948 Centerline is valid? [True, True] Translation: X:73.42, Y:-0.29, Z:-1.99 [[ 9.81168954e-01 1.93115396e-01 -3.73198303e-03 7.34178557e+01] [-1.93114073e-01 9.81176051e-01 7.14975682e-04 -2.89741816e-01] [ 3.79980519e-03 1.91865015e-05 9.99992781e-01 -1.98665781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339072329 meters 0.008352089716363016 Centerline is valid? [True, True] Translation: X:73.45, Y:-0.30, Z:-1.99 [[ 9.81483476e-01 1.91523689e-01 -2.97703539e-03 7.34494816e+01] [-1.91522838e-01 9.81487991e-01 5.70972325e-04 -2.98312845e-01] [ 3.03127921e-03 9.77036274e-06 9.99995406e-01 -1.98634142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.369072329 meters 0.008217899000607475 Centerline is valid? [True, True] Translation: X:73.48, Y:-0.31, Z:-1.99 [[ 9.82437959e-01 1.86556744e-01 -3.49812871e-03 7.34808867e+01] [-1.86555534e-01 9.82444187e-01 6.72039861e-04 -3.09638754e-01] [ 3.56208979e-03 -7.64219891e-06 9.99993656e-01 -1.98635137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399072329 meters 0.008217899000607475 Centerline is valid? [True, True] Translation: X:73.51, Y:-0.32, Z:-1.99 [[ 9.82385143e-01 1.86834676e-01 -3.49793878e-03 7.35127321e+01] [-1.86833463e-01 9.82391370e-01 6.73027280e-04 -3.15977599e-01] [ 3.56208970e-03 -7.63998298e-06 9.99993656e-01 -1.98627716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.429072329 meters 0.008658318198043946 Centerline is valid? [True, True] Translation: X:73.54, Y:-0.32, Z:-1.99 [[ 9.82702950e-01 1.85157870e-01 -3.38763058e-03 7.35443128e+01] [-1.85156720e-01 9.82708788e-01 6.52779401e-04 -3.24231396e-01] [ 3.44992158e-03 -1.42456769e-05 9.99994049e-01 -1.98637885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459072329 meters 0.009774511162326364 Centerline is valid? [True, True] Translation: X:73.57, Y:-0.33, Z:-1.99 [[ 9.83156410e-01 1.82735600e-01 -3.34281231e-03 7.35745643e+01] [-1.82734463e-01 9.83162092e-01 6.45059598e-04 -3.32953194e-01] [ 3.40440170e-03 -2.33474670e-05 9.99994205e-01 -1.98691850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.489072329 meters 0.011711232298781887 Centerline is valid? [True, True] Translation: X:73.61, Y:-0.34, Z:-1.99 [[ 9.83915111e-01 1.78594237e-01 -3.89261699e-03 7.36056915e+01] [-1.78592659e-01 9.83922810e-01 7.52212732e-04 -3.42882344e-01] [ 3.96437551e-03 -4.49206559e-05 9.99992141e-01 -1.98721746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519072329 meters 0.013023479383094073 Centerline is valid? [True, True] Translation: X:73.64, Y:-0.35, Z:-1.99 [[ 9.84248143e-01 1.76745086e-01 -4.09474240e-03 7.36353816e+01] [-1.76743318e-01 9.84256659e-01 7.92347639e-04 -3.51144531e-01] [ 4.17032102e-03 -5.61483338e-05 9.99991303e-01 -1.98732039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.549072329 meters 0.015482266226006897 Centerline is valid? [True, True] Translation: X:73.67, Y:-0.36, Z:-1.99 [[ 9.84657623e-01 1.74459093e-01 -3.65928783e-03 7.36652194e+01] [-1.74457663e-01 9.84664421e-01 7.08917073e-04 -3.60655495e-01] [ 3.72684756e-03 -5.96497964e-05 9.99993054e-01 -1.98690697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579072329 meters 0.01860907885241822 Centerline is valid? [True, True] Translation: X:73.70, Y:-0.37, Z:-1.99 [[ 9.85493800e-01 1.69677619e-01 -3.38762632e-03 7.36957665e+01] [-1.69676363e-01 9.85499620e-01 6.56874484e-04 -3.71319545e-01] [ 3.44996135e-03 -7.25456175e-05 9.99994046e-01 -1.98632476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.609072329 meters 0.01987690100215697 Centerline is valid? [True, True] Translation: X:73.73, Y:-0.38, Z:-1.99 [[ 9.85869598e-01 1.67478959e-01 -3.45465149e-03 7.37272500e+01] [-1.67477637e-01 9.85875647e-01 6.70355039e-04 -3.79396003e-01] [ 3.51812714e-03 -8.23057833e-05 9.99993808e-01 -1.98610223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63907232900002 meters 0.02345313346077348 Centerline is valid? [True, True] Translation: X:73.76, Y:-0.39, Z:-1.99 [[ 9.86214915e-01 1.65442063e-01 -3.01098487e-03 7.37564498e+01] [-1.65441048e-01 9.86219508e-01 5.84957865e-04 -3.90560440e-01] [ 3.06626865e-03 -7.87536789e-05 9.99995296e-01 -1.98646808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66907232900002 meters 0.02774872866152458 Centerline is valid? [True, True] Translation: X:73.79, Y:-0.40, Z:-1.99 [[ 9.87054164e-01 1.60354333e-01 -3.25052496e-03 7.37858654e+01] [-1.60353120e-01 9.87059511e-01 6.32120952e-04 -4.02097430e-01] [ 3.30982491e-03 -1.02705800e-04 9.99994517e-01 -1.98789389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69907232900002 meters 0.02729512881195304 Centerline is valid? [True, True] Translation: X:73.82, Y:-0.41, Z:-1.99 [[ 9.87382426e-01 1.58310733e-01 -3.69547108e-03 7.38172069e+01] [-1.58309149e-01 9.87389334e-01 7.19138152e-04 -4.07893387e-01] [ 3.76271601e-03 -1.25037492e-04 9.99992913e-01 -1.98851107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72907232900002 meters 0.02925705027898499 Centerline is valid? [True, True] Translation: X:73.85, Y:-0.42, Z:-1.99 [[ 9.87765273e-01 1.55906551e-01 -3.59355665e-03 7.38484015e+01] [-1.55905035e-01 9.87771801e-01 6.99963600e-04 -4.16819779e-01] [ 3.65874283e-03 -1.31146161e-04 9.99993298e-01 -1.98828472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759072329 meters 0.03259463507509332 Centerline is valid? [True, True] Translation: X:73.88, Y:-0.43, Z:-1.99 [[ 9.88175922e-01 1.53278595e-01 -3.74412475e-03 7.38777411e+01] [-1.53276930e-01 9.88183005e-01 7.29520652e-04 -4.26968051e-01] [ 3.81170034e-03 -1.47006797e-04 9.99992725e-01 -1.98830966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789072329 meters 0.03447869211219871 Centerline is valid? [True, True] Translation: X:73.91, Y:-0.44, Z:-1.99 [[ 9.88852621e-01 1.48861922e-01 -3.25906079e-03 7.39076914e+01] [-1.48860636e-01 9.88857982e-01 6.35118545e-04 -4.36657564e-01] [ 3.31729324e-03 -1.42892777e-04 9.99994488e-01 -1.98826803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819072329 meters 0.035731368571941965 Centerline is valid? [True, True] Translation: X:73.94, Y:-0.44, Z:-1.99 [[ 9.89241756e-01 1.46254108e-01 -3.23794923e-03 7.39381899e+01] [-1.46252823e-01 9.89247044e-01 6.31331019e-04 -4.44530185e-01] [ 3.29546646e-03 -1.50979791e-04 9.99994559e-01 -1.98809695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849072329 meters 0.04174444613247419 Centerline is valid? [True, True] Translation: X:73.97, Y:-0.46, Z:-1.99 [[ 9.89939855e-01 1.41448907e-01 -3.36010685e-03 7.39654722e+01] [-1.41447494e-01 9.89945542e-01 6.55709709e-04 -4.58294680e-01] [ 3.41907222e-03 -1.73834481e-04 9.99994140e-01 -1.98930749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879072329 meters 0.04153105701699478 Centerline is valid? [True, True] Translation: X:74.00, Y:-0.46, Z:-1.99 [[ 9.90274127e-01 1.39079411e-01 -3.75099247e-03 7.39963064e+01] [-1.39077633e-01 9.90281211e-01 7.32028454e-04 -4.64219566e-01] [ 3.81634745e-03 -2.03229685e-04 9.99992697e-01 -1.99015346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909072329 meters 0.045529346211771335 Centerline is valid? [True, True] Translation: X:74.03, Y:-0.48, Z:-1.99 [[ 9.90597522e-01 1.36747702e-01 -4.07608053e-03 7.40252174e+01] [-1.36745582e-01 9.90605882e-01 7.95596775e-04 -4.75284953e-01] [ 4.14658538e-03 -2.30730188e-04 9.99991376e-01 -1.99051810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939072329 meters 0.050782208048783 Centerline is valid? [True, True] Translation: X:74.05, Y:-0.49, Z:-1.99 [[ 9.91202205e-01 1.32311477e-01 -3.44424475e-03 7.40524300e+01] [-1.32309936e-01 9.91208166e-01 6.72335181e-04 -4.88228195e-01] [ 3.50292119e-03 -2.10712310e-04 9.99993843e-01 -1.98923494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969072329 meters 0.048647789719037535 Centerline is valid? [True, True] Translation: X:74.08, Y:-0.49, Z:-1.99 [[ 9.91490648e-01 1.30135590e-01 -3.32019615e-03 7.40832816e+01] [-1.30134146e-01 9.91496185e-01 6.48192454e-04 -4.91844243e-01] [ 3.37631473e-03 -2.10605865e-04 9.99994278e-01 -1.98896670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999072329 meters 0.0481903181233127 Centerline is valid? [True, True] Translation: X:74.11, Y:-0.50, Z:-1.99 [[ 9.91799416e-01 1.27780566e-01 -2.45854107e-03 7.41134324e+01] [-1.27779767e-01 9.91802450e-01 4.80008774e-04 -4.97394652e-01] [ 2.49972285e-03 -1.61920616e-04 9.99996863e-01 -1.98851717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.029072329 meters 0.05131589897862715 Centerline is valid? [True, True] Translation: X:74.14, Y:-0.51, Z:-1.99 [[ 9.92404318e-01 1.22994791e-01 -2.43953636e-03 7.41421030e+01] [-1.22993989e-01 9.92407301e-01 4.76338034e-04 -5.07663257e-01] [ 2.47960080e-03 -1.72671612e-04 9.99996911e-01 -1.98830211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059072329 meters 0.059827147803254675 Centerline is valid? [True, True] Translation: X:74.17, Y:-0.52, Z:-1.99 [[ 9.92665880e-01 1.20863657e-01 -2.53505940e-03 7.41693525e+01] [-1.20862785e-01 9.92669100e-01 4.94963525e-04 -5.24570227e-01] [ 2.57629823e-03 -1.84939064e-04 9.99996664e-01 -1.98844285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.089072329 meters 0.05603895091387778 Centerline is valid? [True, True] Translation: X:74.20, Y:-0.53, Z:-1.99 [[ 9.92980327e-01 1.18259935e-01 -2.15808064e-03 7.42005751e+01] [-1.18259297e-01 9.92982659e-01 4.21357922e-04 -5.25464657e-01] [ 2.19276641e-03 -1.63187028e-04 9.99997583e-01 -1.98827731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119072329 meters 0.062385080126678365 Centerline is valid? [True, True] Translation: X:74.23, Y:-0.54, Z:-1.99 [[ 9.93479642e-01 1.13985299e-01 -2.35653252e-03 7.42274632e+01] [-1.13984526e-01 9.93482419e-01 4.60147233e-04 -5.40298616e-01] [ 2.39362365e-03 -1.88538665e-04 9.99997118e-01 -1.98929754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.149072329 meters 0.06392846704670159 Centerline is valid? [True, True] Translation: X:74.26, Y:-0.55, Z:-1.99 [[ 9.93705627e-01 1.11998269e-01 -2.34836524e-03 7.42569022e+01] [-1.11997496e-01 9.93708383e-01 4.58493433e-04 -5.48519009e-01] [ 2.38494070e-03 -1.92596478e-04 9.99997137e-01 -1.98934860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179072329 meters 0.06548293607577849 Centerline is valid? [True, True] Translation: X:74.29, Y:-0.56, Z:-1.99 [[ 9.93918560e-01 1.10083889e-01 -2.72638989e-03 7.42870076e+01] [-1.10082840e-01 9.93922273e-01 5.32367370e-04 -5.56624867e-01] [ 2.76842471e-03 -2.29001067e-04 9.99996142e-01 -1.98941589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.209072329 meters 0.06412511443382667 Centerline is valid? [True, True] Translation: X:74.32, Y:-0.56, Z:-1.99 [[ 9.94163314e-01 1.07853863e-01 -2.61709431e-03 7.43173289e+01] [-1.07852889e-01 9.94166733e-01 5.11129015e-04 -5.61027752e-01] [ 2.65695534e-03 -2.25884534e-04 9.99996445e-01 -1.98940768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239072329 meters 0.07263123264943823 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.58, Z:-1.99 [[ 9.94554379e-01 1.04194272e-01 -2.26746917e-03 7.43439380e+01] [-1.04193531e-01 9.94556943e-01 4.42881062e-04 -5.78615640e-01] [ 2.30127287e-03 -2.04213681e-04 9.99997331e-01 -1.98903002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.269072329 meters 0.06531223451916127 Centerline is valid? [True, True] Translation: X:74.38, Y:-0.58, Z:-1.99 [[ 9.94746525e-01 1.02343680e-01 -2.26340278e-03 7.43757666e+01] [-1.02342937e-01 9.94749078e-01 4.42066895e-04 -5.75440431e-01] [ 2.29676058e-03 -2.08101221e-04 9.99997341e-01 -1.98932332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299072329 meters 0.07411978283433639 Centerline is valid? [True, True] Translation: X:74.40, Y:-0.59, Z:-1.99 [[ 9.94951771e-01 1.00331548e-01 -2.13386728e-03 7.44031330e+01] [-1.00330883e-01 9.94954039e-01 4.16806711e-04 -5.92742214e-01] [ 2.16491874e-03 -2.00609786e-04 9.99997636e-01 -1.98917828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.329072329 meters 0.07594306583241536 Centerline is valid? [True, True] Translation: X:74.43, Y:-0.60, Z:-1.99 [[ 9.95278078e-01 9.70371985e-02 -2.30847759e-03 7.44327886e+01] [-9.70364112e-02 9.95280730e-01 4.50913764e-04 -6.02007417e-01] [ 2.34133867e-03 -2.24778204e-04 9.99997234e-01 -1.98967467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359072329 meters 0.07566886005451018 Centerline is valid? [True, True] Translation: X:74.46, Y:-0.61, Z:-1.99 [[ 9.95429654e-01 9.54693402e-02 -2.32567544e-03 7.44636258e+01] [-9.54685368e-02 9.95432344e-01 4.54294165e-04 -6.07817817e-01] [ 2.35842371e-03 -2.30189052e-04 9.99997192e-01 -1.98984699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38907232900002 meters 0.07648988345426627 Centerline is valid? [True, True] Translation: X:74.49, Y:-0.62, Z:-1.99 [[ 9.95731613e-01 9.22626754e-02 -2.48077985e-03 7.44938011e+01] [-9.22617513e-02 9.95734671e-01 4.84679717e-04 -6.15271706e-01] [ 2.51491635e-03 -2.53729823e-04 9.99996805e-01 -1.99021484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41907232900002 meters 0.07306819754973515 Centerline is valid? [True, True] Translation: X:74.53, Y:-0.62, Z:-1.99 [[ 9.95868973e-01 9.07728691e-02 -2.29674140e-03 7.45250522e+01] [-9.07720730e-02 9.95871593e-01 4.48743519e-04 -6.16988384e-01] [ 2.32799325e-03 -2.38409769e-04 9.99997262e-01 -1.98976675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44907232900002 meters 0.07358385937238328 Centerline is valid? [True, True] Translation: X:74.56, Y:-0.62, Z:-1.99 [[ 9.96006728e-01 8.92356152e-02 -2.75736146e-03 7.45552442e+01] [-8.92344618e-02 9.96010502e-01 5.38799965e-04 -6.24052797e-01] [ 2.79444112e-03 -2.90596724e-04 9.99996053e-01 -1.99065347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47907232900002 meters 0.07789580534057777 Centerline is valid? [True, True] Translation: X:74.58, Y:-0.64, Z:-1.99 [[ 9.96285338e-01 8.60767937e-02 -2.51214539e-03 7.45836419e+01] [-8.60758263e-02 9.96288468e-01 4.90919414e-04 -6.35866702e-01] [ 2.54507825e-03 -2.72860824e-04 9.99996724e-01 -1.99057075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509072329 meters 0.08299870326482969 Centerline is valid? [True, True] Translation: X:74.61, Y:-0.65, Z:-1.99 [[ 9.96396796e-01 8.47757302e-02 -2.54948248e-03 7.46121890e+01] [-8.47747296e-02 9.96400019e-01 4.98203420e-04 -6.48469012e-01] [ 2.58253995e-03 -2.80276604e-04 9.99996626e-01 -1.99070332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539072329 meters 0.08095989545239224 Centerline is valid? [True, True] Translation: X:74.64, Y:-0.65, Z:-1.99 [[ 9.96471204e-01 8.39120603e-02 -1.97647006e-03 7.46436903e+01] [-8.39114574e-02 9.96473140e-01 3.86198513e-04 -6.52545454e-01] [ 2.00190604e-03 -2.18987214e-04 9.99997972e-01 -1.99007081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569072329 meters 0.08218901358608072 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.66, Z:-1.99 [[ 9.96698126e-01 8.11703670e-02 -2.05376445e-03 7.46729645e+01] [-8.11697091e-02 9.96700214e-01 4.01852432e-04 -6.60126279e-01] [ 2.07960598e-03 -2.33822103e-04 9.99997810e-01 -1.99116911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599072329 meters 0.08386224829947067 Centerline is valid? [True, True] Translation: X:74.70, Y:-0.67, Z:-1.99 [[ 9.96767260e-01 8.03112637e-02 -2.26520550e-03 7.47031061e+01] [-8.03104612e-02 9.96769800e-01 4.43197998e-04 -6.68641688e-01] [ 2.29348223e-03 -2.59845555e-04 9.99997336e-01 -1.99136019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629072329 meters 0.08256957590788852 Centerline is valid? [True, True] Translation: X:74.73, Y:-0.67, Z:-1.99 [[ 9.96838014e-01 7.94154878e-02 -2.67488116e-03 7.47349100e+01] [-7.94143638e-02 9.96841554e-01 5.24000765e-04 -6.73701434e-01] [ 2.70804647e-03 -3.09919896e-04 9.99996285e-01 -1.99221177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659072329 meters 0.08355605284679428 Centerline is valid? [True, True] Translation: X:74.77, Y:-0.68, Z:-1.99 [[ 9.96949649e-01 7.80154506e-02 -2.23327825e-03 7.47655479e+01] [-7.80146634e-02 9.96952116e-01 4.37627732e-04 -6.81339753e-01] [ 2.26061320e-03 -2.62064363e-04 9.99997410e-01 -1.99269930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689072329 meters 0.08369721519031259 Centerline is valid? [True, True] Translation: X:74.80, Y:-0.69, Z:-1.99 [[ 9.97113819e-01 7.58810738e-02 -2.46887652e-03 7.47952028e+01] [-7.58801049e-02 9.97116831e-01 4.83887377e-04 -6.88245745e-01] [ 2.49847623e-03 -2.95152181e-04 9.99996835e-01 -1.99222616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719072329 meters 0.0927934197022207 Centerline is valid? [True, True] Translation: X:74.82, Y:-0.71, Z:-1.99 [[ 9.97189818e-01 7.48860234e-02 -2.13319210e-03 7.48228098e+01] [-7.48852978e-02 9.97192066e-01 4.18112055e-04 -7.06281771e-01] [ 2.15851299e-03 -2.57192359e-04 9.99997637e-01 -1.99208925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749072329 meters 0.08742994949670234 Centerline is valid? [True, True] Translation: X:74.85, Y:-0.71, Z:-1.99 [[ 9.97303539e-01 7.33784023e-02 -1.12259686e-03 7.48544106e+01] [-7.33782004e-02 9.97304162e-01 2.20071243e-04 -7.05747729e-01] [ 1.13571900e-03 -1.37103692e-04 9.99999346e-01 -1.99157305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779072329 meters 0.08509651568891868 Centerline is valid? [True, True] Translation: X:74.89, Y:-0.71, Z:-1.99 [[ 9.97343228e-01 7.28317637e-02 -1.42086991e-03 7.48859410e+01] [-7.28314399e-02 9.97344225e-01 2.78400041e-04 -7.09150570e-01] [ 1.43737276e-03 -1.74176394e-04 9.99998952e-01 -1.99197722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.809072329 meters 0.08382450895155528 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.71, Z:-1.99 [[ 9.97391210e-01 7.21656019e-02 -1.70314498e-03 7.49171911e+01] [-7.21651348e-02 9.97392642e-01 3.34219576e-04 -7.13805306e-01] [ 1.72282343e-03 -2.10439980e-04 9.99998494e-01 -1.99242483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839072329 meters 0.09310328628260774 Centerline is valid? [True, True] Translation: X:74.94, Y:-0.73, Z:-1.99 [[ 9.97465215e-01 7.11108574e-02 -2.52791857e-03 7.49438992e+01] [-7.11098230e-02 9.97468369e-01 4.96865862e-04 -7.32606534e-01] [ 2.55685137e-03 -3.15846572e-04 9.99996681e-01 -1.99373463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.869072329 meters 0.08998242311027498 Centerline is valid? [True, True] Translation: X:74.98, Y:-0.73, Z:-1.99 [[ 9.97534887e-01 7.01169694e-02 -2.78552392e-03 7.49754037e+01] [-7.01157095e-02 9.97538715e-01 5.47518210e-04 -7.34800987e-01] [ 2.81705827e-03 -3.50859530e-04 9.99995971e-01 -1.99416236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899072329 meters 0.09442265116017877 Centerline is valid? [True, True] Translation: X:75.00, Y:-0.75, Z:-1.99 [[ 9.97557758e-01 6.97917599e-02 -2.76204310e-03 7.50047436e+01] [-6.97905194e-02 9.97561521e-01 5.43104951e-04 -7.46812112e-01] [ 2.79321217e-03 -3.49014135e-04 9.99996038e-01 -1.99471165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.929072329 meters 0.09041352059737501 Centerline is valid? [True, True] Translation: X:75.04, Y:-0.75, Z:-1.99 [[ 9.97664926e-01 6.82820990e-02 -1.50002284e-03 7.50363119e+01] [-6.82817310e-02 9.97666035e-01 2.95222753e-04 -7.48128248e-01] [ 1.51668027e-03 -1.92109230e-04 9.99998831e-01 -1.99359939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959072329 meters 0.09522087444926244 Centerline is valid? [True, True] Translation: X:75.07, Y:-0.76, Z:-1.99 [[ 9.97674106e-01 6.81542866e-02 -1.17120763e-03 7.50659020e+01] [-6.81540625e-02 9.97674782e-01 2.30294012e-04 -7.60962347e-01] [ 1.18417984e-03 -1.49935814e-04 9.99999288e-01 -1.99235274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.989072329 meters 0.09560726304030018 Centerline is valid? [True, True] Translation: X:75.10, Y:-0.77, Z:-1.99 [[ 9.97712782e-01 6.75914820e-02 -7.72630485e-04 7.50969906e+01] [-6.75913843e-02 9.97713076e-01 1.51925732e-04 -7.67553891e-01] [ 7.81132423e-04 -9.93550805e-05 9.99999690e-01 -1.99201381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019072329 meters 0.09239003877145842 Centerline is valid? [True, True] Translation: X:75.13, Y:-0.77, Z:-1.99 [[ 9.97715653e-01 6.75480100e-02 -8.61329083e-04 7.51296566e+01] [-6.75478883e-02 9.97716019e-01 1.69592905e-04 -7.70062480e-01] [ 8.70817486e-04 -1.11024535e-04 9.99999615e-01 -1.99199610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.049072329 meters 0.09440871762716793 Centerline is valid? [True, True] Translation: X:75.16, Y:-0.78, Z:-1.99 [[ 9.97715862e-01 6.75349014e-02 -1.44749684e-03 7.51596727e+01] [-6.75345566e-02 9.97716895e-01 2.85767741e-04 -7.78735605e-01] [ 1.46349135e-03 -1.87358951e-04 9.99998912e-01 -1.99261841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079072329 meters 0.09417091029418116 Centerline is valid? [True, True] Translation: X:75.19, Y:-0.78, Z:-1.99 [[ 9.97705745e-01 6.76782314e-02 -1.70370208e-03 7.51913227e+01] [-6.76777532e-02 9.97707176e-01 3.36824110e-04 -7.84922588e-01] [ 1.72259145e-03 -2.20748621e-04 9.99998492e-01 -1.99394653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.109072329 meters 0.09414949683746078 Centerline is valid? [True, True] Translation: X:75.22, Y:-0.79, Z:-1.99 [[ 9.97724600e-01 6.73776029e-02 -2.42521138e-03 7.52225962e+01] [-6.73766311e-02 9.97727497e-01 4.80303445e-04 -7.91602176e-01] [ 2.45206178e-03 -3.15807990e-04 9.99996944e-01 -1.99452593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13907232900002 meters 0.08655436142677043 Centerline is valid? [True, True] Translation: X:75.26, Y:-0.79, Z:-1.99 [[ 9.97691356e-01 6.78537264e-02 -2.79803214e-03 7.52562574e+01] [-6.78524325e-02 9.97695214e-01 5.54919563e-04 -7.88513189e-01] [ 2.82923664e-03 -3.63785164e-04 9.99995932e-01 -1.99470194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16907232900002 meters 0.0931363902657504 Centerline is valid? [True, True] Translation: X:75.28, Y:-0.80, Z:-1.99 [[ 9.97688581e-01 6.78972446e-02 -2.73103549e-03 7.52847787e+01] [-6.78960102e-02 9.97692256e-01 5.42312445e-04 -8.03040017e-01] [ 2.76155448e-03 -3.55632520e-04 9.99996124e-01 -1.99492104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19907232900002 meters 0.08863888174339968 Centerline is valid? [True, True] Translation: X:75.32, Y:-0.80, Z:-2.00 [[ 9.97664588e-01 6.82612513e-02 -2.40247026e-03 7.53174422e+01] [-6.82602958e-02 9.97667432e-01 4.77578812e-04 -8.03654555e-01] [ 2.42946646e-03 -3.12470138e-04 9.99997000e-01 -1.99507612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22907232900002 meters 0.0897585040245421 Centerline is valid? [True, True] Translation: X:75.35, Y:-0.81, Z:-2.00 [[ 9.97635966e-01 6.86746109e-02 -2.50557591e-03 7.53481256e+01] [-6.86735713e-02 9.97639059e-01 4.98736928e-04 -8.11277836e-01] [ 2.53391095e-03 -3.25491051e-04 9.99996737e-01 -1.99521899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259072329 meters 0.0897585040245421 Centerline is valid? [True, True] Translation: X:75.38, Y:-0.82, Z:-2.00 [[ 9.97616860e-01 6.89516068e-02 -2.50545272e-03 7.53801602e+01] [-6.89505665e-02 9.97619953e-01 4.99355026e-04 -8.17856134e-01] [ 2.53392096e-03 -3.25412608e-04 9.99996737e-01 -1.99514420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289072329 meters 0.0936573817862823 Centerline is valid? [True, True] Translation: X:75.41, Y:-0.83, Z:-2.00 [[ 9.97576981e-01 6.95339983e-02 -2.27832495e-03 7.54100127e+01] [-6.95331382e-02 9.97579539e-01 4.54684454e-04 -8.29457492e-01] [ 2.30442638e-03 -2.95163661e-04 9.99997301e-01 -1.99528634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319072329 meters 0.08937329235637435 Centerline is valid? [True, True] Translation: X:75.44, Y:-0.83, Z:-2.00 [[ 9.97525134e-01 7.02635820e-02 -2.57598398e-03 7.54418300e+01] [-7.02624832e-02 9.97528405e-01 5.14733556e-04 -8.30639812e-01] [ 2.60578422e-03 -3.32464629e-04 9.99996550e-01 -1.99637778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349072329 meters 0.09198191594863918 Centerline is valid? [True, True] Translation: X:75.47, Y:-0.84, Z:-2.00 [[ 9.97498211e-01 7.06261803e-02 -3.04326215e-03 7.54716365e+01] [-7.06246474e-02 9.97502776e-01 6.08387168e-04 -8.40017395e-01] [ 3.07863051e-03 -3.91935795e-04 9.99995184e-01 -1.99756563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379072329 meters 0.0931030689916574 Centerline is valid? [True, True] Translation: X:75.50, Y:-0.85, Z:-2.00 [[ 9.97439685e-01 7.14116548e-02 -3.80145368e-03 7.55030108e+01] [-7.14092646e-02 9.97446810e-01 7.60994908e-04 -8.48498205e-01] [ 3.84609175e-03 -4.87587509e-04 9.99992485e-01 -1.99830044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409072329 meters 0.09943547105655799 Centerline is valid? [True, True] Translation: X:75.53, Y:-0.86, Z:-2.00 [[ 9.97413658e-01 7.17566579e-02 -4.12023184e-03 7.55317844e+01] [-7.17538492e-02 9.97422029e-01 8.25679220e-04 -8.62376464e-01] [ 4.16885799e-03 -5.27901237e-04 9.99991171e-01 -1.99952400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439072329 meters 0.09234878205757677 Centerline is valid? [True, True] Translation: X:75.57, Y:-0.86, Z:-2.00 [[ 9.97366738e-01 7.23939017e-02 -4.32577749e-03 7.55655778e+01] [-7.23908091e-02 9.97375966e-01 8.67486945e-04 -8.59828964e-01] [ 4.37722727e-03 -5.52056093e-04 9.99990268e-01 -1.99964023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469072329 meters 0.10329951759502512 Centerline is valid? [True, False] Translation: X:75.57, Y:-0.86, Z:-2.00 [[ 9.98132310e-01 6.07985949e-02 -5.95175409e-03 7.55677295e+01] [-6.07503473e-02 9.98121117e-01 7.97696169e-03 -8.57980771e-01] [ 6.42555950e-03 -7.60049207e-03 9.99950471e-01 -1.99872285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499072329 meters 0.09511056024419642 Centerline is valid? [False, True] Translation: X:75.57, Y:-0.86, Z:-2.00 [[ 9.98752021e-01 4.93071595e-02 -7.95014476e-03 7.55694632e+01] [-4.91828878e-02 9.98675112e-01 1.51348741e-02 -8.55901353e-01] [ 8.68586936e-03 -1.47249750e-02 9.99853855e-01 -1.99733869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.529072329 meters 0.09474023913792412 Centerline is valid? [True, True] Translation: X:75.60, Y:-0.86, Z:-2.00 [[ 9.98701250e-01 4.99674599e-02 -9.95323119e-03 7.56011315e+01] [-4.99525508e-02 9.98750074e-01 1.74108738e-03 -8.57749526e-01] [ 1.00277881e-02 -1.24163686e-03 9.99948950e-01 -2.00119788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559072329 meters 0.09427022647865695 Centerline is valid? [True, True] Translation: X:75.63, Y:-0.86, Z:-2.00 [[ 9.98668413e-01 5.05354634e-02 -1.03714947e-02 7.56334613e+01] [-5.05193004e-02 9.98721436e-01 1.81468651e-03 -8.62972815e-01] [ 1.04499401e-02 -1.28830944e-03 9.99944568e-01 -2.00068929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.589072329 meters 0.08602403346992477 Centerline is valid? [True, True] Translation: X:75.67, Y:-0.86, Z:-2.00 [[ 9.98602344e-01 5.17650008e-02 -1.06650564e-02 7.56664146e+01] [-5.17479692e-02 9.98658431e-01 1.86695228e-03 -8.57585033e-01] [ 1.07473913e-02 -1.31244791e-03 9.99941384e-01 -2.00093749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619072329 meters 0.0925256074861828 Centerline is valid? [True, True] Translation: X:75.70, Y:-0.87, Z:-2.00 [[ 9.98549464e-01 5.27101485e-02 -1.09821392e-02 7.56959574e+01] [-5.26921348e-02 9.98608952e-01 1.92340729e-03 -8.71668903e-01] [ 1.10682456e-02 -1.34194496e-03 9.99937845e-01 -2.00067500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.649072329 meters 0.09310660315532464 Centerline is valid? [True, True] Translation: X:75.73, Y:-0.88, Z:-2.00 [[ 9.98513966e-01 5.33933837e-02 -1.09090077e-02 7.57279535e+01] [-5.33756226e-02 9.98572673e-01 1.91302647e-03 -8.78285132e-01] [ 1.09955799e-02 -1.32790857e-03 9.99938665e-01 -2.00066443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679072329 meters 0.08794018246463103 Centerline is valid? [True, True] Translation: X:75.76, Y:-0.88, Z:-2.00 [[ 9.98448264e-01 5.46344296e-02 -1.07769716e-02 7.57599534e+01] [-5.46171579e-02 9.98505579e-01 1.89072050e-03 -8.77688089e-01] [ 1.08641647e-02 -1.29917904e-03 9.99940139e-01 -1.99968724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.709072329 meters 0.09481114670726355 Centerline is valid? [True, True] Translation: X:75.79, Y:-0.89, Z:-2.00 [[ 9.98425987e-01 5.50623804e-02 -1.06622143e-02 7.57889062e+01] [-5.50454930e-02 9.98482094e-01 1.87111521e-03 -8.92257402e-01] [ 1.07490582e-02 -1.28126321e-03 9.99941406e-01 -1.99921739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739072329 meters 0.08769365468956546 Centerline is valid? [True, True] Translation: X:75.82, Y:-0.89, Z:-2.00 [[ 9.98390165e-01 5.57583964e-02 -1.03961179e-02 7.58226751e+01] [-5.57423643e-02 9.98443516e-01 1.82579137e-03 -8.88813624e-01] [ 1.04817397e-02 -1.24334796e-03 9.99944292e-01 -1.99839144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.769072329 meters 0.09528903855642545 Centerline is valid? [True, True] Translation: X:75.85, Y:-0.90, Z:-2.00 [[ 9.98308181e-01 5.72014734e-02 -1.04291330e-02 7.58501829e+01] [-5.71854083e-02 9.98361894e-01 1.83240733e-03 -9.03639517e-01] [ 1.05168654e-02 -1.23291300e-03 9.99943936e-01 -1.99784299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799072329 meters 0.08879471381484424 Centerline is valid? [True, True] Translation: X:75.88, Y:-0.90, Z:-2.00 [[ 9.98250134e-01 5.82160725e-02 -1.03710492e-02 7.58822896e+01] [-5.82002394e-02 9.98303266e-01 1.82224173e-03 -9.00478788e-01] [ 1.04595360e-02 -1.21545551e-03 9.99944559e-01 -1.99798040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.829072329 meters 0.09082604256058845 Centerline is valid? [True, True] Translation: X:75.91, Y:-0.91, Z:-2.00 [[ 9.98138674e-01 5.98285751e-02 -1.18206721e-02 7.59113129e+01] [-5.98081133e-02 9.98207731e-01 2.07731696e-03 -9.08900711e-01] [ 1.19237692e-02 -1.36647830e-03 9.99927976e-01 -1.99915158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859072329 meters 0.09001933415145381 Centerline is valid? [True, True] Translation: X:75.94, Y:-0.91, Z:-2.00 [[ 9.98079098e-01 6.07142370e-02 -1.23245534e-02 7.59426076e+01] [-6.06920580e-02 9.98154188e-01 2.16602591e-03 -9.13675031e-01] [ 1.24333132e-02 -1.41386268e-03 9.99921704e-01 -1.99983893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88907232900002 meters 0.08547840208867442 Centerline is valid? [True, True] Translation: X:75.97, Y:-0.91, Z:-2.00 [[ 9.98031701e-01 6.14775519e-02 -1.23787855e-02 7.59748862e+01] [-6.14552196e-02 9.98107468e-01 2.17681035e-03 -9.13633375e-01] [ 1.24891832e-02 -1.41178476e-03 9.99921010e-01 -2.00010158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91907232900002 meters 0.08476085306266411 Centerline is valid? [True, True] Translation: X:76.00, Y:-0.92, Z:-2.00 [[ 9.97938933e-01 6.29463869e-02 -1.24754974e-02 7.60049221e+01] [-6.29237886e-02 9.98015919e-01 2.19611605e-03 -9.17954989e-01] [ 1.25889825e-02 -1.40658415e-03 9.99919766e-01 -1.99960556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94907232900002 meters 0.08863473107952734 Centerline is valid? [True, True] Translation: X:76.03, Y:-0.93, Z:-2.00 [[ 9.97880087e-01 6.38225946e-02 -1.27282466e-02 7.60349446e+01] [-6.37991314e-02 9.97960243e-01 2.24140770e-03 -9.28302196e-01] [ 1.28453365e-02 -1.42460504e-03 9.99916480e-01 -1.99998598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97907232900002 meters 0.09235943020604956 Centerline is valid? [True, True] Translation: X:76.06, Y:-0.94, Z:-2.00 [[ 9.97816542e-01 6.48021093e-02 -1.27606497e-02 7.60637286e+01] [-6.47785736e-02 9.97897127e-01 2.24959237e-03 -9.38279444e-01] [ 1.28795940e-02 -1.41806379e-03 9.99916049e-01 -1.99967556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009072329 meters 0.08363170953277949 Centerline is valid? [True, True] Translation: X:76.10, Y:-0.93, Z:-2.00 [[ 9.97758658e-01 6.57372852e-02 -1.25007929e-02 7.60970502e+01] [-6.57147492e-02 9.97836012e-01 2.20550673e-03 -9.33112151e-01] [ 1.26187254e-02 -1.37907697e-03 9.99919430e-01 -1.99850880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039072329 meters 0.08508745108499338 Centerline is valid? [True, True] Translation: X:76.13, Y:-0.94, Z:-2.00 [[ 9.97624041e-01 6.75702422e-02 -1.34363244e-02 7.61261572e+01] [-6.75443376e-02 9.97713451e-01 2.37300812e-03 -9.40895213e-01] [ 1.35659463e-02 -1.45982232e-03 9.99906913e-01 -1.99876377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069072329 meters 0.09176643006475751 Centerline is valid? [True, True] Translation: X:76.15, Y:-0.96, Z:-2.00 [[ 9.97568262e-01 6.83906790e-02 -1.34267712e-02 7.61547034e+01] [-6.83648837e-02 9.97657566e-01 2.37139321e-03 -9.55094482e-01] [ 1.35575010e-02 -1.44770696e-03 9.99907045e-01 -1.99941005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099072329 meters 0.08096395626470965 Centerline is valid? [True, True] Translation: X:76.19, Y:-0.95, Z:-2.00 [[ 9.97455321e-01 6.99464104e-02 -1.37978884e-02 7.61869773e+01] [-6.99193141e-02 9.97549673e-01 2.43710255e-03 -9.46530779e-01] [ 1.39345457e-02 -1.46616201e-03 9.99901835e-01 -1.99984101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129072329 meters 0.08094827209036033 Centerline is valid? [True, True] Translation: X:76.22, Y:-0.95, Z:-2.00 [[ 9.97417947e-01 7.05063452e-02 -1.36489839e-02 7.62187516e+01] [-7.04798675e-02 9.97510286e-01 2.41189113e-03 -9.52136142e-01] [ 1.37850555e-02 -1.44368492e-03 9.99903939e-01 -2.00013396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159072329 meters 0.07588870081981237 Centerline is valid? [True, True] Translation: X:76.25, Y:-0.95, Z:-2.00 [[ 9.97337242e-01 7.15153078e-02 -1.42824125e-02 7.62507713e+01] [-7.14863804e-02 9.97438376e-01 2.52639436e-03 -9.51321386e-01] [ 1.44265022e-02 -1.49866921e-03 9.99894809e-01 -1.99973048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189072329 meters 0.08079061862845911 Centerline is valid? [True, True] Translation: X:76.28, Y:-0.96, Z:-2.00 [[ 9.97225030e-01 7.31624483e-02 -1.37657499e-02 7.62784386e+01] [-7.31357279e-02 9.97319024e-01 2.43524682e-03 -9.63531914e-01] [ 1.39070129e-02 -1.42172094e-03 9.99902282e-01 -1.99920832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219072329 meters 0.07697584083086514 Centerline is valid? [True, True] Translation: X:76.31, Y:-0.96, Z:-2.00 [[ 9.97163080e-01 7.41037427e-02 -1.32070795e-02 7.63104658e+01] [-7.40792273e-02 9.97249622e-01 2.33654278e-03 -9.64433448e-01] [ 1.33439016e-02 -1.35154395e-03 9.99910053e-01 -1.99855391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.249072329 meters 0.08490808386983192 Centerline is valid? [True, True] Translation: X:76.34, Y:-0.98, Z:-2.00 [[ 9.97073205e-01 7.52789264e-02 -1.33456570e-02 7.63386797e+01] [-7.52539878e-02 9.97161601e-01 2.36181079e-03 -9.80386812e-01] [ 1.34855713e-02 -1.35058434e-03 9.99908153e-01 -1.99824681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279072329 meters 0.07667367852787199 Centerline is valid? [True, True] Translation: X:76.37, Y:-0.98, Z:-2.00 [[ 9.97021971e-01 7.59945441e-02 -1.31155629e-02 7.63723456e+01] [-7.59705046e-02 9.97107361e-01 2.32221244e-03 -9.75265496e-01] [ 1.32540998e-02 -1.31890089e-03 9.99911291e-01 -1.99797827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.309072329 meters 0.07349825521737328 Centerline is valid? [True, True] Translation: X:76.40, Y:-0.98, Z:-2.00 [[ 9.96863442e-01 7.80318846e-02 -1.32023646e-02 7.64036532e+01] [-7.80076710e-02 9.96950013e-01 2.33995109e-03 -9.76941949e-01] [ 1.33446884e-02 -1.30272598e-03 9.99910107e-01 -1.99775235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339072329 meters 0.07699078955491884 Centerline is valid? [True, True] Translation: X:76.43, Y:-0.99, Z:-2.00 [[ 9.96772050e-01 7.91373336e-02 -1.35189607e-02 7.64339638e+01] [-7.91120285e-02 9.96862849e-01 2.39729987e-03 -9.87415386e-01] [ 1.36662656e-02 -1.32004910e-03 9.99905741e-01 -1.99873091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.369072329 meters 0.07187715363014674 Centerline is valid? [True, True] Translation: X:76.47, Y:-0.99, Z:-2.00 [[ 9.96713063e-01 7.98750124e-02 -1.35296754e-02 7.64670954e+01] [-7.98496881e-02 9.96804020e-01 2.40258922e-03 -9.86616756e-01] [ 1.36783417e-02 -1.31435169e-03 9.99905583e-01 -1.99836017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399072329 meters 0.0744825183851053 Centerline is valid? [True, True] Translation: X:76.50, Y:-1.00, Z:-2.00 [[ 9.96567791e-01 8.15384040e-02 -1.42872998e-02 7.64961899e+01] [-8.15102961e-02 9.96669264e-01 2.53968963e-03 -9.95823654e-01] [ 1.44467948e-02 -1.36641085e-03 9.99894706e-01 -1.99931551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.429072329 meters 0.06916470542076565 Centerline is valid? [True, True] Translation: X:76.53, Y:-1.00, Z:-2.00 [[ 9.96480279e-01 8.26343545e-02 -1.40931219e-02 7.65291596e+01] [-8.26070941e-02 9.96579041e-01 2.50657921e-03 -9.95106015e-01] [ 1.42520394e-02 -1.33356491e-03 9.99897545e-01 -1.99892021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459072329 meters 0.07480114764266206 Centerline is valid? [True, True] Translation: X:76.56, Y:-1.01, Z:-2.00 [[ 9.96337063e-01 8.43728011e-02 -1.39171464e-02 7.65570104e+01] [-8.43463526e-02 9.96433417e-01 2.47760788e-03 -1.00796866e+00] [ 1.40765524e-02 -1.29467202e-03 9.99900082e-01 -1.99854490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.489072329 meters 0.07043405021895184 Centerline is valid? [True, True] Translation: X:76.59, Y:-1.01, Z:-2.00 [[ 9.96245727e-01 8.54402036e-02 -1.39435431e-02 7.65890218e+01] [-8.54137559e-02 9.96342475e-01 2.48247679e-03 -1.00800164e+00] [ 1.41046476e-02 -1.28218651e-03 9.99899702e-01 -1.99819474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519072329 meters 0.07269773723066568 Centerline is valid? [True, True] Translation: X:76.62, Y:-1.02, Z:-2.00 [[ 9.96142375e-01 8.66754264e-02 -1.37017798e-02 7.66185571e+01] [-8.66499971e-02 9.96235828e-01 2.43991986e-03 -1.01677362e+00] [ 1.38616851e-02 -1.24324838e-03 9.99903149e-01 -1.99784866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.549072329 meters 0.06928068165884871 Centerline is valid? [True, True] Translation: X:76.65, Y:-1.02, Z:-2.00 [[ 9.95995695e-01 8.83217247e-02 -1.38509651e-02 7.66507402e+01] [-8.82958884e-02 9.96091236e-01 2.46706461e-03 -1.01816667e+00] [ 1.40147203e-02 -1.23420246e-03 9.99901027e-01 -1.99758136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579072329 meters 0.06520574524220102 Centerline is valid? [True, True] Translation: X:76.68, Y:-1.02, Z:-2.00 [[ 9.95887652e-01 8.95604292e-02 -1.36643134e-02 7.66833888e+01] [-8.95353779e-02 9.95980665e-01 2.43543160e-03 -1.01885507e+00] [ 1.38275103e-02 -1.20197679e-03 9.99903673e-01 -1.99678177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.609072329 meters 0.06285594912453116 Centerline is valid? [True, True] Translation: X:76.71, Y:-1.02, Z:-2.00 [[ 9.95776674e-01 9.07578409e-02 -1.38502465e-02 7.67146367e+01] [-9.07321823e-02 9.95872263e-01 2.47112357e-03 -1.02166885e+00] [ 1.40173502e-02 -1.20402412e-03 9.99901027e-01 -1.99656084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63907232900002 meters 0.0654267009785714 Centerline is valid? [True, True] Translation: X:76.74, Y:-1.03, Z:-2.00 [[ 9.95626694e-01 9.24497286e-02 -1.34362931e-02 7.67441796e+01] [-9.24257272e-02 9.95716695e-01 2.39775680e-03 -1.03037803e+00] [ 1.36004134e-02 -1.14541151e-03 9.99906854e-01 -1.99654472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66907232900002 meters 0.06960744231046276 Centerline is valid? [True, True] Translation: X:76.77, Y:-1.04, Z:-2.00 [[ 9.95522032e-01 9.35781380e-02 -1.33796745e-02 7.67735585e+01] [-9.35544330e-02 9.95611302e-01 2.38814259e-03 -1.04189425e+00] [ 1.35444331e-02 -1.12572070e-03 9.99907636e-01 -1.99614167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69907232900002 meters 0.0687796209361437 Centerline is valid? [True, True] Translation: X:76.81, Y:-1.05, Z:-2.00 [[ 9.95439903e-01 9.44343821e-02 -1.34739048e-02 7.68056251e+01] [-9.44104013e-02 9.95530454e-01 2.40632649e-03 -1.04679356e+00] [ 1.36409225e-02 -1.12327665e-03 9.99906327e-01 -1.99605711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72907232900002 meters 0.059987944876767535 Centerline is valid? [True, True] Translation: X:76.84, Y:-1.04, Z:-2.00 [[ 9.95301709e-01 9.57902806e-02 -1.40971561e-02 7.68392974e+01] [-9.57641133e-02 9.95400863e-01 2.52123975e-03 -1.04142592e+00] [ 1.42738317e-02 -1.15939257e-03 9.99897452e-01 -1.99566563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759072329 meters 0.05938255433906095 Centerline is valid? [True, True] Translation: X:76.87, Y:-1.05, Z:-2.00 [[ 9.95175716e-01 9.70218531e-02 -1.45620942e-02 7.68710066e+01] [-9.69940053e-02 9.95281548e-01 2.60824519e-03 -1.04634532e+00] [ 1.47464405e-02 -1.18322643e-03 9.99890565e-01 -1.99637850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789072329 meters 0.06390560396918302 Centerline is valid? [True, True] Translation: X:76.90, Y:-1.06, Z:-2.00 [[ 9.94966351e-01 9.89688595e-02 -1.57202091e-02 7.69004327e+01] [-9.89366021e-02 9.95089747e-01 2.81850337e-03 -1.05730526e+00] [ 1.59219629e-02 -1.24901194e-03 9.99872457e-01 -1.99869379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819072329 meters 0.06299043225394355 Centerline is valid? [True, True] Translation: X:76.93, Y:-1.06, Z:-2.00 [[ 9.94837298e-01 1.00220064e-01 -1.59590037e-02 7.69322516e+01] [-1.00186947e-01 9.94964510e-01 2.86332683e-03 -1.06205880e+00] [ 1.61656051e-02 -1.24966047e-03 9.99868547e-01 -1.99898886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849072329 meters 0.06011770261182301 Centerline is valid? [True, True] Translation: X:76.96, Y:-1.06, Z:-2.00 [[ 9.94613476e-01 1.02491332e-01 -1.54777497e-02 7.69628293e+01] [-1.02460421e-01 9.94733200e-01 2.77919498e-03 -1.06428672e+00] [ 1.56810749e-02 -1.17836803e-03 9.99876350e-01 -1.99776342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879072329 meters 0.060079708944360044 Centerline is valid? [True, True] Translation: X:76.99, Y:-1.07, Z:-2.00 [[ 9.94493175e-01 1.03720731e-01 -1.50111602e-02 7.69946711e+01] [-1.03691772e-01 9.94605823e-01 2.69685695e-03 -1.07038129e+00] [ 1.52099074e-02 -1.12547202e-03 9.99883689e-01 -1.99718729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909072329 meters 0.05851436672906466 Centerline is valid? [True, True] Translation: X:77.03, Y:-1.07, Z:-2.00 [[ 9.94376767e-01 1.04905052e-01 -1.44836485e-02 7.70269987e+01] [-1.04878175e-01 9.94481665e-01 2.60503150e-03 -1.07445157e+00] [ 1.46770039e-02 -1.07136419e-03 9.99891713e-01 -1.99578329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939072329 meters 0.0544005236841098 Centerline is valid? [True, True] Translation: X:77.06, Y:-1.07, Z:-2.00 [[ 9.94177772e-01 1.06726493e-01 -1.48328580e-02 7.70590976e+01] [-1.06698481e-01 9.94287840e-01 2.66945164e-03 -1.07486763e+00] [ 1.50330315e-02 -1.07126607e-03 9.99886424e-01 -1.99501863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969072329 meters 0.05701641379822952 Centerline is valid? [True, True] Translation: X:77.09, Y:-1.08, Z:-2.00 [[ 9.94070190e-01 1.07717187e-01 -1.48816688e-02 7.70891261e+01] [-1.07689074e-01 9.94181010e-01 2.68010226e-03 -1.08378892e+00] [ 1.50837656e-02 -1.06161664e-03 9.99885670e-01 -1.99561034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999072329 meters 0.05646427143428036 Centerline is valid? [True, True] Translation: X:77.12, Y:-1.09, Z:-2.00 [[ 9.93863600e-01 1.09491654e-01 -1.57073975e-02 7.71192377e+01] [-1.09460515e-01 9.93987112e-01 2.83125463e-03 -1.08881745e+00] [ 1.59229495e-02 -1.09454110e-03 9.99872623e-01 -1.99643165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.029072329 meters 0.05674509114230159 Centerline is valid? [True, True] Translation: X:77.15, Y:-1.09, Z:-2.00 [[ 9.93715225e-01 1.10841885e-01 -1.56245991e-02 7.71487709e+01] [-1.10811235e-01 9.93837480e-01 2.81660791e-03 -1.09470860e+00] [ 1.58405103e-02 -1.06752504e-03 9.99873961e-01 -1.99641650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059072329 meters 0.05001344573257041 Centerline is valid? [True, True] Translation: X:77.18, Y:-1.09, Z:-2.00 [[ 9.93589883e-01 1.12007185e-01 -1.52818661e-02 7.71821827e+01] [-1.11977975e-01 9.93706865e-01 2.75656069e-03 -1.09195643e+00] [ 1.54944498e-02 -1.02765839e-03 9.99879426e-01 -1.99504776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.089072329 meters 0.05458271576126269 Centerline is valid? [True, True] Translation: X:77.21, Y:-1.10, Z:-2.00 [[ 9.93416649e-01 1.13597995e-01 -1.47938125e-02 7.72115422e+01] [-1.13570759e-01 9.93526320e-01 2.67106207e-03 -1.10351085e+00] [ 1.50014694e-02 -9.73333019e-04 9.99886998e-01 -1.99535264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119072329 meters 0.04780485355779154 Centerline is valid? [True, True] Translation: X:77.24, Y:-1.10, Z:-1.99 [[ 9.93185672e-01 1.15626256e-01 -1.45873385e-02 7.72442129e+01] [-1.15599984e-01 9.93292356e-01 2.63432160e-03 -1.09984736e+00] [ 1.47940886e-02 -9.30074362e-04 9.99890129e-01 -1.99431506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.149072329 meters 0.049899630667413604 Centerline is valid? [True, True] Translation: X:77.27, Y:-1.11, Z:-1.99 [[ 9.93050396e-01 1.16784940e-01 -1.45667223e-02 7.72743371e+01] [-1.16758843e-01 9.93156807e-01 2.63222235e-03 -1.10824865e+00] [ 1.47744433e-02 -9.13135799e-04 9.99890435e-01 -1.99431419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179072329 meters 0.048246414781945315 Centerline is valid? [True, True] Translation: X:77.31, Y:-1.11, Z:-1.99 [[ 9.92855008e-01 1.18396685e-01 -1.48714017e-02 7.73062091e+01] [-1.18369609e-01 9.92965958e-01 2.69098069e-03 -1.11202411e+00] [ 1.50853988e-02 -9.11431644e-04 9.99885793e-01 -1.99437756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.209072329 meters 0.048246414781945315 Centerline is valid? [True, True] Translation: X:77.34, Y:-1.12, Z:-1.99 [[ 9.92821342e-01 1.18678747e-01 -1.48706968e-02 7.73381541e+01] [-1.18651645e-01 9.92932286e-01 2.69487159e-03 -1.11803170e+00] [ 1.50854189e-02 -9.11093400e-04 9.99885794e-01 -1.99407207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239072329 meters 0.049942861350860665 Centerline is valid? [True, True] Translation: X:77.37, Y:-1.13, Z:-2.00 [[ 9.92637099e-01 1.20134025e-01 -1.54727550e-02 7.73683727e+01] [-1.20104801e-01 9.92757248e-01 2.80770592e-03 -1.12603600e+00] [ 1.56979907e-02 -9.28680902e-04 9.99876348e-01 -1.99510265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.269072329 meters 0.04579656483174996 Centerline is valid? [True, True] Translation: X:77.40, Y:-1.13, Z:-1.99 [[ 9.92478459e-01 1.21423360e-01 -1.55845062e-02 7.74006146e+01] [-1.21393823e-01 9.92600385e-01 2.83098550e-03 -1.12656188e+00] [ 1.58129347e-02 -9.17829337e-04 9.99874546e-01 -1.99422331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299072329 meters 0.05058066854552428 Centerline is valid? [True, True] Translation: X:77.43, Y:-1.14, Z:-1.99 [[ 9.92349753e-01 1.22415561e-01 -1.60124336e-02 7.74298895e+01] [-1.22384452e-01 9.92478496e-01 2.91217265e-03 -1.13818394e+00] [ 1.62484913e-02 -9.30220894e-04 9.99867552e-01 -1.99487289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.329072329 meters 0.04204147601613339 Centerline is valid? [True, True] Translation: X:77.46, Y:-1.13, Z:-1.99 [[ 9.92125206e-01 1.24341621e-01 -1.50578093e-02 7.74628612e+01] [-1.24314309e-01 9.92239107e-01 2.74005694e-03 -1.13259562e+00] [ 1.52816503e-02 -8.46578404e-04 9.99882870e-01 -1.99279655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359072329 meters 0.044507085848806034 Centerline is valid? [True, True] Translation: X:77.49, Y:-1.14, Z:-1.99 [[ 9.91957533e-01 1.25732419e-01 -1.45468666e-02 7.74930505e+01] [-1.25707054e-01 9.92063869e-01 2.64871811e-03 -1.14123519e+00] [ 1.47644505e-02 -7.98772134e-04 9.99890681e-01 -1.99262526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38907232900002 meters 0.04450337288210232 Centerline is valid? [True, True] Translation: X:77.52, Y:-1.15, Z:-1.99 [[ 9.91807514e-01 1.26915495e-01 -1.45021261e-02 7.75241741e+01] [-1.26890359e-01 9.91913225e-01 2.64415203e-03 -1.14696613e+00] [ 1.47204345e-02 -7.82309860e-04 9.99891342e-01 -1.99253474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41907232900002 meters 0.042198562967624316 Centerline is valid? [True, True] Translation: X:77.56, Y:-1.15, Z:-1.99 [[ 9.91548477e-01 1.28807087e-01 -1.55032662e-02 7.75566008e+01] [-1.28778527e-01 9.91669339e-01 2.83079151e-03 -1.14994967e+00] [ 1.57387398e-02 -8.10379214e-04 9.99875810e-01 -1.99336441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44907232900002 meters 0.04021421581925486 Centerline is valid? [True, True] Translation: X:77.59, Y:-1.15, Z:-1.99 [[ 9.91374389e-01 1.30041144e-01 -1.63132595e-02 7.75890531e+01] [-1.30009636e-01 9.91508247e-01 2.98183615e-03 -1.15342035e+00] [ 1.65624927e-02 -8.35235063e-04 9.99862484e-01 -1.99362546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47907232900002 meters 0.04033735016813727 Centerline is valid? [True, True] Translation: X:77.62, Y:-1.16, Z:-1.99 [[ 9.91224401e-01 1.31221857e-01 -1.59690670e-02 7.76200538e+01] [-1.31191775e-01 9.91352704e-01 2.92152340e-03 -1.15922374e+00] [ 1.62143454e-02 -8.00875045e-04 9.99868218e-01 -1.99392313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509072329 meters 0.041422478912284434 Centerline is valid? [True, True] Translation: X:77.65, Y:-1.17, Z:-1.99 [[ 9.90960807e-01 1.33248870e-01 -1.55375897e-02 7.76500055e+01] [-1.33220600e-01 9.91082326e-01 2.84515374e-03 -1.16601850e+00] [ 1.57781441e-02 -7.49508826e-04 9.99875236e-01 -1.99375208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539072329 meters 0.036287042201214155 Centerline is valid? [True, True] Translation: X:77.68, Y:-1.17, Z:-1.99 [[ 9.90797074e-01 1.34512780e-01 -1.50820849e-02 7.76828186e+01] [-1.34486261e-01 9.90911605e-01 2.76362136e-03 -1.16516448e+00] [ 1.53167553e-02 -7.09854759e-04 9.99882440e-01 -1.99176236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569072329 meters 0.040705695842071184 Centerline is valid? [True, True] Translation: X:77.71, Y:-1.18, Z:-1.99 [[ 9.90645088e-01 1.35661429e-01 -1.47745431e-02 7.77121113e+01] [-1.35636059e-01 9.90755022e-01 2.71048995e-03 -1.17664772e+00] [ 1.50056617e-02 -6.81172759e-04 9.99887177e-01 -1.99167176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599072329 meters 0.03601363255368678 Centerline is valid? [True, True] Translation: X:77.74, Y:-1.18, Z:-1.99 [[ 9.90340414e-01 1.37898220e-01 -1.44894606e-02 7.77443018e+01] [-1.37874036e-01 9.90446200e-01 2.65974426e-03 -1.17600507e+00] [ 1.47178052e-02 -6.36331820e-04 9.99891485e-01 -1.99038576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629072329 meters 0.03681108845538924 Centerline is valid? [True, True] Translation: X:77.77, Y:-1.18, Z:-1.99 [[ 9.90188337e-01 1.38987887e-01 -1.44714869e-02 7.77747136e+01] [-1.38963863e-01 9.90293887e-01 2.65754920e-03 -1.18229118e+00] [ 1.47003921e-02 -6.20460506e-04 9.99891751e-01 -1.99128923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659072329 meters 0.035363713396382626 Centerline is valid? [True, True] Translation: X:77.81, Y:-1.19, Z:-1.99 [[ 9.90014085e-01 1.40206200e-01 -1.46401183e-02 7.78063072e+01] [-1.40181705e-01 9.90122137e-01 2.69125237e-03 -1.18615695e+00] [ 1.48728355e-02 -6.12101007e-04 9.99889206e-01 -1.99099650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689072329 meters 0.03756960851728812 Centerline is valid? [True, True] Translation: X:77.84, Y:-1.19, Z:-1.99 [[ 9.89825462e-01 1.41463147e-01 -1.52883212e-02 7.78368187e+01] [-1.41436522e-01 9.89943326e-01 2.81438581e-03 -1.19475259e+00] [ 1.55327034e-02 -6.23423751e-04 9.99879166e-01 -1.99219424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719072329 meters 0.031395181125291445 Centerline is valid? [True, True] Translation: X:77.87, Y:-1.19, Z:-1.99 [[ 9.89507100e-01 1.43685632e-01 -1.51703210e-02 7.78695966e+01] [-1.43659637e-01 9.89623209e-01 2.79530415e-03 -1.19171439e+00] [ 1.54145467e-02 -5.86610507e-04 9.99881017e-01 -1.99143603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.749072329 meters 0.03256858356761359 Centerline is valid? [True, True] Translation: X:77.90, Y:-1.20, Z:-1.99 [[ 9.89433646e-01 1.44208468e-01 -1.49992407e-02 7.78997424e+01] [-1.44183087e-01 9.89547163e-01 2.76567851e-03 -1.19840174e+00] [ 1.52412903e-02 -5.73818557e-04 9.99883680e-01 -1.99132413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779072329 meters 0.03199960750975358 Centerline is valid? [True, True] Translation: X:77.93, Y:-1.20, Z:-1.99 [[ 9.89202918e-01 1.45739913e-01 -1.54099067e-02 7.79300868e+01] [-1.45713250e-01 9.89322775e-01 2.84512193e-03 -1.20330675e+00] [ 1.56600194e-02 -5.68975332e-04 9.99877212e-01 -1.99090504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.809072329 meters 0.03075118480153751 Centerline is valid? [True, True] Translation: X:77.96, Y:-1.21, Z:-1.99 [[ 9.88951522e-01 1.47472220e-01 -1.50609517e-02 7.79622909e+01] [-1.47446897e-01 9.89066055e-01 2.78426982e-03 -1.20724643e+00] [ 1.53068785e-02 -5.32817288e-04 9.99882701e-01 -1.99015206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839072329 meters 0.027008862289678255 Centerline is valid? [True, True] Translation: X:77.99, Y:-1.21, Z:-1.99 [[ 9.88821969e-01 1.48450642e-01 -1.39111687e-02 7.79944947e+01] [-1.48429086e-01 9.88919701e-01 2.57511904e-03 -1.20811855e+00] [ 1.41393068e-02 -4.81512229e-04 9.99899919e-01 -1.98881481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.869072329 meters 0.028388732136711198 Centerline is valid? [True, True] Translation: X:78.03, Y:-1.22, Z:-1.99 [[ 9.88462140e-01 1.50825482e-01 -1.39381232e-02 7.80251095e+01] [-1.50804026e-01 9.88560302e-01 2.58376140e-03 -1.21538120e+00] [ 1.41683724e-02 -4.52025220e-04 9.99899521e-01 -1.98900074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899072329 meters 0.024888236517700304 Centerline is valid? [True, True] Translation: X:78.06, Y:-1.22, Z:-1.99 [[ 9.88314361e-01 1.51814847e-01 -1.36739476e-02 7.80575590e+01] [-1.51794245e-01 9.88408855e-01 2.53822873e-03 -1.21649089e+00] [ 1.39007917e-02 -4.32941360e-04 9.99903286e-01 -1.98836595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.929072329 meters 0.024853009757808773 Centerline is valid? [True, True] Translation: X:78.09, Y:-1.22, Z:-1.99 [[ 9.88120341e-01 1.53092483e-01 -1.34493232e-02 7.80885682e+01] [-1.53072622e-01 9.88211780e-01 2.50002267e-03 -1.22188401e+00] [ 1.36735143e-02 -4.11600073e-04 9.99906428e-01 -1.98866546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959072329 meters 0.02326949337822949 Centerline is valid? [True, True] Translation: X:78.12, Y:-1.23, Z:-1.99 [[ 9.87929074e-01 1.54327994e-01 -1.33796196e-02 7.81209690e+01] [-1.54308405e-01 9.88019592e-01 2.49044905e-03 -1.22558274e+00] [ 1.36036723e-02 -3.95799264e-04 9.99907387e-01 -1.98803170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.989072329 meters 0.02242426275834629 Centerline is valid? [True, True] Translation: X:78.15, Y:-1.23, Z:-1.99 [[ 9.87575736e-01 1.56570310e-01 -1.34128048e-02 7.81519946e+01] [-1.56550783e-01 9.87666746e-01 2.50013556e-03 -1.23021080e+00] [ 1.36388283e-02 -3.69288120e-04 9.99906919e-01 -1.98736731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019072329 meters 0.023314561878484432 Centerline is valid? [True, True] Translation: X:78.18, Y:-1.24, Z:-1.99 [[ 9.87403613e-01 1.57612900e-01 -1.38664257e-02 7.81825770e+01] [-1.57592083e-01 9.87500905e-01 2.58818080e-03 -1.23715165e+00] [ 1.41010386e-02 -3.70340160e-04 9.99900507e-01 -1.98732250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.049072329 meters 0.022793154858875144 Centerline is valid? [True, True] Translation: X:78.21, Y:-1.24, Z:-1.99 [[ 9.87278804e-01 1.58432773e-01 -1.34022261e-02 7.82139437e+01] [-1.58413358e-01 9.87369705e-01 2.50478941e-03 -1.24216544e+00] [ 1.36297928e-02 -3.49833859e-04 9.99907049e-01 -1.98751723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079072329 meters 0.0211933823501616 Centerline is valid? [True, True] Translation: X:78.25, Y:-1.25, Z:-1.99 [[ 9.86948776e-01 1.60433640e-01 -1.38981878e-02 7.82457388e+01] [-1.60412908e-01 9.87046571e-01 2.60112481e-03 -1.24537099e+00] [ 1.41354665e-02 -3.37728231e-04 9.99900032e-01 -1.98790391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.109072329 meters 0.02022485353303115 Centerline is valid? [True, True] Translation: X:78.28, Y:-1.25, Z:-1.99 [[ 9.86762996e-01 1.61542544e-01 -1.42406804e-02 7.82775013e+01] [-1.61520839e-01 9.86865693e-01 2.66896237e-03 -1.24976392e+00] [ 1.44847899e-02 -3.33466655e-04 9.99895034e-01 -1.98831522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13907232900002 meters 0.020507541741093944 Centerline is valid? [True, True] Translation: X:78.31, Y:-1.26, Z:-1.99 [[ 9.86643960e-01 1.62313429e-01 -1.37130052e-02 7.83082208e+01] [-1.62293329e-01 9.86739202e-01 2.57345866e-03 -1.25531495e+00] [ 1.39488667e-02 -3.13558164e-04 9.99902661e-01 -1.98766124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16907232900002 meters 0.019481408127942655 Centerline is valid? [True, True] Translation: X:78.34, Y:-1.26, Z:-1.99 [[ 9.86342439e-01 1.64208793e-01 -1.28087863e-02 7.83387415e+01] [-1.64191379e-01 9.86425567e-01 2.40666993e-03 -1.25936429e+00] [ 1.30301106e-02 -2.70708413e-04 9.99915068e-01 -1.98609078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19907232900002 meters 0.01788168744469428 Centerline is valid? [True, True] Translation: X:78.37, Y:-1.26, Z:-1.98 [[ 9.86240120e-01 1.64859667e-01 -1.23172663e-02 7.83707850e+01] [-1.64843579e-01 9.86317000e-01 2.31719307e-03 -1.26272036e+00] [ 1.25307409e-02 -2.54886511e-04 9.99921455e-01 -1.98495279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22907232900002 meters 0.018439679665610234 Centerline is valid? [True, True] Translation: X:78.40, Y:-1.27, Z:-1.98 [[ 9.86098266e-01 1.65705426e-01 -1.23256181e-02 7.84012353e+01] [-1.65689342e-01 9.86175264e-01 2.32192935e-03 -1.26899532e+00] [ 1.25399759e-02 -2.47426961e-04 9.99921341e-01 -1.98442698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259072329 meters 0.017047938445324415 Centerline is valid? [True, True] Translation: X:78.43, Y:-1.27, Z:-1.98 [[ 9.85972033e-01 1.66449435e-01 -1.23990151e-02 7.84328786e+01] [-1.66433179e-01 9.86049962e-01 2.33882727e-03 -1.27265638e+00] [ 1.26153449e-02 -2.42410773e-04 9.99920394e-01 -1.98452708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289072329 meters 0.01666376481704283 Centerline is valid? [True, True] Translation: X:78.46, Y:-1.28, Z:-1.99 [[ 9.85717994e-01 1.67848627e-01 -1.36701907e-02 7.84637132e+01] [-1.67828949e-01 9.85812749e-01 2.58235384e-03 -1.27698857e+00] [ 1.39096928e-02 -2.51218907e-04 9.99903224e-01 -1.98568233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319072329 meters 0.016964317706658186 Centerline is valid? [True, True] Translation: X:78.49, Y:-1.28, Z:-1.99 [[ 9.85648910e-01 1.68209200e-01 -1.42088232e-02 7.84947545e+01] [-1.68187931e-01 9.85751286e-01 2.68734937e-03 -1.28273986e+00] [ 1.44584026e-02 -2.59030404e-04 9.99895438e-01 -1.98638163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349072329 meters 0.015743190338803437 Centerline is valid? [True, True] Translation: X:78.53, Y:-1.29, Z:-1.99 [[ 9.85498391e-01 1.69129352e-01 -1.37180338e-02 7.85263051e+01] [-1.69109577e-01 9.85593834e-01 2.59735333e-03 -1.28679407e+00] [ 1.39596982e-02 -2.39836632e-04 9.99902530e-01 -1.98554468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379072329 meters 0.016179128956094774 Centerline is valid? [True, True] Translation: X:78.56, Y:-1.29, Z:-1.98 [[ 9.85333666e-01 1.70154733e-01 -1.28426719e-02 7.85569408e+01] [-1.70137446e-01 9.85417333e-01 2.43481564e-03 -1.29281296e+00] [ 1.30696869e-02 -2.14086424e-04 9.99914565e-01 -1.98457530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409072329 meters 0.015985531604892612 Centerline is valid? [True, True] Translation: X:78.59, Y:-1.30, Z:-1.98 [[ 9.85211596e-01 1.70864550e-01 -1.27834785e-02 7.85895034e+01] [-1.70847438e-01 9.85294506e-01 2.42700566e-03 -1.29875406e+00] [ 1.30101804e-02 -2.07089568e-04 9.99915343e-01 -1.98353808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439072329 meters 0.015364943780373709 Centerline is valid? [True, True] Translation: X:78.62, Y:-1.30, Z:-1.98 [[ 9.85120256e-01 1.71430168e-01 -1.22384025e-02 7.86223082e+01] [-1.71414485e-01 9.85196254e-01 2.32695022e-03 -1.30409768e+00] [ 1.24561377e-02 -1.94486343e-04 9.99922400e-01 -1.98278116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469072329 meters 0.014942114723342123 Centerline is valid? [True, True] Translation: X:78.65, Y:-1.31, Z:-1.98 [[ 9.84943139e-01 1.72402349e-01 -1.28235705e-02 7.86541483e+01] [-1.72385164e-01 9.85026595e-01 2.44194900e-03 -1.30921408e+00] [ 1.30525558e-02 -1.94587609e-04 9.99914793e-01 -1.98245145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499072329 meters 0.014444147340512923 Centerline is valid? [True, True] Translation: X:78.69, Y:-1.31, Z:-1.98 [[ 9.84880197e-01 1.72780637e-01 -1.25638171e-02 7.86865369e+01] [-1.72764129e-01 9.84960312e-01 2.39579517e-03 -1.31442931e+00] [ 1.27888082e-02 -1.88994302e-04 9.99918202e-01 -1.98187832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.529072329 meters 0.014513313186858048 Centerline is valid? [True, True] Translation: X:78.72, Y:-1.32, Z:-1.98 [[ 9.84731029e-01 1.73599885e-01 -1.29568415e-02 7.87184330e+01] [-1.73582348e-01 9.84816249e-01 2.47465028e-03 -1.32030604e+00] [ 1.31897070e-02 -1.87785950e-04 9.99912994e-01 -1.98262765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559072329 meters 0.014938572547242748 Centerline is valid? [True, True] Translation: X:78.75, Y:-1.33, Z:-1.98 [[ 9.84659632e-01 1.73989143e-01 -1.31600757e-02 7.87501782e+01] [-1.73971042e-01 9.84747553e-01 2.51679563e-03 -1.32685426e+00] [ 1.33972475e-02 -1.88714977e-04 9.99910235e-01 -1.98291154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.589072329 meters 0.014106028138404496 Centerline is valid? [True, True] Translation: X:78.78, Y:-1.33, Z:-1.98 [[ 9.84592157e-01 1.74328047e-01 -1.37119326e-02 7.87826475e+01] [-1.74308386e-01 9.84687612e-01 2.62538916e-03 -1.33154283e+00] [ 1.39596491e-02 -1.94832742e-04 9.99902540e-01 -1.98209561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619072329 meters 0.014198837385643788 Centerline is valid? [True, True] Translation: X:78.81, Y:-1.34, Z:-1.98 [[ 9.84556041e-01 1.74584368e-01 -1.30268869e-02 7.88141406e+01] [-1.74566596e-01 9.84642201e-01 2.49785781e-03 -1.33776698e+00] [ 1.32629095e-02 -1.85221693e-04 9.99912027e-01 -1.98152851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.649072329 meters 0.01438270236038734 Centerline is valid? [True, True] Translation: X:78.85, Y:-1.34, Z:-1.98 [[ 9.84485139e-01 1.75016374e-01 -1.25809014e-02 7.88450533e+01] [-1.74999791e-01 9.84565507e-01 2.41570460e-03 -1.34390468e+00] [ 1.28095094e-02 -1.76570175e-04 9.99917939e-01 -1.98074037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679072329 meters 0.014455811002580098 Centerline is valid? [True, True] Translation: X:78.88, Y:-1.35, Z:-1.98 [[ 9.84519139e-01 1.74834090e-01 -1.24541518e-02 7.88776941e+01] [-1.74817781e-01 9.84597892e-01 2.39478657e-03 -1.35006954e+00] [ 1.26810220e-02 -1.80506025e-04 9.99919576e-01 -1.98005266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.709072329 meters 0.0148295714964768 Centerline is valid? [True, True] Translation: X:78.91, Y:-1.36, Z:-1.98 [[ 9.84496566e-01 1.75002530e-01 -1.18585713e-02 7.89089724e+01] [-1.74987717e-01 9.84567968e-01 2.28352971e-03 -1.35700243e+00] [ 1.20751929e-02 -1.73022857e-04 9.99927077e-01 -1.97933453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739072329 meters 0.015262629500904684 Centerline is valid? [True, True] Translation: X:78.94, Y:-1.36, Z:-1.98 [[ 9.84507337e-01 1.74908249e-01 -1.23453704e-02 7.89402883e+01] [-1.74892144e-01 9.84584720e-01 2.38070783e-03 -1.36351936e+00] [ 1.25714685e-02 -1.84716039e-04 9.99920959e-01 -1.97901506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.769072329 meters 0.015436591507829127 Centerline is valid? [True, True] Translation: X:78.97, Y:-1.37, Z:-1.98 [[ 9.84522816e-01 1.74807514e-01 -1.25362832e-02 7.89721519e+01] [-1.74790854e-01 9.84602608e-01 2.42096013e-03 -1.36985939e+00] [ 1.27664592e-02 -1.92262830e-04 9.99918487e-01 -1.97941598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799072329 meters 0.014937953669766057 Centerline is valid? [True, True] Translation: X:79.00, Y:-1.38, Z:-1.98 [[ 9.84546944e-01 1.74681893e-01 -1.23915635e-02 7.90046643e+01] [-1.74665562e-01 9.84624902e-01 2.39652770e-03 -1.37505421e+00] [ 1.26196720e-02 -1.95114627e-04 9.99920350e-01 -1.98024576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.829072329 meters 0.015654584980407074 Centerline is valid? [True, True] Translation: X:79.04, Y:-1.38, Z:-1.98 [[ 9.84587738e-01 1.74429136e-01 -1.27067882e-02 7.90356574e+01] [-1.74411894e-01 9.84669708e-01 2.46125085e-03 -1.38231507e+00] [ 1.29413033e-02 -2.07102408e-04 9.99916236e-01 -1.98016223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859072329 meters 0.015182496966561364 Centerline is valid? [True, True] Translation: X:79.07, Y:-1.39, Z:-1.98 [[ 9.84620436e-01 1.74281696e-01 -1.21855707e-02 7.90683738e+01] [-1.74265786e-01 9.84695816e-01 2.36362533e-03 -1.38819413e+00] [ 1.24110171e-02 -2.03745742e-04 9.99922960e-01 -1.97917056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88907232900002 meters 0.016537241335282088 Centerline is valid? [True, True] Translation: X:79.10, Y:-1.40, Z:-1.98 [[ 9.84604244e-01 1.74375392e-01 -1.21533742e-02 7.90995901e+01] [-1.74359532e-01 9.84679227e-01 2.36070118e-03 -1.39688412e+00] [ 1.23788233e-02 -2.05299754e-04 9.99923358e-01 -1.97898306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91907232900002 meters 0.01703387941137365 Centerline is valid? [True, True] Translation: X:79.13, Y:-1.40, Z:-1.98 [[ 9.84778300e-01 1.73406285e-01 -1.19146692e-02 7.91305654e+01] [-1.73390942e-01 9.84850351e-01 2.31670602e-03 -1.40356919e+00] [ 1.21358976e-02 -2.15546087e-04 9.99926334e-01 -1.97811277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94907232900002 meters 0.016660850502198052 Centerline is valid? [True, True] Translation: X:79.16, Y:-1.41, Z:-1.98 [[ 9.84777069e-01 1.73406378e-01 -1.20146734e-02 7.91624782e+01] [-1.73390738e-01 9.84850334e-01 2.33931321e-03 -1.40959176e+00] [ 1.22383069e-02 -2.20468920e-04 9.99925085e-01 -1.97763505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97907232900002 meters 0.017834662981616598 Centerline is valid? [True, True] Translation: X:79.19, Y:-1.42, Z:-1.98 [[ 9.84820174e-01 1.73136816e-01 -1.23639549e-02 7.91931676e+01] [-1.73120186e-01 9.84897755e-01 2.41099936e-03 -1.41731438e+00] [ 1.25946642e-02 -2.33950632e-04 9.99920657e-01 -1.97794120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009072329 meters 0.018916099117903883 Centerline is valid? [True, True] Translation: X:79.22, Y:-1.43, Z:-1.98 [[ 9.84999119e-01 1.72116004e-01 -1.23618995e-02 7.92240335e+01] [-1.72099258e-01 9.85076656e-01 2.41393006e-03 -1.42517355e+00] [ 1.25928946e-02 -2.50245253e-04 9.99920675e-01 -1.97803547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039072329 meters 0.01872258273222736 Centerline is valid? [True, True] Translation: X:79.26, Y:-1.43, Z:-1.98 [[ 9.85038964e-01 1.71861578e-01 -1.27215691e-02 7.92567494e+01] [-1.71843777e-01 9.85121073e-01 2.48756102e-03 -1.43167091e+00] [ 1.29598020e-02 -2.64222033e-04 9.99915983e-01 -1.97719557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069072329 meters 0.01872258273222736 Centerline is valid? [True, True] Translation: X:79.29, Y:-1.44, Z:-1.98 [[ 9.84990420e-01 1.72139628e-01 -1.27208673e-02 7.92885701e+01] [-1.72121804e-01 9.85072525e-01 2.49114553e-03 -1.43812594e+00] [ 1.29598017e-02 -2.64215848e-04 9.99915983e-01 -1.97689049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099072329 meters 0.01875670403480237 Centerline is valid? [True, True] Translation: X:79.32, Y:-1.44, Z:-1.98 [[ 9.85073839e-01 1.71700418e-01 -1.21860203e-02 7.93203189e+01] [-1.71683986e-01 9.85149175e-01 2.38976408e-03 -1.44489643e+00] [ 1.24153713e-02 -2.61949541e-04 9.99922892e-01 -1.97632402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129072329 meters 0.019902938651409758 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.45, Z:-1.97 [[ 9.85260424e-01 1.70641145e-01 -1.19789920e-02 7.93510609e+01] [-1.70625152e-01 9.85333205e-01 2.35217569e-03 -1.45272206e+00] [ 1.22046765e-02 -2.73588295e-04 9.99925483e-01 -1.97488773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159072329 meters 0.021442682898050194 Centerline is valid? [True, True] Translation: X:79.38, Y:-1.46, Z:-1.97 [[ 9.85377124e-01 1.69947787e-01 -1.22341035e-02 7.93816165e+01] [-1.69931018e-01 9.85453025e-01 2.40493639e-03 -1.46086992e+00] [ 1.24648480e-02 -2.90815632e-04 9.99922268e-01 -1.97457618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189072329 meters 0.02246497835039211 Centerline is valid? [True, True] Translation: X:79.41, Y:-1.47, Z:-1.98 [[ 9.85529419e-01 1.68994233e-01 -1.31420301e-02 7.94127664e+01] [-1.68974767e-01 9.85616985e-01 2.58578620e-03 -1.46834430e+00] [ 1.33899911e-02 -3.27696892e-04 9.99910296e-01 -1.97530753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219072329 meters 0.022089900125550746 Centerline is valid? [True, True] Translation: X:79.44, Y:-1.47, Z:-1.98 [[ 9.85639519e-01 1.68354669e-01 -1.30936939e-02 7.94439863e+01] [-1.68335245e-01 9.85726428e-01 2.57959627e-03 -1.47384576e+00] [ 1.33410872e-02 -3.38421851e-04 9.99910946e-01 -1.97510337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.249072329 meters 0.0237875472474458 Centerline is valid? [True, True] Translation: X:79.47, Y:-1.48, Z:-1.98 [[ 9.85732142e-01 1.67811625e-01 -1.30921088e-02 7.94735234e+01] [-1.67792119e-01 9.85819018e-01 2.58217638e-03 -1.48238042e+00] [ 1.33397691e-02 -3.48581568e-04 9.99910961e-01 -1.97521640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279072329 meters 0.02425087258647387 Centerline is valid? [True, True] Translation: X:79.50, Y:-1.49, Z:-1.97 [[ 9.85969166e-01 1.66473603e-01 -1.23021494e-02 7.95046716e+01] [-1.66456252e-01 9.86045851e-01 2.42828172e-03 -1.49002194e+00] [ 1.25347282e-02 -3.46441216e-04 9.99921377e-01 -1.97445235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.309072329 meters 0.025182921994949058 Centerline is valid? [True, True] Translation: X:79.54, Y:-1.50, Z:-1.97 [[ 9.86107530e-01 1.65673217e-01 -1.20135351e-02 7.95358480e+01] [-1.65656574e-01 9.86180644e-01 2.37433074e-03 -1.49753181e+00] [ 1.22408788e-02 -3.51224347e-04 9.99925016e-01 -1.97377274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339072329 meters 0.026027614388488562 Centerline is valid? [True, True] Translation: X:79.57, Y:-1.51, Z:-1.97 [[ 9.86201103e-01 1.65128094e-01 -1.18362894e-02 7.95669401e+01] [-1.65111864e-01 9.86272065e-01 2.34228411e-03 -1.50560277e+00] [ 1.20605785e-02 -3.55651369e-04 9.99927205e-01 -1.97333142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.369072329 meters 0.028040341481912184 Centerline is valid? [True, True] Translation: X:79.60, Y:-1.52, Z:-1.97 [[ 9.86479557e-01 1.63459675e-01 -1.17905567e-02 7.95968388e+01] [-1.63443416e-01 9.86549944e-01 2.33616873e-03 -1.51502608e+00] [ 1.20138424e-02 -3.77493822e-04 9.99927760e-01 -1.97247532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399072329 meters 0.02877048826247031 Centerline is valid? [True, True] Translation: X:79.63, Y:-1.52, Z:-1.97 [[ 9.86585981e-01 1.62777433e-01 -1.23129879e-02 7.96281916e+01] [-1.62759610e-01 9.86662730e-01 2.44271551e-03 -1.52273292e+00] [ 1.25463852e-02 -4.05891773e-04 9.99921209e-01 -1.97237215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.429072329 meters 0.027487044774442065 Centerline is valid? [True, True] Translation: X:79.66, Y:-1.53, Z:-1.97 [[ 9.86704760e-01 1.62063679e-01 -1.22098739e-02 7.96596782e+01] [-1.62046060e-01 9.86780215e-01 2.42535473e-03 -1.52764326e+00] [ 1.24415239e-02 -4.14547108e-04 9.99922515e-01 -1.97180824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459072329 meters 0.02753127322747713 Centerline is valid? [True, True] Translation: X:79.69, Y:-1.53, Z:-1.97 [[ 9.86860412e-01 1.61103587e-01 -1.23353735e-02 7.96914437e+01] [-1.61085488e-01 9.86937407e-01 2.45357058e-03 -1.53422006e+00] [ 1.25695206e-02 -4.34282009e-04 9.99920906e-01 -1.97123586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.489072329 meters 0.03259945358418752 Centerline is valid? [True, True] Translation: X:79.72, Y:-1.55, Z:-1.97 [[ 9.87135021e-01 1.59420869e-01 -1.22244650e-02 7.97201063e+01] [-1.59402930e-01 9.87210606e-01 2.43435816e-03 -1.54753232e+00] [ 1.24562090e-02 -4.54424658e-04 9.99922315e-01 -1.97182871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519072329 meters 0.030285538585516063 Centerline is valid? [True, True] Translation: X:79.75, Y:-1.55, Z:-1.97 [[ 9.87212962e-01 1.58935154e-01 -1.22550039e-02 7.97524836e+01] [-1.58917062e-01 9.87288915e-01 2.44247230e-03 -1.55140076e+00] [ 1.24874242e-02 -4.63711105e-04 9.99921922e-01 -1.97137350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.549072329 meters 0.034796867646191054 Centerline is valid? [True, True] Translation: X:79.78, Y:-1.56, Z:-1.97 [[ 9.87296978e-01 1.58387855e-01 -1.25684191e-02 7.97819735e+01] [-1.58368739e-01 9.87376854e-01 2.50822067e-03 -1.56380205e+00] [ 1.28070378e-02 -4.85913990e-04 9.99917868e-01 -1.97147788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579072329 meters 0.03171780863519379 Centerline is valid? [True, True] Translation: X:79.81, Y:-1.57, Z:-1.97 [[ 9.87511822e-01 1.57113691e-01 -1.16485936e-02 7.98140975e+01] [-1.57097150e-01 9.87580411e-01 2.32736234e-03 -1.56658795e+00] [ 1.18695834e-02 -4.68336963e-04 9.99929444e-01 -1.97101963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.609072329 meters 0.035193745084612496 Centerline is valid? [True, True] Translation: X:79.84, Y:-1.58, Z:-1.97 [[ 9.87678474e-01 1.56073786e-01 -1.14980856e-02 7.98439805e+01] [-1.56057568e-01 9.87745284e-01 2.30001932e-03 -1.57733086e+00] [ 1.17161526e-02 -4.77316293e-04 9.99931250e-01 -1.97033529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63907232900002 meters 0.03484482885039364 Centerline is valid? [True, True] Translation: X:79.88, Y:-1.58, Z:-1.97 [[ 9.87747632e-01 1.55661326e-01 -1.11430238e-02 7.98758402e+01] [-1.55646048e-01 9.87810372e-01 2.23072826e-03 -1.58390410e+00] [ 1.13544326e-02 -4.69028937e-04 9.99935426e-01 -1.96961284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66907232900002 meters 0.03451100507591017 Centerline is valid? [True, True] Translation: X:79.91, Y:-1.59, Z:-1.97 [[ 9.88035677e-01 1.53789628e-01 -1.15867042e-02 7.99067752e+01] [-1.53772944e-01 9.88103480e-01 2.32260124e-03 -1.59015095e+00] [ 1.18060547e-02 -5.13091281e-04 9.99930174e-01 -1.96982859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69907232900002 meters 0.035996792823140375 Centerline is valid? [True, True] Translation: X:79.94, Y:-1.60, Z:-1.97 [[ 9.88136383e-01 1.53107778e-01 -1.20207195e-02 7.99363042e+01] [-1.53089735e-01 9.88209347e-01 2.41253541e-03 -1.59859471e+00] [ 1.22483653e-02 -5.43665256e-04 9.99924838e-01 -1.97042235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72907232900002 meters 0.0384763242176501 Centerline is valid? [True, True] Translation: X:79.97, Y:-1.61, Z:-1.97 [[ 9.88253047e-01 1.52282194e-01 -1.28860178e-02 7.99660493e+01] [-1.52261351e-01 9.88336874e-01 2.58912518e-03 -1.60823097e+00] [ 1.31300042e-02 -5.96668379e-04 9.99913620e-01 -1.97102830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759072329 meters 0.04028256505680217 Centerline is valid? [True, True] Translation: X:80.00, Y:-1.62, Z:-1.97 [[ 9.88567460e-01 1.50167467e-01 -1.35687036e-02 7.99963845e+01] [-1.50144112e-01 9.88660354e-01 2.72966414e-03 -1.61721997e+00] [ 1.38247460e-02 -6.61196203e-04 9.99904215e-01 -1.97158737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789072329 meters 0.03988261436782248 Centerline is valid? [True, True] Translation: X:80.03, Y:-1.62, Z:-1.97 [[ 9.88681243e-01 1.49445190e-01 -1.32489621e-02 8.00277303e+01] [-1.49422815e-01 9.88769792e-01 2.66850742e-03 -1.62376587e+00] [ 1.34989691e-02 -6.58606016e-04 9.99908668e-01 -1.97074845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819072329 meters 0.04566614126516806 Centerline is valid? [True, True] Translation: X:80.06, Y:-1.64, Z:-1.97 [[ 9.88832368e-01 1.48479914e-01 -1.28164907e-02 8.00563786e+01] [-1.48458854e-01 9.88915208e-01 2.58455563e-03 -1.63773060e+00] [ 1.30581771e-02 -6.52970746e-04 9.99914525e-01 -1.97012455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849072329 meters 0.04390695787212846 Centerline is valid? [True, True] Translation: X:80.09, Y:-1.64, Z:-1.97 [[ 9.89072930e-01 1.46963588e-01 -1.16808947e-02 8.00874228e+01] [-1.46945958e-01 9.89141711e-01 2.35812050e-03 -1.64331937e+00] [ 1.19006181e-02 -6.15892878e-04 9.99928995e-01 -1.96789053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879072329 meters 0.04564142382709488 Centerline is valid? [True, True] Translation: X:80.12, Y:-1.65, Z:-1.97 [[ 9.89211964e-01 1.46051943e-01 -1.13366951e-02 8.01172132e+01] [-1.46035248e-01 9.89276734e-01 2.29120418e-03 -1.65222143e+00] [ 1.15497635e-02 -6.10929507e-04 9.99933113e-01 -1.96728455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909072329 meters 0.04277321229208869 Centerline is valid? [True, True] Translation: X:80.15, Y:-1.66, Z:-1.97 [[ 9.89280696e-01 1.45571821e-01 -1.15130288e-02 8.01489232e+01] [-1.45554538e-01 9.89347487e-01 2.32959206e-03 -1.65559813e+00] [ 1.17295091e-02 -6.28846871e-04 9.99931009e-01 -1.96723763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939072329 meters 0.047753094156990285 Centerline is valid? [True, True] Translation: X:80.18, Y:-1.67, Z:-1.97 [[ 9.89428862e-01 1.44579604e-01 -1.12812135e-02 8.01776581e+01] [-1.44562918e-01 9.89492972e-01 2.28510643e-03 -1.66849786e+00] [ 1.14930612e-02 -6.30105120e-04 9.99933754e-01 -1.96741915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969072329 meters 0.04785513180030843 Centerline is valid? [True, True] Translation: X:80.21, Y:-1.68, Z:-1.97 [[ 9.89704915e-01 1.42576097e-01 -1.24995433e-02 8.02085088e+01] [-1.42555446e-01 9.89783578e-01 2.53238761e-03 -1.67546226e+00] [ 1.27329006e-02 -7.24438503e-04 9.99918671e-01 -1.96763614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999072329 meters 0.04450357279652285 Centerline is valid? [True, True] Translation: X:80.24, Y:-1.68, Z:-1.97 [[ 9.89729514e-01 1.42421907e-01 -1.23080798e-02 8.02408848e+01] [-1.42401858e-01 9.89805782e-01 2.49473636e-03 -1.67823138e+00] [ 1.25379136e-02 -7.16420775e-04 9.99921141e-01 -1.96714249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.029072329 meters 0.04952351196011965 Centerline is valid? [True, True] Translation: X:80.27, Y:-1.69, Z:-1.97 [[ 9.89826391e-01 1.41707996e-01 -1.27498762e-02 8.02697351e+01] [-1.41686379e-01 9.89908215e-01 2.58762907e-03 -1.69130756e+00] [ 1.29878949e-02 -7.54819760e-04 9.99915369e-01 -1.96719881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059072329 meters 0.05209662484918927 Centerline is valid? [True, True] Translation: X:80.30, Y:-1.70, Z:-1.97 [[ 9.90031798e-01 1.40302612e-01 -1.23376018e-02 8.02996050e+01] [-1.40282226e-01 9.90108384e-01 2.50681639e-03 -1.70169130e+00] [ 1.25672759e-02 -7.51081692e-04 9.99920747e-01 -1.96631817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.089072329 meters 0.052714366013887765 Centerline is valid? [True, True] Translation: X:80.33, Y:-1.71, Z:-1.97 [[ 9.90072765e-01 1.40027697e-01 -1.21722596e-02 8.03306989e+01] [-1.40007798e-01 9.90147305e-01 2.47603440e-03 -1.70972210e+00] [ 1.23990434e-02 -7.47242962e-04 9.99922850e-01 -1.96547248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119072329 meters 0.04912155620895111 Centerline is valid? [True, True] Translation: X:80.36, Y:-1.71, Z:-1.96 [[ 9.90290211e-01 1.38483841e-01 -1.21459493e-02 8.03631470e+01] [-1.38463882e-01 9.90364396e-01 2.47313994e-03 -1.71201827e+00] [ 1.23714057e-02 -7.67350985e-04 9.99923177e-01 -1.96479215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.149072329 meters 0.050063195832355856 Centerline is valid? [True, True] Translation: X:80.39, Y:-1.72, Z:-1.96 [[ 9.90324150e-01 1.38235434e-01 -1.22082700e-02 8.03930823e+01] [-1.38215234e-01 9.90399093e-01 2.48723008e-03 -1.72016966e+00] [ 1.24348829e-02 -7.75795125e-04 9.99922383e-01 -1.96442149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179072329 meters 0.05246804482367954 Centerline is valid? [True, True] Translation: X:80.42, Y:-1.73, Z:-1.96 [[ 9.90393764e-01 1.37761111e-01 -1.19192374e-02 8.04226967e+01] [-1.37741788e-01 9.90465188e-01 2.43111641e-03 -1.72971122e+00] [ 1.21405030e-02 -7.65985461e-04 9.99926008e-01 -1.96429404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.209072329 meters 0.054582140568269745 Centerline is valid? [True, True] Translation: X:80.45, Y:-1.74, Z:-1.96 [[ 9.90541069e-01 1.36739831e-01 -1.14284080e-02 8.04527945e+01] [-1.36721969e-01 9.90606712e-01 2.33358528e-03 -1.73958333e+00] [ 1.16401518e-02 -7.48997605e-04 9.99931971e-01 -1.96347894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239072329 meters 0.05325941867295216 Centerline is valid? [True, True] Translation: X:80.48, Y:-1.74, Z:-1.96 [[ 9.90637175e-01 1.36029712e-01 -1.15716963e-02 8.04847270e+01] [-1.36011319e-01 9.90704459e-01 2.36559827e-03 -1.74485643e+00] [ 1.17859228e-02 -7.69567914e-04 9.99930247e-01 -1.96302674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.269072329 meters 0.05335245938858722 Centerline is valid? [True, True] Translation: X:80.52, Y:-1.75, Z:-1.96 [[ 9.90693978e-01 1.35635821e-01 -1.13298617e-02 8.05159630e+01] [-1.35618130e-01 9.90758470e-01 2.31898830e-03 -1.75199903e+00] [ 1.15396944e-02 -7.60873086e-04 9.99933126e-01 -1.96228574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299072329 meters 0.05535040844703519 Centerline is valid? [True, True] Translation: X:80.55, Y:-1.76, Z:-1.96 [[ 9.90858845e-01 1.34378288e-01 -1.18837768e-02 8.05458358e+01] [-1.34358697e-01 9.90929770e-01 2.43543984e-03 -1.76181197e+00] [ 1.21032584e-02 -8.16488342e-04 9.99926420e-01 -1.96169566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.329072329 meters 0.0572014921526669 Centerline is valid? [True, True] Translation: X:80.58, Y:-1.77, Z:-1.96 [[ 9.90873078e-01 1.34267710e-01 -1.19468010e-02 8.05753997e+01] [-1.34247869e-01 9.90944752e-01 2.45114845e-03 -1.77115084e+00] [ 1.21677299e-02 -8.24944430e-04 9.99925630e-01 -1.96098220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359072329 meters 0.054001429457538316 Centerline is valid? [True, True] Translation: X:80.61, Y:-1.77, Z:-1.96 [[ 9.90898339e-01 1.34075895e-01 -1.20056356e-02 8.06071629e+01] [-1.34055809e-01 9.90970715e-01 2.46607855e-03 -1.77443680e+00] [ 1.22278750e-02 -8.34207946e-04 9.99924889e-01 -1.96007886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38907232900002 meters 0.054389035782203436 Centerline is valid? [True, True] Translation: X:80.64, Y:-1.78, Z:-1.96 [[ 9.90914421e-01 1.33924691e-01 -1.23607159e-02 8.06382243e+01] [-1.33903347e-01 9.90991135e-01 2.54225933e-03 -1.78166268e+00] [ 1.25898312e-02 -8.64020200e-04 9.99920372e-01 -1.95968737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41907232900002 meters 0.05441481775253272 Centerline is valid? [True, True] Translation: X:80.67, Y:-1.79, Z:-1.96 [[ 9.90892815e-01 1.34076969e-01 -1.24417066e-02 8.06701139e+01] [-1.34055314e-01 9.90970538e-01 2.56224799e-03 -1.78835214e+00] [ 1.26729031e-02 -8.71036240e-04 9.99919316e-01 -1.95925901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44907232900002 meters 0.052660277968704136 Centerline is valid? [True, True] Translation: X:80.70, Y:-1.79, Z:-1.96 [[ 9.90870922e-01 1.34215001e-01 -1.26944792e-02 8.07029700e+01] [-1.34192419e-01 9.90951835e-01 2.61809833e-03 -1.79310476e+00] [ 1.29310055e-02 -8.90694634e-04 9.99915994e-01 -1.95889640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47907232900002 meters 0.05492626789154168 Centerline is valid? [True, True] Translation: X:80.73, Y:-1.80, Z:-1.96 [[ 9.90912214e-01 1.33932483e-01 -1.24528633e-02 8.07328437e+01] [-1.33910690e-01 9.90990068e-01 2.57141562e-03 -1.80272600e+00] [ 1.26850599e-02 -8.80475629e-04 9.99919154e-01 -1.95857259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509072329 meters 0.05532225841316804 Centerline is valid? [True, True] Translation: X:80.76, Y:-1.81, Z:-1.96 [[ 9.90892664e-01 1.34094887e-01 -1.22592988e-02 8.07647420e+01] [-1.34073752e-01 9.90968117e-01 2.53361346e-03 -1.81046493e+00] [ 1.24883188e-02 -8.66888799e-04 9.99921642e-01 -1.95814955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539072329 meters 0.05394574951739899 Centerline is valid? [True, True] Translation: X:80.80, Y:-1.82, Z:-1.96 [[ 9.90861071e-01 1.34322208e-01 -1.23240973e-02 8.07974230e+01] [-1.34300821e-01 9.90937326e-01 2.55062738e-03 -1.81620577e+00] [ 1.25550139e-02 -8.72180987e-04 9.99920802e-01 -1.95753993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569072329 meters 0.059255979369675485 Centerline is valid? [True, True] Translation: X:80.83, Y:-1.83, Z:-1.96 [[ 9.91001907e-01 1.33254996e-01 -1.25827668e-02 8.08263555e+01] [-1.33232578e-01 9.91081370e-01 2.60718915e-03 -1.83005855e+00] [ 1.28179668e-02 -9.07294966e-04 9.99917435e-01 -1.95801120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599072329 meters 0.059051513521521694 Centerline is valid? [True, True] Translation: X:80.86, Y:-1.84, Z:-1.96 [[ 9.90974754e-01 1.33447541e-01 -1.26803419e-02 8.08583172e+01] [-1.33424767e-01 9.91055457e-01 2.62909219e-03 -1.83696374e+00] [ 1.29177679e-02 -9.13492319e-04 9.99916145e-01 -1.95821381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629072329 meters 0.05888574455840772 Centerline is valid? [True, True] Translation: X:80.89, Y:-1.84, Z:-1.96 [[ 9.91065062e-01 1.32735996e-01 -1.30842582e-02 8.08900427e+01] [-1.32711638e-01 9.91150968e-01 2.71654459e-03 -1.84392010e+00] [ 1.33290585e-02 -9.55839093e-04 9.99910707e-01 -1.95795368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659072329 meters 0.058759290161596395 Centerline is valid? [True, True] Translation: X:80.92, Y:-1.85, Z:-1.96 [[ 9.91054422e-01 1.32802848e-01 -1.32111760e-02 8.09217263e+01] [-1.32777975e-01 9.91142002e-01 2.74623873e-03 -1.85073943e+00] [ 1.34588597e-02 -9.67518837e-04 9.99908957e-01 -1.95717257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689072329 meters 0.05519029813461587 Centerline is valid? [True, True] Translation: X:80.95, Y:-1.85, Z:-1.96 [[ 9.91022419e-01 1.33069739e-01 -1.29232359e-02 8.09547251e+01] [-1.33045917e-01 9.91106225e-01 2.68977105e-03 -1.85385270e+00] [ 1.31662267e-02 -9.46239635e-04 9.99912874e-01 -1.95649689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719072329 meters 0.05881986960790104 Centerline is valid? [True, True] Translation: X:80.99, Y:-1.87, Z:-1.96 [[ 9.90993844e-01 1.33253053e-01 -1.32221341e-02 8.09850573e+01] [-1.33228079e-01 9.91081573e-01 2.75593342e-03 -1.86563376e+00] [ 1.34714500e-02 -9.69553541e-04 9.99908786e-01 -1.95681453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.749072329 meters 0.05775772503656682 Centerline is valid? [True, True] Translation: X:81.02, Y:-1.87, Z:-1.96 [[ 9.90917064e-01 1.33830554e-01 -1.31436269e-02 8.10162663e+01] [-1.33805879e-01 9.91003765e-01 2.74313797e-03 -1.87135665e+00] [ 1.33924995e-02 -9.59527673e-04 9.99909856e-01 -1.95577506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779072329 meters 0.05905928806890073 Centerline is valid? [True, True] Translation: X:81.05, Y:-1.88, Z:-1.96 [[ 9.90904864e-01 1.33962580e-01 -1.27112900e-02 8.10475857e+01] [-1.33939470e-01 9.90985955e-01 2.65614242e-03 -1.87999552e+00] [ 1.29525335e-02 -9.29441004e-04 9.99915680e-01 -1.95547464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.809072329 meters 0.052912330792528196 Centerline is valid? [True, True] Translation: X:81.08, Y:-1.88, Z:-1.96 [[ 9.90781777e-01 1.34873440e-01 -1.26737787e-02 8.10810329e+01] [-1.34850504e-01 9.90862409e-01 2.65112570e-03 -1.87927668e+00] [ 1.29155373e-02 -9.17621587e-04 9.99916170e-01 -1.95553986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839072329 meters 0.05746031649556453 Centerline is valid? [True, True] Translation: X:81.11, Y:-1.89, Z:-1.96 [[ 9.90738269e-01 1.35206746e-01 -1.25227205e-02 8.11106327e+01] [-1.35184357e-01 9.90816995e-01 2.62133004e-03 -1.89182120e+00] [ 1.27621458e-02 -9.04176076e-04 9.99918152e-01 -1.95618233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.869072329 meters 0.05334547785895155 Centerline is valid? [True, True] Translation: X:81.14, Y:-1.89, Z:-1.96 [[ 9.90673712e-01 1.35639330e-01 -1.29448421e-02 8.11434707e+01] [-1.35615392e-01 9.90757842e-01 2.71349933e-03 -1.89359602e+00] [ 1.31932610e-02 -9.32672620e-04 9.99912530e-01 -1.95560912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899072329 meters 0.06058481075206059 Centerline is valid? [True, True] Translation: X:81.17, Y:-1.91, Z:-1.96 [[ 9.90598976e-01 1.36174953e-01 -1.30403781e-02 8.11714977e+01] [-1.36150656e-01 9.90684362e-01 2.73731453e-03 -1.90997326e+00] [ 1.32916523e-02 -9.36124929e-04 9.99911224e-01 -1.95608643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.929072329 meters 0.05800791863628693 Centerline is valid? [True, True] Translation: X:81.20, Y:-1.91, Z:-1.96 [[ 9.90520160e-01 1.36781327e-01 -1.26759811e-02 8.12032087e+01] [-1.36758378e-01 9.90600853e-01 2.66403260e-03 -1.91368309e+00] [ 1.29212276e-02 -9.05231383e-04 9.99916108e-01 -1.95540934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959072329 meters 0.05815303184667365 Centerline is valid? [True, True] Translation: X:81.24, Y:-1.92, Z:-1.95 [[ 9.90474986e-01 1.37109404e-01 -1.26615120e-02 8.12356433e+01] [-1.37086491e-01 9.90555498e-01 2.66430584e-03 -1.92112934e+00] [ 1.29072317e-02 -9.03206044e-04 9.99916290e-01 -1.95448962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.989072329 meters 0.056173433397667054 Centerline is valid? [True, True] Translation: X:81.27, Y:-1.93, Z:-1.95 [[ 9.90361681e-01 1.37934072e-01 -1.25670971e-02 8.12678297e+01] [-1.37911520e-01 9.90441013e-01 2.64791143e-03 -1.92579970e+00] [ 1.28122056e-02 -8.89242556e-04 9.99917525e-01 -1.95317702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019072329 meters 0.056173433397667054 Centerline is valid? [True, True] Translation: X:81.30, Y:-1.93, Z:-1.95 [[ 9.90323183e-01 1.38210271e-01 -1.25664266e-02 8.12996045e+01] [-1.38187702e-01 9.90402509e-01 2.65109021e-03 -1.93272511e+00] [ 1.28122283e-02 -8.88910485e-04 9.99917525e-01 -1.95287136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.049072329 meters 0.054617124836714784 Centerline is valid? [True, True] Translation: X:81.33, Y:-1.94, Z:-1.95 [[ 9.90296635e-01 1.38421721e-01 -1.23289196e-02 8.13325137e+01] [-1.38399969e-01 9.90372993e-01 2.60453650e-03 -1.93821104e+00] [ 1.25707535e-02 -8.72941640e-04 9.99920604e-01 -1.95239404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079072329 meters 0.055490811033595246 Centerline is valid? [True, True] Translation: X:81.36, Y:-1.95, Z:-1.95 [[ 9.90255134e-01 1.38699980e-01 -1.25333190e-02 8.13635377e+01] [-1.38677476e-01 9.90334049e-01 2.65138507e-03 -1.94639687e+00] [ 1.27799196e-02 -8.87458644e-04 9.99917940e-01 -1.95287517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.109072329 meters 0.052320012925825235 Centerline is valid? [True, True] Translation: X:81.40, Y:-1.95, Z:-1.95 [[ 9.90199566e-01 1.39011460e-01 -1.34399576e-02 8.13960732e+01] [-1.38985556e-01 9.90290315e-01 2.84715201e-03 -1.95009905e+00] [ 1.37052466e-02 -9.51288704e-04 9.99905626e-01 -1.95330785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13907232900002 meters 0.050927782735278274 Centerline is valid? [True, True] Translation: X:81.43, Y:-1.96, Z:-1.95 [[ 9.90101490e-01 1.39714634e-01 -1.33738443e-02 8.14275915e+01] [-1.39688995e-01 9.90191363e-01 2.83700840e-03 -1.95564824e+00] [ 1.36390367e-02 -9.40747382e-04 9.99906541e-01 -1.95308239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16907232900002 meters 0.058986707968468 Centerline is valid? [True, True] Translation: X:81.46, Y:-1.97, Z:-1.95 [[ 9.90083903e-01 1.39800127e-01 -1.37764237e-02 8.14553896e+01] [-1.39772878e-01 9.90179267e-01 2.92606323e-03 -1.97267749e+00] [ 1.40501931e-02 -9.71477711e-04 9.99900819e-01 -1.95375882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19907232900002 meters 0.05332368211056211 Centerline is valid? [True, True] Translation: X:81.49, Y:-1.97, Z:-1.95 [[ 9.90013463e-01 1.40391138e-01 -1.27934231e-02 8.14875873e+01] [-1.40367648e-01 9.90095714e-01 2.72032390e-03 -1.97344570e+00] [ 1.30486227e-02 -8.97374573e-04 9.99914460e-01 -1.95169308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22907232900002 meters 0.05763494627688314 Centerline is valid? [True, True] Translation: X:81.52, Y:-1.99, Z:-1.95 [[ 9.89970860e-01 1.40698451e-01 -1.27138458e-02 8.15174286e+01] [-1.40675235e-01 9.90052095e-01 2.70676837e-03 -1.98624860e+00] [ 1.29682078e-02 -8.91098580e-04 9.99915512e-01 -1.95037943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259072329 meters 0.05425467104558221 Centerline is valid? [True, True] Translation: X:81.55, Y:-1.99, Z:-1.95 [[ 9.89913774e-01 1.41123311e-01 -1.24471362e-02 8.15495632e+01] [-1.41101050e-01 9.89991643e-01 2.65332245e-03 -1.98917524e+00] [ 1.26970065e-02 -8.70256453e-04 9.99919011e-01 -1.94951587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289072329 meters 0.049892202545391305 Centerline is valid? [True, True] Translation: X:81.58, Y:-1.99, Z:-1.95 [[ 9.89843103e-01 1.41571078e-01 -1.29715301e-02 8.15824493e+01] [-1.41546893e-01 9.89927680e-01 2.76858820e-03 -1.99099577e+00] [ 1.32328287e-02 -9.04388147e-04 9.99912033e-01 -1.94912545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319072329 meters 0.05317951876569139 Centerline is valid? [True, True] Translation: X:81.61, Y:-2.00, Z:-1.95 [[ 9.89758415e-01 1.42134641e-01 -1.32673793e-02 8.16115677e+01] [-1.42109343e-01 9.89846905e-01 2.83527788e-03 -2.00239070e+00] [ 1.35356655e-02 -9.20821589e-04 9.99907965e-01 -1.94959017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349072329 meters 0.05114989242196598 Centerline is valid? [True, True] Translation: X:81.64, Y:-2.01, Z:-1.95 [[ 9.89740110e-01 1.42220580e-01 -1.37047652e-02 8.16433217e+01] [-1.42193545e-01 9.89834530e-01 2.93230275e-03 -2.00661174e+00] [ 1.39824836e-02 -9.53488505e-04 9.99901786e-01 -1.94923131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379072329 meters 0.056027918919082674 Centerline is valid? [True, True] Translation: X:81.67, Y:-2.02, Z:-1.95 [[ 9.89624327e-01 1.43042365e-01 -1.35119811e-02 8.16719224e+01] [-1.43016114e-01 9.89716127e-01 2.89451554e-03 -2.02046303e+00] [ 1.37870639e-02 -9.32051976e-04 9.99904520e-01 -1.94918984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409072329 meters 0.05560242545730035 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.03, Z:-1.95 [[ 9.89587281e-01 1.43315138e-01 -1.33335556e-02 8.17040482e+01] [-1.43289553e-01 9.89676678e-01 2.85971055e-03 -2.02704082e+00] [ 1.36057488e-02 -9.19373968e-04 9.99907015e-01 -1.94856331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439072329 meters 0.05531195285292742 Centerline is valid? [True, True] Translation: X:81.74, Y:-2.03, Z:-1.95 [[ 9.89499465e-01 1.43970101e-01 -1.27835492e-02 8.17355736e+01] [-1.43946593e-01 9.89581650e-01 2.74521135e-03 -2.03411111e+00] [ 1.30455941e-02 -8.76236804e-04 9.99914519e-01 -1.94746099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469072329 meters 0.055203136240243596 Centerline is valid? [True, True] Translation: X:81.77, Y:-2.04, Z:-1.95 [[ 9.89404907e-01 1.44682442e-01 -1.20382705e-02 8.17671173e+01] [-1.44661612e-01 9.89477802e-01 2.58806406e-03 -2.04125009e+00] [ 1.22860488e-02 -8.19167671e-04 9.99924188e-01 -1.94662048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499072329 meters 0.05522634969994378 Centerline is valid? [True, True] Translation: X:81.80, Y:-2.05, Z:-1.95 [[ 9.89342988e-01 1.45098056e-01 -1.21246381e-02 8.17982358e+01] [-1.45076919e-01 9.89416938e-01 2.60970698e-03 -2.04862816e+00] [ 1.23749857e-02 -8.22890148e-04 9.99923088e-01 -1.94587716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.529072329 meters 0.05040787740179336 Centerline is valid? [True, True] Translation: X:81.83, Y:-2.05, Z:-1.95 [[ 9.89308428e-01 1.45328803e-01 -1.21808458e-02 8.18314678e+01] [-1.45307447e-01 9.89383068e-01 2.62505136e-03 -2.05012097e+00] [ 1.24330182e-02 -8.27017826e-04 9.99922365e-01 -1.94532581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559072329 meters 0.05083752040086261 Centerline is valid? [True, True] Translation: X:81.86, Y:-2.06, Z:-1.95 [[ 9.89292787e-01 1.45440097e-01 -1.21227024e-02 8.18635127e+01] [-1.45418907e-01 9.89366715e-01 2.61619395e-03 -2.05918273e+00] [ 1.23742977e-02 -8.25311675e-04 9.99923095e-01 -1.94533224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.589072329 meters 0.053072983419047766 Centerline is valid? [True, True] Translation: X:81.89, Y:-2.07, Z:-1.95 [[ 9.89267656e-01 1.45621552e-01 -1.19945204e-02 8.18936142e+01] [-1.45600781e-01 9.89340030e-01 2.59181953e-03 -2.06956771e+00] [ 1.22440839e-02 -8.17591706e-04 9.99924704e-01 -1.94518533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619072329 meters 0.05647841173409745 Centerline is valid? [True, True] Translation: X:81.92, Y:-2.08, Z:-1.95 [[ 9.89224159e-01 1.45891890e-01 -1.22931074e-02 8.19243068e+01] [-1.45870059e-01 9.89300185e-01 2.65897116e-03 -2.08109405e+00] [ 1.25494958e-02 -8.37122198e-04 9.99920902e-01 -1.94533463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.649072329 meters 0.05410911474127607 Centerline is valid? [True, True] Translation: X:81.96, Y:-2.09, Z:-1.94 [[ 9.89183389e-01 1.46154014e-01 -1.24589852e-02 8.19569443e+01] [-1.46131566e-01 9.89261484e-01 2.69835385e-03 -2.08574749e+00] [ 1.27195694e-02 -8.48515792e-04 9.99918743e-01 -1.94448402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679072329 meters 0.05452200958701822 Centerline is valid? [True, True] Translation: X:81.99, Y:-2.09, Z:-1.94 [[ 9.89112101e-01 1.46614387e-01 -1.27071771e-02 8.19877594e+01] [-1.46591027e-01 9.89193347e-01 2.75573690e-03 -2.09346673e+00] [ 1.29738857e-02 -8.62974574e-04 9.99915463e-01 -1.94421080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.709072329 meters 0.05461197030270194 Centerline is valid? [True, True] Translation: X:82.02, Y:-2.10, Z:-1.94 [[ 9.89021148e-01 1.47259277e-01 -1.23237598e-02 8.20185256e+01] [-1.47237316e-01 9.89097575e-01 2.67565063e-03 -2.10156333e+00] [ 1.25834153e-02 -8.31757736e-04 9.99920480e-01 -1.94365838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739072329 meters 0.05347023103741296 Centerline is valid? [True, True] Translation: X:82.05, Y:-2.11, Z:-1.94 [[ 9.88988886e-01 1.47497328e-01 -1.20632655e-02 8.20509875e+01] [-1.47476265e-01 9.89062119e-01 2.62221922e-03 -2.10786343e+00] [ 1.23180893e-02 -8.14300319e-04 9.99923798e-01 -1.94285701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.769072329 meters 0.05318490885859413 Centerline is valid? [True, True] Translation: X:82.08, Y:-2.12, Z:-1.94 [[ 9.88925703e-01 1.47887675e-01 -1.24574963e-02 8.20834886e+01] [-1.47865197e-01 9.89003807e-01 2.71165687e-03 -2.11539821e+00] [ 1.27215319e-02 -8.39597034e-04 9.99918726e-01 -1.94270656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799072329 meters 0.049652896535863085 Centerline is valid? [True, True] Translation: X:82.12, Y:-2.12, Z:-1.94 [[ 9.88879785e-01 1.48200110e-01 -1.23894304e-02 8.21164922e+01] [-1.48177854e-01 9.88957042e-01 2.70050496e-03 -2.11827325e+00] [ 1.26528296e-02 -8.34635546e-04 9.99919601e-01 -1.94295552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.829072329 meters 0.05058231175439627 Centerline is valid? [True, True] Translation: X:82.15, Y:-2.13, Z:-1.94 [[ 9.88802062e-01 1.48697419e-01 -1.26316615e-02 8.21467993e+01] [-1.48674277e-01 9.88882378e-01 2.75701571e-03 -2.12724111e+00] [ 1.29011886e-02 -8.48139672e-04 9.99916417e-01 -1.94304452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859072329 meters 0.05308779586993218 Centerline is valid? [True, True] Translation: X:82.18, Y:-2.14, Z:-1.94 [[ 9.88740152e-01 1.49101274e-01 -1.27169765e-02 8.21763197e+01] [-1.49077811e-01 9.88821564e-01 2.77877558e-03 -2.13709713e+00] [ 1.29891396e-02 -8.51667969e-04 9.99915275e-01 -1.94312218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88907232900002 meters 0.05486520625320634 Centerline is valid? [True, True] Translation: X:82.21, Y:-2.15, Z:-1.94 [[ 9.88682945e-01 1.49471596e-01 -1.28170087e-02 8.22064375e+01] [-1.49447752e-01 9.88765649e-01 2.80374226e-03 -2.14664633e+00] [ 1.30920977e-02 -8.56539022e-04 9.99913928e-01 -1.94288742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91907232900002 meters 0.0503300257554761 Centerline is valid? [True, True] Translation: X:82.24, Y:-2.15, Z:-1.94 [[ 9.88614066e-01 1.49942799e-01 -1.26248377e-02 8.22390797e+01] [-1.49919664e-01 9.88694316e-01 2.76474545e-03 -2.14866971e+00] [ 1.28966589e-02 -8.40554818e-04 9.99916481e-01 -1.94159943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94907232900002 meters 0.053971269476034325 Centerline is valid? [True, True] Translation: X:82.27, Y:-2.16, Z:-1.94 [[ 9.88542911e-01 1.50438840e-01 -1.22910022e-02 8.22680642e+01] [-1.50416912e-01 9.88618982e-01 2.69474981e-03 -2.16065773e+00] [ 1.25565131e-02 -8.15101222e-04 9.99920832e-01 -1.94129093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97907232900002 meters 0.05249521321538719 Centerline is valid? [True, True] Translation: X:82.30, Y:-2.17, Z:-1.94 [[ 9.88445194e-01 1.50990360e-01 -1.33419894e-02 8.22999086e+01] [-1.50964524e-01 9.88534843e-01 2.92866209e-03 -2.16600624e+00] [ 1.36312212e-02 -8.80654882e-04 9.99906703e-01 -1.94090426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009072329 meters 0.05410987868332936 Centerline is valid? [True, True] Translation: X:82.33, Y:-2.17, Z:-1.94 [[ 9.88388382e-01 1.51377454e-01 -1.31633198e-02 8.23293636e+01] [-1.51352295e-01 9.88475652e-01 2.89271800e-03 -2.17484116e+00] [ 1.34495134e-02 -8.66830201e-04 9.99909175e-01 -1.94120775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039072329 meters 0.05160646978748066 Centerline is valid? [True, True] Translation: X:82.36, Y:-2.18, Z:-1.94 [[ 9.88278719e-01 1.52043954e-01 -1.37043616e-02 8.23616246e+01] [-1.52016700e-01 9.88373327e-01 3.01505030e-03 -2.17948504e+00] [ 1.40034457e-02 -8.96418225e-04 9.99901545e-01 -1.94099429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069072329 meters 0.054790097700079955 Centerline is valid? [True, True] Translation: X:82.39, Y:-2.19, Z:-1.94 [[ 9.88215096e-01 1.52476915e-01 -1.34801289e-02 8.23905145e+01] [-1.52450539e-01 9.88306642e-01 2.96906762e-03 -2.19075574e+00] [ 1.37752152e-02 -8.79024529e-04 9.99904731e-01 -1.94044449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099072329 meters 0.05042758285874782 Centerline is valid? [True, True] Translation: X:82.42, Y:-2.19, Z:-1.94 [[ 9.88158142e-01 1.52824199e-01 -1.37204372e-02 8.24237509e+01] [-1.52796857e-01 9.88252987e-01 3.02557544e-03 -2.19312668e+00] [ 1.40216442e-02 -8.93307308e-04 9.99901293e-01 -1.93978574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129072329 meters 0.05152489579097059 Centerline is valid? [True, True] Translation: X:82.45, Y:-2.20, Z:-1.94 [[ 9.88060640e-01 1.53469735e-01 -1.35355593e-02 8.24535129e+01] [-1.53443135e-01 9.88152960e-01 2.98854861e-03 -2.20203620e+00] [ 1.38338548e-02 -8.75928598e-04 9.99903924e-01 -1.93942073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159072329 meters 0.05504581843647816 Centerline is valid? [True, True] Translation: X:82.48, Y:-2.21, Z:-1.94 [[ 9.87958212e-01 1.54126074e-01 -1.35545250e-02 8.24830528e+01] [-1.54099416e-01 9.88050806e-01 2.99596768e-03 -2.21430656e+00] [ 1.38543160e-02 -8.71146501e-04 9.99903645e-01 -1.93954125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189072329 meters 0.05252347983814946 Centerline is valid? [True, True] Translation: X:82.52, Y:-2.22, Z:-1.94 [[ 9.87872676e-01 1.54641278e-01 -1.39158891e-02 8.25153352e+01] [-1.54613181e-01 9.87970284e-01 3.07926188e-03 -2.21831773e+00] [ 1.42246659e-02 -8.90338787e-04 9.99898428e-01 -1.93935948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219072329 meters 0.0508825536925231 Centerline is valid? [True, True] Translation: X:82.55, Y:-2.22, Z:-1.94 [[ 9.87802154e-01 1.55064678e-01 -1.42073751e-02 8.25473962e+01] [-1.55035382e-01 9.87903904e-01 3.14743321e-03 -2.22379723e+00] [ 1.45235771e-02 -9.06395472e-04 9.99894116e-01 -1.93878633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.249072329 meters 0.05067131752325874 Centerline is valid? [True, True] Translation: X:82.58, Y:-2.23, Z:-1.94 [[ 9.87700592e-01 1.55707479e-01 -1.42380018e-02 8.25791383e+01] [-1.55678082e-01 9.87802798e-01 3.15705351e-03 -2.23161971e+00] [ 1.45559149e-02 -9.01678812e-04 9.99893651e-01 -1.93817077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279072329 meters 0.051217464936920976 Centerline is valid? [True, True] Translation: X:82.61, Y:-2.24, Z:-1.94 [[ 9.87712651e-01 1.55684238e-01 -1.36432230e-02 8.26104129e+01] [-1.55657216e-01 9.87806493e-01 3.02712031e-03 -2.23967063e+00] [ 1.39481392e-02 -8.66258923e-04 9.99902345e-01 -1.93740938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.309072329 meters 0.05030606198318311 Centerline is valid? [True, True] Translation: X:82.64, Y:-2.25, Z:-1.94 [[ 9.87661850e-01 1.55986494e-01 -1.38666485e-02 8.26420664e+01] [-1.55958556e-01 9.87758796e-01 3.08045455e-03 -2.24703478e+00] [ 1.41774133e-02 -8.79824973e-04 9.99899108e-01 -1.93635002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339072329 meters 0.05022116676006224 Centerline is valid? [True, True] Translation: X:82.67, Y:-2.26, Z:-1.94 [[ 9.87634027e-01 1.56215404e-01 -1.32580560e-02 8.26741117e+01] [-1.56189833e-01 9.87722653e-01 2.94905218e-03 -2.25502521e+00] [ 1.35559696e-02 -8.41810721e-04 9.99907759e-01 -1.93563406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.369072329 meters 0.048948453450427726 Centerline is valid? [True, True] Translation: X:82.71, Y:-2.26, Z:-1.93 [[ 9.87609076e-01 1.56419505e-01 -1.26984552e-02 8.27060944e+01] [-1.56396017e-01 9.87690380e-01 2.82824922e-03 -2.26106631e+00] [ 1.29845354e-02 -8.07216781e-04 9.99915372e-01 -1.93497171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399072329 meters 0.04943336036682467 Centerline is valid? [True, True] Translation: X:82.74, Y:-2.27, Z:-1.93 [[ 9.87599014e-01 1.56455571e-01 -1.30323682e-02 8.27370828e+01] [-1.56430783e-01 9.87684647e-01 2.90647763e-03 -2.26910765e+00] [ 1.33266046e-02 -8.31770869e-04 9.99910851e-01 -1.93456487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.429072329 meters 0.0485558484738862 Centerline is valid? [True, True] Translation: X:82.77, Y:-2.28, Z:-1.93 [[ 9.87548418e-01 1.56795367e-01 -1.27802205e-02 8.27693306e+01] [-1.56771513e-01 9.87630776e-01 2.85369154e-03 -2.27616729e+00] [ 1.30695847e-02 -8.14584063e-04 9.99914258e-01 -1.93424980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459072329 meters 0.05060156978521916 Centerline is valid? [True, True] Translation: X:82.80, Y:-2.29, Z:-1.93 [[ 9.87502265e-01 1.57036174e-01 -1.33759752e-02 8.27992913e+01] [-1.57010009e-01 9.87592483e-01 2.99078814e-03 -2.28640831e+00] [ 1.36796745e-02 -8.53248069e-04 9.99906065e-01 -1.93484612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.489072329 meters 0.051329816651931676 Centerline is valid? [True, True] Translation: X:82.83, Y:-2.30, Z:-1.93 [[ 9.87455303e-01 1.57332152e-01 -1.33648529e-02 8.28294921e+01] [-1.57306015e-01 9.87545376e-01 2.99147185e-03 -2.29512381e+00] [ 1.36690534e-02 -8.51573001e-04 9.99906212e-01 -1.93497393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519072329 meters 0.05235487443137852 Centerline is valid? [True, True] Translation: X:82.86, Y:-2.31, Z:-1.94 [[ 9.87429862e-01 1.57456659e-01 -1.37720212e-02 8.28602793e+01] [-1.57428880e-01 9.87525508e-01 3.08524359e-03 -2.30501539e+00] [ 1.40860144e-02 -8.78347780e-04 9.99900401e-01 -1.93508019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.549072329 meters 0.0493189857911408 Centerline is valid? [True, True] Translation: X:82.89, Y:-2.31, Z:-1.93 [[ 9.87470872e-01 1.57150508e-01 -1.43176382e-02 8.28922361e+01] [-1.57120394e-01 9.87574234e-01 3.21143511e-03 -2.30854601e+00] [ 1.46444092e-02 -9.21605679e-04 9.99892340e-01 -1.93499947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579072329 meters 0.05345407827585586 Centerline is valid? [True, True] Translation: X:82.92, Y:-2.32, Z:-1.94 [[ 9.87507814e-01 1.56901278e-01 -1.45019298e-02 8.29209305e+01] [-1.56870309e-01 9.87613844e-01 3.25597538e-03 -2.32126010e+00] [ 1.48331733e-02 -9.40378920e-04 9.99889540e-01 -1.93513829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.609072329 meters 0.055763409754066365 Centerline is valid? [True, True] Translation: X:82.95, Y:-2.33, Z:-1.93 [[ 9.87519108e-01 1.56823387e-01 -1.45752366e-02 8.29503651e+01] [-1.56792058e-01 9.87626207e-01 3.27501106e-03 -2.33306584e+00] [ 1.49084840e-02 -9.48854665e-04 9.99888412e-01 -1.93449022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63907232900002 meters 0.051887026427148535 Centerline is valid? [True, True] Translation: X:82.98, Y:-2.34, Z:-1.93 [[ 9.87542482e-01 1.56659237e-01 -1.47556654e-02 8.29830189e+01] [-1.56627055e-01 9.87652241e-01 3.31915955e-03 -2.33601942e+00] [ 1.50934430e-02 -9.66674644e-04 9.99885620e-01 -1.93349872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66907232900002 meters 0.05409556167877188 Centerline is valid? [True, True] Translation: X:83.01, Y:-2.35, Z:-1.93 [[ 9.87445107e-01 1.57328692e-01 -1.41366028e-02 8.30123941e+01] [-1.57299172e-01 9.87545866e-01 3.18335420e-03 -2.34679699e+00] [ 1.44613766e-02 -9.19711612e-04 9.99895006e-01 -1.93303513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69907232900002 meters 0.05022717600517603 Centerline is valid? [True, True] Translation: X:83.04, Y:-2.35, Z:-1.93 [[ 9.87477305e-01 1.57114773e-01 -1.42660588e-02 8.30447730e+01] [-1.57084635e-01 9.87579908e-01 3.21605220e-03 -2.34996817e+00] [ 1.45941623e-02 -9.34799921e-04 9.99893063e-01 -1.93162810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72907232900002 meters 0.05159452617778475 Centerline is valid? [True, True] Translation: X:83.08, Y:-2.36, Z:-1.93 [[ 9.87451646e-01 1.57303765e-01 -1.39560798e-02 8.30758464e+01] [-1.57274888e-01 9.87549841e-01 3.14989467e-03 -2.35959946e+00] [ 1.42778146e-02 -9.15427795e-04 9.99897648e-01 -1.93206630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759072329 meters 0.052565646810461004 Centerline is valid? [True, True] Translation: X:83.11, Y:-2.37, Z:-1.93 [[ 9.87454300e-01 1.57264748e-01 -1.42057782e-02 8.31054712e+01] [-1.57234777e-01 9.87556036e-01 3.20959845e-03 -2.36851014e+00] [ 1.45337587e-02 -9.35689439e-04 9.99893942e-01 -1.93238741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789072329 meters 0.05277998013901687 Centerline is valid? [True, True] Translation: X:83.14, Y:-2.38, Z:-1.93 [[ 9.87453228e-01 1.57201939e-01 -1.49556845e-02 8.31363053e+01] [-1.57168669e-01 9.87565984e-01 3.38189584e-03 -2.37732807e+00] [ 1.53013658e-02 -9.88898943e-04 9.99882438e-01 -1.93269624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819072329 meters 0.05326190084440279 Centerline is valid? [True, True] Translation: X:83.17, Y:-2.39, Z:-1.93 [[ 9.87419012e-01 1.57412884e-01 -1.49959392e-02 8.31681771e+01] [-1.57379396e-01 9.87532379e-01 3.39507686e-03 -2.38627664e+00] [ 1.53434044e-02 -9.92311582e-04 9.99881791e-01 -1.93207598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849072329 meters 0.052768654333574715 Centerline is valid? [True, True] Translation: X:83.20, Y:-2.39, Z:-1.93 [[ 9.87372401e-01 1.57678544e-01 -1.52714764e-02 8.32001129e+01] [-1.57643775e-01 9.87489977e-01 3.46199906e-03 -2.39374772e+00] [ 1.56263128e-02 -1.01082914e-03 9.99877391e-01 -1.93170994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879072329 meters 0.052768654333574715 Centerline is valid? [True, True] Translation: X:83.23, Y:-2.40, Z:-1.93 [[ 9.87328191e-01 1.57955231e-01 -1.52705041e-02 8.32317586e+01] [-1.57920428e-01 9.87445757e-01 3.46628349e-03 -2.40115552e+00] [ 1.56263121e-02 -1.01083486e-03 9.99877391e-01 -1.93140429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909072329 meters 0.05593183585892306 Centerline is valid? [True, True] Translation: X:83.26, Y:-2.41, Z:-1.93 [[ 9.87334727e-01 1.57995734e-01 -1.44043554e-02 8.32615353e+01] [-1.57964713e-01 9.87439331e-01 3.27365866e-03 -2.41377731e+00] [ 1.47406511e-02 -9.56817010e-04 9.99890893e-01 -1.92957497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939072329 meters 0.054864299087341195 Centerline is valid? [True, True] Translation: X:83.29, Y:-2.42, Z:-1.93 [[ 9.87263926e-01 1.58442834e-01 -1.43460590e-02 8.32925803e+01] [-1.58412055e-01 9.87367695e-01 3.26422527e-03 -2.42054664e+00] [ 1.46820283e-02 -9.50063165e-04 9.99891762e-01 -1.92759316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969072329 meters 0.054864299087341195 Centerline is valid? [True, True] Translation: X:83.32, Y:-2.43, Z:-1.93 [[ 9.87220155e-01 1.58715406e-01 -1.43452303e-02 8.33242183e+01] [-1.58684602e-01 9.87323917e-01 3.26786376e-03 -2.42798668e+00] [ 1.46820493e-02 -9.49733798e-04 9.99891762e-01 -1.92728761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999072329 meters 0.054553328354415086 Centerline is valid? [True, True] Translation: X:83.36, Y:-2.44, Z:-1.93 [[ 9.87084615e-01 1.59578329e-01 -1.40967786e-02 8.33557767e+01] [-1.59548615e-01 9.87184837e-01 3.21512889e-03 -2.43576865e+00] [ 1.44291910e-02 -9.24482762e-04 9.99895466e-01 -1.92721069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.029072329 meters 0.04960406735837356 Centerline is valid? [True, True] Translation: X:83.39, Y:-2.44, Z:-1.93 [[ 9.86976099e-01 1.60248309e-01 -1.40946493e-02 8.33881105e+01] [-1.60218620e-01 9.87076307e-01 3.21827221e-03 -2.43694067e+00] [ 1.44282171e-02 -9.18132492e-04 9.99895486e-01 -1.92663767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059072329 meters 0.053097948279936205 Centerline is valid? [True, True] Translation: X:83.42, Y:-2.45, Z:-1.93 [[ 9.86837362e-01 1.61058954e-01 -1.45614144e-02 8.34172850e+01] [-1.61027297e-01 9.86944340e-01 3.32868520e-03 -2.44972667e+00] [ 1.49074201e-02 -9.40085716e-04 9.99888436e-01 -1.92754158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.089072329 meters 0.05514366785088606 Centerline is valid? [True, True] Translation: X:83.45, Y:-2.46, Z:-1.93 [[ 9.86736822e-01 1.61652916e-01 -1.47912029e-02 8.34465901e+01] [-1.61620264e-01 9.86847219e-01 3.38479668e-03 -2.46012727e+00] [ 1.51438197e-02 -9.49345402e-04 9.99884875e-01 -1.92756421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119072329 meters 0.055322972631280776 Centerline is valid? [True, True] Translation: X:83.48, Y:-2.47, Z:-1.93 [[ 9.86688794e-01 1.61960709e-01 -1.46271322e-02 8.34788831e+01] [-1.61928756e-01 9.86796762e-01 3.35089782e-03 -2.46860287e+00] [ 1.49767204e-02 -9.37740010e-04 9.99887403e-01 -1.92707359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.149072329 meters 0.05397227491447124 Centerline is valid? [True, True] Translation: X:83.51, Y:-2.47, Z:-1.93 [[ 9.86587296e-01 1.62534325e-01 -1.51029837e-02 8.35099466e+01] [-1.62500262e-01 9.86702420e-01 3.46407007e-03 -2.47472071e+00] [ 1.54651809e-02 -9.63368704e-04 9.99879943e-01 -1.92623459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179072329 meters 0.04947341315238869 Centerline is valid? [True, True] Translation: X:83.54, Y:-2.48, Z:-1.93 [[ 9.86484577e-01 1.63150098e-01 -1.51731614e-02 8.35419077e+01] [-1.63115729e-01 9.86600791e-01 3.48406040e-03 -2.47701554e+00] [ 1.55382779e-02 -9.61990553e-04 9.99878811e-01 -1.92556233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.209072329 meters 0.051587888126241245 Centerline is valid? [True, True] Translation: X:83.57, Y:-2.49, Z:-1.93 [[ 9.86382190e-01 1.63760571e-01 -1.52529039e-02 8.35719849e+01] [-1.63725851e-01 9.86499646e-01 3.50637444e-03 -2.48713772e+00] [ 1.56211901e-02 -9.61330634e-04 9.99877520e-01 -1.92593565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239072329 meters 0.047132027691970675 Centerline is valid? [True, True] Translation: X:83.61, Y:-2.49, Z:-1.93 [[ 9.86323127e-01 1.64123605e-01 -1.51700652e-02 8.36050822e+01] [-1.64089238e-01 9.86439320e-01 3.49154623e-03 -2.48913782e+00] [ 1.55373940e-02 -9.54548347e-04 9.99878832e-01 -1.92509497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.269072329 meters 0.05519679343412599 Centerline is valid? [True, True] Translation: X:83.63, Y:-2.51, Z:-1.93 [[ 9.86199974e-01 1.64854115e-01 -1.52555293e-02 8.36324365e+01] [-1.64819379e-01 9.86317501e-01 3.51556180e-03 -2.50758299e+00] [ 1.56263503e-02 -9.52640100e-04 9.99877447e-01 -1.92598291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299072329 meters 0.04759593182014761 Centerline is valid? [True, True] Translation: X:83.67, Y:-2.51, Z:-1.92 [[ 9.86137548e-01 1.65278804e-01 -1.46851609e-02 8.36656635e+01] [-1.65246609e-01 9.86246461e-01 3.38777435e-03 -2.50608284e+00] [ 1.50431153e-02 -9.14138439e-04 9.99886428e-01 -1.92407274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.329072329 meters 0.05623203214430575 Centerline is valid? [True, True] Translation: X:83.69, Y:-2.53, Z:-1.92 [[ 9.86087180e-01 1.65534660e-01 -1.51772810e-02 8.36942889e+01] [-1.65500236e-01 9.86203520e-01 3.50552377e-03 -2.52505863e+00] [ 1.55481736e-02 -9.44908471e-04 9.99878673e-01 -1.92471329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359072329 meters 0.048451257236624926 Centerline is valid? [True, True] Translation: X:83.73, Y:-2.52, Z:-1.92 [[ 9.86070016e-01 1.65651771e-01 -1.50138352e-02 8.37283245e+01] [-1.65618031e-01 9.86183863e-01 3.47210779e-03 -2.52388505e+00] [ 1.53815628e-02 -9.37179569e-04 9.99881258e-01 -1.92321983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38907232900002 meters 0.05029548341485353 Centerline is valid? [True, True] Translation: X:83.76, Y:-2.53, Z:-1.92 [[ 9.86020105e-01 1.65917946e-01 -1.53488799e-02 8.37587588e+01] [-1.65882652e-01 9.86139097e-01 3.55357841e-03 -2.53444539e+00] [ 1.57257330e-02 -9.57786850e-04 9.99875884e-01 -1.92388153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41907232900002 meters 0.05044719669559684 Centerline is valid? [True, True] Translation: X:83.79, Y:-2.54, Z:-1.92 [[ 9.86011809e-01 1.65942242e-01 -1.56168221e-02 8.37893738e+01] [-1.65905653e-01 9.86134989e-01 3.61903227e-03 -2.54313706e+00] [ 1.60008450e-02 -9.77489486e-04 9.99871500e-01 -1.92373594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44907232900002 meters 0.0506702610047984 Centerline is valid? [True, True] Translation: X:83.82, Y:-2.55, Z:-1.92 [[ 9.85965577e-01 1.66180455e-01 -1.59980694e-02 8.38212108e+01] [-1.66142016e-01 9.86094850e-01 3.71183478e-03 -2.55155792e+00] [ 1.63924482e-02 -1.00178982e-03 9.99865133e-01 -1.92366441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47907232900002 meters 0.049453652775288126 Centerline is valid? [True, True] Translation: X:83.85, Y:-2.56, Z:-1.92 [[ 9.85859159e-01 1.66790082e-01 -1.62106967e-02 8.38529481e+01] [-1.66750620e-01 9.85991912e-01 3.76575887e-03 -2.55812600e+00] [ 1.66117071e-02 -1.00936414e-03 9.99861507e-01 -1.92304754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509072329 meters 0.051320898014582166 Centerline is valid? [True, True] Translation: X:83.88, Y:-2.57, Z:-1.92 [[ 9.85819931e-01 1.67032334e-01 -1.61016435e-02 8.38825034e+01] [-1.66993377e-01 9.85950909e-01 3.74381862e-03 -2.56792446e+00] [ 1.65007688e-02 -1.00186319e-03 9.99863351e-01 -1.92287947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539072329 meters 0.04545722478451644 Centerline is valid? [True, True] Translation: X:83.92, Y:-2.57, Z:-1.92 [[ 9.85673762e-01 1.67874929e-01 -1.62863059e-02 8.39153087e+01] [-1.67835133e-01 9.85807792e-01 3.79005888e-03 -2.56842839e+00] [ 1.66914231e-02 -1.00234728e-03 9.99860186e-01 -1.92158633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569072329 meters 0.04927889200058833 Centerline is valid? [True, True] Translation: X:83.94, Y:-2.58, Z:-1.92 [[ 9.85583049e-01 1.68424783e-01 -1.60980169e-02 8.39441256e+01] [-1.68385906e-01 9.85714016e-01 3.75045500e-03 -2.58096126e+00] [ 1.64997105e-02 -9.85705718e-04 9.99863385e-01 -1.92155813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599072329 meters 0.04934814958873221 Centerline is valid? [True, True] Translation: X:83.97, Y:-2.59, Z:-1.92 [[ 9.85447300e-01 1.69229507e-01 -1.59685217e-02 8.39746454e+01] [-1.69191291e-01 9.85576195e-01 3.72432835e-03 -2.58962850e+00] [ 1.63684611e-02 -9.68394505e-04 9.99865559e-01 -1.92069295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629072329 meters 0.04648469378001268 Centerline is valid? [True, True] Translation: X:84.01, Y:-2.59, Z:-1.92 [[ 9.85352856e-01 1.69777530e-01 -1.59793452e-02 8.40068037e+01] [-1.69739266e-01 9.85481943e-01 3.73104859e-03 -2.59387879e+00] [ 1.63808044e-02 -9.64077063e-04 9.99865361e-01 -1.92010289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659072329 meters 0.04802360722290636 Centerline is valid? [True, True] Translation: X:84.04, Y:-2.60, Z:-1.92 [[ 9.85231979e-01 1.70465889e-01 -1.61036663e-02 8.40361010e+01] [-1.70427050e-01 9.85363106e-01 3.76424986e-03 -2.60351506e+00] [ 1.65096348e-02 -9.64159008e-04 9.99863242e-01 -1.92038816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689072329 meters 0.05098057917448547 Centerline is valid? [True, True] Translation: X:84.07, Y:-2.61, Z:-1.92 [[ 9.85071179e-01 1.71404165e-01 -1.59807901e-02 8.40657377e+01] [-1.71365975e-01 9.85200345e-01 3.73940673e-03 -2.61436054e+00] [ 1.63852298e-02 -9.45018120e-04 9.99865307e-01 -1.92074269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719072329 meters 0.04896531752018435 Centerline is valid? [True, True] Translation: X:84.10, Y:-2.62, Z:-1.92 [[ 9.84996816e-01 1.71853022e-01 -1.57419987e-02 8.40977139e+01] [-1.71815960e-01 9.85122165e-01 3.68739279e-03 -2.61925951e+00] [ 1.61414814e-02 -9.27343544e-04 9.99869288e-01 -1.91951268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.749072329 meters 0.04641682390470123 Centerline is valid? [True, True] Translation: X:84.13, Y:-2.62, Z:-1.92 [[ 9.84803942e-01 1.72967349e-01 -1.56042088e-02 8.41296602e+01] [-1.72931009e-01 9.84927143e-01 3.65914004e-03 -2.62425246e+00] [ 1.60019206e-02 -9.05083959e-04 9.99871551e-01 -1.91869639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779072329 meters 0.0467702528659811 Centerline is valid? [True, True] Translation: X:84.16, Y:-2.63, Z:-1.92 [[ 9.84684582e-01 1.73693091e-01 -1.50659570e-02 8.41596929e+01] [-1.73659241e-01 9.84799452e-01 3.53668573e-03 -2.63261866e+00] [ 1.54512441e-02 -8.66177242e-04 9.99880247e-01 -1.91749327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.809072329 meters 0.048226165758397055 Centerline is valid? [True, True] Translation: X:84.19, Y:-2.64, Z:-1.92 [[ 9.84513440e-01 1.74686048e-01 -1.47672034e-02 8.41893826e+01] [-1.74653585e-01 9.84623829e-01 3.47009516e-03 -2.64198334e+00] [ 1.51463176e-02 -8.37210310e-04 9.99884937e-01 -1.91654297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839072329 meters 0.042166608273710035 Centerline is valid? [True, True] Translation: X:84.22, Y:-2.64, Z:-1.92 [[ 9.84374483e-01 1.75412040e-01 -1.54108030e-02 8.42228921e+01] [-1.75376728e-01 9.84494727e-01 3.62424429e-03 -2.64183531e+00] [ 1.58075904e-02 -8.64917394e-04 9.99874678e-01 -1.91590302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.869072329 meters 0.04884536764079311 Centerline is valid? [True, True] Translation: X:84.25, Y:-2.66, Z:-1.92 [[ 9.84130012e-01 1.76737822e-01 -1.58701422e-02 8.42515750e+01] [-1.76700502e-01 9.84257580e-01 3.73488658e-03 -2.65707253e+00] [ 1.62804035e-02 -8.71351870e-04 9.99867086e-01 -1.91787127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899072329 meters 0.04323414425718072 Centerline is valid? [True, True] Translation: X:84.28, Y:-2.66, Z:-1.92 [[ 9.83942058e-01 1.77774196e-01 -1.59487134e-02 8.42849137e+01] [-1.77736587e-01 9.84070929e-01 3.75666913e-03 -2.65771412e+00] [ 1.63625040e-02 -8.61674864e-04 9.99865754e-01 -1.91730345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.929072329 meters 0.043585426033785284 Centerline is valid? [True, True] Translation: X:84.32, Y:-2.67, Z:-1.92 [[ 9.83825189e-01 1.78369219e-01 -1.65051211e-02 8.43158661e+01] [-1.78328969e-01 9.83963230e-01 3.89102266e-03 -2.66565391e+00] [ 1.69344709e-02 -8.84744888e-04 9.99856210e-01 -1.91760163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959072329 meters 0.047024528412064795 Centerline is valid? [True, True] Translation: X:84.34, Y:-2.68, Z:-1.92 [[ 9.83545062e-01 1.79929166e-01 -1.62667383e-02 8.43447244e+01] [-1.79890214e-01 9.83679203e-01 3.83892220e-03 -2.67784970e+00] [ 1.66919862e-02 -8.49525944e-04 9.99860318e-01 -1.91764430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.989072329 meters 0.042952174603161954 Centerline is valid? [True, True] Translation: X:84.38, Y:-2.68, Z:-1.92 [[ 9.83425469e-01 1.80593157e-01 -1.61387080e-02 8.43775333e+01] [-1.80554838e-01 9.83557529e-01 3.81272944e-03 -2.68029421e+00] [ 1.65619006e-02 -8.35613423e-04 9.99862493e-01 -1.91663120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019072329 meters 0.041015725387738 Centerline is valid? [True, True] Translation: X:84.41, Y:-2.69, Z:-1.92 [[ 9.83081367e-01 1.82419669e-01 -1.65556915e-02 8.44094032e+01] [-1.82379528e-01 9.83220410e-01 3.91563144e-03 -2.68532537e+00] [ 1.69921820e-02 -8.29965094e-04 9.99855278e-01 -1.91692803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.049072329 meters 0.04183911622494849 Centerline is valid? [True, True] Translation: X:84.44, Y:-2.69, Z:-1.92 [[ 9.82907144e-01 1.83325349e-01 -1.68926891e-02 8.44396229e+01] [-1.83283615e-01 9.83051941e-01 3.99968312e-03 -2.69356594e+00] [ 1.73396341e-02 -8.35163994e-04 9.99849308e-01 -1.91716216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079072329 meters 0.037881345639021874 Centerline is valid? [True, True] Translation: X:84.47, Y:-2.70, Z:-1.92 [[ 9.82666528e-01 1.84637688e-01 -1.65957617e-02 8.44719450e+01] [-1.84597524e-01 9.82806329e-01 3.93357563e-03 -2.69609987e+00] [ 1.70367059e-02 -8.01856588e-04 9.99854543e-01 -1.91632507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.109072329 meters 0.039201469760124945 Centerline is valid? [True, True] Translation: X:84.50, Y:-2.70, Z:-1.92 [[ 9.82524859e-01 1.85368851e-01 -1.68312517e-02 8.45023497e+01] [-1.85327567e-01 9.82668683e-01 3.99393257e-03 -2.70479688e+00] [ 1.72798947e-02 -8.04843108e-04 9.99850368e-01 -1.91624305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13907232900002 meters 0.03730439742838951 Centerline is valid? [True, True] Translation: X:84.53, Y:-2.71, Z:-1.92 [[ 9.82124932e-01 1.87482729e-01 -1.67583793e-02 8.45341804e+01] [-1.87442033e-01 9.82267599e-01 3.98106239e-03 -2.70978326e+00] [ 1.72075935e-02 -7.68675938e-04 9.99851643e-01 -1.91639273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16907232900002 meters 0.03685642109928853 Centerline is valid? [True, True] Translation: X:84.57, Y:-2.72, Z:-1.92 [[ 9.81978346e-01 1.88249011e-01 -1.67582179e-02 8.45655365e+01] [-1.88208351e-01 9.82121038e-01 3.98543984e-03 -2.71649616e+00] [ 1.72088534e-02 -7.59579078e-04 9.99851628e-01 -1.91589332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19907232900002 meters 0.03482701558327005 Centerline is valid? [True, True] Translation: X:84.60, Y:-2.72, Z:-1.91 [[ 9.81810329e-01 1.89118814e-01 -1.68092674e-02 8.45977973e+01] [-1.89077978e-01 9.81953926e-01 4.00074448e-03 -2.72181458e+00] [ 1.72625421e-02 -7.49709968e-04 9.99850710e-01 -1.91466239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22907232900002 meters 0.033976652684520284 Centerline is valid? [True, True] Translation: X:84.63, Y:-2.73, Z:-1.91 [[ 9.81691291e-01 1.89821691e-01 -1.58093148e-02 8.46291143e+01] [-1.89785618e-01 9.81818334e-01 3.76540260e-03 -2.72837375e+00] [ 1.62366303e-02 -6.96082349e-04 9.99867935e-01 -1.91400104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259072329 meters 0.036141675606877637 Centerline is valid? [True, True] Translation: X:84.66, Y:-2.74, Z:-1.91 [[ 9.81520414e-01 1.90676481e-01 -1.61293650e-02 8.46589406e+01] [-1.90638988e-01 9.81652683e-01 3.84525725e-03 -2.73837679e+00] [ 1.65666346e-02 -6.99312666e-04 9.99862519e-01 -1.91350429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289072329 meters 0.03395629262239445 Centerline is valid? [True, True] Translation: X:84.69, Y:-2.74, Z:-1.91 [[ 9.81365040e-01 1.91481529e-01 -1.60462834e-02 8.46903804e+01] [-1.91444474e-01 9.81495978e-01 3.82871275e-03 -2.74303822e+00] [ 1.64824904e-02 -6.85392563e-04 9.99863920e-01 -1.91283588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319072329 meters 0.032799053638812914 Centerline is valid? [True, True] Translation: X:84.72, Y:-2.75, Z:-1.91 [[ 9.81071296e-01 1.92980270e-01 -1.60538927e-02 8.47218049e+01] [-1.92943309e-01 9.81202412e-01 3.83483179e-03 -2.74863772e+00] [ 1.64921651e-02 -6.64752207e-04 9.99863774e-01 -1.91350754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349072329 meters 0.03479962495105966 Centerline is valid? [True, True] Translation: X:84.75, Y:-2.76, Z:-1.91 [[ 9.80920078e-01 1.93714994e-01 -1.64408288e-02 8.47520003e+01] [-1.93676258e-01 9.81057618e-01 3.93171092e-03 -2.75838786e+00] [ 1.68910317e-02 -6.72495986e-04 9.99857110e-01 -1.91401056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379072329 meters 0.03408910392179192 Centerline is valid? [True, True] Translation: X:84.78, Y:-2.77, Z:-1.91 [[ 9.80749917e-01 1.94581156e-01 -1.63637827e-02 8.47837562e+01] [-1.94542830e-01 9.80886201e-01 3.91756250e-03 -2.76512307e+00] [ 1.68132925e-02 -6.58692512e-04 9.99858430e-01 -1.91448971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409072329 meters 0.030238264783521953 Centerline is valid? [True, True] Translation: X:84.82, Y:-2.77, Z:-1.91 [[ 9.80503329e-01 1.95854960e-01 -1.59391595e-02 8.48161116e+01] [-1.95818698e-01 9.80632676e-01 3.82005537e-03 -2.76806392e+00] [ 1.63786374e-02 -6.24391549e-04 9.99865666e-01 -1.91257527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439072329 meters 0.031179519064003836 Centerline is valid? [True, True] Translation: X:84.85, Y:-2.78, Z:-1.91 [[ 9.80365123e-01 1.96537370e-01 -1.60402207e-02 8.48456934e+01] [-1.96500668e-01 9.80496138e-01 3.84852831e-03 -2.77661558e+00] [ 1.64837541e-02 -6.21048852e-04 9.99863941e-01 -1.91286852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.469072329 meters 0.03168278289164457 Centerline is valid? [True, True] Translation: X:84.88, Y:-2.79, Z:-1.91 [[ 9.80318263e-01 1.96767176e-01 -1.60867144e-02 8.48776918e+01] [-1.96730219e-01 9.80450045e-01 3.86409575e-03 -2.78512646e+00] [ 1.65325471e-02 -6.23300782e-04 9.99863134e-01 -1.91274695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499072329 meters 0.03398287500796734 Centerline is valid? [True, True] Translation: X:84.91, Y:-2.80, Z:-1.91 [[ 9.80195470e-01 1.97381813e-01 -1.60393701e-02 8.49073509e+01] [-1.97345081e-01 9.80326497e-01 3.85715278e-03 -2.79538905e+00] [ 1.64851513e-02 -6.15472895e-04 9.99863921e-01 -1.91306251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.529072329 meters 0.032049349421057645 Centerline is valid? [True, True] Translation: X:84.94, Y:-2.80, Z:-1.91 [[ 9.80070950e-01 1.97972922e-01 -1.63601394e-02 8.49393236e+01] [-1.97934720e-01 9.80207292e-01 3.93844152e-03 -2.80035167e+00] [ 1.68160327e-02 -6.21712516e-04 9.99858407e-01 -1.91311505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559072329 meters 0.0308739917285018 Centerline is valid? [True, True] Translation: X:84.97, Y:-2.81, Z:-1.91 [[ 9.79918658e-01 1.98702209e-01 -1.66390114e-02 8.49708171e+01] [-1.98662722e-01 9.80059714e-01 4.00997347e-03 -2.80628356e+00] [ 1.71040153e-02 -6.23896528e-04 9.99853521e-01 -1.91291704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.589072329 meters 0.033507546972310565 Centerline is valid? [True, True] Translation: X:85.00, Y:-2.82, Z:-1.91 [[ 9.79693175e-01 1.99762819e-01 -1.72075476e-02 8.50003315e+01] [-1.99720672e-01 9.79844079e-01 4.15144150e-03 -2.81718993e+00] [ 1.76900173e-02 -6.30435933e-04 9.99843321e-01 -1.91451784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619072329 meters 0.031169483488444436 Centerline is valid? [True, True] Translation: X:85.03, Y:-2.82, Z:-1.91 [[ 9.79578678e-01 2.00319143e-01 -1.72584747e-02 8.50320869e+01] [-2.00276756e-01 9.79730498e-01 4.16805125e-03 -2.82190939e+00] [ 1.77435944e-02 -6.26462812e-04 9.99842374e-01 -1.91374929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.649072329 meters 0.030700286900345923 Centerline is valid? [True, True] Translation: X:85.06, Y:-2.83, Z:-1.91 [[ 9.79534819e-01 2.00581951e-01 -1.66859031e-02 8.50644994e+01] [-2.00542290e-01 9.79676740e-01 4.03430497e-03 -2.82877326e+00] [ 1.71559999e-02 -6.05512974e-04 9.99852642e-01 -1.91335454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679072329 meters 0.031497029741896235 Centerline is valid? [True, True] Translation: X:85.09, Y:-2.84, Z:-1.91 [[ 9.79419256e-01 2.01197698e-01 -1.60439286e-02 8.50944605e+01] [-2.01161043e-01 9.79550486e-01 3.88336159e-03 -2.83714910e+00] [ 1.64971615e-02 -5.76025720e-04 9.99863747e-01 -1.91222981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.709072329 meters 0.030563941406054587 Centerline is valid? [True, True] Translation: X:85.13, Y:-2.84, Z:-1.91 [[ 9.79347597e-01 2.01531287e-01 -1.62303666e-02 8.51267803e+01] [-2.01493748e-01 9.79481905e-01 3.93280101e-03 -2.84357414e+00] [ 1.66899328e-02 -5.81261838e-04 9.99860544e-01 -1.91181589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739072329 meters 0.02993312416051882 Centerline is valid? [True, True] Translation: X:85.16, Y:-2.85, Z:-1.91 [[ 9.79222040e-01 2.02219898e-01 -1.52088244e-02 8.51583844e+01] [-2.02186955e-01 9.79339994e-01 3.68936877e-03 -2.85052862e+00] [ 1.56406738e-02 -5.37685315e-04 9.99877533e-01 -1.91029005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.769072329 meters 0.028945029492607216 Centerline is valid? [True, True] Translation: X:85.19, Y:-2.86, Z:-1.91 [[ 9.79125359e-01 2.02686555e-01 -1.52214491e-02 8.51909587e+01] [-2.02653548e-01 9.79243522e-01 3.69661657e-03 -2.85734157e+00] [ 1.56547599e-02 -5.34770370e-04 9.99877314e-01 -1.90930253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799072329 meters 0.030073717586842155 Centerline is valid? [True, True] Translation: X:85.22, Y:-2.87, Z:-1.91 [[ 9.79092516e-01 2.02849479e-01 -1.51635453e-02 8.52220416e+01] [-2.02816682e-01 9.79209785e-01 3.68640929e-03 -2.86639869e+00] [ 1.55960782e-02 -5.33915798e-04 9.99878231e-01 -1.90896097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.829072329 meters 0.030073717586842155 Centerline is valid? [True, True] Translation: X:85.25, Y:-2.87, Z:-1.91 [[ 9.79036587e-01 2.03119305e-01 -1.51627490e-02 8.52535254e+01] [-2.03086490e-01 9.79153851e-01 3.68968252e-03 -2.87428968e+00] [ 1.55961098e-02 -5.32984727e-04 9.99878231e-01 -1.90865605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859072329 meters 0.029545916465929554 Centerline is valid? [True, True] Translation: X:85.29, Y:-2.88, Z:-1.91 [[ 9.78947522e-01 2.03522091e-01 -1.55082798e-02 8.52859589e+01] [-2.03487740e-01 9.79070203e-01 3.77837510e-03 -2.88143256e+00] [ 1.59526775e-02 -5.43086124e-04 9.99872600e-01 -1.90877447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88907232900002 meters 0.02845047660040103 Centerline is valid? [True, True] Translation: X:85.32, Y:-2.89, Z:-1.91 [[ 9.78893671e-01 2.03720456e-01 -1.62836532e-02 8.53185258e+01] [-2.03682527e-01 9.79028932e-01 3.97229497e-03 -2.88788109e+00] [ 1.67514054e-02 -5.71758765e-04 9.99859522e-01 -1.90926465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91907232900002 meters 0.02734921682265124 Centerline is valid? [True, True] Translation: X:85.35, Y:-2.89, Z:-1.91 [[ 9.78775311e-01 2.04314854e-01 -1.59477464e-02 8.53498991e+01] [-2.04278478e-01 9.78905068e-01 3.89491667e-03 -2.89439837e+00] [ 1.64071191e-02 -5.54466907e-04 9.99865240e-01 -1.90863832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94907232900002 meters 0.029840734010302496 Centerline is valid? [True, True] Translation: X:85.38, Y:-2.91, Z:-1.91 [[ 9.78755855e-01 2.04439533e-01 -1.55387618e-02 8.53803404e+01] [-2.04404947e-01 9.78879044e-01 3.79927857e-03 -2.90552845e+00] [ 1.59872911e-02 -5.42366350e-04 9.99872048e-01 -1.90860127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979072329 meters 0.03030211475177006 Centerline is valid? [True, True] Translation: X:85.41, Y:-2.91, Z:-1.91 [[ 9.78722222e-01 2.04580226e-01 -1.58032589e-02 8.54109722e+01] [-2.04544407e-01 9.78849644e-01 3.86783772e-03 -2.91361797e+00] [ 1.62602975e-02 -5.53070505e-04 9.99867640e-01 -1.90856837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009072329 meters 0.029457294533149842 Centerline is valid? [True, True] Translation: X:85.44, Y:-2.92, Z:-1.91 [[ 9.78632905e-01 2.05039253e-01 -1.53799457e-02 8.54428681e+01] [-2.05005333e-01 9.78753605e-01 3.76747205e-03 -2.92010381e+00] [ 1.58256569e-02 -5.34001217e-04 9.99874624e-01 -1.90766015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039072329 meters 0.02839173371860905 Centerline is valid? [True, True] Translation: X:85.47, Y:-2.93, Z:-1.91 [[ 9.78658110e-01 2.04964625e-01 -1.47582451e-02 8.54749190e+01] [-2.04933323e-01 9.78769245e-01 3.61915022e-03 -2.92643277e+00] [ 1.51867142e-02 -5.17454497e-04 9.99884541e-01 -1.90611727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069072329 meters 0.03055534935953988 Centerline is valid? [True, True] Translation: X:85.51, Y:-2.94, Z:-1.91 [[ 9.78651119e-01 2.04994574e-01 -1.48058262e-02 8.55052115e+01] [-2.04963015e-01 9.78762970e-01 3.63467265e-03 -2.93699288e+00] [ 1.52364826e-02 -5.22429684e-04 9.99883782e-01 -1.90668911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099072329 meters 0.028004301730411095 Centerline is valid? [True, True] Translation: X:85.54, Y:-2.94, Z:-1.91 [[ 9.78621884e-01 2.05107817e-01 -1.51654859e-02 8.55383453e+01] [-2.05074662e-01 9.78739238e-01 3.72660672e-03 -2.94148002e+00] [ 1.56074123e-02 -5.36881987e-04 9.99878053e-01 -1.90560781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129072329 meters 0.02923550876820222 Centerline is valid? [True, True] Translation: X:85.57, Y:-2.95, Z:-1.91 [[ 9.78658482e-01 2.04882340e-01 -1.58367204e-02 8.55682858e+01] [-2.04846081e-01 9.78786444e-01 3.89617905e-03 -2.95074420e+00] [ 1.62990256e-02 -5.68938559e-04 9.99867000e-01 -1.90606401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159072329 meters 0.029185877543349913 Centerline is valid? [True, True] Translation: X:85.60, Y:-2.96, Z:-1.91 [[ 9.78775608e-01 2.04285215e-01 -1.63052138e-02 8.55992727e+01] [-2.04246624e-01 9.78911227e-01 4.01573142e-03 -2.95811201e+00] [ 1.67817115e-02 -6.00215089e-04 9.99858997e-01 -1.90604522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189072329 meters 0.03254832923776425 Centerline is valid? [True, True] Translation: X:85.63, Y:-2.97, Z:-1.91 [[ 9.78729970e-01 2.04486687e-01 -1.65179024e-02 8.56288244e+01] [-2.04447032e-01 9.78869156e-01 4.07275137e-03 -2.97008282e+00] [ 1.70016886e-02 -6.09087704e-04 9.99855275e-01 -1.90654475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219072329 meters 0.030466617894157492 Centerline is valid? [True, True] Translation: X:85.66, Y:-2.97, Z:-1.90 [[ 9.78791139e-01 2.04249540e-01 -1.58124145e-02 8.56610032e+01] [-2.04213099e-01 9.78918677e-01 3.90310683e-03 -2.97468895e+00] [ 1.62762756e-02 -5.91224220e-04 9.99867358e-01 -1.90437580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.249072329 meters 0.030767254296421787 Centerline is valid? [True, True] Translation: X:85.69, Y:-2.98, Z:-1.90 [[ 9.78775379e-01 2.04373083e-01 -1.51789527e-02 8.56925371e+01] [-2.04339453e-01 9.78892905e-01 3.75090514e-03 -2.98289097e+00] [ 1.56251531e-02 -5.69634715e-04 9.99877758e-01 -1.90375666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279072329 meters 0.03202917998696154 Centerline is valid? [True, True] Translation: X:85.72, Y:-2.99, Z:-1.90 [[ 9.78737023e-01 2.04536079e-01 -1.54542259e-02 8.57227171e+01] [-2.04501166e-01 9.78858853e-01 3.82350974e-03 -2.99235940e+00] [ 1.59095515e-02 -5.81803326e-04 9.99873266e-01 -1.90310720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.309072329 meters 0.033200630233736275 Centerline is valid? [True, True] Translation: X:85.75, Y:-3.00, Z:-1.90 [[ 9.78901441e-01 2.03770216e-01 -1.51547988e-02 8.57534820e+01] [-2.03736488e-01 9.79018567e-01 3.75348993e-03 -3.00196167e+00] [ 1.56016789e-02 -5.86711222e-04 9.99878114e-01 -1.90260964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339072329 meters 0.030410349263043326 Centerline is valid? [True, True] Translation: X:85.79, Y:-3.01, Z:-1.90 [[ 9.78946991e-01 2.03557455e-01 -1.50715421e-02 8.57850321e+01] [-2.03524011e-01 9.79062824e-01 3.73671032e-03 -3.00615865e+00] [ 1.55166218e-02 -5.90620612e-04 9.99879436e-01 -1.90140923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.369072329 meters 0.030970316917710017 Centerline is valid? [True, True] Translation: X:85.82, Y:-3.01, Z:-1.90 [[ 9.79063748e-01 2.02979114e-01 -1.52858300e-02 8.58160596e+01] [-2.02944579e-01 9.79182876e-01 3.79386669e-03 -3.01375291e+00] [ 1.57376987e-02 -6.12261015e-04 9.99875967e-01 -1.90116366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399072329 meters 0.031430341506798055 Centerline is valid? [True, True] Translation: X:85.85, Y:-3.02, Z:-1.90 [[ 9.79104181e-01 2.02799987e-01 -1.50720864e-02 8.58470818e+01] [-2.02766326e-01 9.79219992e-01 3.74489907e-03 -3.02173938e+00] [ 1.55183538e-02 -6.10534760e-04 9.99879397e-01 -1.90129794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.429072329 meters 0.035281116410678014 Centerline is valid? [True, True] Translation: X:85.88, Y:-3.03, Z:-1.90 [[ 9.79152145e-01 2.02525384e-01 -1.56379784e-02 8.58759535e+01] [-2.02489046e-01 9.79276803e-01 3.88972049e-03 -3.03387430e+00] [ 1.61016766e-02 -6.42108830e-04 9.99870153e-01 -1.90167265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459072329 meters 0.03416071891870565 Centerline is valid? [True, True] Translation: X:85.91, Y:-3.04, Z:-1.90 [[ 9.79166271e-01 2.02477529e-01 -1.53708806e-02 8.59077501e+01] [-2.02442350e-01 9.79286703e-01 3.82740705e-03 -3.04076476e+00] [ 1.58274629e-02 -6.35950694e-04 9.99874536e-01 -1.90139856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.489072329 meters 0.036091190267671464 Centerline is valid? [True, True] Translation: X:85.94, Y:-3.05, Z:-1.90 [[ 9.79360124e-01 2.01529253e-01 -1.54824977e-02 8.59372358e+01] [-2.01493375e-01 9.79482274e-01 3.85948795e-03 -3.05103450e+00] [ 1.59426318e-02 -6.60207879e-04 9.99872690e-01 -1.90037883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519072329 meters 0.03515717623992805 Centerline is valid? [True, True] Translation: X:85.97, Y:-3.06, Z:-1.90 [[ 9.79464316e-01 2.01045667e-01 -1.51754106e-02 8.59687287e+01] [-2.01011081e-01 9.79581649e-01 3.78669652e-03 -3.05750638e+00] [ 1.56268527e-02 -6.58508432e-04 9.99877676e-01 -1.89894772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.549072329 meters 0.03905613231767793 Centerline is valid? [True, True] Translation: X:86.00, Y:-3.07, Z:-1.90 [[ 9.79561725e-01 2.00584544e-01 -1.49889055e-02 8.59977958e+01] [-2.00550691e-01 9.79676173e-01 3.74397313e-03 -3.06970667e+00] [ 1.54352567e-02 -6.61417418e-04 9.99880651e-01 -1.89873109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579072329 meters 0.03706793608382202 Centerline is valid? [True, True] Translation: X:86.03, Y:-3.07, Z:-1.90 [[ 9.79590568e-01 2.00443489e-01 -1.49908658e-02 8.60293008e+01] [-2.00409552e-01 9.79705038e-01 3.74821736e-03 -3.07466727e+00] [ 1.54379326e-02 -6.67405670e-04 9.99880605e-01 -1.89793986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.609072329 meters 0.0375256385712697 Centerline is valid? [True, True] Translation: X:86.06, Y:-3.08, Z:-1.90 [[ 9.79811496e-01 1.99328873e-01 -1.54088258e-02 8.60607380e+01] [-1.99292815e-01 9.79932395e-01 3.85682542e-03 -3.08234621e+00] [ 1.58683842e-02 -7.08093628e-04 9.99873839e-01 -1.89837855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63907232900002 meters 0.03937371179785308 Centerline is valid? [True, True] Translation: X:86.09, Y:-3.09, Z:-1.90 [[ 9.79813470e-01 1.99306611e-01 -1.55704287e-02 8.60904197e+01] [-1.99269726e-01 9.79936915e-01 3.90127586e-03 -3.09252535e+00] [ 1.60355879e-02 -7.19807581e-04 9.99871163e-01 -1.89882152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66907232900002 meters 0.039500038429530905 Centerline is valid? [True, True] Translation: X:86.12, Y:-3.10, Z:-1.90 [[ 9.80024158e-01 1.98234068e-01 -1.59970066e-02 8.61217443e+01] [-1.98194924e-01 9.80154413e-01 4.01223530e-03 -3.10046035e+00] [ 1.64748983e-02 -7.61562021e-04 9.99863990e-01 -1.89914254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69907232900002 meters 0.03897158909521197 Centerline is valid? [True, True] Translation: X:86.15, Y:-3.11, Z:-1.90 [[ 9.80126219e-01 1.97780749e-01 -1.53418128e-02 8.61533426e+01] [-1.97744628e-01 9.80246003e-01 3.85184110e-03 -3.10785457e+00] [ 1.58005706e-02 -7.41529396e-04 9.99874888e-01 -1.89897240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729072329 meters 0.04029664094009546 Centerline is valid? [True, True] Translation: X:86.18, Y:-3.12, Z:-1.90 [[ 9.80163444e-01 1.97593308e-01 -1.53787911e-02 8.61833124e+01] [-1.97556927e-01 9.80283797e-01 3.86506925e-03 -3.11715089e+00] [ 1.58392916e-02 -7.50212879e-04 9.99874269e-01 -1.89841217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759072329 meters 0.04081377554701575 Centerline is valid? [True, True] Translation: X:86.21, Y:-3.13, Z:-1.90 [[ 9.80418517e-01 1.96393977e-01 -1.44546959e-02 8.62139456e+01] [-1.96361655e-01 9.80524797e-01 3.63631662e-03 -3.12559071e+00] [ 1.48873385e-02 -7.26764126e-04 9.99888913e-01 -1.89708280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789072329 meters 0.040331399859422 Centerline is valid? [True, True] Translation: X:86.25, Y:-3.13, Z:-1.90 [[ 9.80518721e-01 1.95906818e-01 -1.42672939e-02 8.62454286e+01] [-1.95875222e-01 9.80622245e-01 3.59293037e-03 -3.13286238e+00] [ 1.46947054e-02 -7.28326126e-04 9.99891762e-01 -1.89626859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819072329 meters 0.041653372738181926 Centerline is valid? [True, True] Translation: X:86.28, Y:-3.14, Z:-1.90 [[ 9.80693899e-01 1.94987250e-01 -1.48138049e-02 8.62750205e+01] [-1.94953031e-01 9.80805472e-01 3.73388136e-03 -3.14174018e+00] [ 1.52575202e-02 -7.73798500e-04 9.99883298e-01 -1.89601745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849072329 meters 0.04465756791440742 Centerline is valid? [True, True] Translation: X:86.30, Y:-3.15, Z:-1.90 [[ 9.81074257e-01 1.93066604e-01 -1.47847374e-02 8.63044226e+01] [-1.93032273e-01 9.81185324e-01 3.72851541e-03 -3.15350941e+00] [ 1.52264191e-02 -8.04019032e-04 9.99883748e-01 -1.89713364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879072329 meters 0.04357076575747862 Centerline is valid? [True, True] Translation: X:86.34, Y:-3.16, Z:-1.90 [[ 9.81136442e-01 1.92704788e-01 -1.53670676e-02 8.63360336e+01] [-1.92667609e-01 9.81256415e-01 3.87822172e-03 -3.16041731e+00] [ 1.58263856e-02 -8.44328487e-04 9.99874398e-01 -1.89672336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909072329 meters 0.04291571188205031 Centerline is valid? [True, True] Translation: X:86.37, Y:-3.17, Z:-1.90 [[ 9.81239934e-01 1.92157706e-01 -1.56079471e-02 8.63672246e+01] [-1.92119215e-01 9.81363673e-01 3.94325020e-03 -3.16764610e+00] [ 1.60747982e-02 -8.70688026e-04 9.99870413e-01 -1.89641383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939072329 meters 0.04425706436749994 Centerline is valid? [True, True] Translation: X:86.40, Y:-3.18, Z:-1.90 [[ 9.81402332e-01 1.91320181e-01 -1.56859929e-02 8.63969955e+01] [-1.91281131e-01 9.81527275e-01 3.96708635e-03 -3.17727266e+00] [ 1.61552135e-02 -8.92873328e-04 9.99869097e-01 -1.89647774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.969072329 meters 0.04821770006877171 Centerline is valid? [True, True] Translation: X:86.43, Y:-3.19, Z:-1.90 [[ 9.81763903e-01 1.89489608e-01 -1.52750251e-02 8.64260839e+01] [-1.89452298e-01 9.81882312e-01 3.86687006e-03 -3.18994379e+00] [ 1.57310086e-02 -9.02464841e-04 9.99875853e-01 -1.89718028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999072329 meters 0.046020302214521344 Centerline is valid? [True, True] Translation: X:86.46, Y:-3.20, Z:-1.90 [[ 9.81847903e-01 1.89037960e-01 -1.54707671e-02 8.64581900e+01] [-1.88999568e-01 9.81969345e-01 3.92039414e-03 -3.19533334e+00] [ 1.59329223e-02 -9.25262476e-04 9.99872635e-01 -1.89658931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.029072329 meters 0.04862139648934986 Centerline is valid? [True, True] Translation: X:86.49, Y:-3.21, Z:-1.90 [[ 9.82186269e-01 1.87304077e-01 -1.50769958e-02 8.64874292e+01] [-1.87267352e-01 9.82301538e-01 3.82445310e-03 -3.20664875e+00] [ 1.55264919e-02 -9.32896226e-04 9.99879022e-01 -1.89660029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059072329 meters 0.050813556667677985 Centerline is valid? [True, True] Translation: X:86.52, Y:-3.22, Z:-1.90 [[ 9.82470489e-01 1.85834369e-01 -1.47419732e-02 8.65165023e+01] [-1.85799057e-01 9.82580637e-01 3.74186673e-03 -3.21679791e+00] [ 1.51805449e-02 -9.37228906e-04 9.99884330e-01 -1.89668397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.089072329 meters 0.05341977062421886 Centerline is valid? [True, True] Translation: X:86.55, Y:-3.23, Z:-1.90 [[ 9.82538734e-01 1.85471110e-01 -1.47683425e-02 8.65453996e+01] [-1.85435605e-01 9.82649262e-01 3.75027207e-03 -3.22841647e+00] [ 1.52076679e-02 -9.46211051e-04 9.99883909e-01 -1.89615241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119072329 meters 0.05603753279029467 Centerline is valid? [True, True] Translation: X:86.57, Y:-3.24, Z:-1.90 [[ 9.82927409e-01 1.83410514e-01 -1.46387392e-02 8.65738954e+01] [-1.83375367e-01 9.83035930e-01 3.71963422e-03 -3.23994078e+00] [ 1.50726266e-02 -9.71746250e-04 9.99885929e-01 -1.89519214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.149072329 meters 0.054091980496977554 Centerline is valid? [True, True] Translation: X:86.61, Y:-3.25, Z:-1.89 [[ 9.83166843e-01 1.82143139e-01 -1.43817565e-02 8.66055784e+01] [-1.82109072e-01 9.83271543e-01 3.65489097e-03 -3.24509313e+00] [ 1.48068852e-02 -9.74319287e-04 9.99889897e-01 -1.89457922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179072329 meters 0.05646993881436792 Centerline is valid? [True, True] Translation: X:86.64, Y:-3.26, Z:-1.89 [[ 9.83286432e-01 1.81503268e-01 -1.42953255e-02 8.66350765e+01] [-1.81469514e-01 9.83389853e-01 3.63483515e-03 -3.25618584e+00] [ 1.47176125e-02 -9.79918326e-04 9.99891210e-01 -1.89386352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.209072329 meters 0.055397528276559554 Centerline is valid? [True, True] Translation: X:86.67, Y:-3.26, Z:-1.89 [[ 9.83724051e-01 1.79095786e-01 -1.45496044e-02 8.66650736e+01] [-1.79060524e-01 9.83831096e-01 3.70179497e-03 -3.26269547e+00] [ 1.49773291e-02 -1.03628496e-03 9.99887297e-01 -1.89326708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239072329 meters 0.055745904593778525 Centerline is valid? [True, True] Translation: X:86.70, Y:-3.27, Z:-1.89 [[ 9.83954521e-01 1.77864064e-01 -1.40668378e-02 8.66962356e+01] [-1.77830970e-01 9.84054538e-01 3.57950961e-03 -3.27186338e+00] [ 1.44792017e-02 -1.02055525e-03 9.99894650e-01 -1.89276666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.269072329 meters 0.05840260606285632 Centerline is valid? [True, True] Translation: X:86.73, Y:-3.28, Z:-1.89 [[ 9.84103612e-01 1.77044524e-01 -1.39755968e-02 8.67252502e+01] [-1.77011749e-01 9.84202307e-01 3.55816543e-03 -3.28395312e+00] [ 1.43847683e-02 -1.02775863e-03 9.99896006e-01 -1.89228879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299072329 meters 0.05644532641890468 Centerline is valid? [True, True] Translation: X:86.76, Y:-3.29, Z:-1.89 [[ 9.84593295e-01 1.74347952e-01 -1.33729307e-02 8.67561018e+01] [-1.74317664e-01 9.84683576e-01 3.40700861e-03 -3.29019569e+00] [ 1.37621102e-02 -1.02337980e-03 9.99904774e-01 -1.89107877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.329072329 meters 0.06113017980490627 Centerline is valid? [True, True] Translation: X:86.78, Y:-3.30, Z:-1.89 [[ 9.84809649e-01 1.73141715e-01 -1.31111264e-02 8.67846212e+01] [-1.73112477e-01 9.84896392e-01 3.34164240e-03 -3.30378158e+00] [ 1.34916788e-02 -1.02118212e-03 9.99908462e-01 -1.89128118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359072329 meters 0.064333769167803 Centerline is valid? [True, True] Translation: X:86.81, Y:-3.32, Z:-1.89 [[ 9.85040692e-01 1.71797264e-01 -1.34363582e-02 8.68130708e+01] [-1.71766399e-01 9.85131747e-01 3.42699375e-03 -3.31558937e+00] [ 1.38253312e-02 -1.06781343e-03 9.99903855e-01 -1.89088960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38907232900002 meters 0.061367489309864964 Centerline is valid? [True, True] Translation: X:86.85, Y:-3.32, Z:-1.89 [[ 9.85206004e-01 1.70838841e-01 -1.35359235e-02 8.68453735e+01] [-1.70807417e-01 9.85298383e-01 3.45306128e-03 -3.32047666e+00] [ 1.39268405e-02 -1.08994057e-03 9.99902423e-01 -1.89069422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41907232900002 meters 0.06315117600790028 Centerline is valid? [True, True] Translation: X:86.87, Y:-3.33, Z:-1.89 [[ 9.85650373e-01 1.68206722e-01 -1.41365192e-02 8.68749973e+01] [-1.68172166e-01 9.85751039e-01 3.60717786e-03 -3.33120146e+00] [ 1.45418400e-02 -1.17804715e-03 9.99893568e-01 -1.89026364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44907232900002 meters 0.0658026515980732 Centerline is valid? [True, True] Translation: X:86.90, Y:-3.34, Z:-1.89 [[ 9.85848737e-01 1.67034987e-01 -1.41979369e-02 8.69037022e+01] [-1.67000002e-01 9.85950237e-01 3.62338314e-03 -3.34262971e+00] [ 1.46036910e-02 -1.20105221e-03 9.99892639e-01 -1.89019226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479072329 meters 0.06713224684795138 Centerline is valid? [True, True] Translation: X:86.93, Y:-3.35, Z:-1.89 [[ 9.86275970e-01 1.64473710e-01 -1.44260366e-02 8.69330639e+01] [-1.64437313e-01 9.86380663e-01 3.68203968e-03 -3.35239188e+00] [ 1.48351623e-02 -1.25932855e-03 9.99889160e-01 -1.89034562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509072329 meters 0.06902326293249195 Centerline is valid? [True, True] Translation: X:86.96, Y:-3.36, Z:-1.89 [[ 9.86440182e-01 1.63523487e-01 -1.39941893e-02 8.69637142e+01] [-1.63489134e-01 9.86538667e-01 3.57234050e-03 -3.36306245e+00] [ 1.43899704e-02 -1.23600233e-03 9.99895695e-01 -1.89000066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539072329 meters 0.07008434825557006 Centerline is valid? [True, True] Translation: X:86.99, Y:-3.37, Z:-1.89 [[ 9.86703377e-01 1.61943997e-01 -1.38053671e-02 8.69933762e+01] [-1.61910398e-01 9.86799168e-01 3.52503553e-03 -3.37218431e+00] [ 1.41939831e-02 -1.24293198e-03 9.99898488e-01 -1.88936596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569072329 meters 0.0716523633450379 Centerline is valid? [True, True] Translation: X:87.02, Y:-3.38, Z:-1.89 [[ 9.87092596e-01 1.59574594e-01 -1.35703940e-02 8.70230009e+01] [-1.59541899e-01 9.87185075e-01 3.46564130e-03 -3.38303342e+00] [ 1.39495187e-02 -1.25586245e-03 9.99901912e-01 -1.88887188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599072329 meters 0.07567187980093461 Centerline is valid? [True, True] Translation: X:87.05, Y:-3.40, Z:-1.89 [[ 9.87256311e-01 1.58569150e-01 -1.34462645e-02 8.70514864e+01] [-1.58536939e-01 9.87347070e-01 3.43530068e-03 -3.39626405e+00] [ 1.38208625e-02 -1.25979266e-03 9.99903694e-01 -1.88909077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629072329 meters 0.07885267951169604 Centerline is valid? [True, True] Translation: X:87.08, Y:-3.41, Z:-1.89 [[ 9.87432133e-01 1.57412876e-01 -1.41056326e-02 8.70793821e+01] [-1.57377279e-01 9.87531968e-01 3.60601339e-03 -3.40851013e+00] [ 1.44973961e-02 -1.34078740e-03 9.99894008e-01 -1.88930256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659072329 meters 0.07626474645417286 Centerline is valid? [True, True] Translation: X:87.11, Y:-3.41, Z:-1.89 [[ 9.87805222e-01 1.55045935e-01 -1.41986442e-02 8.71095285e+01] [-1.55009623e-01 9.87906292e-01 3.62986015e-03 -3.41333013e+00] [ 1.45897250e-02 -1.38466832e-03 9.99892606e-01 -1.88961483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689072329 meters 0.07626474645417286 Centerline is valid? [True, True] Translation: X:87.14, Y:-3.42, Z:-1.89 [[ 9.87762868e-01 1.55315567e-01 -1.41982579e-02 8.71410262e+01] [-1.55279262e-01 9.87863940e-01 3.63137041e-03 -3.42160928e+00] [ 1.45899553e-02 -1.38223785e-03 9.99892606e-01 -1.88930931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719072329 meters 0.07928426003024691 Centerline is valid? [True, True] Translation: X:87.17, Y:-3.43, Z:-1.89 [[ 9.87978852e-01 1.53931514e-01 -1.42434839e-02 8.71696464e+01] [-1.53894793e-01 9.88080513e-01 3.64577489e-03 -3.43333183e+00] [ 1.46349086e-02 -1.40995048e-03 9.99891910e-01 -1.88944674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.749072329 meters 0.08148531100948957 Centerline is valid? [True, True] Translation: X:87.20, Y:-3.44, Z:-1.89 [[ 9.88096526e-01 1.53256832e-01 -1.33265824e-02 8.71992239e+01] [-1.53224615e-01 9.88185497e-01 3.41193401e-03 -3.44450889e+00] [ 1.36920377e-02 -1.32935969e-03 9.99905376e-01 -1.88881171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779072329 meters 0.08455833127371196 Centerline is valid? [True, True] Translation: X:87.23, Y:-3.46, Z:-1.89 [[ 9.88482159e-01 1.50845629e-01 -1.21908832e-02 8.72281517e+01] [-1.50818473e-01 9.88556543e-01 3.12231821e-03 -3.45725883e+00] [ 1.25223654e-02 -1.24774546e-03 9.99920814e-01 -1.88610272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.809072329 meters 0.08649271413208559 Centerline is valid? [True, True] Translation: X:87.26, Y:-3.47, Z:-1.89 [[ 9.88602890e-01 1.50072634e-01 -1.19386316e-02 8.72572691e+01] [-1.50046530e-01 9.88674207e-01 3.05806094e-03 -3.46782750e+00] [ 1.22623484e-02 -1.23185763e-03 9.99924056e-01 -1.88507908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839072329 meters 0.07755129958219759 Centerline is valid? [True, True] Translation: X:87.29, Y:-3.46, Z:-1.88 [[ 9.88713468e-01 1.49305870e-01 -1.23869308e-02 8.72908617e+01] [-1.49277700e-01 9.88790219e-01 3.17363822e-03 -3.46464883e+00] [ 1.27219188e-02 -1.28872631e-03 9.99918243e-01 -1.88474046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.869072329 meters 0.08037210672651982 Centerline is valid? [True, True] Translation: X:87.32, Y:-3.48, Z:-1.89 [[ 9.88925815e-01 1.47777360e-01 -1.36961598e-02 8.73197938e+01] [-1.47742756e-01 9.89019593e-01 3.51041710e-03 -3.47622587e+00] [ 1.40645306e-02 -1.44803369e-03 9.99900041e-01 -1.88641399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899072329 meters 0.08087966918897513 Centerline is valid? [True, True] Translation: X:87.35, Y:-3.48, Z:-1.89 [[ 9.89014046e-01 1.47099280e-01 -1.45951541e-02 8.73501866e+01] [-1.47059898e-01 9.89120511e-01 3.74170205e-03 -3.48484664e+00] [ 1.49867680e-02 -1.55423402e-03 9.99886484e-01 -1.88734653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.929072329 meters 0.08330449813477127 Centerline is valid? [True, True] Translation: X:87.38, Y:-3.50, Z:-1.89 [[ 9.89100970e-01 1.46475874e-01 -1.49696216e-02 8.73798455e+01] [-1.46434335e-01 9.89212939e-01 3.84025970e-03 -3.49569824e+00] [ 1.53706487e-02 -1.60633802e-03 9.99880574e-01 -1.88766766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959072329 meters 0.08524500892118259 Centerline is valid? [True, True] Translation: X:87.41, Y:-3.51, Z:-1.89 [[ 9.89379172e-01 1.44615510e-01 -1.46699415e-02 8.74091945e+01] [-1.44575382e-01 9.89486624e-01 3.76558868e-03 -3.50693787e+00] [ 1.50602734e-02 -1.60468260e-03 9.99885300e-01 -1.88654010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.989072329 meters 0.0967178581908929 Centerline is valid? [True, True] Translation: X:87.43, Y:-3.53, Z:-1.89 [[ 9.89582242e-01 1.43323047e-01 -1.36195146e-02 8.74340585e+01] [-1.43288337e-01 9.89674810e-01 3.49610983e-03 -3.52935280e+00] [ 1.39799637e-02 -1.50817060e-03 9.99901138e-01 -1.88591659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019072329 meters 0.07955487183822921 Centerline is valid? [True, True] Translation: X:87.47, Y:-3.52, Z:-1.88 [[ 9.89694200e-01 1.42604553e-01 -1.30127886e-02 8.74705235e+01] [-1.42572802e-01 9.89778680e-01 3.34066214e-03 -3.51600757e+00] [ 1.33561744e-02 -1.45096421e-03 9.99909750e-01 -1.88366880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.049072329 meters 0.09100688038016726 Centerline is valid? [True, True] Translation: X:87.50, Y:-3.54, Z:-1.88 [[ 9.89951034e-01 1.40810643e-01 -1.30120036e-02 8.74958417e+01] [-1.40778733e-01 9.90035446e-01 3.34114986e-03 -3.53809991e+00] [ 1.33528143e-02 -1.47576137e-03 9.99909758e-01 -1.88336939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079072329 meters 0.09138504130054122 Centerline is valid? [True, True] Translation: X:87.53, Y:-3.55, Z:-1.88 [[ 9.89970773e-01 1.40623293e-01 -1.35261884e-02 8.75261662e+01] [-1.40588780e-01 9.90061980e-01 3.47420346e-03 -3.54694219e+00] [ 1.38803188e-02 -1.53772957e-03 9.99902481e-01 -1.88378451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.109072329 meters 0.10287762461962674 Centerline is valid? [True, False] Translation: X:87.51, Y:-3.54, Z:-1.88 [[ 9.92377025e-01 1.21700788e-01 -1.94102794e-02 8.75132383e+01] [-1.21498744e-01 9.92527562e-01 1.12735944e-02 -3.54016299e+00] [ 2.06372426e-02 -8.82933145e-03 9.99748042e-01 -1.88137745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13907232900002 meters 0.09509438932560792 Centerline is valid? [False, True] Translation: X:87.50, Y:-3.53, Z:-1.88 [[ 9.94397058e-01 1.02164888e-01 -2.71445568e-02 8.74976687e+01] [-1.01789336e-01 9.94694715e-01 1.48780358e-02 -3.53166425e+00] [ 2.85205601e-02 -1.20316487e-02 9.99520794e-01 -1.88121638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16907232900002 meters 0.08555042851507752 Centerline is valid? [True, True] Translation: X:87.53, Y:-3.53, Z:-1.88 [[ 9.94503836e-01 1.00623322e-01 -2.89321012e-02 8.75313883e+01] [-1.00482278e-01 9.94918953e-01 6.29195295e-03 -3.52536371e+00] [ 2.94182130e-02 -3.35020791e-03 9.99561576e-01 -1.88315403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19907232900002 meters 0.08780294802805283 Centerline is valid? [True, True] Translation: X:87.56, Y:-3.54, Z:-1.88 [[ 9.94543003e-01 1.00212291e-01 -2.90122757e-02 8.75614180e+01] [-1.00070231e-01 9.94960358e-01 6.31142465e-03 -3.53527834e+00] [ 2.94985466e-02 -3.37371807e-03 9.99559130e-01 -1.88215595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229072329 meters 0.0826265922460064 Centerline is valid? [True, True] Translation: X:87.59, Y:-3.54, Z:-1.88 [[ 9.94655314e-01 9.93037671e-02 -2.82766368e-02 8.75939562e+01] [-9.91682916e-02 9.95051626e-01 6.15726203e-03 -3.53602385e+00] [ 2.87481528e-02 -3.32020764e-03 9.99581172e-01 -1.87990093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259072329 meters 0.08246059014305827 Centerline is valid? [True, True] Translation: X:87.63, Y:-3.54, Z:-1.88 [[ 9.94671528e-01 9.92490398e-02 -2.78958820e-02 8.76254809e+01] [-9.91170893e-02 9.95057220e-01 6.07713298e-03 -3.54305470e+00] [ 2.83611484e-02 -3.27979251e-03 9.99592361e-01 -1.87880426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289072329 meters 0.09179613542607837 Centerline is valid? [True, True] Translation: X:87.65, Y:-3.56, Z:-1.88 [[ 9.94724863e-01 9.88184927e-02 -2.75200508e-02 8.76528786e+01] [-9.86897333e-02 9.95100154e-01 6.00165876e-03 -3.56157884e+00] [ 2.79782816e-02 -3.25405271e-03 9.99603235e-01 -1.87838630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319072329 meters 0.0908813993194482 Centerline is valid? [True, True] Translation: X:87.68, Y:-3.57, Z:-1.88 [[ 9.94761336e-01 9.83202891e-02 -2.79822319e-02 8.76839362e+01] [-9.81869326e-02 9.95149270e-01 6.10386273e-03 -3.56796306e+00] [ 2.84466312e-02 -3.32439713e-03 9.99589785e-01 -1.87795914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349072329 meters 0.08328089580260897 Centerline is valid? [True, True] Translation: X:87.72, Y:-3.57, Z:-1.88 [[ 9.94785595e-01 9.79668311e-02 -2.83569960e-02 8.77175057e+01] [-9.78296142e-02 9.95183929e-01 6.18982585e-03 -3.56514174e+00] [ 2.88268243e-02 -3.38339562e-03 9.99578695e-01 -1.87767596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379072329 meters 0.08814899733148611 Centerline is valid? [True, True] Translation: X:87.75, Y:-3.58, Z:-1.88 [[ 9.94834337e-01 9.74037381e-02 -2.85858845e-02 8.77464976e+01] [-9.72638649e-02 9.95239026e-01 6.24674887e-03 -3.57831959e+00] [ 2.90582445e-02 -3.43410666e-03 9.99571821e-01 -1.87753167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409072329 meters 0.08400087164702455 Centerline is valid? [True, True] Translation: X:87.78, Y:-3.58, Z:-1.88 [[ 9.94891617e-01 9.66672853e-02 -2.90878936e-02 8.77787642e+01] [-9.65220409e-02 9.95310528e-01 6.35994302e-03 -3.58015177e+00] [ 2.95662851e-02 -3.51983115e-03 9.99556624e-01 -1.87740728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439072329 meters 0.08827356215440714 Centerline is valid? [True, True] Translation: X:87.81, Y:-3.59, Z:-1.88 [[ 9.94909799e-01 9.64459123e-02 -2.92006463e-02 8.78082380e+01] [-9.62993539e-02 9.95331921e-01 6.38767688e-03 -3.59260074e+00] [ 2.96804007e-02 -3.54315895e-03 9.99553160e-01 -1.87658249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.469072329 meters 0.09971856588818154 Centerline is valid? [True, True] Translation: X:87.84, Y:-3.61, Z:-1.88 [[ 9.94900783e-01 9.65778468e-02 -2.90714961e-02 8.78361800e+01] [-9.64324379e-02 9.95319173e-01 6.36619318e-03 -3.61426201e+00] [ 2.95502507e-02 -3.53029533e-03 9.99557062e-01 -1.87671924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499072329 meters 0.08132504129150339 Centerline is valid? [True, True] Translation: X:87.87, Y:-3.60, Z:-1.87 [[ 9.94945477e-01 9.62164233e-02 -2.87384232e-02 8.78722519e+01] [-9.60740174e-02 9.95354263e-01 6.29881248e-03 -3.59784511e+00] [ 2.92109612e-02 -3.50595922e-03 9.99567120e-01 -1.87403808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.529072329 meters 0.08446009180692808 Centerline is valid? [True, True] Translation: X:87.90, Y:-3.61, Z:-1.87 [[ 9.94980874e-01 9.58755933e-02 -2.86518964e-02 8.79015720e+01] [-9.57336984e-02 9.95387127e-01 6.28692959e-03 -3.60866692e+00] [ 2.91224919e-02 -3.51242269e-03 9.99569679e-01 -1.87295821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559072329 meters 0.09040214320866895 Centerline is valid? [True, True] Translation: X:87.93, Y:-3.62, Z:-1.87 [[ 9.94982912e-01 9.60909132e-02 -2.78485477e-02 8.79312978e+01] [-9.59568279e-02 9.95366714e-01 6.11495003e-03 -3.62395735e+00] [ 2.83071085e-02 -3.41201249e-03 9.99593450e-01 -1.87170283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.589072329 meters 0.08516067619317018 Centerline is valid? [True, True] Translation: X:87.96, Y:-3.62, Z:-1.87 [[ 9.94961616e-01 9.62922962e-02 -2.79137387e-02 8.79644855e+01] [-9.61574353e-02 9.95347217e-01 6.13718594e-03 -3.62491120e+00] [ 2.83748258e-02 -3.42215091e-03 9.99591496e-01 -1.87044304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619072329 meters 0.085870296213947 Centerline is valid? [True, True] Translation: X:88.00, Y:-3.63, Z:-1.87 [[ 9.94974840e-01 9.61352376e-02 -2.79836228e-02 8.79954646e+01] [-9.59994031e-02 9.95362325e-01 6.16084785e-03 -3.63345950e+00] [ 2.84461185e-02 -3.44347752e-03 9.99589396e-01 -1.86981419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.649072329 meters 0.08350768310511977 Centerline is valid? [True, True] Translation: X:88.03, Y:-3.64, Z:-1.87 [[ 9.94957935e-01 9.62462183e-02 -2.82023467e-02 8.80275800e+01] [-9.61080815e-02 9.95351492e-01 6.21645452e-03 -3.63771526e+00] [ 2.86695581e-02 -3.47463733e-03 9.99582905e-01 -1.86953091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679072329 meters 0.08480806781652357 Centerline is valid? [True, True] Translation: X:88.06, Y:-3.65, Z:-1.87 [[ 9.94934925e-01 9.62954782e-02 -2.88387854e-02 8.80579531e+01] [-9.61508281e-02 9.95346428e-01 6.36445936e-03 -3.64598052e+00] [ 2.93174507e-02 -3.55934980e-03 9.99563814e-01 -1.87066341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.709072329 meters 0.08789673224889065 Centerline is valid? [True, True] Translation: X:88.09, Y:-3.66, Z:-1.87 [[ 9.94886446e-01 9.66346694e-02 -2.93717562e-02 8.80873579e+01] [-9.64845495e-02 9.95313328e-01 6.48935527e-03 -3.65725828e+00] [ 2.98611971e-02 -3.62225093e-03 9.99547492e-01 -1.86994827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739072329 meters 0.08401332515902288 Centerline is valid? [True, True] Translation: X:88.12, Y:-3.66, Z:-1.87 [[ 9.94876362e-01 9.68769925e-02 -2.89114515e-02 8.81208162e+01] [-9.67314320e-02 9.95289976e-01 6.39484997e-03 -3.66001093e+00] [ 2.93947917e-02 -3.56543897e-03 9.99561521e-01 -1.86879631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.769072329 meters 0.08369711674166395 Centerline is valid? [True, True] Translation: X:88.15, Y:-3.67, Z:-1.87 [[ 9.94854004e-01 9.74130627e-02 -2.78604806e-02 8.81519357e+01] [-9.72778754e-02 9.95238133e-01 6.17041713e-03 -3.66732928e+00] [ 2.83288920e-02 -3.42845582e-03 9.99592777e-01 -1.86642119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799072329 meters 0.08845583865903785 Centerline is valid? [True, True] Translation: X:88.18, Y:-3.68, Z:-1.87 [[ 9.94807618e-01 9.77709786e-02 -2.82602103e-02 8.81808797e+01] [-9.76318219e-02 9.95202876e-01 6.26601633e-03 -3.68048788e+00] [ 2.87372772e-02 -3.47438496e-03 9.99580961e-01 -1.86589973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.829072329 meters 0.0868542378604074 Centerline is valid? [True, True] Translation: X:88.21, Y:-3.69, Z:-1.87 [[ 9.94798830e-01 9.77736585e-02 -2.85587009e-02 8.82129576e+01] [-9.76314072e-02 9.95202467e-01 6.33700202e-03 -3.68558846e+00] [ 2.90412815e-02 -3.51581604e-03 9.99572030e-01 -1.86504363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859072329 meters 0.08624969585285616 Centerline is valid? [True, True] Translation: X:88.24, Y:-3.69, Z:-1.87 [[ 9.94768416e-01 9.79987434e-02 -2.88451724e-02 8.82448146e+01] [-9.78534885e-02 9.95180199e-01 6.40832012e-03 -3.69206430e+00] [ 2.93341517e-02 -3.55219371e-03 9.99563349e-01 -1.86543597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88907232900002 meters 0.0913442679553035 Centerline is valid? [True, True] Translation: X:88.27, Y:-3.71, Z:-1.86 [[ 9.94796532e-01 9.78554405e-02 -2.83579233e-02 8.82732481e+01] [-9.77147654e-02 9.95194470e-01 6.30805671e-03 -3.70544679e+00] [ 2.88389261e-02 -3.50424512e-03 9.99577929e-01 -1.86492667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91907232900002 meters 0.09430304538387657 Centerline is valid? [True, True] Translation: X:88.30, Y:-3.72, Z:-1.86 [[ 9.94765359e-01 9.79956120e-02 -2.89610246e-02 8.83026824e+01] [-9.78487628e-02 9.95180404e-01 6.44843175e-03 -3.71637019e+00] [ 2.94533622e-02 -3.58087610e-03 9.99559741e-01 -1.86392298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94907232900002 meters 0.08627652222719698 Centerline is valid? [True, True] Translation: X:88.34, Y:-3.71, Z:-1.86 [[ 9.94759932e-01 9.83332828e-02 -2.79864654e-02 8.83366650e+01] [-9.81961191e-02 9.95147536e-01 6.23727527e-03 -3.71373113e+00] [ 2.84639939e-02 -3.45642923e-03 9.99588843e-01 -1.86190790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979072329 meters 0.09465209984218573 Centerline is valid? [True, True] Translation: X:88.36, Y:-3.73, Z:-1.86 [[ 9.94683496e-01 9.91022284e-02 -2.79908981e-02 8.83646593e+01] [-9.89652301e-02 9.95071318e-01 6.24145535e-03 -3.73184561e+00] [ 2.84714820e-02 -3.43814696e-03 9.99588692e-01 -1.86118414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009072329 meters 0.09074061006479871 Centerline is valid? [True, True] Translation: X:88.40, Y:-3.73, Z:-1.86 [[ 9.94625470e-01 9.96308798e-02 -2.81755432e-02 8.83973784e+01] [-9.94920793e-02 9.95018476e-01 6.28949929e-03 -3.73427599e+00] [ 2.86618144e-02 -3.45245282e-03 9.99583204e-01 -1.86088158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039072329 meters 0.08569419926747741 Centerline is valid? [True, True] Translation: X:88.43, Y:-3.73, Z:-1.86 [[ 9.94581354e-01 1.00104368e-01 -2.80543514e-02 8.84298658e+01] [-9.99667400e-02 9.94971026e-01 6.26961836e-03 -3.73466520e+00] [ 2.85408830e-02 -3.43114346e-03 9.99586737e-01 -1.86043902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069072329 meters 0.08636576374226779 Centerline is valid? [True, True] Translation: X:88.46, Y:-3.74, Z:-1.86 [[ 9.94525160e-01 1.00575578e-01 -2.83594683e-02 8.84605108e+01] [-1.00434911e-01 9.94923397e-01 6.34531667e-03 -3.74266975e+00] [ 2.88536824e-02 -3.46229641e-03 9.99577650e-01 -1.86021917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099072329 meters 0.0874464674653754 Centerline is valid? [True, True] Translation: X:88.49, Y:-3.75, Z:-1.86 [[ 9.94471653e-01 1.01016912e-01 -2.86655566e-02 8.84915550e+01] [-1.00873151e-01 9.94878572e-01 6.42134300e-03 -3.75187857e+00] [ 2.91674123e-02 -3.49425857e-03 9.99568433e-01 -1.85959555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129072329 meters 0.0902368343009335 Centerline is valid? [True, True] Translation: X:88.52, Y:-3.76, Z:-1.86 [[ 9.94402021e-01 1.01709002e-01 -2.86339041e-02 8.85208077e+01] [-1.01565628e-01 9.94808115e-01 6.42158367e-03 -3.76301381e+00] [ 2.91383731e-02 -3.47741531e-03 9.99569339e-01 -1.85872079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159072329 meters 0.09390373978540394 Centerline is valid? [True, True] Translation: X:88.55, Y:-3.78, Z:-1.86 [[ 9.94362312e-01 1.02338722e-01 -2.77557054e-02 8.85497895e+01] [-1.02204079e-01 9.94743939e-01 6.23076053e-03 -3.77528090e+00] [ 2.82474677e-02 -3.35888714e-03 9.99595317e-01 -1.85759548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189072329 meters 0.08065415434531402 Centerline is valid? [True, True] Translation: X:88.59, Y:-3.77, Z:-1.86 [[ 9.94322858e-01 1.02700665e-01 -2.78321386e-02 8.85860946e+01] [-1.02565287e-01 9.94706624e-01 6.25257706e-03 -3.76575629e+00] [ 2.83269565e-02 -3.36246901e-03 9.99593056e-01 -1.85608151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219072329 meters 0.09495387084882789 Centerline is valid? [True, True] Translation: X:88.61, Y:-3.79, Z:-1.86 [[ 9.94248265e-01 1.03397858e-01 -2.79154049e-02 8.86125114e+01] [-1.03261701e-01 9.94634399e-01 6.27967059e-03 -3.79142441e+00] [ 2.84149265e-02 -3.36095940e-03 9.99590564e-01 -1.85627468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.249072329 meters 0.08110170608025916 Centerline is valid? [True, True] Translation: X:88.65, Y:-3.78, Z:-1.86 [[ 9.94157454e-01 1.04234694e-01 -2.80372259e-02 8.86472235e+01] [-1.04097495e-01 9.94547060e-01 6.31329889e-03 -3.78142482e+00] [ 2.85424053e-02 -3.35780817e-03 9.99586943e-01 -1.85543643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279072329 meters 0.08082643198513331 Centerline is valid? [True, True] Translation: X:88.68, Y:-3.79, Z:-1.85 [[ 9.94108544e-01 1.04546406e-01 -2.86051006e-02 8.86793534e+01] [-1.04403637e-01 9.94514131e-01 6.44397473e-03 -3.78864110e+00] [ 2.91218712e-02 -3.41953380e-03 9.99570019e-01 -1.85467440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.309072329 meters 0.090068040723807 Centerline is valid? [True, True] Translation: X:88.71, Y:-3.81, Z:-1.85 [[ 9.94089399e-01 1.04821083e-01 -2.82631946e-02 8.87077859e+01] [-1.04681573e-01 9.94485355e-01 6.37544964e-03 -3.80829731e+00] [ 2.87756147e-02 -3.37913123e-03 9.99580185e-01 -1.85439992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339072329 meters 0.08408314640510242 Centerline is valid? [True, True] Translation: X:88.74, Y:-3.81, Z:-1.85 [[ 9.93982699e-01 1.05739308e-01 -2.85935957e-02 8.87404532e+01] [-1.05596652e-01 9.94388073e-01 6.45814308e-03 -3.80844569e+00] [ 2.91160101e-02 -3.39989450e-03 9.99570257e-01 -1.85376387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.369072329 meters 0.07908206878083117 Centerline is valid? [True, True] Translation: X:88.77, Y:-3.81, Z:-1.85 [[ 9.93939580e-01 1.06163238e-01 -2.85215465e-02 8.87729241e+01] [-1.06021252e-01 9.94342948e-01 6.44942768e-03 -3.80895784e+00] [ 2.90448907e-02 -3.38645136e-03 9.99572372e-01 -1.85266919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399072329 meters 0.08393559277654414 Centerline is valid? [True, True] Translation: X:88.80, Y:-3.82, Z:-1.85 [[ 9.93876618e-01 1.06741883e-01 -2.85559005e-02 8.88019729e+01] [-1.06599568e-01 9.94281015e-01 6.46485276e-03 -3.82224374e+00] [ 2.90826603e-02 -3.38121932e-03 9.99571291e-01 -1.85266090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.429072329 meters 0.0836235055229728 Centerline is valid? [True, True] Translation: X:88.83, Y:-3.83, Z:-1.85 [[ 9.93820286e-01 1.07359881e-01 -2.81974156e-02 8.88334603e+01] [-1.07221161e-01 9.94214656e-01 6.39071601e-03 -3.82927256e+00] [ 2.87203903e-02 -3.32786357e-03 9.99581945e-01 -1.85096545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459072329 meters 0.08411842459004698 Centerline is valid? [True, True] Translation: X:88.86, Y:-3.84, Z:-1.85 [[ 9.93722925e-01 1.08413968e-01 -2.75891153e-02 8.88641411e+01] [-1.08281389e-01 9.94100579e-01 6.25936719e-03 -3.83803005e+00] [ 2.81049583e-02 -3.23268896e-03 9.99599750e-01 -1.84888245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.489072329 meters 0.08407738228481097 Centerline is valid? [True, True] Translation: X:88.90, Y:-3.85, Z:-1.85 [[ 9.93639456e-01 1.09172231e-01 -2.76053640e-02 8.88952098e+01] [-1.09039698e-01 9.94017646e-01 6.26609612e-03 -3.84569505e+00] [ 2.81243026e-02 -3.21615979e-03 9.99599260e-01 -1.84792657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519072329 meters 0.08000389797917273 Centerline is valid? [True, True] Translation: X:88.93, Y:-3.85, Z:-1.85 [[ 9.93649471e-01 1.09116701e-01 -2.74640700e-02 8.89278060e+01] [-1.08985299e-01 9.94023768e-01 6.24121323e-03 -3.84761470e+00] [ 2.79809590e-02 -3.20839833e-03 9.99603307e-01 -1.84770953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.549072329 meters 0.08081540516594847 Centerline is valid? [True, True] Translation: X:88.96, Y:-3.86, Z:-1.85 [[ 9.93476050e-01 1.10296427e-01 -2.89833913e-02 8.89582140e+01] [-1.10150364e-01 9.93893063e-01 6.59363193e-03 -3.85638311e+00] [ 2.95336456e-02 -3.35808431e-03 9.99558146e-01 -1.84848144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579072329 meters 0.08140585327273443 Centerline is valid? [True, True] Translation: X:88.99, Y:-3.86, Z:-1.85 [[ 9.93426580e-01 1.10649360e-01 -2.93317127e-02 8.89903909e+01] [-1.10499811e-01 9.93853721e-01 6.67632573e-03 -3.86488258e+00] [ 2.98901630e-02 -3.39129071e-03 9.99547436e-01 -1.84856798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.609072329 meters 0.08113103115839325 Centerline is valid? [True, True] Translation: X:89.02, Y:-3.87, Z:-1.85 [[ 9.93392127e-01 1.11056953e-01 -2.89557406e-02 8.90215854e+01] [-1.10911134e-01 9.93808417e-01 6.59928827e-03 -3.87199360e+00] [ 2.95093556e-02 -3.34416699e-03 9.99558910e-01 -1.84818382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63907232900002 meters 0.08113103115839325 Centerline is valid? [True, True] Translation: X:89.05, Y:-3.88, Z:-1.85 [[ 9.93360010e-01 1.11344305e-01 -2.89540302e-02 8.90533299e+01] [-1.11198391e-01 9.93776267e-01 6.60678510e-03 -3.87945054e+00] [ 2.95094559e-02 -3.34327454e-03 9.99558910e-01 -1.84737589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66907232900002 meters 0.08220947524117744 Centerline is valid? [True, True] Translation: X:89.08, Y:-3.89, Z:-1.85 [[ 9.93254638e-01 1.12212208e-01 -2.92171835e-02 8.90832636e+01] [-1.12063741e-01 9.93678598e-01 6.67548307e-03 -3.88923510e+00] [ 2.97815606e-02 -3.35626764e-03 9.99550796e-01 -1.84605809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69907232900002 meters 0.08174322630147106 Centerline is valid? [True, True] Translation: X:89.12, Y:-3.90, Z:-1.84 [[ 9.93216301e-01 1.12681350e-01 -2.87105135e-02 8.91150416e+01] [-1.12538001e-01 9.93625728e-01 6.56595032e-03 -3.89676755e+00] [ 2.92673650e-02 -3.29038510e-03 9.99566203e-01 -1.84437809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729072329 meters 0.09153725023665811 Centerline is valid? [True, True] Translation: X:89.14, Y:-3.92, Z:-1.84 [[ 9.93186847e-01 1.12983238e-01 -2.85425197e-02 8.91436320e+01] [-1.12841581e-01 9.93591527e-01 6.53111605e-03 -3.91707899e+00] [ 2.90975124e-02 -3.26583550e-03 9.99571243e-01 -1.84325492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759072329 meters 0.08881969727225264 Centerline is valid? [True, True] Translation: X:89.18, Y:-3.92, Z:-1.84 [[ 9.93151482e-01 1.13498071e-01 -2.77186150e-02 8.91751194e+01] [-1.13364451e-01 9.93533176e-01 6.35049680e-03 -3.92183472e+00] [ 2.82601327e-02 -3.16469974e-03 9.99595593e-01 -1.84200402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789072329 meters 0.08088517861137622 Centerline is valid? [True, True] Translation: X:89.21, Y:-3.92, Z:-1.84 [[ 9.93102915e-01 1.13905184e-01 -2.77886415e-02 8.92090169e+01] [-1.13770845e-01 9.93486574e-01 6.37356609e-03 -3.91928704e+00] [ 2.83336245e-02 -3.16806983e-03 9.99593502e-01 -1.84178428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819072329 meters 0.08242225772828703 Centerline is valid? [True, True] Translation: X:89.24, Y:-3.93, Z:-1.84 [[ 9.93055641e-01 1.14236756e-01 -2.81150902e-02 8.92393611e+01] [-1.14099156e-01 9.93448390e-01 6.45599456e-03 -3.92890752e+00] [ 2.86684030e-02 -3.20325375e-03 9.99583844e-01 -1.84162605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849072329 meters 0.08230722329574856 Centerline is valid? [True, True] Translation: X:89.27, Y:-3.94, Z:-1.84 [[ 9.92967409e-01 1.14868142e-01 -2.86536973e-02 8.92710503e+01] [-1.14725263e-01 9.93375420e-01 6.58698921e-03 -3.93715910e+00] [ 2.92205139e-02 -3.25336265e-03 9.99567695e-01 -1.84189254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879072329 meters 0.07872770789759408 Centerline is valid? [True, True] Translation: X:89.30, Y:-3.94, Z:-1.84 [[ 9.92894359e-01 1.15460557e-01 -2.88036913e-02 8.93031955e+01] [-1.15316320e-01 9.93306728e-01 6.62498141e-03 -3.94041993e+00] [ 2.93758244e-02 -3.25637097e-03 9.99563133e-01 -1.84078956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909072329 meters 0.07850937005435525 Centerline is valid? [True, True] Translation: X:89.33, Y:-3.95, Z:-1.84 [[ 9.92890200e-01 1.15498596e-01 -2.87945373e-02 8.93346542e+01] [-1.15354243e-01 9.93302288e-01 6.63051948e-03 -3.94835504e+00] [ 2.93674955e-02 -3.26180577e-03 9.99563360e-01 -1.83989019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939072329 meters 0.07837252850306291 Centerline is valid? [True, True] Translation: X:89.37, Y:-3.96, Z:-1.84 [[ 9.92892900e-01 1.15587205e-01 -2.83423163e-02 8.93660397e+01] [-1.15447172e-01 9.93292132e-01 6.53384241e-03 -3.95610089e+00] [ 2.89074284e-02 -3.21536548e-03 9.99576922e-01 -1.83876032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.969072329 meters 0.07941158387752893 Centerline is valid? [True, True] Translation: X:89.40, Y:-3.97, Z:-1.84 [[ 9.92861554e-01 1.15961585e-01 -2.79078156e-02 8.93963769e+01] [-1.15825750e-01 9.93248664e-01 6.44103342e-03 -3.96539603e+00] [ 2.84663130e-02 -3.16261077e-03 9.99589749e-01 -1.83728034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999072329 meters 0.07642398685347532 Centerline is valid? [True, True] Translation: X:89.43, Y:-3.97, Z:-1.84 [[ 9.92867326e-01 1.15977045e-01 -2.76369008e-02 8.94282533e+01] [-1.15843636e-01 9.93246935e-01 6.38579575e-03 -3.96949050e+00] [ 2.81908728e-02 -3.13868887e-03 9.99597631e-01 -1.83643426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.029072329 meters 0.08014206482499274 Centerline is valid? [True, True] Translation: X:89.46, Y:-3.98, Z:-1.84 [[ 9.92829626e-01 1.16211153e-01 -2.80053701e-02 8.94574176e+01] [-1.16074048e-01 9.93219437e-01 6.47812310e-03 -3.98164418e+00] [ 2.85683081e-02 -3.18097587e-03 9.99586781e-01 -1.83614499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059072329 meters 0.08150153100421265 Centerline is valid? [True, True] Translation: X:89.49, Y:-3.99, Z:-1.84 [[ 9.92861662e-01 1.15849875e-01 -2.83641780e-02 8.94876743e+01] [-1.15708951e-01 9.93261460e-01 6.56584426e-03 -3.99151227e+00] [ 2.89336971e-02 -3.23698576e-03 9.99576092e-01 -1.83593767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.089072329 meters 0.0807687399097211 Centerline is valid? [True, True] Translation: X:89.52, Y:-4.00, Z:-1.84 [[ 9.92802894e-01 1.16239041e-01 -2.88253016e-02 8.95194916e+01] [-1.16093470e-01 9.93215836e-01 6.67897344e-03 -3.99863671e+00] [ 2.94061035e-02 -3.28447486e-03 9.99562151e-01 -1.83515647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119072329 meters 0.08632135615974795 Centerline is valid? [True, True] Translation: X:89.55, Y:-4.01, Z:-1.84 [[ 9.92797461e-01 1.16103285e-01 -2.95504470e-02 8.95477746e+01] [-1.15950125e-01 9.93231412e-01 6.85065511e-03 -4.01399716e+00] [ 3.01458158e-02 -3.37493496e-03 9.99539814e-01 -1.83566208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.149072329 meters 0.07868163454874941 Centerline is valid? [True, True] Translation: X:89.58, Y:-4.01, Z:-1.83 [[ 9.92769417e-01 1.16341976e-01 -2.95538435e-02 8.95816107e+01] [-1.16188657e-01 9.93203479e-01 6.85899098e-03 -4.01233122e+00] [ 3.01509687e-02 -3.37557509e-03 9.99539656e-01 -1.83417152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179072329 meters 0.08705014526958298 Centerline is valid? [True, True] Translation: X:89.61, Y:-4.03, Z:-1.83 [[ 9.92824935e-01 1.16016810e-01 -2.89611585e-02 8.96092107e+01] [-1.15869211e-01 9.93241683e-01 6.72937236e-03 -4.03168526e+00] [ 2.95461501e-02 -3.32538210e-03 9.99557886e-01 -1.83253253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.209072329 meters 0.08236288169855513 Centerline is valid? [True, True] Translation: X:89.64, Y:-4.03, Z:-1.83 [[ 9.92851336e-01 1.15886737e-01 -2.85742827e-02 8.96412100e+01] [-1.15742873e-01 9.93256989e-01 6.64391507e-03 -4.03370058e+00] [ 2.91515477e-02 -3.28915037e-03 9.99569592e-01 -1.83108696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239072329 meters 0.08006579106617312 Centerline is valid? [True, True] Translation: X:89.67, Y:-4.04, Z:-1.83 [[ 9.92785800e-01 1.16417126e-01 -2.86950891e-02 8.96730100e+01] [-1.16272054e-01 9.93194945e-01 6.67910814e-03 -4.03866831e+00] [ 2.92773800e-02 -3.29448678e-03 9.99565896e-01 -1.83042232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.269072329 meters 0.0812970480006694 Centerline is valid? [True, True] Translation: X:89.70, Y:-4.05, Z:-1.83 [[ 9.92757540e-01 1.16627612e-01 -2.88178374e-02 8.97044956e+01] [-1.16481152e-01 9.93170198e-01 6.71551175e-03 -4.04856091e+00] [ 2.94042314e-02 -3.31014002e-03 9.99562121e-01 -1.82948038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299072329 meters 0.08598309671204007 Centerline is valid? [True, True] Translation: X:89.73, Y:-4.06, Z:-1.83 [[ 9.92735930e-01 1.16648719e-01 -2.94694798e-02 8.97331249e+01] [-1.16495305e-01 9.93167440e-01 6.87610399e-03 -4.06305432e+00] [ 3.00702165e-02 -3.39309946e-03 9.99542030e-01 -1.82939359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.329072329 meters 0.07846854793183385 Centerline is valid? [True, True] Translation: X:89.77, Y:-4.06, Z:-1.83 [[ 9.92675935e-01 1.17074790e-01 -2.97990339e-02 8.97662509e+01] [-1.16917886e-01 9.93117193e-01 6.96046057e-03 -4.06128376e+00] [ 3.04088274e-02 -3.42544164e-03 9.99531675e-01 -1.82916419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359072329 meters 0.08248210367588835 Centerline is valid? [True, True] Translation: X:89.79, Y:-4.07, Z:-1.83 [[ 9.92702334e-01 1.16886592e-01 -2.96580606e-02 8.97949607e+01] [-1.16730850e-01 9.93139371e-01 6.93533029e-03 -4.07403892e+00] [ 3.02652348e-02 -3.42270793e-03 9.99536043e-01 -1.82911768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38907232900002 meters 0.086590149317019 Centerline is valid? [True, True] Translation: X:89.82, Y:-4.09, Z:-1.83 [[ 9.92700681e-01 1.16726405e-01 -3.03365074e-02 8.98239559e+01] [-1.16563146e-01 9.93157893e-01 7.10154632e-03 -4.08730130e+00] [ 3.09578798e-02 -3.51359113e-03 9.99514514e-01 -1.82937899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41907232900002 meters 0.08772729249823637 Centerline is valid? [True, True] Translation: X:89.86, Y:-4.10, Z:-1.83 [[ 9.92698059e-01 1.16732821e-01 -3.03975544e-02 8.98550640e+01] [-1.16568675e-01 9.93157088e-01 7.12330759e-03 -4.09668798e+00] [ 3.10210705e-02 -3.52789097e-03 9.99512505e-01 -1.82857700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44907232900002 meters 0.08930501197849273 Centerline is valid? [True, True] Translation: X:89.88, Y:-4.11, Z:-1.83 [[ 9.92712010e-01 1.16688293e-01 -3.01115741e-02 8.98844792e+01] [-1.16526972e-01 9.93162407e-01 7.06379687e-03 -4.10666278e+00] [ 3.07299458e-02 -3.50350545e-03 9.99521583e-01 -1.82687210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479072329 meters 0.08826053375864297 Centerline is valid? [True, True] Translation: X:89.92, Y:-4.11, Z:-1.82 [[ 9.92795161e-01 1.16164760e-01 -2.93856458e-02 8.99151339e+01] [-1.16010696e-01 9.93223995e-01 6.90028855e-03 -4.11380576e+00] [ 2.99880988e-02 -3.44152388e-03 9.99544331e-01 -1.82433766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509072329 meters 0.0913102692143293 Centerline is valid? [True, True] Translation: X:89.94, Y:-4.13, Z:-1.82 [[ 9.92827510e-01 1.16022241e-01 -2.88509167e-02 8.99445087e+01] [-1.15873491e-01 9.93240833e-01 6.78098433e-03 -4.12562912e+00] [ 2.94426535e-02 -3.38929135e-03 9.99560725e-01 -1.82364763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539072329 meters 0.08431385619783131 Centerline is valid? [True, True] Translation: X:89.98, Y:-4.12, Z:-1.82 [[ 9.92835643e-01 1.16002690e-01 -2.86489542e-02 8.99774114e+01] [-1.15855877e-01 9.93243180e-01 6.73802274e-03 -4.12449351e+00] [ 2.92370071e-02 -3.37059944e-03 9.99566824e-01 -1.82195692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569072329 meters 0.08517740381156184 Centerline is valid? [True, True] Translation: X:90.01, Y:-4.13, Z:-1.82 [[ 9.92905853e-01 1.15252803e-01 -2.92362562e-02 9.00084891e+01] [-1.15099381e-01 9.93330135e-01 6.88299830e-03 -4.13429488e+00] [ 2.98345391e-02 -3.46909432e-03 9.99548831e-01 -1.82116791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599072329 meters 0.08798937850844521 Centerline is valid? [True, True] Translation: X:90.04, Y:-4.15, Z:-1.82 [[ 9.92907274e-01 1.15159531e-01 -2.95538207e-02 9.00374255e+01] [-1.15002620e-01 9.93340799e-01 6.96092037e-03 -4.14565640e+00] [ 3.01586322e-02 -3.51278164e-03 9.99538952e-01 -1.82118594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629072329 meters 0.0902443390593526 Centerline is valid? [True, True] Translation: X:90.07, Y:-4.16, Z:-1.82 [[ 9.92943089e-01 1.14922295e-01 -2.92726367e-02 9.00664540e+01] [-1.14768062e-01 9.93368343e-01 6.90117087e-03 -4.15680526e+00] [ 2.98716090e-02 -3.49290614e-03 9.99547641e-01 -1.82078708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659072329 meters 0.0838489544120625 Centerline is valid? [True, True] Translation: X:90.10, Y:-4.16, Z:-1.82 [[ 9.93006455e-01 1.14251393e-01 -2.97455888e-02 9.00989792e+01] [-1.14091723e-01 9.93445443e-01 7.01645753e-03 -4.15778796e+00] [ 3.03522597e-02 -3.57366216e-03 9.99532876e-01 -1.81935083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689072329 meters 0.09369073804544827 Centerline is valid? [True, True] Translation: X:90.13, Y:-4.18, Z:-1.82 [[ 9.92984894e-01 1.14377018e-01 -2.99816185e-02 9.01262254e+01] [-1.14214758e-01 9.93430887e-01 7.07545022e-03 -4.17872353e+00] [ 3.05939347e-02 -3.60147189e-03 9.99525408e-01 -1.81931378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719072329 meters 0.08848786453246564 Centerline is valid? [True, True] Translation: X:90.16, Y:-4.18, Z:-1.82 [[ 9.93067862e-01 1.13773048e-01 -2.95282124e-02 9.01585556e+01] [-1.13615200e-01 9.93500345e-01 6.97498922e-03 -4.17996658e+00] [ 3.01298550e-02 -3.57178387e-03 9.99539611e-01 -1.81796036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.749072329 meters 0.08647427949495481 Centerline is valid? [True, True] Translation: X:90.19, Y:-4.19, Z:-1.82 [[ 9.93054308e-01 1.13855707e-01 -2.96651224e-02 9.01904763e+01] [-1.13696291e-01 9.93490809e-01 7.01185484e-03 -4.18525424e+00] [ 3.02703661e-02 -3.59033827e-03 9.99535299e-01 -1.81668247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779072329 meters 0.08514566690334456 Centerline is valid? [True, True] Translation: X:90.22, Y:-4.19, Z:-1.82 [[ 9.93044045e-01 1.13921856e-01 -2.97546012e-02 9.02216863e+01] [-1.13761268e-01 9.93483166e-01 7.04082668e-03 -4.19207704e+00] [ 3.03627995e-02 -3.60692985e-03 9.99532436e-01 -1.81540311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.809072329 meters 0.1021998091570341 Centerline is valid? [True, False] Translation: X:90.21, Y:-4.19, Z:-1.81 [[ 9.94683977e-01 9.65583464e-02 -3.57808809e-02 9.02071118e+01] [-9.60266825e-02 9.95245373e-01 1.62948785e-02 -4.18580328e+00] [ 3.71841627e-02 -1.27723352e-02 9.99226804e-01 -1.81151174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839072329 meters 0.08913184562711357 Centerline is valid? [False, True] Translation: X:90.21, Y:-4.18, Z:-1.81 [[ 9.95764308e-01 8.28215479e-02 -3.99253635e-02 9.02101148e+01] [-8.20523007e-02 9.96416380e-01 2.05381858e-02 -4.18389896e+00] [ 4.14832905e-02 -1.71752244e-02 9.98991566e-01 -1.81057412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.869072329 meters 0.08968337334171526 Centerline is valid? [True, True] Translation: X:90.24, Y:-4.19, Z:-1.81 [[ 9.95702417e-01 8.21007556e-02 -4.28504643e-02 9.02421251e+01] [-8.17997066e-02 9.96610507e-01 8.73526400e-03 -4.18877483e+00] [ 4.34223948e-02 -5.19256807e-03 9.99043309e-01 -1.81493914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899072329 meters 0.08793719937021997 Centerline is valid? [True, True] Translation: X:90.27, Y:-4.19, Z:-1.81 [[ 9.95685080e-01 8.22446636e-02 -4.29771693e-02 9.02736262e+01] [-8.19414816e-02 9.96598537e-01 8.77211787e-03 -4.19329141e+00] [ 4.35524439e-02 -5.21265396e-03 9.99037543e-01 -1.81362824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.929072329 meters 0.09310258271808937 Centerline is valid? [True, True] Translation: X:90.30, Y:-4.21, Z:-1.81 [[ 9.95741681e-01 8.17545387e-02 -4.25992892e-02 9.03021658e+01] [-8.14558188e-02 9.96638943e-01 8.70444361e-03 -4.20694745e+00] [ 4.31677384e-02 -5.19741733e-03 9.99054319e-01 -1.81327906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959072329 meters 0.09138838490889553 Centerline is valid? [True, True] Translation: X:90.33, Y:-4.21, Z:-1.81 [[ 9.95745125e-01 8.18162857e-02 -4.23997922e-02 9.03336189e+01] [-8.15202870e-02 9.96634001e-01 8.66664297e-03 -4.21206584e+00] [ 4.29661471e-02 -5.17332425e-03 9.99063135e-01 -1.81131220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.989072329 meters 0.09263535178306796 Centerline is valid? [True, True] Translation: X:90.36, Y:-4.22, Z:-1.81 [[ 9.95812490e-01 8.14310503e-02 -4.15507957e-02 9.03634089e+01] [-8.11460337e-02 9.96665949e-01 8.50335515e-03 -4.22148979e+00] [ 4.21047004e-02 -5.09606500e-03 9.99100207e-01 -1.80899296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019072329 meters 0.09195887805278086 Centerline is valid? [True, True] Translation: X:90.39, Y:-4.23, Z:-1.81 [[ 9.95789616e-01 8.17906182e-02 -4.13924484e-02 9.03946193e+01] [-8.15076685e-02 9.96636633e-01 8.48068712e-03 -4.22811735e+00] [ 4.19468710e-02 -5.07117821e-03 9.99106973e-01 -1.80741889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.049072329 meters 0.09552267308856692 Centerline is valid? [True, True] Translation: X:90.42, Y:-4.24, Z:-1.81 [[ 9.95807334e-01 8.16027454e-02 -4.13369841e-02 9.04243045e+01] [-8.13199860e-02 9.96651978e-01 8.47907007e-03 -4.23957025e+00] [ 4.18905024e-02 -5.08199719e-03 9.99109283e-01 -1.80672579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079072329 meters 0.0959300025632911 Centerline is valid? [True, True] Translation: X:90.46, Y:-4.25, Z:-1.81 [[ 9.95770602e-01 8.18396424e-02 -4.17514264e-02 9.04560011e+01] [-8.15511100e-02 9.96632310e-01 8.57058172e-03 -4.24719225e+00] [ 4.23122339e-02 -5.12945815e-03 9.99091269e-01 -1.80573862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.109072329 meters 0.0925576440036363 Centerline is valid? [True, True] Translation: X:90.49, Y:-4.25, Z:-1.81 [[ 9.95763915e-01 8.16698471e-02 -4.22405100e-02 9.04879175e+01] [-8.13738482e-02 9.96645827e-01 8.68290945e-03 -4.25022973e+00] [ 4.28079599e-02 -5.20885506e-03 9.99069741e-01 -1.80529714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13907232900002 meters 0.09560211088041544 Centerline is valid? [True, True] Translation: X:90.52, Y:-4.26, Z:-1.80 [[ 9.95718009e-01 8.21346745e-02 -4.24210135e-02 9.05173104e+01] [-8.18360960e-02 9.96607560e-01 8.73065014e-03 -4.26144909e+00] [ 4.29941918e-02 -5.22169544e-03 9.99061676e-01 -1.80462715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16907232900002 meters 0.08937748327345496 Centerline is valid? [True, True] Translation: X:90.55, Y:-4.26, Z:-1.80 [[ 9.95709529e-01 8.20925149e-02 -4.27007441e-02 9.05504088e+01] [-8.17895037e-02 9.96610789e-01 8.79839294e-03 -4.26154559e+00] [ 4.32783045e-02 -5.26817101e-03 9.99049165e-01 -1.80349523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19907232900002 meters 0.09948737159234176 Centerline is valid? [True, True] Translation: X:90.58, Y:-4.28, Z:-1.80 [[ 9.95682854e-01 8.22919467e-02 -4.29382009e-02 9.05788025e+01] [-8.19852453e-02 9.96594173e-01 8.85857964e-03 -4.28174837e+00] [ 4.35209506e-02 -5.30003693e-03 9.99038456e-01 -1.80299714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229072329 meters 0.09408192038116664 Centerline is valid? [True, True] Translation: X:90.61, Y:-4.28, Z:-1.80 [[ 9.95697965e-01 8.22051777e-02 -4.27536086e-02 9.06111422e+01] [-8.19005326e-02 9.96601374e-01 8.83198895e-03 -4.28209876e+00] [ 4.33343403e-02 -5.29245011e-03 9.99046608e-01 -1.80115368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259072329 meters 0.09403187344410296 Centerline is valid? [True, True] Translation: X:90.64, Y:-4.29, Z:-1.80 [[ 9.95759373e-01 8.17187770e-02 -4.22529573e-02 9.06416796e+01] [-8.14203518e-02 9.96641538e-01 8.73901267e-03 -4.28974093e+00] [ 4.28251938e-02 -5.26170313e-03 9.99068725e-01 -1.79958792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289072329 meters 0.09575000830620602 Centerline is valid? [True, True] Translation: X:90.67, Y:-4.30, Z:-1.80 [[ 9.95757821e-01 8.17648628e-02 -4.22003460e-02 9.06716088e+01] [-8.14667961e-02 9.96637751e-01 8.73807231e-03 -4.29901798e+00] [ 4.27729252e-02 -5.26307686e-03 9.99070957e-01 -1.79837262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319072329 meters 0.09689508233908711 Centerline is valid? [True, True] Translation: X:90.70, Y:-4.31, Z:-1.80 [[ 9.95773976e-01 8.16574622e-02 -4.20267427e-02 9.07021779e+01] [-8.13613270e-02 9.96646595e-01 8.71206211e-03 -4.30754192e+00] [ 4.25972149e-02 -5.25589317e-03 9.99078502e-01 -1.79703848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349072329 meters 0.09591116490294115 Centerline is valid? [True, True] Translation: X:90.73, Y:-4.31, Z:-1.80 [[ 9.95769094e-01 8.16132837e-02 -4.22277555e-02 9.07339441e+01] [-8.13138149e-02 9.96650014e-01 8.76429647e-03 -4.31352760e+00] [ 4.28015761e-02 -5.29351566e-03 9.99069569e-01 -1.79584737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379072329 meters 0.09694731438247567 Centerline is valid? [True, True] Translation: X:90.76, Y:-4.32, Z:-1.79 [[ 9.95770690e-01 8.15396267e-02 -4.23322800e-02 9.07646534e+01] [-8.12381485e-02 9.96655899e-01 8.79666421e-03 -4.32326343e+00] [ 4.29079933e-02 -5.32046434e-03 9.99064861e-01 -1.79466079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409072329 meters 0.09218476045779311 Centerline is valid? [True, True] Translation: X:90.80, Y:-4.32, Z:-1.79 [[ 9.95780774e-01 8.13651605e-02 -4.24306520e-02 9.07968042e+01] [-8.10616604e-02 9.96669994e-01 8.82784121e-03 -4.32447591e+00] [ 4.30076363e-02 -5.35109545e-03 9.99060413e-01 -1.79339831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439072329 meters 0.09882237611240119 Centerline is valid? [True, True] Translation: X:90.82, Y:-4.34, Z:-1.79 [[ 9.95779422e-01 8.13435101e-02 -4.25038471e-02 9.08247731e+01] [-8.10384830e-02 9.96671649e-01 8.85370783e-03 -4.34032489e+00] [ 4.30825710e-02 -5.37189277e-03 9.99057073e-01 -1.79225962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.469072329 meters 0.09860817520218658 Centerline is valid? [True, True] Translation: X:90.86, Y:-4.35, Z:-1.79 [[ 9.95842523e-01 8.06922579e-02 -4.22661686e-02 9.08556833e+01] [-8.03896855e-02 9.96724551e-01 8.81289702e-03 -4.34789745e+00] [ 4.28388605e-02 -5.37849360e-03 9.99067517e-01 -1.79104294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499072329 meters 0.09860817520218658 Centerline is valid? [True, True] Translation: X:90.89, Y:-4.35, Z:-1.79 [[ 9.95820609e-01 8.09633029e-02 -4.22641475e-02 9.08875798e+01] [-8.06605662e-02 9.96702581e-01 8.82257982e-03 -4.35478262e+00] [ 4.28390901e-02 -5.37665674e-03 9.99067517e-01 -1.78984154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.529072329 meters 0.1026895160762707 Centerline is valid? [True, False] Translation: X:90.89, Y:-4.35, Z:-1.79 [[ 9.96758290e-01 6.82151437e-02 -4.26568376e-02 9.08891435e+01] [-6.76507919e-02 9.97603133e-01 1.45381952e-02 -4.35336342e+00] [ 4.35463199e-02 -1.16052977e-02 9.98984001e-01 -1.78917833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559072329 meters 0.1042357852387275 Centerline is valid? [False, False] Translation: X:90.89, Y:-4.35, Z:-1.79 [[ 9.97563814e-01 5.44769129e-02 -4.35741002e-02 9.08905915e+01] [-5.36768761e-02 9.98371338e-01 1.93252226e-02 -4.35180076e+00] [ 4.45559112e-02 -1.69392212e-02 9.98863271e-01 -1.78815145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.589072329 meters 0.09342742827036675 Centerline is valid? [False, True] Translation: X:90.89, Y:-4.35, Z:-1.79 [[ 9.98407807e-01 4.05175466e-02 -3.92451314e-02 9.08911384e+01] [-3.96305859e-02 9.98946862e-01 2.31210773e-02 -4.35004583e+00] [ 4.01406102e-02 -2.15289566e-02 9.98962079e-01 -1.78905431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619072329 meters 0.08913417643895216 Centerline is valid? [True, True] Translation: X:90.92, Y:-4.35, Z:-1.79 [[ 9.98327124e-01 3.98415255e-02 -4.18999667e-02 9.09243393e+01] [-3.95810198e-02 9.99191642e-01 7.02896951e-03 -4.34677252e+00] [ 4.21461413e-02 -5.35876750e-03 9.99097086e-01 -1.79461596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.649072329 meters 0.08968589826263597 Centerline is valid? [True, True] Translation: X:90.95, Y:-4.35, Z:-1.79 [[ 9.98353816e-01 3.96111537e-02 -4.14802908e-02 9.09549727e+01] [-3.93552053e-02 9.99200980e-01 6.96919298e-03 -4.35476691e+00] [ 4.17232049e-02 -5.32525504e-03 9.99115016e-01 -1.79303294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679072329 meters 0.10177634494469585 Centerline is valid? [True, False] Translation: X:90.95, Y:-4.35, Z:-1.79 [[ 9.99037425e-01 2.59202198e-02 -3.53887650e-02 9.09549555e+01] [-2.55657456e-02 9.99618703e-01 1.04326858e-02 -4.35257395e+00] [ 3.56456889e-02 -9.51790341e-03 9.99319165e-01 -1.79455356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.709072329 meters 0.09297974840699828 Centerline is valid? [False, True] Translation: X:90.96, Y:-4.35, Z:-1.79 [[ 9.99277173e-01 2.09072612e-02 -3.17493109e-02 9.09643021e+01] [-2.04546786e-02 9.99685434e-01 1.45134205e-02 -4.35346287e+00] [ 3.20427596e-02 -1.38535079e-02 9.99390485e-01 -1.79156602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739072329 meters 0.09345794756998116 Centerline is valid? [True, True] Translation: X:90.99, Y:-4.36, Z:-1.79 [[ 9.99256921e-01 1.99873503e-02 -3.29562193e-02 9.09945834e+01] [-1.98351490e-02 9.99791066e-01 4.93880359e-03 -4.35812834e+00] [ 3.30480472e-02 -4.28144214e-03 9.99444594e-01 -1.79491130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.769072329 meters 0.09512091398669753 Centerline is valid? [True, True] Translation: X:91.02, Y:-4.37, Z:-1.79 [[ 9.99252929e-01 1.93557886e-02 -3.34505265e-02 9.10242055e+01] [-1.91986227e-02 9.99803120e-01 5.01331165e-03 -4.36561645e+00] [ 3.35409774e-02 -4.36736231e-03 9.99427801e-01 -1.79389702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799072329 meters 0.09758853088010193 Centerline is valid? [True, True] Translation: X:91.05, Y:-4.38, Z:-1.79 [[ 9.99256589e-01 1.88745691e-02 -3.36157561e-02 9.10528863e+01] [-1.87155172e-02 9.99812147e-01 5.03988523e-03 -4.37510815e+00] [ 3.37045670e-02 -4.40700226e-03 9.99422123e-01 -1.79388984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.829072329 meters 0.09588524244557575 Centerline is valid? [True, True] Translation: X:91.08, Y:-4.38, Z:-1.79 [[ 9.99273035e-01 1.83382064e-02 -3.34232063e-02 9.10833157e+01] [-1.81806776e-02 9.99822161e-01 5.01101694e-03 -4.37791697e+00] [ 3.35091554e-02 -4.39971758e-03 9.99428726e-01 -1.79280166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859072329 meters 0.0951027148924753 Centerline is valid? [True, True] Translation: X:91.11, Y:-4.38, Z:-1.79 [[ 9.99274383e-01 1.78693983e-02 -3.36361848e-02 9.11125311e+01] [-1.77096016e-02 9.99830456e-01 5.04270951e-03 -4.38196505e+00] [ 3.37205922e-02 -4.44336700e-03 9.99421422e-01 -1.79183436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88907232900002 meters 0.10370439897714466 Centerline is valid? [True, False] Translation: X:91.12, Y:-4.38, Z:-1.79 [[ 9.99506120e-01 1.46080015e-02 -2.78230471e-02 9.11212217e+01] [-1.43122744e-02 9.99839263e-01 1.07985138e-02 -4.38495999e+00] [ 2.79763196e-02 -1.03949696e-02 9.99554536e-01 -1.79017186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91907232900002 meters 0.09740204447062209 Centerline is valid? [False, True] Translation: X:91.13, Y:-4.39, Z:-1.79 [[ 9.99700628e-01 1.16010973e-02 -2.15422702e-02 9.11315999e+01] [-1.12497753e-02 9.99802899e-01 1.63586873e-02 -4.38763969e+00] [ 2.17278029e-02 -1.61114442e-02 9.99634095e-01 -1.79021719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94907232900002 meters 0.09645997940565715 Centerline is valid? [True, True] Translation: X:91.16, Y:-4.39, Z:-1.80 [[ 9.99672469e-01 1.11070688e-02 -2.30561974e-02 9.11614763e+01] [-1.10330128e-02 9.99933567e-01 3.33670651e-03 -4.38880755e+00] [ 2.30917267e-02 -3.08123431e-03 9.99728602e-01 -1.79537822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979072329 meters 0.09892723499198909 Centerline is valid? [True, True] Translation: X:91.19, Y:-4.40, Z:-1.80 [[ 9.99675193e-01 1.08053967e-02 -2.30814276e-02 9.11904736e+01] [-1.07311165e-02 9.99936843e-01 3.33962545e-03 -4.39748598e+00] [ 2.31160558e-02 -3.09085122e-03 9.99728010e-01 -1.79538936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009072329 meters 0.1030411294267975 Centerline is valid? [True, False] Translation: X:91.20, Y:-4.40, Z:-1.79 [[ 9.99819861e-01 7.23794389e-03 -1.75458868e-02 9.12006058e+01] [-7.08741351e-03 9.99937676e-01 8.62629558e-03 -4.39922928e+00] [ 1.76072299e-02 -8.50038669e-03 9.99808846e-01 -1.79489624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039072329 meters 0.09801435502481962 Centerline is valid? [False, True] Translation: X:91.20, Y:-4.40, Z:-1.80 [[ 9.99841673e-01 2.78434591e-03 -1.75748685e-02 9.12008385e+01] [-2.71124562e-03 9.99987581e-01 4.18182187e-03 -4.39884546e+00] [ 1.75862939e-02 -4.13350999e-03 9.99836805e-01 -1.79529149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069072329 meters 0.10503163986029089 Centerline is valid? [True, False] Translation: X:91.21, Y:-4.40, Z:-1.80 [[ 9.99944013e-01 7.31927207e-05 -1.05813790e-02 9.12106826e+01] [ 3.18107158e-05 9.99950766e-01 9.92290815e-03 -4.40160830e+00] [ 1.05815843e-02 -9.92268920e-03 9.99894780e-01 -1.79578873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099072329 meters 0.10866128609346244 Centerline is valid? [False, False] Translation: X:91.22, Y:-4.40, Z:-1.80 [[ 9.99988142e-01 3.63332643e-03 -3.24278165e-03 9.12153726e+01] [-3.63773870e-03 9.99992464e-01 -1.35578274e-03 -4.40238249e+00] [ 3.23783121e-03 1.36756305e-03 9.99993823e-01 -1.80144792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129072329 meters 0.09727914826364578 Centerline is valid? [False, True] Translation: X:91.20, Y:-4.40, Z:-1.80 [[ 9.99999013e-01 -1.16697632e-03 7.82748388e-04 9.12021153e+01] [ 1.16328822e-03 9.99988298e-01 4.69574758e-03 -4.40186567e+00] [-7.88219054e-04 -4.69483238e-03 9.99988669e-01 -1.80434722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159072329 meters 0.10237425271856432 Centerline is valid? [True, False] Translation: X:91.20, Y:-4.40, Z:-1.80 [[ 9.99999254e-01 -9.30330433e-04 7.91188585e-04 9.12018684e+01] [ 9.26181773e-04 9.99985906e-01 5.22787865e-03 -4.40356203e+00] [-7.96041088e-04 -5.22714197e-03 9.99986022e-01 -1.80399961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.189072329 meters 0.09784565521165166 Centerline is valid? [False, True] Translation: X:91.20, Y:-4.40, Z:-1.80 [[ 9.99999282e-01 -9.05290307e-04 7.85261609e-04 9.12018818e+01] [ 9.01103668e-04 9.99985466e-01 5.31559033e-03 -4.40392983e+00] [-7.90062349e-04 -5.31487891e-03 9.99985564e-01 -1.80400186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219072329 meters 0.09953063626203437 Centerline is valid? [True, True] Translation: X:91.23, Y:-4.41, Z:-1.81 [[ 9.99999734e-01 -5.60256365e-04 4.67582349e-04 9.12311429e+01] [ 5.60286253e-04 9.99999841e-01 -6.37919494e-05 -4.41001881e+00] [-4.67546535e-04 6.40539124e-05 9.99999889e-01 -1.80623544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.249072329 meters 0.09867272114590563 Centerline is valid? [True, True] Translation: X:91.26, Y:-4.41, Z:-1.81 [[ 9.99999460e-01 -1.03248307e-03 1.16948747e-04 9.12613492e+01] [ 1.03248494e-03 9.99999467e-01 -1.59273707e-05 -4.41472282e+00] [-1.16932240e-04 1.60481099e-05 9.99999993e-01 -1.80725597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279072329 meters 0.11141475885629297 Centerline is valid? [True, False] Translation: X:91.26, Y:-4.42, Z:-1.81 [[ 9.99999527e-01 -9.69822421e-04 7.83309129e-05 9.12615330e+01] [ 9.69807749e-04 9.99999512e-01 1.87129032e-04 -4.41555229e+00] [-7.85123566e-05 -1.87052977e-04 9.99999979e-01 -1.80746515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.309072329 meters 0.1007397748434245 Centerline is valid? [False, False] Translation: X:91.26, Y:-4.42, Z:-1.81 [[ 9.99999666e-01 -8.17065272e-04 2.90243433e-05 9.12615729e+01] [ 8.17049833e-04 9.99999527e-01 5.28027990e-04 -4.41666597e+00] [-2.94557629e-05 -5.28004099e-04 9.99999860e-01 -1.80743102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339072329 meters 0.09683750148264 Centerline is valid? [False, True] Translation: X:91.26, Y:-4.42, Z:-1.81 [[ 9.99999779e-01 -6.64337361e-04 1.05313639e-05 9.12616902e+01] [ 6.64327189e-04 9.99999339e-01 9.38202760e-04 -4.41815610e+00] [-1.11546401e-05 -9.38195557e-04 9.99999560e-01 -1.80763213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.369072329 meters 0.0987820884538944 Centerline is valid? [True, True] Translation: X:91.29, Y:-4.43, Z:-1.81 [[ 9.99999589e-01 -8.36015457e-04 3.50192289e-04 9.12918473e+01] [ 8.36032405e-04 9.99999649e-01 -4.82539034e-05 -4.42568682e+00] [-3.50151825e-04 4.85466557e-05 9.99999938e-01 -1.80806489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399072329 meters 0.0987240616385582 Centerline is valid? [True, True] Translation: X:91.32, Y:-4.43, Z:-1.81 [[ 9.99999780e-01 -6.60467865e-04 5.95373601e-05 9.13215746e+01] [ 6.60468355e-04 9.99999782e-01 -8.20380720e-06 -4.43057598e+00] [-5.95319288e-05 8.24312794e-06 9.99999998e-01 -1.80868776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.429072329 meters 0.10034041004133125 Centerline is valid? [True, False] Translation: X:91.32, Y:-4.43, Z:-1.81 [[ 9.99999922e-01 -3.77276499e-04 1.19158743e-04 9.13210256e+01] [ 3.77215749e-04 9.99999799e-01 5.09434397e-04 -4.43197473e+00] [-1.19350917e-04 -5.09389409e-04 9.99999863e-01 -1.80803818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459072329 meters 0.0994815011538839 Centerline is valid? [False, True] Translation: X:91.32, Y:-4.43, Z:-1.81 [[ 9.99999948e-01 -3.14849404e-04 6.88811499e-05 9.13210448e+01] [ 3.14803129e-04 9.99999725e-01 6.70792759e-04 -4.43254602e+00] [-6.90923297e-05 -6.70771040e-04 9.99999773e-01 -1.80789172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.489072329 meters 0.09834391584197631 Centerline is valid? [True, True] Translation: X:91.35, Y:-4.44, Z:-1.81 [[ 9.99999683e-01 -3.73462991e-04 7.02697234e-04 9.13510033e+01] [ 3.73531361e-04 9.99999926e-01 -9.71671504e-05 -4.43619695e+00] [-7.02660893e-04 9.74295991e-05 9.99999748e-01 -1.80747381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519072329 meters 0.09948269790474798 Centerline is valid? [True, True] Translation: X:91.38, Y:-4.44, Z:-1.81 [[ 9.99999370e-01 -9.75317771e-04 5.55552057e-04 9.13807261e+01] [ 9.75360596e-04 9.99999521e-01 -7.68202971e-05 -4.44333078e+00] [-5.55476867e-04 7.73621123e-05 9.99999843e-01 -1.80758181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.549072329 meters 0.10234330646484462 Centerline is valid? [True, False] Translation: X:91.38, Y:-4.44, Z:-1.81 [[ 9.99999459e-01 -8.42735084e-04 6.10052942e-04 9.13805034e+01] [ 8.42629051e-04 9.99999630e-01 1.74045784e-04 -4.44404758e+00] [-6.10199390e-04 -1.73531641e-04 9.99999799e-01 -1.80744417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579072329 meters 0.09749543930898867 Centerline is valid? [False, True] Translation: X:91.38, Y:-4.44, Z:-1.81 [[ 9.99999591e-01 -7.15157477e-04 5.53533992e-04 9.13805796e+01] [ 7.14909799e-04 9.99999644e-01 4.47518792e-04 -4.44492732e+00] [-5.53853841e-04 -4.47122882e-04 9.99999747e-01 -1.80745853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.609072329 meters 0.0974334399920069 Centerline is valid? [True, True] Translation: X:91.41, Y:-4.45, Z:-1.81 [[ 9.99999870e-01 -5.08659839e-04 3.55433202e-05 9.14104163e+01] [ 5.08660016e-04 9.99999871e-01 -4.95464731e-06 -4.45061986e+00] [-3.55407954e-05 4.97272613e-06 9.99999999e-01 -1.80905343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63907232900002 meters 0.10124191115709985 Centerline is valid? [True, False] Translation: X:91.41, Y:-4.45, Z:-1.81 [[ 9.99999945e-01 -3.29582502e-04 3.96433941e-05 9.14102710e+01] [ 3.29568699e-04 9.99999885e-01 3.47683586e-04 -4.45164874e+00] [-3.97579800e-05 -3.47670502e-04 9.99999939e-01 -1.80889473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66907232900002 meters 0.09710832602334768 Centerline is valid? [False, True] Translation: X:91.41, Y:-4.45, Z:-1.81 [[ 9.99999969e-01 -2.47410897e-04 3.97099908e-05 9.14102488e+01] [ 2.47387690e-04 9.99999799e-01 5.83358655e-04 -4.45252130e+00] [-3.98543122e-05 -5.83348813e-04 9.99999829e-01 -1.80887345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69907232900002 meters 0.0970151578845129 Centerline is valid? [True, True] Translation: X:91.44, Y:-4.46, Z:-1.81 [[ 9.99999820e-01 -4.96573246e-04 3.37967938e-04 9.14401214e+01] [ 4.96589233e-04 9.99999876e-01 -4.72225314e-05 -4.45771183e+00] [-3.37944447e-04 4.73903541e-05 9.99999942e-01 -1.80869089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729072329 meters 0.09916313547769214 Centerline is valid? [True, True] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99998951e-01 -8.05052990e-04 1.20395560e-03 9.14689338e+01] [ 8.05256095e-04 9.99999662e-01 -1.68222557e-04 -4.46682898e+00] [-1.20381976e-03 1.69191874e-04 9.99999261e-01 -1.80752262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759072329 meters 0.10289638883635616 Centerline is valid? [True, False] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999024e-01 -7.28673124e-04 1.19215550e-03 9.14689671e+01] [ 7.28631243e-04 9.99999734e-01 3.55644835e-05 -4.46758903e+00] [-1.19218109e-03 -3.46958071e-05 9.99999289e-01 -1.80753539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789072329 meters 0.10032470103465661 Centerline is valid? [False, False] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999203e-01 -5.23485341e-04 1.14855910e-03 9.14687594e+01] [ 5.23016974e-04 9.99999780e-01 4.08049013e-04 -4.46861936e+00] [-1.14877245e-03 -4.07447972e-04 9.99999257e-01 -1.80711071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819072329 meters 0.09979425505943858 Centerline is valid? [False, True] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999283e-01 -3.45897904e-04 1.14628573e-03 9.14687121e+01] [ 3.44942037e-04 9.99999593e-01 8.33975492e-04 -4.47007731e+00] [-1.14657374e-03 -8.33579492e-04 9.99998995e-01 -1.80709199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849072329 meters 0.10303583089336361 Centerline is valid? [True, False] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999357e-01 -2.59898490e-04 1.10367689e-03 9.14688791e+01] [ 2.58728557e-04 9.99999405e-01 1.06004214e-03 -4.47097396e+00] [-1.10395173e-03 -1.05975590e-03 9.99998829e-01 -1.80725305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879072329 meters 0.10291879709176577 Centerline is valid? [False, False] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999349e-01 -1.16523141e-04 1.13480075e-03 9.14686997e+01] [ 1.15001461e-04 9.99999094e-01 1.34089548e-03 -4.47177618e+00] [-1.13495597e-03 -1.34076411e-03 9.99998457e-01 -1.80712735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909072329 meters 0.10071555713576412 Centerline is valid? [False, False] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999354e-01 -1.03434144e-04 1.13213226e-03 9.14689645e+01] [ 1.01795622e-04 9.99998948e-01 1.44725090e-03 -4.47233476e+00] [-1.13228076e-03 -1.44713472e-03 9.99998312e-01 -1.80759012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939072329 meters 0.09835373950630208 Centerline is valid? [False, True] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999344e-01 4.21713510e-05 1.14427155e-03 9.14689209e+01] [-4.41977333e-05 9.99998431e-01 1.77092534e-03 -4.47335287e+00] [-1.14419508e-03 -1.77097475e-03 9.99997777e-01 -1.80764009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.969072329 meters 0.10505931547909254 Centerline is valid? [True, False] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999420e-01 1.19135131e-04 1.07079017e-03 9.14689713e+01] [-1.21220589e-04 9.99998096e-01 1.94773409e-03 -4.47394087e+00] [-1.07055609e-03 -1.94786276e-03 9.99997530e-01 -1.80748787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999072329 meters 0.10504165539767052 Centerline is valid? [False, False] Translation: X:91.47, Y:-4.47, Z:-1.81 [[ 9.99999403e-01 2.43704826e-04 1.06511572e-03 9.14688462e+01] [-2.46062720e-04 9.99997518e-01 2.21417345e-03 -4.47479256e+00] [-1.06457347e-03 -2.21443421e-03 9.99996981e-01 -1.80728195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.029072329 meters 0.10545588244195514 Centerline is valid? [False, False] Translation: X:91.47, Y:-4.48, Z:-1.81 [[ 9.99999267e-01 5.36434671e-04 1.08503380e-03 9.14683792e+01] [-5.39420304e-04 9.99996064e-01 2.75323175e-03 -4.47630603e+00] [-1.08355260e-03 -2.75381502e-03 9.99995621e-01 -1.80663389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059072329 meters 0.101612879129167 Centerline is valid? [False, False] Translation: X:91.47, Y:-4.48, Z:-1.81 [[ 9.99999353e-01 5.39215142e-04 1.00176618e-03 9.14686342e+01] [-5.42045632e-04 9.99995856e-01 2.82738065e-03 -4.47672031e+00] [-1.00023746e-03 -2.82792182e-03 9.99995501e-01 -1.80677561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.089072329 meters 0.0973390629119676 Centerline is valid? [False, True] Translation: X:91.47, Y:-4.48, Z:-1.81 [[ 9.99999327e-01 6.38038592e-04 9.69485404e-04 9.14687258e+01] [-6.40980540e-04 9.99995182e-01 3.03727145e-03 -4.47741665e+00] [-9.67542836e-04 -3.03789083e-03 9.99994918e-01 -1.80688970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119072329 meters 0.10150782283510429 Centerline is valid? [True, False] Translation: X:91.47, Y:-4.48, Z:-1.81 [[ 9.99999390e-01 6.47911946e-04 8.94809649e-04 9.14689779e+01] [-6.50705442e-04 9.99994905e-01 3.12513429e-03 -4.47786356e+00] [-8.92780278e-04 -3.12571465e-03 9.99994716e-01 -1.80705816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.149072329 meters 0.10009092241427665 Centerline is valid? [False, False] Translation: X:91.47, Y:-4.48, Z:-1.81 [[ 9.99999359e-01 6.79890162e-04 9.05564757e-04 9.14689794e+01] [-6.82818566e-04 9.99994526e-01 3.23741299e-03 -4.47833893e+00] [-9.03358715e-04 -3.23802925e-03 9.99994350e-01 -1.80709230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179072329 meters 0.09948416142578713 Centerline is valid? [False, True] Translation: X:91.47, Y:-4.48, Z:-1.81 [[ 9.99999359e-01 7.54925517e-04 8.44366351e-04 9.14689905e+01] [-7.57801047e-04 9.99993897e-01 3.41042811e-03 -4.47892614e+00] [-8.41786579e-04 -3.41106578e-03 9.99993828e-01 -1.80691143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.209072329 meters 0.0933167463237337 Centerline is valid? [True, True] Translation: X:91.50, Y:-4.48, Z:-1.81 [[ 9.99997173e-01 8.79371609e-04 2.20922863e-03 9.14998936e+01] [-8.78691068e-04 9.99999566e-01 -3.08996290e-04 -4.47609563e+00] [-2.20949940e-03 3.07054187e-04 9.99997512e-01 -1.80624030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239072329 meters 0.09644456339426492 Centerline is valid? [True, True] Translation: X:91.53, Y:-4.49, Z:-1.81 [[ 9.99994679e-01 1.51699121e-03 2.88798503e-03 9.15295908e+01] [-1.51583125e-03 9.99998770e-01 -4.03796207e-04 -4.48558502e+00] [-2.88859404e-03 3.99416361e-04 9.99995748e-01 -1.80655317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.269072329 meters 0.09724890177871558 Centerline is valid? [True, True] Translation: X:91.56, Y:-4.49, Z:-1.81 [[ 9.99995606e-01 1.93261823e-03 2.24768620e-03 9.15603383e+01] [-1.93191657e-03 9.99998084e-01 -3.14302052e-04 -4.49163297e+00] [-2.24828933e-03 3.09958329e-04 9.99997425e-01 -1.80669181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299072329 meters 0.09838220140650843 Centerline is valid? [True, True] Translation: X:91.59, Y:-4.50, Z:-1.81 [[ 9.99995889e-01 2.73852917e-03 8.50449998e-04 9.15897528e+01] [-2.73842902e-03 9.99996243e-01 -1.18908820e-04 -4.49837400e+00] [-8.50772438e-04 1.16579434e-04 9.99999631e-01 -1.80928963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.329072329 meters 0.09680847730010647 Centerline is valid? [True, True] Translation: X:91.62, Y:-4.50, Z:-1.81 [[ 9.99993947e-01 3.47443568e-03 -1.83922104e-04 9.16217778e+01] [-3.47443069e-03 9.99993964e-01 2.74529952e-05 -4.50175998e+00] [ 1.84016378e-04 -2.68138044e-05 9.99999983e-01 -1.80997018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359072329 meters 0.10033988093922233 Centerline is valid? [True, False] Translation: X:91.62, Y:-4.50, Z:-1.81 [[ 9.99993794e-01 3.51853860e-03 -1.76197835e-04 9.16217266e+01] [-3.51851859e-03 9.99993804e-01 1.13771686e-04 -4.50200005e+00] [ 1.76597053e-04 -1.13151025e-04 9.99999978e-01 -1.80993396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38907232900002 meters 0.09422688142534558 Centerline is valid? [False, True] Translation: X:91.62, Y:-4.50, Z:-1.81 [[ 9.99993383e-01 3.63383763e-03 -1.70708957e-04 9.16215880e+01] [-3.63378110e-03 9.99993343e-01 3.30297533e-04 -4.50264639e+00] [ 1.71908068e-04 -3.29675028e-04 9.99999931e-01 -1.80976170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41907232900002 meters 0.09965359639027006 Centerline is valid? [True, True] Translation: X:91.65, Y:-4.52, Z:-1.81 [[ 9.99989996e-01 4.33514173e-03 1.10166154e-03 9.16508664e+01] [-4.33497423e-03 9.99990592e-01 -1.54381775e-04 -4.51547336e+00] [-1.10232044e-03 1.49604556e-04 9.99999381e-01 -1.80837163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44907232900002 meters 0.09965359639027006 Centerline is valid? [True, True] Translation: X:91.68, Y:-4.52, Z:-1.81 [[ 9.99988720e-01 4.62020897e-03 1.10182724e-03 9.16831864e+01] [-4.62004292e-03 9.99989316e-01 -1.53202535e-04 -4.52023423e+00] [-1.10252330e-03 1.48110318e-04 9.99999381e-01 -1.80857008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479072329 meters 0.09769488689844849 Centerline is valid? [True, True] Translation: X:91.72, Y:-4.52, Z:-1.81 [[ 9.99985157e-01 5.23428882e-03 1.51260097e-03 9.17150494e+01] [-5.23397468e-03 9.99986280e-01 -2.11567944e-04 -4.52260773e+00] [-1.51368762e-03 2.03647888e-04 9.99998834e-01 -1.80792140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509072329 meters 0.0963677338513491 Centerline is valid? [True, True] Translation: X:91.75, Y:-4.53, Z:-1.81 [[ 9.99980333e-01 5.98709964e-03 1.86766038e-03 9.17466240e+01] [-5.98661888e-03 9.99982045e-01 -2.62897658e-04 -4.52621780e+00] [-1.86920084e-03 2.51711517e-04 9.99998221e-01 -1.80729291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539072329 meters 0.09737098051993476 Centerline is valid? [True, True] Translation: X:91.78, Y:-4.53, Z:-1.81 [[ 9.99979288e-01 6.35996786e-03 9.86914510e-04 9.17791182e+01] [-6.35983508e-03 9.99979767e-01 -1.37621416e-04 -4.53318303e+00] [-9.87769809e-04 1.31341952e-04 9.99999504e-01 -1.80912634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569072329 meters 0.09825360070958841 Centerline is valid? [True, True] Translation: X:91.81, Y:-4.54, Z:-1.81 [[ 9.99977252e-01 6.74498899e-03 -3.01577725e-05 9.18112534e+01] [-6.74498881e-03 9.99977252e-01 6.02231792e-06 -4.53971837e+00] [ 3.01977070e-05 -5.81876709e-06 1.00000000e+00 -1.81033729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599072329 meters 0.0972050370349825 Centerline is valid? [True, True] Translation: X:91.84, Y:-4.54, Z:-1.81 [[ 9.99977327e-01 6.73125129e-03 -1.91642893e-04 9.18429635e+01] [-6.73124591e-03 9.99977344e-01 2.87229774e-05 -4.54322838e+00] [ 1.91831893e-04 -2.74323307e-05 9.99999981e-01 -1.81153271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629072329 meters 0.0980153649376948 Centerline is valid? [True, True] Translation: X:91.87, Y:-4.55, Z:-1.81 [[ 9.99975694e-01 6.95538461e-03 -4.84112567e-04 9.18739336e+01] [-6.95535131e-03 9.99975809e-01 7.04356169e-05 -4.54949762e+00] [ 4.84590763e-04 -6.70667319e-05 9.99999880e-01 -1.81225330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659072329 meters 0.09751207459446634 Centerline is valid? [True, True] Translation: X:91.91, Y:-4.56, Z:-1.81 [[ 9.99973335e-01 7.29536146e-03 -3.28322026e-04 9.19055008e+01] [-7.29534600e-03 9.99973387e-01 4.82649026e-05 -4.55511662e+00] [ 3.28665399e-04 -4.58683928e-05 9.99999945e-01 -1.81253228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.689072329 meters 0.10535489434186504 Centerline is valid? [True, False] Translation: X:91.91, Y:-4.56, Z:-1.81 [[ 9.99972982e-01 7.34153060e-03 -3.70482586e-04 9.19055514e+01] [-7.34146787e-03 9.99973037e-01 1.70387058e-04 -4.55557914e+00] [ 3.71723498e-04 -1.67662568e-04 9.99999917e-01 -1.81247995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719072329 meters 0.09536644550775758 Centerline is valid? [False, True] Translation: X:91.91, Y:-4.55, Z:-1.81 [[ 9.99996020e-01 2.78875817e-03 -4.27276246e-04 9.19060098e+01] [-2.79071483e-03 9.99985298e-01 -4.64935594e-03 -4.55406708e+00] [ 4.14304035e-04 4.65052984e-03 9.99989100e-01 -1.81308899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.749072329 meters 0.0936899038871517 Centerline is valid? [True, True] Translation: X:91.94, Y:-4.56, Z:-1.81 [[ 9.99996601e-01 2.58122549e-03 3.68942900e-04 9.19368167e+01] [-2.58120701e-03 9.99996667e-01 -5.05489805e-05 -4.55819990e+00] [-3.69072149e-04 4.95964907e-05 9.99999931e-01 -1.81033151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779072329 meters 0.09062984174538836 Centerline is valid? [True, True] Translation: X:91.97, Y:-4.56, Z:-1.81 [[ 9.99996838e-01 2.40981147e-03 7.18721059e-04 9.19684337e+01] [-2.40974115e-03 9.99997092e-01 -9.86945373e-05 -4.55984399e+00] [-7.18956804e-04 9.69622936e-05 9.99999737e-01 -1.81041369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.809072329 meters 0.10371979190828907 Centerline is valid? [True, False] Translation: X:91.97, Y:-4.56, Z:-1.81 [[ 9.99996875e-01 2.41746437e-03 6.37360546e-04 9.19686941e+01] [-2.41745775e-03 9.99997078e-01 -1.11542218e-05 -4.56031530e+00] [-6.37385649e-04 9.61339478e-06 9.99999797e-01 -1.81058050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839072329 meters 0.0938830820709235 Centerline is valid? [False, True] Translation: X:91.97, Y:-4.56, Z:-1.81 [[ 9.99996716e-01 2.47998644e-03 6.46054269e-04 9.19686388e+01] [-2.48006066e-03 9.99996918e-01 1.14104672e-04 -4.56069223e+00] [-6.45769300e-04 -1.15706551e-04 9.99999785e-01 -1.81054086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.869072329 meters 0.10438845756416322 Centerline is valid? [True, False] Translation: X:91.97, Y:-4.56, Z:-1.81 [[ 9.99996550e-01 2.56473981e-03 5.67311415e-04 9.19688333e+01] [-2.56494475e-03 9.99996645e-01 3.60806755e-04 -4.56169885e+00] [-5.66384136e-04 -3.62260633e-04 9.99999774e-01 -1.81062829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899072329 meters 0.0965469386219213 Centerline is valid? [False, True] Translation: X:91.97, Y:-4.56, Z:-1.81 [[ 9.99996446e-01 2.61911782e-03 4.98615194e-04 9.19688858e+01] [-2.61935287e-03 9.99996458e-01 4.71335953e-04 -4.56202840e+00] [-4.97378944e-04 -4.72640326e-04 9.99999765e-01 -1.81049114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.929072329 meters 0.09655288411293307 Centerline is valid? [True, True] Translation: X:92.00, Y:-4.57, Z:-1.81 [[ 9.99996277e-01 2.68641339e-03 4.77680069e-04 9.20000124e+01] [-2.68638233e-03 9.99996390e-01 -6.56356805e-05 -4.56673653e+00] [-4.77854668e-04 6.43522049e-05 9.99999884e-01 -1.81102469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959072329 meters 0.10665870352008434 Centerline is valid? [True, False] Translation: X:92.00, Y:-4.57, Z:-1.81 [[ 9.99996292e-01 2.68794149e-03 4.37260646e-04 9.20002141e+01] [-2.68794073e-03 9.99996387e-01 -2.31621759e-06 -4.56712656e+00] [-4.37265292e-04 1.14087830e-06 9.99999904e-01 -1.81120395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.989072329 meters 0.09534643889898782 Centerline is valid? [False, True] Translation: X:92.00, Y:-4.57, Z:-1.81 [[ 9.99996092e-01 2.76609364e-03 4.05997620e-04 9.20003297e+01] [-2.76617940e-03 9.99996152e-01 2.10812029e-04 -4.56790899e+00] [-4.05412931e-04 -2.11934267e-04 9.99999895e-01 -1.81136133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019072329 meters 0.09874766874197313 Centerline is valid? [True, True] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995915e-01 2.84169275e-03 3.07297877e-04 9.20308043e+01] [-2.84168007e-03 9.99995962e-01 -4.16832449e-05 -4.57715191e+00] [-3.07415087e-04 4.08098324e-05 9.99999952e-01 -1.81254225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.049072329 meters 0.11659003108237156 Centerline is valid? [True, False] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995977e-01 2.82212713e-03 2.84578437e-04 9.20309206e+01] [-2.82211513e-03 9.99996017e-01 -4.25620718e-05 -4.57727438e+00] [-2.84697419e-04 4.17587875e-05 9.99999959e-01 -1.81264782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079072329 meters 0.09427542274488981 Centerline is valid? [False, True] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995671e-01 2.93148526e-03 2.54293473e-04 9.20308002e+01] [-2.93153040e-03 9.99995687e-01 1.77328533e-04 -4.57795587e+00] [-2.53772540e-04 -1.78073235e-04 9.99999952e-01 -1.81235952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.109072329 meters 0.10837928540048666 Centerline is valid? [True, False] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995580e-01 2.96851118e-03 1.67965631e-04 9.20308468e+01] [-2.96855863e-03 9.99995554e-01 2.82958422e-04 -4.57834531e+00] [-1.67124919e-04 -2.83455787e-04 9.99999946e-01 -1.81212176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13907232900002 meters 0.10143761830389633 Centerline is valid? [False, False] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995442e-01 3.01601703e-03 1.36911397e-04 9.20307665e+01] [-3.01606785e-03 9.99995382e-01 3.72511316e-04 -4.57858978e+00] [-1.35787264e-04 -3.72922552e-04 9.99999921e-01 -1.81189630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16907232900002 meters 0.0958528431070753 Centerline is valid? [False, True] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995319e-01 3.05794021e-03 1.01526817e-04 9.20309143e+01] [-3.05799501e-03 9.99995176e-01 5.43996074e-04 -4.57934477e+00] [-9.98628201e-05 -5.44303996e-04 9.99999847e-01 -1.81202727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19907232900002 meters 0.10014574958668525 Centerline is valid? [True, False] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995656e-01 2.94758248e-03 -1.66202006e-05 9.20314717e+01] [-2.94757501e-03 9.99995562e-01 4.32753116e-04 -4.57931382e+00] [ 1.78957023e-05 -4.32702247e-04 9.99999906e-01 -1.81252352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229072329 meters 0.0956672868907298 Centerline is valid? [False, True] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995861e-01 2.87649589e-03 -6.84364779e-05 9.20319229e+01] [-2.87646930e-03 9.99995789e-01 3.85497864e-04 -4.57951191e+00] [ 6.95450728e-05 -3.85299413e-04 9.99999923e-01 -1.81306190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259072329 meters 0.10017202900485554 Centerline is valid? [True, False] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99996209e-01 2.75103389e-03 -1.20107416e-04 9.20323188e+01] [-2.75100855e-03 9.99996194e-01 2.10672532e-04 -4.57918839e+00] [ 1.20686526e-04 -2.10341317e-04 9.99999971e-01 -1.81349866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289072329 meters 0.09661134206089365 Centerline is valid? [False, True] Translation: X:92.03, Y:-4.58, Z:-1.81 [[ 9.99995904e-01 2.85979506e-03 -1.16082948e-04 9.20321735e+01] [-2.85975059e-03 9.99995838e-01 3.81466836e-04 -4.57958226e+00] [ 1.17173382e-04 -3.81133305e-04 9.99999921e-01 -1.81333316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319072329 meters 0.09999769656372735 Centerline is valid? [True, True] Translation: X:92.06, Y:-4.59, Z:-1.81 [[ 9.99994661e-01 3.26716172e-03 -6.68473317e-05 9.20618589e+01] [-3.26716103e-03 9.99994663e-01 1.04203922e-05 -4.58909777e+00] [ 6.68810201e-05 -1.02019355e-05 9.99999998e-01 -1.81334678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349072329 meters 0.09728934189193482 Centerline is valid? [True, True] Translation: X:92.09, Y:-4.59, Z:-1.81 [[ 9.99993598e-01 3.57821993e-03 -1.05897029e-05 9.20938538e+01] [-3.57821990e-03 9.99993598e-01 2.74180644e-06 -4.59033348e+00] [ 1.05994459e-05 -2.70389661e-06 1.00000000e+00 -1.81363618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379072329 meters 0.09487460310314605 Centerline is valid? [True, True] Translation: X:92.13, Y:-4.59, Z:-1.81 [[ 9.99992873e-01 3.77173967e-03 -1.65049679e-04 9.21262873e+01] [-3.77173573e-03 9.99992887e-01 2.41924532e-05 -4.59250537e+00] [ 1.65139753e-04 -2.35697570e-05 9.99999986e-01 -1.81482573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409072329 meters 0.0937230795299623 Centerline is valid? [True, True] Translation: X:92.16, Y:-4.60, Z:-1.82 [[ 9.99991758e-01 4.05326157e-03 -2.33744271e-04 9.21580024e+01] [-4.05325378e-03 9.99991785e-01 3.37900809e-05 -4.59561620e+00] [ 2.33879311e-04 -3.28423776e-05 9.99999972e-01 -1.81534070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439072329 meters 0.09654588966780074 Centerline is valid? [True, True] Translation: X:92.19, Y:-4.60, Z:-1.82 [[ 9.99991139e-01 4.12376375e-03 -8.46905085e-04 9.21881319e+01] [-4.12366475e-03 9.99991491e-01 1.18608216e-04 -4.60355557e+00] [ 8.47386991e-04 -1.15114812e-04 9.99999634e-01 -1.81587735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.469072329 meters 0.09540022349678075 Centerline is valid? [True, True] Translation: X:92.22, Y:-4.61, Z:-1.82 [[ 9.99989616e-01 4.49602898e-03 -7.43648229e-04 9.22199535e+01] [-4.49595211e-03 9.99989888e-01 1.05008391e-04 -4.60672212e+00] [ 7.44112830e-04 -1.01663894e-04 9.99999718e-01 -1.81598739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499072329 meters 0.09812239465780014 Centerline is valid? [True, True] Translation: X:92.25, Y:-4.62, Z:-1.81 [[ 9.99987863e-01 4.92667552e-03 -5.09516850e-05 9.22498590e+01] [-4.92667511e-03 9.99987864e-01 8.29658606e-06 -4.61502871e+00] [ 5.09919412e-05 -8.04546297e-06 9.99999999e-01 -1.81447729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.529072329 meters 0.09712716061256911 Centerline is valid? [True, True] Translation: X:92.28, Y:-4.62, Z:-1.81 [[ 9.99986206e-01 5.24949262e-03 1.73727125e-04 9.22821022e+01] [-5.24948872e-03 9.99986221e-01 -2.28709950e-05 -4.61862658e+00] [-1.73844792e-04 2.19587009e-05 9.99999985e-01 -1.81409500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559072329 meters 0.09745171205491122 Centerline is valid? [True, True] Translation: X:92.31, Y:-4.62, Z:-1.81 [[ 9.99984618e-01 5.48678160e-03 8.11242695e-04 9.23142196e+01] [-5.48669221e-03 9.99984942e-01 -1.12372558e-04 -4.62403443e+00] [-8.11847043e-04 1.07919790e-04 9.99999665e-01 -1.81370327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.589072329 meters 0.0984202189735659 Centerline is valid? [True, True] Translation: X:92.34, Y:-4.63, Z:-1.81 [[ 9.99984700e-01 5.48680450e-03 7.02813767e-04 9.23449826e+01] [-5.48673722e-03 9.99984943e-01 -9.76097642e-05 -4.62996288e+00] [-7.03338750e-04 9.37521164e-05 9.99999748e-01 -1.81405049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619072329 meters 0.09849932990430751 Centerline is valid? [True, True] Translation: X:92.38, Y:-4.63, Z:-1.81 [[ 9.99984293e-01 5.59689230e-03 2.98768718e-04 9.23771158e+01] [-5.59688035e-03 9.99984337e-01 -4.08211724e-05 -4.63499833e+00] [-2.98992510e-04 3.91483585e-05 9.99999955e-01 -1.81479400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.649072329 meters 0.09996164393222337 Centerline is valid? [True, True] Translation: X:92.41, Y:-4.64, Z:-1.82 [[ 9.99984875e-01 5.49301578e-03 2.76144206e-04 9.24088923e+01] [-5.49300557e-03 9.99984913e-01 -3.77084494e-05 -4.64187512e+00] [-2.76347173e-04 3.61910174e-05 9.99999961e-01 -1.81555131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679072329 meters 0.09912986807501234 Centerline is valid? [True, True] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99987986e-01 4.88657005e-03 3.86760249e-04 9.24407443e+01] [-4.88654944e-03 9.99988059e-01 -5.42278800e-05 -4.64540644e+00] [-3.87020619e-04 5.23373054e-05 9.99999924e-01 -1.81664869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.709072329 meters 0.10210054647252777 Centerline is valid? [True, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99987966e-01 4.89194188e-03 3.68625295e-04 9.24407241e+01] [-4.89192662e-03 9.99988034e-01 -4.22863579e-05 -4.64538972e+00] [-3.68827747e-04 4.04825611e-05 9.99999931e-01 -1.81656610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739072329 meters 0.10201935130413008 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99987808e-01 4.92531486e-03 3.54503958e-04 9.24406386e+01] [-4.92531395e-03 9.99987871e-01 -3.45729806e-06 -4.64538246e+00] [-3.54516687e-04 1.71121262e-06 9.99999937e-01 -1.81641658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.769072329 meters 0.09545028786498355 Centerline is valid? [False, True] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99987987e-01 4.89211771e-03 3.05097176e-04 9.24407552e+01] [-4.89210852e-03 9.99988033e-01 -3.08407166e-05 -4.64542736e+00] [-3.05244401e-04 2.93477776e-05 9.99999953e-01 -1.81640351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799072329 meters 0.10557036725050013 Centerline is valid? [True, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99988093e-01 4.87246762e-03 2.71332753e-04 9.24408324e+01] [-4.87245826e-03 9.99988129e-01 -3.51603267e-05 -4.64551004e+00] [-2.71500849e-04 3.38378505e-05 9.99999963e-01 -1.81638759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.829072329 meters 0.10339110105136401 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99988271e-01 4.83811711e-03 2.26206770e-04 9.24409745e+01] [-4.83810614e-03 9.99988295e-01 -4.90373510e-05 -4.64559734e+00] [-2.26441371e-04 4.79423635e-05 9.99999973e-01 -1.81644873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859072329 meters 0.09895191038299958 Centerline is valid? [False, True] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99987943e-01 4.90906097e-03 1.23870812e-04 9.24412121e+01] [-4.90907681e-03 9.99987942e-01 1.27934195e-04 -4.64625882e+00] [-1.23241282e-04 -1.28540744e-04 9.99999984e-01 -1.81654325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88907232900002 meters 0.10249544177387865 Centerline is valid? [True, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99988771e-01 4.73833785e-03 7.56806715e-05 9.24417092e+01] [-4.73833128e-03 9.99988770e-01 -8.67298024e-05 -4.64596696e+00] [-7.60907767e-05 8.63702284e-05 9.99999993e-01 -1.81713337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91907232900002 meters 0.10474872890976991 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99988960e-01 4.69710596e-03 1.31550475e-04 9.24418269e+01] [-4.69709210e-03 9.99988963e-01 -1.05494042e-04 -4.64606819e+00] [-1.32044539e-04 1.04874973e-04 9.99999986e-01 -1.81751227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94907232900002 meters 0.10412287349959412 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989019e-01 4.68585973e-03 7.43583262e-05 9.24420308e+01] [-4.68585620e-03 9.99989020e-01 -4.74981813e-05 -4.64649544e+00] [-7.45800796e-05 4.71492273e-05 9.99999996e-01 -1.81764452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979072329 meters 0.10370751488966559 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989043e-01 4.68088923e-03 6.41345451e-05 9.24420447e+01] [-4.68088697e-03 9.99989044e-01 -3.54558831e-05 -4.64655434e+00] [-6.42998075e-05 3.51552880e-05 9.99999997e-01 -1.81763462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009072329 meters 0.10738217804955008 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989101e-01 4.66876171e-03 3.05514974e-05 9.24421984e+01] [-4.66876212e-03 9.99989101e-01 1.33586585e-05 -4.64691298e+00] [-3.04887960e-05 -1.35011505e-05 9.99999999e-01 -1.81775245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039072329 meters 0.11043034283992985 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99988905e-01 4.71059682e-03 1.20622495e-05 9.24422106e+01] [-4.71059858e-03 9.99988894e-01 1.50297127e-04 -4.64748999e+00] [-1.13541263e-05 -1.50352280e-04 9.99999989e-01 -1.81772252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069072329 meters 0.10891106160864737 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989028e-01 4.68428049e-03 -2.72358855e-05 9.24423500e+01] [-4.68427703e-03 9.99989021e-01 1.26040329e-04 -4.64745559e+00] [ 2.78259948e-05 -1.25911365e-04 9.99999992e-01 -1.81781235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099072329 meters 0.1092374496454932 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989705e-01 4.53723159e-03 -5.11220552e-05 9.24428108e+01] [-4.53723391e-03 9.99989706e-01 -4.54463898e-05 -4.64728815e+00] [ 5.09153281e-05 4.56778746e-05 9.99999998e-01 -1.81844695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129072329 meters 0.1124903439144537 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990063e-01 4.45580051e-03 -1.39250138e-04 9.24432838e+01] [-4.45581542e-03 9.99990067e-01 -1.06974326e-04 -4.64743201e+00] [ 1.38772099e-04 1.07593736e-04 9.99999985e-01 -1.81888543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159072329 meters 0.10708342633426855 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990326e-01 4.39522788e-03 -1.74847964e-04 9.24436055e+01] [-4.39525119e-03 9.99990332e-01 -1.33142402e-04 -4.64762534e+00] [ 1.74261082e-04 1.33909614e-04 9.99999976e-01 -1.81927887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.189072329 meters 0.1040691370637895 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989903e-01 4.48928609e-03 -1.98136357e-04 9.24435857e+01] [-4.48926493e-03 9.99989917e-01 1.07108229e-04 -4.64853067e+00] [ 1.98615199e-04 -1.06217661e-04 9.99999975e-01 -1.81920104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219072329 meters 0.1052200625511195 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990096e-01 4.44326984e-03 -2.57058996e-04 9.24437816e+01] [-4.44324868e-03 9.99990125e-01 8.28439242e-05 -4.64864618e+00] [ 2.57424555e-04 -8.17009266e-05 9.99999964e-01 -1.81929266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.249072329 meters 0.11606539354073939 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989782e-01 4.51490200e-03 -2.25636876e-04 9.24435732e+01] [-4.51485100e-03 9.99989782e-01 2.26065686e-04 -4.64903180e+00] [ 2.26655235e-04 -2.25044659e-04 9.99999949e-01 -1.81907199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279072329 meters 0.1103854013424093 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990021e-01 4.46112177e-03 -2.38506041e-04 9.24437660e+01] [-4.46106652e-03 9.99990023e-01 2.31690589e-04 -4.64937375e+00] [ 2.39537261e-04 -2.30624286e-04 9.99999945e-01 -1.81932954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.309072329 meters 0.1103854013424093 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990021e-01 4.46112177e-03 -2.38506041e-04 9.24437660e+01] [-4.46106652e-03 9.99990023e-01 2.31690589e-04 -4.64937375e+00] [ 2.39537261e-04 -2.30624286e-04 9.99999945e-01 -1.81932954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339072329 meters 0.1124166419308289 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989749e-01 4.52176349e-03 -2.35789438e-04 9.24436713e+01] [-4.52168313e-03 9.99989719e-01 3.40212414e-04 -4.64962965e+00] [ 2.37325374e-04 -3.39142762e-04 9.99999914e-01 -1.81922211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.369072329 meters 0.10948501523059201 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990182e-01 4.41721616e-03 -3.52463895e-04 9.24442176e+01] [-4.41711990e-03 9.99990207e-01 2.73433790e-04 -4.64980919e+00] [ 3.53668260e-04 -2.71874230e-04 9.99999901e-01 -1.81969576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399072329 meters 0.11282478416930834 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990101e-01 4.43112563e-03 -4.03774343e-04 9.24445456e+01] [-4.43096079e-03 9.99990100e-01 4.08247593e-04 -4.65048352e+00] [ 4.05579342e-04 -4.06454443e-04 9.99999835e-01 -1.82011796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.429072329 meters 0.11590444274862303 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99990207e-01 4.39917241e-03 -4.82372379e-04 9.24449178e+01] [-4.39896691e-03 9.99990234e-01 4.26251786e-04 -4.65081378e+00] [ 4.84242823e-04 -4.24125671e-04 9.99999793e-01 -1.82046929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459072329 meters 0.11388340970779577 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989825e-01 4.49108550e-03 -4.23652723e-04 9.24445733e+01] [-4.49085361e-03 9.99989767e-01 5.46735030e-04 -4.65100069e+00] [ 4.26103821e-04 -5.44826905e-04 9.99999761e-01 -1.82011791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.489072329 meters 0.11388340970779577 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989825e-01 4.49108550e-03 -4.23652723e-04 9.24445733e+01] [-4.49085361e-03 9.99989767e-01 5.46735030e-04 -4.65100069e+00] [ 4.26103821e-04 -5.44826905e-04 9.99999761e-01 -1.82011791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519072329 meters 0.11148771953740906 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989549e-01 4.54949695e-03 -4.52392435e-04 9.24444421e+01] [-4.54919374e-03 9.99989429e-01 6.69031864e-04 -4.65138237e+00] [ 4.55431411e-04 -6.66966851e-04 9.99999674e-01 -1.81980098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.549072329 meters 0.11413102595990689 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989533e-01 4.55357010e-03 -4.45442805e-04 9.24443694e+01] [-4.55327842e-03 9.99989420e-01 6.53640605e-04 -4.65126261e+00] [ 4.48414491e-04 -6.51605539e-04 9.99999687e-01 -1.81971547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579072329 meters 0.11976954715949081 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989691e-01 4.51091968e-03 -5.19101261e-04 9.24446056e+01] [-4.51058543e-03 9.99989620e-01 6.43282030e-04 -4.65144303e+00] [ 5.21997667e-04 -6.40933948e-04 9.99999658e-01 -1.81982418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.609072329 meters 0.11855881629901366 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99989943e-01 4.44571145e-03 -5.91041487e-04 9.24449673e+01] [-4.44534049e-03 9.99989923e-01 6.27482625e-04 -4.65170299e+00] [ 5.93825138e-04 -6.24848934e-04 9.99999628e-01 -1.82018585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63907232900002 meters 0.12391728614414572 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99990173e-01 4.39141647e-03 -6.08217113e-04 9.24452232e+01] [-4.39104770e-03 9.99990175e-01 6.06330714e-04 -4.65190868e+00] [ 6.10873788e-04 -6.03654045e-04 9.99999631e-01 -1.82052272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66907232900002 meters 0.11525460548111795 Centerline is valid? [False, False] Translation: X:92.43, Y:-4.65, Z:-1.82 [[ 9.99998436e-01 -1.76634019e-03 -9.44230343e-05 9.24329343e+01] [ 1.76691736e-03 9.99977256e-01 6.50883074e-03 -4.64890362e+00] [ 8.29240774e-05 -6.50898739e-03 9.99978813e-01 -1.82118963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69907232900002 meters 0.12854186740011894 Centerline is valid? [False, False] Translation: X:92.43, Y:-4.65, Z:-1.82 [[ 9.99998304e-01 -1.83438238e-03 -1.61931827e-04 9.24333050e+01] [ 1.83539756e-03 9.99977131e-01 6.50907487e-03 -4.64923721e+00] [ 1.49987992e-04 -6.50936104e-03 9.99978803e-01 -1.82158544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729072329 meters 0.10960848361047223 Centerline is valid? [False, False] Translation: X:92.43, Y:-4.65, Z:-1.82 [[ 9.99998339e-01 -1.81730596e-03 -1.35934553e-04 9.24333021e+01] [ 1.81816370e-03 9.99976559e-01 6.60112117e-03 -4.64966045e+00] [ 1.23935110e-04 -6.60135736e-03 9.99978203e-01 -1.82166488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759072329 meters 0.12019468567793183 Centerline is valid? [False, False] Translation: X:92.43, Y:-4.65, Z:-1.82 [[ 9.99998465e-01 -1.75111112e-03 -6.33651108e-05 9.24330341e+01] [ 1.75149752e-03 9.99975871e-01 6.72225837e-03 -4.64993647e+00] [ 5.15921605e-05 -6.72235904e-03 9.99977403e-01 -1.82148107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789072329 meters 0.11412410352041014 Centerline is valid? [False, False] Translation: X:92.43, Y:-4.65, Z:-1.82 [[ 9.99998455e-01 -1.75786780e-03 5.87130805e-07 9.24328422e+01] [ 1.75782420e-03 9.99975894e-01 6.71719626e-03 -4.64991479e+00] [-1.23950597e-05 -6.71718485e-03 9.99977439e-01 -1.82135201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819072329 meters 0.11800250631015549 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982352e-01 1.71089650e-03 -5.68926505e-03 9.24451341e+01] [-1.70240474e-03 9.99997430e-01 1.49710221e-03 -4.65096253e+00] [ 5.69181182e-03 -1.48739036e-03 9.99982695e-01 -1.81778618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849072329 meters 0.12531456995177503 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.82 [[ 9.99982769e-01 1.79214289e-03 -5.59014223e-03 9.24448333e+01] [-1.78313169e-03 9.99997104e-01 1.61654650e-03 -4.65121999e+00] [ 5.59302312e-03 -1.60655068e-03 9.99983068e-01 -1.81766179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879072329 meters 0.11407129628155702 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982119e-01 1.67624114e-03 -5.74034031e-03 9.24453334e+01] [-1.66746747e-03 9.99997435e-01 1.53286829e-03 -4.65129434e+00] [ 5.74289504e-03 -1.52326905e-03 9.99982349e-01 -1.81796545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909072329 meters 0.13110406789379664 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982003e-01 1.73023143e-03 -5.74448278e-03 9.24452604e+01] [-1.72102672e-03 9.99997228e-01 1.60691332e-03 -4.65141660e+00] [ 5.74724719e-03 -1.59699799e-03 9.99982209e-01 -1.81786109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939072329 meters 0.10885562204936212 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981616e-01 1.62095986e-03 -5.84289047e-03 9.24456886e+01] [-1.61232893e-03 9.99997603e-01 1.48157680e-03 -4.65126474e+00] [ 5.84527804e-03 -1.47212890e-03 9.99981833e-01 -1.81820216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.969072329 meters 0.12133121913779751 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981955e-01 1.61297733e-03 -5.78684385e-03 9.24457520e+01] [-1.60420195e-03 9.99997557e-01 1.52075701e-03 -4.65152687e+00] [ 5.78928266e-03 -1.51144631e-03 9.99982100e-01 -1.81849876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999072329 meters 0.12166077093795412 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981568e-01 1.54675418e-03 -5.87116707e-03 9.24460562e+01] [-1.53812130e-03 9.99997730e-01 1.47461621e-03 -4.65161166e+00] [ 5.87343461e-03 -1.46555846e-03 9.99981677e-01 -1.81870037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.029072329 meters 0.12461948463476237 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981739e-01 1.59158481e-03 -5.82998216e-03 9.24459130e+01] [-1.58267268e-03 9.99997573e-01 1.53296684e-03 -4.65171176e+00] [ 5.83240786e-03 -1.52371190e-03 9.99981830e-01 -1.81863335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059072329 meters 0.12535166757518326 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982043e-01 1.55530208e-03 -5.78741678e-03 9.24458447e+01] [-1.54691033e-03 9.99997746e-01 1.45419347e-03 -4.65141882e+00] [ 5.78966545e-03 -1.44521475e-03 9.99982195e-01 -1.81864225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.089072329 meters 0.14209253871715413 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982172e-01 1.42927855e-03 -5.79770277e-03 9.24460925e+01] [-1.42196410e-03 9.99998188e-01 1.26553917e-03 -4.65095884e+00] [ 5.79950107e-03 -1.25727248e-03 9.99982392e-01 -1.81898089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119072329 meters 0.1156766750486476 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982303e-01 1.41193125e-03 -5.77923545e-03 9.24460688e+01] [-1.40497963e-03 9.99998285e-01 1.20674469e-03 -4.65070175e+00] [ 5.78092938e-03 -1.19860363e-03 9.99982572e-01 -1.81900986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.149072329 meters 0.11690944132219834 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981670e-01 1.32153130e-03 -5.90877636e-03 9.24465178e+01] [-1.31504674e-03 9.99998529e-01 1.10119528e-03 -4.65060982e+00] [ 5.91022293e-03 -1.09340478e-03 9.99981937e-01 -1.81926488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179072329 meters 0.12126002090659825 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982033e-01 1.30953039e-03 -5.84968502e-03 9.24464762e+01] [-1.30327720e-03 9.99998575e-01 1.07266322e-03 -4.65046474e+00] [ 5.85108137e-03 -1.06502018e-03 9.99982315e-01 -1.81939752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.209072329 meters 0.11858647052667441 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981435e-01 1.21100639e-03 -5.97178643e-03 9.24468173e+01] [-1.20545968e-03 9.99998839e-01 9.32330252e-04 -4.65019110e+00] [ 5.97290856e-03 -9.25114196e-04 9.99981734e-01 -1.81951846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239072329 meters 0.12244422044461183 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981341e-01 1.19391391e-03 -5.99107112e-03 9.24467609e+01] [-1.18877372e-03 9.99998922e-01 8.61462927e-04 -4.64985801e+00] [ 5.99209318e-03 -8.54324825e-04 9.99981682e-01 -1.81933962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.269072329 meters 0.12000321700507387 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99980916e-01 1.08085029e-03 -6.08270390e-03 9.24470919e+01] [-1.07653408e-03 9.99999166e-01 7.12816018e-04 -4.64959407e+00] [ 6.08346927e-03 -7.06254177e-04 9.99981246e-01 -1.81951898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299072329 meters 0.12125935539999434 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981551e-01 1.07928070e-03 -5.97764987e-03 9.24468605e+01] [-1.07533494e-03 9.99999202e-01 6.63260690e-04 -4.64930755e+00] [ 5.97836094e-03 -6.56820478e-04 9.99981914e-01 -1.81948904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.329072329 meters 0.12062364275016298 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981331e-01 9.46115599e-04 -6.03676982e-03 9.24471813e+01] [-9.43556939e-04 9.99999464e-01 4.26679873e-04 -4.64869988e+00] [ 6.03717027e-03 -4.20975871e-04 9.99981688e-01 -1.81977186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359072329 meters 0.11752842614907315 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99980768e-01 8.10502881e-04 -6.14872322e-03 9.24476271e+01] [-8.09080256e-04 9.99999645e-01 2.33853010e-04 -4.64832689e+00] [ 6.14891058e-03 -2.28873702e-04 9.99981069e-01 -1.82006643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38907232900002 meters 0.12297832969831418 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981053e-01 7.36601317e-04 -6.11161027e-03 9.24477182e+01] [-7.36038197e-04 9.99999725e-01 9.43880789e-05 -4.64790652e+00] [ 6.11167811e-03 -8.98879119e-05 9.99981319e-01 -1.82033385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41907232900002 meters 0.1272878794686524 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99980920e-01 6.71801687e-04 -6.14078550e-03 9.24479478e+01] [-6.72048367e-04 9.99999773e-01 -3.81074025e-05 -4.64749373e+00] [ 6.14075850e-03 4.22335803e-05 9.99981144e-01 -1.82060064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44907232900002 meters 0.1282602251330257 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981135e-01 6.98882568e-04 -6.10259184e-03 9.24478056e+01] [-6.99239276e-04 9.99999754e-01 -5.63184748e-05 -4.64727722e+00] [ 6.10255097e-03 6.05845842e-05 9.99981377e-01 -1.82050026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479072329 meters 0.12754274223507192 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981415e-01 6.77879838e-04 -6.05895645e-03 9.24477628e+01] [-6.78513033e-04 9.99999765e-01 -1.02450729e-04 -4.64715965e+00] [ 6.05888558e-03 1.06559906e-04 9.99981639e-01 -1.82053478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509072329 meters 0.12225027283690625 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981706e-01 6.71933595e-04 -6.01125980e-03 9.24475570e+01] [-6.73185562e-04 9.99999752e-01 -2.06249434e-04 -4.64663682e+00] [ 6.01111973e-03 2.10292354e-04 9.99981911e-01 -1.82031147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539072329 meters 0.12086169968517191 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981599e-01 6.10009441e-04 -6.03575260e-03 9.24476514e+01] [-6.11892792e-04 9.99999765e-01 -3.10190773e-04 -4.64636370e+00] [ 6.03556196e-03 3.13878299e-04 9.99981737e-01 -1.82034640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569072329 meters 0.12144122669618801 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99981844e-01 5.10778972e-04 -6.00416801e-03 9.24477510e+01] [-5.13711800e-04 9.99999749e-01 -4.86933402e-04 -4.64590566e+00] [ 6.00391779e-03 4.90008973e-04 9.99981856e-01 -1.82056483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599072329 meters 0.12012599165422783 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.82 [[ 9.99982159e-01 4.41237374e-04 -5.95709159e-03 9.24476845e+01] [-4.45468013e-04 9.99999650e-01 -7.08877273e-04 -4.64505873e+00] [ 5.95677672e-03 7.11518320e-04 9.99982005e-01 -1.82056792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629072329 meters 0.12366462452661173 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99982278e-01 3.96476416e-04 -5.94017453e-03 9.24477386e+01] [-4.01323669e-04 9.99999587e-01 -8.14842159e-04 -4.64470600e+00] [ 5.93984901e-03 8.17211651e-04 9.99982025e-01 -1.82070760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659072329 meters 0.12019574784073586 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99982589e-01 3.50034624e-04 -5.89058090e-03 9.24477646e+01] [-3.55385118e-04 9.99999525e-01 -9.07291163e-04 -4.64444892e+00] [ 5.89026052e-03 9.09368791e-04 9.99982239e-01 -1.82090273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.689072329 meters 0.1143004004536063 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99982163e-01 9.79424630e-05 -5.97198452e-03 9.24485286e+01] [-1.05558242e-04 9.99999182e-01 -1.27494918e-03 -4.64372689e+00] [ 5.97185476e-03 1.27555683e-03 9.99981355e-01 -1.82185818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719072329 meters 0.12123078014026357 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99982050e-01 5.64521319e-05 -5.99139604e-03 9.24486182e+01] [-6.46196974e-05 9.99999069e-01 -1.36303093e-03 -4.64341857e+00] [ 5.99131351e-03 1.36339363e-03 9.99981122e-01 -1.82194906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.749072329 meters 0.12038769232884014 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981664e-01 -2.38865158e-05 -6.05561719e-03 9.24489323e+01] [ 1.48784781e-05 9.99998893e-01 -1.48759140e-03 -4.64316493e+00] [ 6.05564602e-03 1.48747403e-03 9.99980558e-01 -1.82221828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779072329 meters 0.11511432379478168 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99982136e-01 -2.01156580e-05 -5.97727401e-03 9.24488042e+01] [ 1.10517858e-05 9.99998850e-01 -1.51641810e-03 -4.64297045e+00] [ 5.97729765e-03 1.51632495e-03 9.99980986e-01 -1.82228927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.809072329 meters 0.11906081527835333 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981974e-01 -3.71589611e-05 -6.00427044e-03 9.24488012e+01] [ 2.75438168e-05 9.99998717e-01 -1.60145904e-03 -4.64256808e+00] [ 6.00432224e-03 1.60126479e-03 9.99980692e-01 -1.82219402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839072329 meters 0.11890454614932708 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981642e-01 -1.85783635e-04 -6.05652421e-03 9.24489758e+01] [ 1.74412872e-04 9.99998222e-01 -1.87791442e-03 -4.64178095e+00] [ 6.05686233e-03 1.87682361e-03 9.99979896e-01 -1.82221564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.869072329 meters 0.12610535468781214 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981464e-01 -2.71207053e-04 -6.08260639e-03 9.24490496e+01] [ 2.58645413e-04 9.99997833e-01 -2.06586541e-03 -4.64117735e+00] [ 6.08315348e-03 2.06425388e-03 9.99979367e-01 -1.82219946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899072329 meters 0.12595875897002137 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981428e-01 -2.36982376e-04 -6.09001358e-03 9.24488662e+01] [ 2.24341289e-04 9.99997819e-01 -2.07630690e-03 -4.64090846e+00] [ 6.09049234e-03 2.07490209e-03 9.99979300e-01 -1.82189395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.929072329 meters 0.11930053626062075 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981269e-01 -2.23223759e-04 -6.11658941e-03 9.24487638e+01] [ 2.10251209e-04 9.99997728e-01 -2.12144068e-03 -4.64057163e+00] [ 6.11704906e-03 2.12011492e-03 9.99979043e-01 -1.82163863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959072329 meters 0.11441934994781747 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981088e-01 -2.81110850e-04 -6.14366525e-03 9.24489850e+01] [ 2.67671620e-04 9.99997570e-01 -2.18820653e-03 -4.64051654e+00] [ 6.14426545e-03 2.18652066e-03 9.99978733e-01 -1.82188798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.989072329 meters 0.11756980870557854 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981131e-01 -2.71317119e-04 -6.13702820e-03 9.24490570e+01] [ 2.57957658e-04 9.99997596e-01 -2.17754845e-03 -4.64055745e+00] [ 6.13760425e-03 2.17592427e-03 9.99978797e-01 -1.82206169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019072329 meters 0.11535083271356783 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99981202e-01 -2.83565375e-04 -6.12490310e-03 9.24490555e+01] [ 2.69922800e-04 9.99997481e-01 -2.22810622e-03 -4.64032305e+00] [ 6.12551949e-03 2.22641109e-03 9.99978760e-01 -1.82211322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.049072329 meters 0.12027431701632085 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99980493e-01 -4.95475498e-04 -6.22633907e-03 9.24497543e+01] [ 4.79664221e-04 9.99996657e-01 -2.54065471e-03 -4.63969198e+00] [ 6.22757709e-03 2.53761860e-03 9.99977389e-01 -1.82290715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079072329 meters 0.11560087903555824 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99980356e-01 -5.21464578e-04 -6.24623975e-03 9.24497206e+01] [ 5.04942265e-04 9.99996371e-01 -2.64644648e-03 -4.63918396e+00] [ 6.24759710e-03 2.64324051e-03 9.99976990e-01 -1.82278852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.109072329 meters 0.11372658266434059 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99980118e-01 -6.24583991e-04 -6.27477993e-03 9.24499495e+01] [ 6.06823097e-04 9.99995806e-01 -2.83202587e-03 -4.63869091e+00] [ 6.27652245e-03 2.82816188e-03 9.99976303e-01 -1.82302469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13907232900002 meters 0.12128613965232918 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99979438e-01 -8.46026623e-04 -6.35670710e-03 9.24502593e+01] [ 8.25303907e-04 9.99994339e-01 -3.26189280e-03 -4.63737625e+00] [ 6.35943076e-03 3.25657951e-03 9.99974476e-01 -1.82315725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16907232900002 meters 0.11123262159014197 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99979638e-01 -8.25312406e-04 -6.32788246e-03 9.24500430e+01] [ 8.04547585e-04 9.99994286e-01 -3.28332385e-03 -4.63714024e+00] [ 6.33055607e-03 3.27816591e-03 9.99974589e-01 -1.82290591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19907232900002 meters 0.1308523068903296 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99979036e-01 -9.16738813e-04 -6.40990348e-03 9.24503143e+01] [ 8.94822492e-04 9.99993747e-01 -3.42116669e-03 -4.63683947e+00] [ 6.41299972e-03 3.41535924e-03 9.99973604e-01 -1.82303012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229072329 meters 0.1308523068903296 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.82 [[ 9.99979036e-01 -9.16738813e-04 -6.40990348e-03 9.24503143e+01] [ 8.94822492e-04 9.99993747e-01 -3.42116669e-03 -4.63683947e+00] [ 6.41299972e-03 3.41535924e-03 9.99973604e-01 -1.82303012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259072329 meters 0.1129124867251747 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99987050e-01 -4.97672892e-03 -1.06362924e-03 9.24368477e+01] [ 4.97950778e-03 9.99984154e-01 2.62614255e-03 -4.63501140e+00] [ 1.05054279e-03 -2.63140489e-03 9.99995986e-01 -1.82625231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289072329 meters 0.12002993409055186 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99986218e-01 -5.11273003e-03 -1.19361096e-03 9.24373090e+01] [ 5.11562284e-03 9.99983955e-01 2.43323251e-03 -4.63460730e+00] [ 1.18115135e-03 -2.43930504e-03 9.99996327e-01 -1.82658053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319072329 meters 0.11120206628432217 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99986073e-01 -5.14616245e-03 -1.17065984e-03 9.24373671e+01] [ 5.14892239e-03 9.99983943e-01 2.36692843e-03 -4.63437343e+00] [ 1.15846045e-03 -2.37292310e-03 9.99996514e-01 -1.82678205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349072329 meters 0.11997773176532338 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994594e-01 1.64259304e-03 -2.84847831e-03 9.24515529e+01] [-1.64996070e-03 9.99995295e-01 -2.58610526e-03 -4.63801196e+00] [ 2.84421699e-03 2.59079116e-03 9.99992599e-01 -1.82687377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379072329 meters 0.11325592145972932 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994605e-01 1.69746326e-03 -2.81238630e-03 9.24513869e+01] [-1.70452324e-03 9.99995398e-01 -2.50982547e-03 -4.63813394e+00] [ 2.80811302e-03 2.51460571e-03 9.99992896e-01 -1.82675516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409072329 meters 0.12096866013995194 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994547e-01 1.78085230e-03 -2.78102742e-03 9.24512102e+01] [-1.78747436e-03 9.99995569e-01 -2.38048917e-03 -4.63840763e+00] [ 2.77677579e-03 2.38544720e-03 9.99993300e-01 -1.82662037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439072329 meters 0.12230713176633108 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994391e-01 1.78580312e-03 -2.83356835e-03 9.24513236e+01] [-1.79234782e-03 9.99995728e-01 -2.30884932e-03 -4.63878214e+00] [ 2.82943309e-03 2.31391511e-03 9.99993320e-01 -1.82663111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.469072329 meters 0.12230713176633108 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994391e-01 1.78580312e-03 -2.83356835e-03 9.24513236e+01] [-1.79234782e-03 9.99995728e-01 -2.30884932e-03 -4.63878214e+00] [ 2.82943309e-03 2.31391511e-03 9.99993320e-01 -1.82663111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499072329 meters 0.11278823445873397 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994386e-01 1.83435252e-03 -2.80421760e-03 9.24510993e+01] [-1.84078478e-03 9.99995677e-01 -2.29292383e-03 -4.63858598e+00] [ 2.79999945e-03 2.29807292e-03 9.99993439e-01 -1.82637528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.529072329 meters 0.13031236533130652 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994477e-01 1.81974947e-03 -2.78111419e-03 9.24510265e+01] [-1.82634776e-03 9.99995519e-01 -2.37184190e-03 -4.63823388e+00] [ 2.77678557e-03 2.37690808e-03 9.99993320e-01 -1.82631248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559072329 meters 0.12020172711830208 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994361e-01 1.73849036e-03 -2.87319405e-03 9.24512891e+01] [-1.74570379e-03 9.99995326e-01 -2.50999520e-03 -4.63791978e+00] [ 2.86881702e-03 2.51499679e-03 9.99992722e-01 -1.82639245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.589072329 meters 0.1188093373152964 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994302e-01 1.79640083e-03 -2.85828510e-03 9.24510687e+01] [-1.80344532e-03 9.99995338e-01 -2.46392039e-03 -4.63787676e+00] [ 2.85384559e-03 2.46906111e-03 9.99992880e-01 -1.82607485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619072329 meters 0.12986318422162418 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99993973e-01 1.77268432e-03 -2.98520870e-03 9.24513354e+01] [-1.78005806e-03 9.99995367e-01 -2.46924847e-03 -4.63798723e+00] [ 2.98081767e-03 2.47454743e-03 9.99992496e-01 -1.82608560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.649072329 meters 0.11465111482462166 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99993997e-01 1.85482608e-03 -2.92660127e-03 9.24511955e+01] [-1.86162453e-03 9.99995571e-01 -2.32197226e-03 -4.63841393e+00] [ 2.92228146e-03 2.32740656e-03 9.99993022e-01 -1.82609040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679072329 meters 0.12194713501932529 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99993860e-01 1.79337546e-03 -3.01069053e-03 9.24515168e+01] [-1.80052898e-03 9.99995559e-01 -2.37501523e-03 -4.63842637e+00] [ 3.00641787e-03 2.38042148e-03 9.99992647e-01 -1.82630895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.709072329 meters 0.11503333211866555 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99993926e-01 1.81271476e-03 -2.97693226e-03 9.24515171e+01] [-1.81968584e-03 9.99995605e-01 -2.34066204e-03 -4.63851566e+00] [ 2.97267622e-03 2.34606491e-03 9.99992830e-01 -1.82647526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739072329 meters 0.12080096381664862 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99994036e-01 1.69467374e-03 -3.00925746e-03 9.24518846e+01] [-1.70215852e-03 9.99995460e-01 -2.48643509e-03 -4.63831551e+00] [ 3.00503010e-03 2.49154249e-03 9.99992381e-01 -1.82693594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.769072329 meters 0.12273158161889165 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99993938e-01 1.73113678e-03 -3.02124597e-03 9.24518795e+01] [-1.73843681e-03 9.99995572e-01 -2.41527891e-03 -4.63851970e+00] [ 3.01705142e-03 2.42051651e-03 9.99992519e-01 -1.82689780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799072329 meters 0.12526294390743611 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99993876e-01 1.78021094e-03 -3.01321509e-03 9.24516980e+01] [-1.78734435e-03 9.99995603e-01 -2.36633970e-03 -4.63852073e+00] [ 3.00898926e-03 2.37171086e-03 9.99992660e-01 -1.82661361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.829072329 meters 0.123375669079631 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99993925e-01 1.62553444e-03 -3.08347546e-03 9.24518984e+01] [-1.63376049e-03 9.99995109e-01 -2.66714349e-03 -4.63758464e+00] [ 3.07912484e-03 2.67216495e-03 9.99991689e-01 -1.82660892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859072329 meters 0.1295555953433811 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99994675e-01 -2.87480527e-03 1.54428304e-03 9.24385728e+01] [ 2.86956419e-03 9.99990152e-01 3.38542532e-03 -4.63531465e+00] [-1.55400027e-03 -3.38097587e-03 9.99993077e-01 -1.82958970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88907232900002 meters 0.11382474407059534 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99994391e-01 -3.01646334e-03 1.45533877e-03 9.24390755e+01] [ 3.01178883e-03 9.99990333e-01 3.20354697e-03 -4.63502461e+00] [-1.46498808e-03 -3.19914582e-03 9.99993810e-01 -1.83009753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91907232900002 meters 0.12325071306674022 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99994312e-01 -3.11295118e-03 1.29804267e-03 9.24395478e+01] [ 3.10895321e-03 9.99990452e-01 3.07072802e-03 -4.63477501e+00] [-1.30758930e-03 -3.06667500e-03 9.99994443e-01 -1.83030991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94907232900002 meters 0.1443646846113811 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99994354e-01 -3.12055486e-03 1.24666715e-03 9.24397062e+01] [ 3.11674166e-03 9.99990495e-01 3.04903268e-03 -4.63468894e+00] [-1.25616998e-03 -3.04512993e-03 9.99994575e-01 -1.83043123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979072329 meters 0.12889652321333592 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99994166e-01 -3.21632736e-03 1.15019736e-03 9.24401939e+01] [ 3.21290532e-03 9.99990444e-01 2.96475470e-03 -4.63470919e+00] [-1.15972199e-03 -2.96104193e-03 9.99994944e-01 -1.83089705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009072329 meters 0.1282886411850091 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99994010e-01 -3.26508295e-03 1.14845271e-03 9.24402308e+01] [ 3.26179415e-03 9.99990608e-01 2.85398487e-03 -4.63427634e+00] [-1.15776042e-03 -2.85022175e-03 9.99995268e-01 -1.83095695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039072329 meters 0.12425774946710683 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993728e-01 -3.37184826e-03 1.08363865e-03 9.24405403e+01] [ 3.36892428e-03 9.99990710e-01 2.68889010e-03 -4.63390734e+00] [-1.09269512e-03 -2.68522254e-03 9.99995798e-01 -1.83121301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069072329 meters 0.13102252532083086 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993812e-01 -3.35381935e-03 1.06246058e-03 9.24403800e+01] [ 3.35101429e-03 9.99990924e-01 2.63101966e-03 -4.63347484e+00] [-1.07127490e-03 -2.62744306e-03 9.99995974e-01 -1.83085732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099072329 meters 0.13336883643527567 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993434e-01 -3.49437419e-03 9.60088245e-04 9.24407753e+01] [ 3.49204352e-03 9.99990978e-01 2.41859764e-03 -4.63297835e+00] [-9.68531068e-04 -2.41522909e-03 9.99996614e-01 -1.83111419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129072329 meters 0.12493955621229431 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993416e-01 -3.49780681e-03 9.65736334e-04 9.24406421e+01] [ 3.49552476e-03 9.99991118e-01 2.35467170e-03 -4.63260295e+00] [-9.73963943e-04 -2.35128044e-03 9.99996761e-01 -1.83091779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159072329 meters 0.11865443070797028 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993214e-01 -3.57240935e-03 8.99972711e-04 9.24408246e+01] [ 3.57045712e-03 9.99991290e-01 2.16155202e-03 -4.63194902e+00] [-9.07686821e-04 -2.15832404e-03 9.99997259e-01 -1.83098711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.189072329 meters 0.12214271099943577 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993161e-01 -3.60627820e-03 8.20050411e-04 9.24409887e+01] [ 3.60457698e-03 9.99991368e-01 2.06662530e-03 -4.63154475e+00] [-8.27496158e-04 -2.06365523e-03 9.99997528e-01 -1.83100452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219072329 meters 0.11155688533097136 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992765e-01 -3.73950656e-03 6.97124670e-04 9.24414518e+01] [ 3.73820232e-03 9.99991278e-01 1.86289385e-03 -4.63112575e+00] [-7.04084893e-04 -1.86027438e-03 9.99998022e-01 -1.83130266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.249072329 meters 0.11220902903754822 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992621e-01 -3.78693082e-03 6.45374276e-04 9.24415945e+01] [ 3.78577341e-03 9.99991240e-01 1.78527907e-03 -4.63096114e+00] [-6.52129351e-04 -1.78282265e-03 9.99998198e-01 -1.83134210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279072329 meters 0.11412519585631134 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992704e-01 -3.76676857e-03 6.35911768e-04 9.24414859e+01] [ 3.76563803e-03 9.99991344e-01 1.76976314e-03 -4.63072900e+00] [-6.42572552e-04 -1.76735561e-03 9.99998232e-01 -1.83115770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.309072329 meters 0.11181819346489909 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992930e-01 -3.70949845e-03 6.16356048e-04 9.24412906e+01] [ 3.70837938e-03 9.99991491e-01 1.80695543e-03 -4.63060102e+00] [-6.23053702e-04 -1.80465697e-03 9.99998178e-01 -1.83078867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339072329 meters 0.11812456591887248 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992870e-01 -3.72705366e-03 6.08158880e-04 9.24413525e+01] [ 3.72596768e-03 9.99991479e-01 1.77715403e-03 -4.63055950e+00] [-6.14777246e-04 -1.77487537e-03 9.99998236e-01 -1.83084250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.369072329 meters 0.11126062727625967 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992652e-01 -3.78899354e-03 5.83478983e-04 9.24414964e+01] [ 3.78801004e-03 9.99991418e-01 1.67756893e-03 -4.63029631e+00] [-5.89830274e-04 -1.67534637e-03 9.99998423e-01 -1.83098334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399072329 meters 0.11828741685230824 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992432e-01 -3.85042305e-03 5.56680023e-04 9.24416710e+01] [ 3.84955955e-03 9.99991398e-01 1.54399862e-03 -4.62983944e+00] [-5.62620282e-04 -1.54184396e-03 9.99998653e-01 -1.83117435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.429072329 meters 0.11946169809864675 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992508e-01 -3.82683452e-03 5.81757359e-04 9.24416377e+01] [ 3.82592013e-03 9.99991457e-01 1.56484362e-03 -4.62983228e+00] [-5.87740787e-04 -1.56260614e-03 9.99998606e-01 -1.83123793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459072329 meters 0.11843639576325357 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99992508e-01 -3.83611942e-03 5.18359960e-04 9.24418341e+01] [ 3.83529383e-03 9.99991390e-01 1.58440775e-03 -4.63003690e+00] [-5.24433474e-04 -1.58240782e-03 9.99998610e-01 -1.83132583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.489072329 meters 0.11797986349569788 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993100e-01 -3.67942707e-03 5.12581951e-04 9.24416524e+01] [ 3.67846399e-03 9.99991491e-01 1.86732413e-03 -4.63086116e+00] [-5.19448272e-04 -1.86542573e-03 9.99998125e-01 -1.83107178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519072329 meters 0.11891562266721858 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993523e-01 -3.55648914e-03 5.51966896e-04 9.24414754e+01] [ 3.55532196e-03 9.99991472e-01 2.10134230e-03 -4.63161149e+00] [-5.59435590e-04 -2.09936627e-03 9.99997640e-01 -1.83095213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.549072329 meters 0.11874033880486094 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99993958e-01 -3.43238525e-03 5.50972959e-04 9.24411979e+01] [ 3.43111579e-03 9.99991495e-01 2.28869056e-03 -4.63197462e+00] [-5.58823941e-04 -2.28678628e-03 9.99997229e-01 -1.83053266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579072329 meters 0.12132257174580355 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99994083e-01 -3.39668757e-03 5.44055722e-04 9.24411250e+01] [ 3.39540123e-03 9.99991479e-01 2.34808306e-03 -4.63213196e+00] [-5.52026790e-04 -2.34622188e-03 9.99997095e-01 -1.83039656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.609072329 meters 0.12009946386247655 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99994071e-01 -3.40711056e-03 4.99972692e-04 9.24412863e+01] [ 3.40590136e-03 9.99991320e-01 2.39977670e-03 -4.63250081e+00] [-5.08144657e-04 -2.39805961e-03 9.99996996e-01 -1.83049274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63907232900002 meters 0.12131900925976326 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.64, Z:-1.83 [[ 9.99997481e-01 2.24444322e-03 -1.30732088e-05 9.24542882e+01] [-2.24447667e-03 9.99990278e-01 -3.79556218e-03 -4.63569141e+00] [ 4.55415789e-06 3.79558196e-03 9.99992797e-01 -1.83058983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66907232900002 meters 0.12476930995220085 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99995659e-01 -1.70747668e-03 -2.40134759e-03 9.24396486e+01] [ 1.71740300e-03 9.99989965e-01 4.13767608e-03 -4.63437795e+00] [ 2.39425850e-03 -4.14178220e-03 9.99988557e-01 -1.82707850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69907232900002 meters 0.11675183776313662 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.63, Z:-1.83 [[ 9.99995442e-01 -1.71044630e-03 -2.48797770e-03 9.24399093e+01] [ 1.72087356e-03 9.99989720e-01 4.19497353e-03 -4.63475898e+00] [ 2.48077684e-03 -4.19923590e-03 9.99988106e-01 -1.82720248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729072329 meters 0.11479111841923349 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99995419e-01 -1.70570732e-03 -2.50063923e-03 9.24400521e+01] [ 1.71636127e-03 9.99989434e-01 4.26455401e-03 -4.63515343e+00] [ 2.49333872e-03 -4.26882648e-03 9.99987780e-01 -1.82738821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759072329 meters 0.11623256375940721 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99995313e-01 -1.70709075e-03 -2.54167848e-03 9.24403252e+01] [ 1.71821026e-03 9.99988935e-01 4.37913167e-03 -4.63580070e+00] [ 2.53417478e-03 -4.38347829e-03 9.99987181e-01 -1.82770456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789072329 meters 0.11614102157339527 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99995452e-01 -1.62301536e-03 -2.54181791e-03 9.24401959e+01] [ 1.63447568e-03 9.99988480e-01 4.51314153e-03 -4.63614032e+00] [ 2.53446373e-03 -4.51727554e-03 9.99986585e-01 -1.82753335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819072329 meters 0.12768946263581565 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99995462e-01 -1.59404132e-03 -2.55645768e-03 9.24402043e+01] [ 1.60571696e-03 9.99988261e-01 4.57158250e-03 -4.63631771e+00] [ 2.54914038e-03 -4.57566670e-03 9.99986282e-01 -1.82751564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849072329 meters 0.11870363404419801 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99995727e-01 -1.50400525e-03 -2.50688565e-03 9.24399844e+01] [ 1.51599914e-03 9.99987382e-01 4.78936638e-03 -4.63713477e+00] [ 2.49965079e-03 -4.79314635e-03 9.99985389e-01 -1.82731853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879072329 meters 0.11765725230564503 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99995820e-01 -1.54525360e-03 -2.44389013e-03 9.24399764e+01] [ 1.55682277e-03 9.99987558e-01 4.73912054e-03 -4.63710067e+00] [ 2.43653658e-03 -4.74290543e-03 9.99985784e-01 -1.82747565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909072329 meters 0.12039169219027025 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99995870e-01 -1.56171453e-03 -2.41255081e-03 9.24400340e+01] [ 1.57317463e-03 9.99987454e-01 4.75563057e-03 -4.63728935e+00] [ 2.40509361e-03 -4.75940630e-03 9.99985782e-01 -1.82765649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939072329 meters 0.12271211761132639 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996314e-01 -1.38587949e-03 -2.33495132e-03 9.24398471e+01] [ 1.39778313e-03 9.99985997e-01 5.10412888e-03 -4.63839020e+00] [ 2.32784491e-03 -5.10737382e-03 9.99984248e-01 -1.82769179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.969072329 meters 0.12328668069702839 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996240e-01 -1.38852252e-03 -2.36470272e-03 9.24401814e+01] [ 1.40079453e-03 9.99985520e-01 5.19593825e-03 -4.63897169e+00] [ 2.35745381e-03 -5.19923117e-03 9.99983705e-01 -1.82816203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999072329 meters 0.12689216287373362 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996082e-01 -1.36888529e-03 -2.44184886e-03 9.24404314e+01] [ 1.38178577e-03 9.99985057e-01 5.28923583e-03 -4.63949808e+00] [ 2.43457201e-03 -5.29258922e-03 9.99983031e-01 -1.82829466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.029072329 meters 0.135086396050129 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996432e-01 -1.26208547e-03 -2.35452811e-03 9.24402697e+01] [ 1.27514673e-03 9.99983763e-01 5.55406800e-03 -4.64042692e+00] [ 2.34748017e-03 -5.55705055e-03 9.99981804e-01 -1.82834860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059072329 meters 0.11932551319555232 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996467e-01 -1.28273589e-03 -2.32815879e-03 9.24402385e+01] [ 1.29556765e-03 9.99983934e-01 5.51843260e-03 -4.64030474e+00] [ 2.32104269e-03 -5.52142939e-03 9.99982063e-01 -1.82835896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.089072329 meters 0.1331941611270691 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996460e-01 -1.29165349e-03 -2.32611885e-03 9.24403964e+01] [ 1.30456977e-03 9.99983693e-01 5.55978958e-03 -4.64065387e+00] [ 2.31889960e-03 -5.56280448e-03 9.99981839e-01 -1.82860975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119072329 meters 0.12036639178622321 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996798e-01 -1.27931051e-03 -2.18346390e-03 9.24401667e+01] [ 1.29151916e-03 9.99983490e-01 5.59919152e-03 -4.64078394e+00] [ 2.17626474e-03 -5.60199358e-03 9.99981941e-01 -1.82870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.149072329 meters 0.12036639178622321 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996798e-01 -1.27931051e-03 -2.18346390e-03 9.24401667e+01] [ 1.29151916e-03 9.99983490e-01 5.59919152e-03 -4.64078394e+00] [ 2.17626474e-03 -5.60199358e-03 9.99981941e-01 -1.82870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179072329 meters 0.1260232081650566 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996610e-01 -1.27329692e-03 -2.27146472e-03 9.24404380e+01] [ 1.28616143e-03 9.99983092e-01 5.67108999e-03 -4.64122081e+00] [ 2.26420533e-03 -5.67399223e-03 9.99981339e-01 -1.82884967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.209072329 meters 0.13075314949189082 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996869e-01 -1.13594164e-03 -2.22952995e-03 9.24401050e+01] [ 1.14906377e-03 9.99981975e-01 5.89317444e-03 -4.64172766e+00] [ 2.22279546e-03 -5.89571786e-03 9.99980150e-01 -1.82847878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239072329 meters 0.11778654587146209 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996974e-01 -1.00395829e-03 -2.24587794e-03 9.24400280e+01] [ 1.01776984e-03 9.99980527e-01 6.15706836e-03 -4.64258460e+00] [ 2.23965277e-03 -6.15933551e-03 9.99978523e-01 -1.82833969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.269072329 meters 0.12466054070342622 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99997034e-01 -1.00125862e-03 -2.22010168e-03 9.24401036e+01] [ 1.01506809e-03 9.99980092e-01 6.22781708e-03 -4.64299570e+00] [ 2.21382183e-03 -6.23005217e-03 9.99978142e-01 -1.82853959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299072329 meters 0.12967930541253325 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99996990e-01 -1.00492641e-03 -2.23813868e-03 9.24402817e+01] [ 1.01902080e-03 9.99979603e-01 6.30515706e-03 -4.64349147e+00] [ 2.23175681e-03 -6.30741879e-03 9.99977618e-01 -1.82875409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.329072329 meters 0.1289372379696977 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99997132e-01 -9.64424280e-04 -2.19223402e-03 9.24402071e+01] [ 9.78380626e-04 9.99979206e-01 6.37413413e-03 -4.64368495e+00] [ 2.18604106e-03 -6.37626069e-03 9.99977282e-01 -1.82881135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359072329 meters 0.12096096998442012 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99997318e-01 -8.57041612e-04 -2.15149813e-03 9.24400745e+01] [ 8.71215958e-04 9.99977868e-01 6.59585899e-03 -4.64440662e+00] [ 2.14579759e-03 -6.59771572e-03 9.99975933e-01 -1.82878871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38907232900002 meters 0.12168592704006263 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99997256e-01 -8.94577379e-04 -2.16498673e-03 9.24402319e+01] [ 9.08803437e-04 9.99977946e-01 6.57892932e-03 -4.64450708e+00] [ 2.15905362e-03 -6.58087882e-03 9.99976015e-01 -1.82898687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41907232900002 meters 0.1313294795110756 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99997216e-01 -8.64420656e-04 -2.19577567e-03 9.24402169e+01] [ 8.78951474e-04 9.99977666e-01 6.62530181e-03 -4.64460823e+00] [ 2.18999958e-03 -6.62721334e-03 9.99975642e-01 -1.82885855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44907232900002 meters 0.13318041554756957 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99983257e-01 -5.33577848e-03 -2.23932283e-03 9.24405739e+01] [ 5.33999150e-03 9.99983976e-01 1.87963782e-03 -4.64314877e+00] [ 2.22925761e-03 -1.89156431e-03 9.99995726e-01 -1.82920430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479072329 meters 0.13723275399434645 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99984144e-01 -5.16718180e-03 -2.23871656e-03 9.24404620e+01] [ 5.17223042e-03 9.99984081e-01 2.25525217e-03 -4.64447850e+00] [ 2.22702763e-03 -2.26679557e-03 9.99994951e-01 -1.82907274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509072329 meters 0.14358548299290533 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.64, Z:-1.83 [[ 9.99984930e-01 -5.06114267e-03 -2.12730794e-03 9.24401337e+01] [ 5.06632286e-03 9.99984197e-01 2.43679954e-03 -4.64497742e+00] [ 2.11494134e-03 -2.44754044e-03 9.99994768e-01 -1.82893853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539072329 meters 0.12567844441329484 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.83 [[ 9.99985702e-01 -4.90977999e-03 -2.11872098e-03 9.24399730e+01] [ 4.91553544e-03 9.99984220e-01 2.71986956e-03 -4.64580831e+00] [ 2.10533359e-03 -2.73024532e-03 9.99994057e-01 -1.82877799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569072329 meters 0.12652427723132847 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.83 [[ 9.99985927e-01 -4.86924560e-03 -2.10602999e-03 9.24399554e+01] [ 4.87512455e-03 9.99984209e-01 2.79541621e-03 -4.64604594e+00] [ 2.09238517e-03 -2.80564403e-03 9.99993875e-01 -1.82881721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599072329 meters 0.14090559398614727 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.83 [[ 9.99986264e-01 -4.81660399e-03 -2.06708092e-03 9.24398621e+01] [ 4.82253972e-03 9.99984235e-01 2.87623689e-03 -4.64625500e+00] [ 2.05319464e-03 -2.88616596e-03 9.99993727e-01 -1.82882340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629072329 meters 0.11904286652349252 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.83 [[ 9.99986721e-01 -4.75542929e-03 -1.98582235e-03 9.24396645e+01] [ 4.76135531e-03 9.99984194e-01 2.99017301e-03 -4.64657029e+00] [ 1.97157140e-03 -2.99958850e-03 9.99993558e-01 -1.82879887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659072329 meters 0.11746342945532348 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.83 [[ 9.99987108e-01 -4.65988496e-03 -2.01748415e-03 9.24396028e+01] [ 4.66628173e-03 9.99984064e-01 3.17765428e-03 -4.64721763e+00] [ 2.00264450e-03 -3.18702746e-03 9.99992916e-01 -1.82858982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.689072329 meters 0.15732089018489792 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.83 [[ 9.99986971e-01 -4.66713946e-03 -2.06791530e-03 9.24397487e+01] [ 4.67370086e-03 9.99984023e-01 3.17956607e-03 -4.64729698e+00] [ 2.05304278e-03 -3.18918946e-03 9.99992807e-01 -1.82865513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719072329 meters 0.1302628638091191 Centerline is valid? [False, False] Translation: X:92.44, Y:-4.65, Z:-1.83 [[ 9.99987540e-01 -4.57474349e-03 -1.99794811e-03 9.24394980e+01] [ 4.58136529e-03 9.99983986e-01 3.32239674e-03 -4.64764772e+00] [ 1.98271700e-03 -3.33150868e-03 9.99992485e-01 -1.82851333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.749072329 meters 0.12888548339307712 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.83 [[ 9.99995563e-01 1.70461608e-03 -2.44306595e-03 9.24521372e+01] [-1.71004374e-03 9.99996071e-01 -2.22129558e-03 -4.65136910e+00] [ 2.43926989e-03 2.22546347e-03 9.99994549e-01 -1.82829009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779072329 meters 0.11740607997999249 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.83 [[ 9.99995487e-01 1.77910313e-03 -2.42092492e-03 9.24520196e+01] [-1.78421231e-03 9.99996182e-01 -2.10990517e-03 -4.65162666e+00] [ 2.41716194e-03 2.11421509e-03 9.99994844e-01 -1.82822275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.809072329 meters 0.13041807632755278 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.83 [[ 9.99995172e-01 1.82465193e-03 -2.51529833e-03 9.24521396e+01] [-1.82971321e-03 9.99996303e-01 -2.01136804e-03 -4.65199624e+00] [ 2.51161899e-03 2.01596061e-03 9.99994814e-01 -1.82811364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839072329 meters 0.12043383661339024 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.83 [[ 9.99994937e-01 1.93578908e-03 -2.52558090e-03 9.24520143e+01] [-1.94028345e-03 9.99996536e-01 -1.77830521e-03 -4.65277067e+00] [ 2.52212973e-03 1.78319655e-03 9.99995230e-01 -1.82789194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.869072329 meters 0.1243715826234454 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.83 [[ 9.99994611e-01 2.02014649e-03 -2.58775254e-03 9.24521032e+01] [-2.02423140e-03 9.99996708e-01 -1.57691034e-03 -4.65351909e+00] [ 2.58455843e-03 1.58214006e-03 9.99995408e-01 -1.82784838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899072329 meters 0.12486790832977208 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.65, Z:-1.83 [[ 9.99994288e-01 2.17703546e-03 -2.58552142e-03 9.24518241e+01] [-2.18045610e-03 9.99996750e-01 -1.32091965e-03 -4.65414800e+00] [ 2.58263732e-03 1.32654972e-03 9.99995785e-01 -1.82747192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.929072329 meters 0.11589157749642492 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99994074e-01 2.29662724e-03 -2.56460124e-03 9.24518401e+01] [-2.29919762e-03 9.99996857e-01 -9.99756808e-04 -4.65538798e+00] [ 2.56229711e-03 1.00564741e-03 9.99996212e-01 -1.82762333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959072329 meters 0.11589157749642492 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99994074e-01 2.29662724e-03 -2.56460124e-03 9.24518401e+01] [-2.29919762e-03 9.99996857e-01 -9.99756808e-04 -4.65538798e+00] [ 2.56229711e-03 1.00564741e-03 9.99996212e-01 -1.82762333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.989072329 meters 0.12470809158360155 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99993780e-01 2.37373346e-03 -2.60868197e-03 9.24519766e+01] [-2.37579310e-03 9.99996868e-01 -7.86716052e-04 -4.65617663e+00] [ 2.60680635e-03 7.92908847e-04 9.99996288e-01 -1.82775057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019072329 meters 0.12104055540255174 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99993742e-01 2.49417822e-03 -2.50902119e-03 9.24516884e+01] [-2.49557937e-03 9.99996732e-01 -5.55471741e-04 -4.65683411e+00] [ 2.50762755e-03 5.61729726e-04 9.99996698e-01 -1.82766857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.049072329 meters 0.12341273285845779 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99993624e-01 2.49709500e-03 -2.55256786e-03 9.24518988e+01] [-2.49830325e-03 9.99996769e-01 -4.70265406e-04 -4.65733236e+00] [ 2.55138531e-03 4.76639496e-04 9.99996632e-01 -1.82787734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079072329 meters 0.12248182521033904 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99993004e-01 2.73805385e-03 -2.54847452e-03 9.24514797e+01] [-2.73811069e-03 9.99996251e-01 -1.88141218e-05 -4.65862846e+00] [ 2.54841345e-03 2.57919955e-05 9.99996752e-01 -1.82726160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.109072329 meters 0.12520769652774777 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99992812e-01 2.80795625e-03 -2.54773972e-03 9.24514153e+01] [-2.80760906e-03 9.99996049e-01 1.39841245e-04 -4.65917570e+00] [ 2.54812232e-03 -1.32687182e-04 9.99996745e-01 -1.82716745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13907232900002 meters 0.11531499617244449 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99992693e-01 2.85614901e-03 -2.54112320e-03 9.24513496e+01] [-2.85554234e-03 9.99995894e-01 2.42337612e-04 -4.65950555e+00] [ 2.54180491e-03 -2.35079557e-04 9.99996742e-01 -1.82711390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16907232900002 meters 0.11847449051011812 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99992634e-01 2.87434917e-03 -2.54366825e-03 9.24515238e+01] [-2.87342652e-03 9.99995805e-01 3.66306505e-04 -4.66013907e+00] [ 2.54471047e-03 -3.58994763e-04 9.99996698e-01 -1.82738998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19907232900002 meters 0.11537196521723561 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99992529e-01 2.91084860e-03 -2.54321211e-03 9.24515480e+01] [-2.90969589e-03 9.99995662e-01 4.56832162e-04 -4.66044381e+00] [ 2.54453085e-03 -4.49428775e-04 9.99996662e-01 -1.82746007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229072329 meters 0.11665179075650557 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99992511e-01 2.92760408e-03 -2.53112516e-03 9.24515711e+01] [-2.92630682e-03 9.99995585e-01 5.16074304e-04 -4.66072522e+00] [ 2.53262485e-03 -5.08663590e-04 9.99996664e-01 -1.82752461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259072329 meters 0.1282529404052645 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99991803e-01 3.11097319e-03 -2.59142149e-03 9.24515069e+01] [-3.10850707e-03 9.99994712e-01 9.55129550e-04 -4.66227927e+00] [ 2.59437917e-03 -9.47066269e-04 9.99996186e-01 -1.82727293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289072329 meters 0.11545459671209568 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99991538e-01 3.20338488e-03 -2.58105892e-03 9.24514177e+01] [-3.20043326e-03 9.99994221e-01 1.14689015e-03 -4.66287510e+00] [ 2.58471793e-03 -1.13861994e-03 9.99996011e-01 -1.82721180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319072329 meters 0.12074822540883202 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99991424e-01 3.25277430e-03 -2.56341502e-03 9.24514893e+01] [-3.24941237e-03 9.99993857e-01 1.31457874e-03 -4.66358928e+00] [ 2.56767530e-03 -1.30623788e-03 9.99995850e-01 -1.82740969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349072329 meters 0.14060966192113028 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.66, Z:-1.83 [[ 9.99991013e-01 3.41802146e-03 -2.50818871e-03 9.24512646e+01] [-3.41388038e-03 9.99992806e-01 1.65345422e-03 -4.66467689e+00] [ 2.51382221e-03 -1.64487670e-03 9.99995488e-01 -1.82729352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379072329 meters 0.12776634467679182 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99990779e-01 3.45338789e-03 -2.55262778e-03 9.24514486e+01] [-3.44880626e-03 9.99992438e-01 1.79709751e-03 -4.66534068e+00] [ 2.55881456e-03 -1.78827743e-03 9.99995127e-01 -1.82747072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.409072329 meters 0.12378350688568013 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99990626e-01 3.48979198e-03 -2.56306981e-03 9.24515330e+01] [-3.48480200e-03 9.99992029e-01 1.94876963e-03 -4.66601267e+00] [ 2.56985018e-03 -1.93981957e-03 9.99994816e-01 -1.82757542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439072329 meters 0.12720408113912712 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99989768e-01 3.74966543e-03 -2.53065994e-03 9.24510742e+01] [-3.74349928e-03 9.99990024e-01 2.43692936e-03 -4.66744713e+00] [ 2.53977236e-03 -2.42743090e-03 9.99993829e-01 -1.82702209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.469072329 meters 0.12006382116611528 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99989323e-01 3.86025099e-03 -2.53997378e-03 9.24510613e+01] [-3.85334896e-03 9.99988886e-01 2.71666654e-03 -4.66846376e+00] [ 2.55043257e-03 -2.70685013e-03 9.99993084e-01 -1.82701619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499072329 meters 0.11989072024196133 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99997828e-01 9.51071471e-04 -1.85454976e-03 9.24477743e+01] [-9.52123423e-04 9.99999386e-01 -5.66427749e-04 -4.66691246e+00] [ 1.85400991e-03 5.68192279e-04 9.99998120e-01 -1.82462341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.529072329 meters 0.12001997265739306 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99997726e-01 1.06017980e-03 -1.85027521e-03 9.24476766e+01] [-1.06078517e-03 9.99999384e-01 -3.26229762e-04 -4.66770996e+00] [ 1.84992821e-03 3.28191764e-04 9.99998235e-01 -1.82451498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559072329 meters 0.11766817538564872 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99997565e-01 1.22307438e-03 -1.83666270e-03 9.24476149e+01] [-1.22292564e-03 9.99999249e-01 8.21042413e-05 -4.66920199e+00] [ 1.83676174e-03 -7.98579395e-05 9.99998310e-01 -1.82452802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.589072329 meters 0.12787761617223764 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99997539e-01 1.32477955e-03 -1.77940102e-03 9.24474081e+01] [-1.32428086e-03 9.99999084e-01 2.81404553e-04 -4.66983876e+00] [ 1.77977219e-03 -2.79047434e-04 9.99998377e-01 -1.82442932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619072329 meters 0.12372001017958989 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99997522e-01 1.37721479e-03 -1.74932182e-03 9.24473825e+01] [-1.37645151e-03 9.99998957e-01 4.37459886e-04 -4.67047550e+00] [ 1.74992247e-03 -4.35050946e-04 9.99998374e-01 -1.82449877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.649072329 meters 0.13369195031369116 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99997457e-01 1.48692457e-03 -1.69560336e-03 9.24472036e+01] [-1.48575838e-03 9.99998659e-01 6.88826681e-04 -4.67134996e+00] [ 1.69662532e-03 -6.86305672e-04 9.99998325e-01 -1.82442027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679072329 meters 0.1353684003457833 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99997039e-01 1.67248839e-03 -1.76790084e-03 9.24471324e+01] [-1.67053804e-03 9.99997995e-01 1.10410084e-03 -4.67278972e+00] [ 1.76974389e-03 -1.10114422e-03 9.99997828e-01 -1.82412207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.709072329 meters 0.11233881261505749 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996931e-01 1.77227889e-03 -1.73114545e-03 9.24469083e+01] [-1.77009028e-03 9.99997633e-01 1.26497363e-03 -4.67317178e+00] [ 1.73338324e-03 -1.26190546e-03 9.99997701e-01 -1.82393627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739072329 meters 0.12107751910072526 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996914e-01 1.71192685e-03 -1.80047633e-03 9.24472973e+01] [-1.70972154e-03 9.99997787e-01 1.22567155e-03 -4.67331785e+00] [ 1.80257061e-03 -1.22258945e-03 9.99997628e-01 -1.82431244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.769072329 meters 0.13818313795372686 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996828e-01 1.66470492e-03 -1.89032048e-03 9.24477505e+01] [-1.66237470e-03 9.99997857e-01 1.23361357e-03 -4.67365398e+00] [ 1.89237004e-03 -1.23046724e-03 9.99997452e-01 -1.82475192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799072329 meters 0.12706398657398577 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99996855e-01 1.57872923e-03 -1.94852161e-03 9.24481210e+01] [-1.57653634e-03 9.99998123e-01 1.12643533e-03 -4.67354689e+00] [ 1.95029629e-03 -1.12335987e-03 9.99997467e-01 -1.82513346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.829072329 meters 0.120895031060973 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99996795e-01 1.58324943e-03 -1.97585539e-03 9.24481688e+01] [-1.58097512e-03 9.99998087e-01 1.15208225e-03 -4.67369034e+00] [ 1.97767564e-03 -1.14895478e-03 9.99997384e-01 -1.82510400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859072329 meters 0.12418522292321807 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996279e-01 1.73007188e-03 -2.10905936e-03 9.24481163e+01] [-1.72716024e-03 9.99997554e-01 1.38158145e-03 -4.67426332e+00] [ 2.11144443e-03 -1.37793363e-03 9.99996822e-01 -1.82462015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88907232900002 meters 0.12210349193232221 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996242e-01 1.68643649e-03 -2.16151163e-03 9.24482532e+01] [-1.68356080e-03 9.99997696e-01 1.33153579e-03 -4.67423449e+00] [ 2.16375220e-03 -1.32789175e-03 9.99996777e-01 -1.82461768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91907232900002 meters 0.11339574111624062 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996252e-01 1.64830098e-03 -2.18612377e-03 9.24483909e+01] [-1.64549004e-03 9.99997818e-01 1.28698960e-03 -4.67423523e+00] [ 2.18824035e-03 -1.28338753e-03 9.99996782e-01 -1.82471264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94907232900002 meters 0.11917140193732123 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996139e-01 1.63029268e-03 -2.25058112e-03 9.24485313e+01] [-1.62766284e-03 9.99997991e-01 1.16985438e-03 -4.67370949e+00] [ 2.25248380e-03 -1.16618668e-03 9.99996783e-01 -1.82472908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979072329 meters 0.12500617301003222 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99996019e-01 1.55592938e-03 -2.35408680e-03 9.24489200e+01] [-1.55339270e-03 9.99998211e-01 1.07900927e-03 -4.67363207e+00] [ 2.35576145e-03 -1.07534815e-03 9.99996647e-01 -1.82498740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009072329 meters 0.11235381792855734 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99995994e-01 1.46754887e-03 -2.42051709e-03 9.24492580e+01] [-1.46527442e-03 9.99998484e-01 9.41161263e-04 -4.67333365e+00] [ 2.42189462e-03 -9.37610770e-04 9.99996628e-01 -1.82527381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039072329 meters 0.11235381792855734 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99995994e-01 1.46754887e-03 -2.42051709e-03 9.24492580e+01] [-1.46527442e-03 9.99998484e-01 9.41161263e-04 -4.67333365e+00] [ 2.42189462e-03 -9.37610770e-04 9.99996628e-01 -1.82527381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069072329 meters 0.12563851459893607 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99995555e-01 1.45025429e-03 -2.60523419e-03 9.24496319e+01] [-1.44783149e-03 9.99998518e-01 9.31618254e-04 -4.67344217e+00] [ 2.60658142e-03 -9.27842173e-04 9.99996172e-01 -1.82523994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099072329 meters 0.11438455093388447 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.83 [[ 9.99995219e-01 1.49441508e-03 -2.70710524e-03 9.24496986e+01] [-1.49179086e-03 9.99998416e-01 9.71143097e-04 -4.67346680e+00] [ 2.70855224e-03 -9.67100019e-04 9.99995864e-01 -1.82502146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129072329 meters 0.12289868314728775 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99995141e-01 1.45087308e-03 -2.75919054e-03 9.24498277e+01] [-1.44841977e-03 9.99998554e-01 8.90930409e-04 -4.67327896e+00] [ 2.76047918e-03 -8.86929614e-04 9.99995797e-01 -1.82498703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159072329 meters 0.11835534117282612 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99994664e-01 1.37156538e-03 -2.96499372e-03 9.24502481e+01] [-1.36932552e-03 9.99998776e-01 7.57333447e-04 -4.67295622e+00] [ 2.96602882e-03 -7.53269364e-04 9.99995318e-01 -1.82493160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.189072329 meters 0.10413891197084794 Centerline is valid? [False, False] Translation: X:92.45, Y:-4.67, Z:-1.82 [[ 9.99994587e-01 1.37539105e-03 -2.98892673e-03 9.24502206e+01] [-1.37338335e-03 9.99998830e-01 6.73662695e-04 -4.67250620e+00] [ 2.98984978e-03 -6.69554106e-04 9.99995306e-01 -1.82477342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219072329 meters 0.12044411721193535 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99992743e-01 2.54898778e-03 -2.83146897e-03 9.24764201e+01] [-2.55762261e-03 9.99992077e-01 -3.05017069e-03 -4.67525774e+00] [ 2.82367169e-03 3.05739038e-03 9.99991340e-01 -1.82409771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.249072329 meters 0.10997625142385059 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99992585e-01 2.55118861e-03 -2.88467753e-03 9.24765278e+01] [-2.56009209e-03 9.99991958e-01 -3.08700521e-03 -4.67504291e+00] [ 2.87677880e-03 3.09436736e-03 9.99991074e-01 -1.82411949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279072329 meters 0.12110876312779656 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99992134e-01 2.45285390e-03 -3.11693243e-03 9.24771654e+01] [-2.46313264e-03 9.99991528e-01 -3.29816170e-03 -4.67442488e+00] [ 3.10881611e-03 3.30581317e-03 9.99989703e-01 -1.82438033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.309072329 meters 0.1034566615355619 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99992138e-01 2.39361094e-03 -3.16154599e-03 9.24773784e+01] [-2.40442022e-03 9.99991262e-01 -3.41961889e-03 -4.67406614e+00] [ 3.15333312e-03 3.42719369e-03 9.99989155e-01 -1.82456731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339072329 meters 0.10497242824049695 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99991926e-01 2.36391057e-03 -3.24954191e-03 9.24776334e+01] [-2.37516625e-03 9.99991179e-01 -3.46429132e-03 -4.67398218e+00] [ 3.24132397e-03 3.47198155e-03 9.99988720e-01 -1.82466600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.369072329 meters 0.10973551467256935 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99991751e-01 2.27838714e-03 -3.36247557e-03 9.24779075e+01] [-2.29062357e-03 9.99990753e-01 -3.63976100e-03 -4.67351129e+00] [ 3.35415170e-03 3.64743315e-03 9.99987723e-01 -1.82466224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399072329 meters 0.10740449516254007 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99991354e-01 2.31403364e-03 -3.45495016e-03 9.24779821e+01] [-2.32642107e-03 9.99990865e-01 -3.58571018e-03 -4.67368893e+00] [ 3.44662115e-03 3.59371685e-03 9.99987603e-01 -1.82446377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.429072329 meters 0.10685266670466205 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99991168e-01 2.33795770e-03 -3.49248895e-03 9.24779377e+01] [-2.35042901e-03 9.99990861e-01 -3.57106854e-03 -4.67362322e+00] [ 3.48410803e-03 3.57924585e-03 9.99987525e-01 -1.82426984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459072329 meters 0.10513643974655286 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99990961e-01 2.39965853e-03 -3.51000495e-03 9.24778123e+01] [-2.41196543e-03 9.99990944e-01 -3.50621383e-03 -4.67369126e+00] [ 3.50155945e-03 3.51464815e-03 9.99987693e-01 -1.82404253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.489072329 meters 0.1072528275369958 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99991208e-01 2.31247182e-03 -3.49811210e-03 9.24779602e+01] [-2.32529965e-03 9.99990571e-01 -3.66746281e-03 -4.67327717e+00] [ 3.48959822e-03 3.67556472e-03 9.99987156e-01 -1.82426169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519072329 meters 0.10815228750457119 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99991295e-01 2.21747213e-03 -3.53456015e-03 9.24783358e+01] [-2.23091019e-03 9.99990282e-01 -3.80250633e-03 -4.67307727e+00] [ 3.52609385e-03 3.81035852e-03 9.99986524e-01 -1.82471838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.549072329 meters 0.10316571506749742 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99990872e-01 2.30562730e-03 -3.59725850e-03 9.24783693e+01] [-2.31876515e-03 9.99990642e-01 -3.65229685e-03 -4.67349906e+00] [ 3.58880400e-03 3.66060471e-03 9.99986860e-01 -1.82463687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579072329 meters 0.10508441601526972 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99990444e-01 2.43854105e-03 -3.62835514e-03 9.24783906e+01] [-2.45091233e-03 9.99991186e-01 -3.40908001e-03 -4.67426641e+00] [ 3.62000998e-03 3.41794022e-03 9.99987607e-01 -1.82464595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.609072329 meters 0.10960317085722536 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.67, Z:-1.82 [[ 9.99990235e-01 2.47431587e-03 -3.66159202e-03 9.24785254e+01] [-2.48635717e-03 9.99991505e-01 -3.28765240e-03 -4.67481830e+00] [ 3.65342623e-03 3.29672433e-03 9.99987892e-01 -1.82475661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63907232900002 meters 0.11456459410940191 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99990120e-01 2.60284079e-03 -3.60361595e-03 9.24782939e+01] [-2.61393147e-03 9.99991852e-01 -3.07637072e-03 -4.67537160e+00] [ 3.59557928e-03 3.08575992e-03 9.99988775e-01 -1.82462501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66907232900002 meters 0.09775670175972212 Centerline is valid? [False, True] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99989835e-01 2.65955768e-03 -3.64097342e-03 9.24782571e+01] [-2.67046209e-03 9.99991954e-01 -2.99333741e-03 -4.67551150e+00] [ 3.63298318e-03 3.00303006e-03 9.99988892e-01 -1.82447526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69907232900002 meters 0.10227855141680153 Centerline is valid? [True, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99989713e-01 2.70760800e-03 -3.63911643e-03 9.24781855e+01] [-2.71826694e-03 9.99992021e-01 -2.92724190e-03 -4.67564295e+00] [ 3.63116157e-03 2.93710388e-03 9.99989094e-01 -1.82439074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729072329 meters 0.10740020221051791 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99989523e-01 2.76475511e-03 -3.64834155e-03 9.24782098e+01] [-2.77490856e-03 9.99992283e-01 -2.78091256e-03 -4.67623735e+00] [ 3.64062485e-03 2.79100723e-03 9.99989478e-01 -1.82441615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759072329 meters 0.10925832029471198 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99989394e-01 2.87438781e-03 -3.59864271e-03 9.24779404e+01] [-2.88373967e-03 9.99992472e-01 -2.59623218e-03 -4.67672968e+00] [ 3.59115304e-03 2.60658219e-03 9.99990155e-01 -1.82418900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789072329 meters 0.11367184651123875 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99988491e-01 3.08714927e-03 -3.67261497e-03 9.24777544e+01] [-3.09504362e-03 9.99992908e-01 -2.14578003e-03 -4.67828104e+00] [ 3.66596458e-03 2.15712223e-03 9.99990954e-01 -1.82370779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819072329 meters 0.11266158304785076 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99987949e-01 3.24311574e-03 -3.68552495e-03 9.24775544e+01] [-3.25004914e-03 9.99992957e-01 -1.87682167e-03 -4.67902071e+00] [ 3.67941224e-03 1.88877719e-03 9.99991447e-01 -1.82339559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849072329 meters 0.1077464995737456 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99987888e-01 3.32806722e-03 -3.62599355e-03 9.24774309e+01] [-3.33428955e-03 9.99992977e-01 -1.71134319e-03 -4.67957254e+00] [ 3.62027262e-03 1.72341258e-03 9.99991962e-01 -1.82343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879072329 meters 0.11353304603371447 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99987941e-01 3.28443280e-03 -3.65108162e-03 9.24778145e+01] [-3.29052473e-03 9.99993202e-01 -1.66377389e-03 -4.68012011e+00] [ 3.64559225e-03 1.67576780e-03 9.99991951e-01 -1.82399687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.909072329 meters 0.10971389006480158 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99988011e-01 3.30123804e-03 -3.61652012e-03 9.24778098e+01] [-3.30710742e-03 9.99993222e-01 -1.61815986e-03 -4.68031935e+00] [ 3.61115368e-03 1.63010068e-03 9.99992151e-01 -1.82409548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939072329 meters 0.10174992004974036 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99987869e-01 3.39258269e-03 -3.57101014e-03 9.24775834e+01] [-3.39778493e-03 9.99993174e-01 -1.45174061e-03 -4.68075526e+00] [ 3.56606061e-03 1.46385653e-03 9.99992570e-01 -1.82393509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.969072329 meters 0.10452687953326474 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99986943e-01 3.65978703e-03 -3.56638170e-03 9.24771171e+01] [-3.66316113e-03 9.99992849e-01 -9.40011557e-04 -4.68229551e+00] [ 3.56291596e-03 9.53063515e-04 9.99993199e-01 -1.82329332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999072329 meters 0.1111196285042592 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99986543e-01 3.71729165e-03 -3.61864166e-03 9.24772480e+01] [-3.72009041e-03 9.99992786e-01 -7.67005016e-04 -4.68310036e+00] [ 3.61576437e-03 7.80456369e-04 9.99993159e-01 -1.82333353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.029072329 meters 0.10772304308600543 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99986369e-01 3.81117296e-03 -3.56885129e-03 9.24770835e+01] [-3.81333217e-03 9.99992550e-01 -5.98406688e-04 -4.68362458e+00] [ 3.56654407e-03 6.12007747e-04 9.99993453e-01 -1.82327768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059072329 meters 0.10824998438831308 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99986559e-01 3.79558493e-03 -3.53193619e-03 9.24771311e+01] [-3.79766033e-03 9.99992620e-01 -5.81086296e-04 -4.68374204e+00] [ 3.52970456e-03 5.94491580e-04 9.99993594e-01 -1.82347373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.089072329 meters 0.11302273229112592 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99986571e-01 3.75999453e-03 -3.56668000e-03 9.24774992e+01] [-3.76197708e-03 9.99992773e-01 -5.49307852e-04 -4.68413593e+00] [ 3.56458883e-03 5.62718244e-04 9.99993489e-01 -1.82396934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119072329 meters 0.11059016648569422 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99986607e-01 3.75247905e-03 -3.56442472e-03 9.24775827e+01] [-3.75434613e-03 9.99992819e-01 -5.17263011e-04 -4.68437553e+00] [ 3.56245811e-03 5.30638167e-04 9.99993514e-01 -1.82411683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.149072329 meters 0.11176492130299938 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.68, Z:-1.82 [[ 9.99986320e-01 3.85938297e-03 -3.53062965e-03 9.24773183e+01] [-3.86061986e-03 9.99992489e-01 -3.43583106e-04 -4.68480359e+00] [ 3.52927711e-03 3.57208825e-04 9.99993708e-01 -1.82386138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179072329 meters 0.10676497824156966 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99985603e-01 4.00656518e-03 -3.56959822e-03 9.24771399e+01] [-4.00678835e-03 9.99991971e-01 -5.53702591e-05 -4.68571751e+00] [ 3.56934771e-03 6.96720865e-05 9.99993627e-01 -1.82349050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.209072329 meters 0.10539121053821364 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99985363e-01 4.03857126e-03 -3.60060193e-03 9.24771788e+01] [-4.03844319e-03 9.99991845e-01 4.28394218e-05 -4.68615223e+00] [ 3.60074557e-03 -2.82979684e-05 9.99993517e-01 -1.82344886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239072329 meters 0.11382632724959804 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99985049e-01 4.08779543e-03 -3.63195549e-03 9.24772089e+01] [-4.08719382e-03 9.99991632e-01 1.73052773e-04 -4.68666598e+00] [ 3.63263250e-03 -1.58205680e-04 9.99993389e-01 -1.82340718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.269072329 meters 0.11126181715559726 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99985196e-01 4.07776275e-03 -3.60278553e-03 9.24773198e+01] [-4.07698192e-03 9.99991664e-01 2.24046912e-04 -4.68703167e+00] [ 3.60366910e-03 -2.09355103e-04 9.99993485e-01 -1.82367160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299072329 meters 0.11364399673163608 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99985241e-01 4.06653187e-03 -3.60286063e-03 9.24775642e+01] [-4.06546713e-03 9.99991690e-01 3.02800550e-04 -4.68761204e+00] [ 3.60406204e-03 -2.88148770e-04 9.99993464e-01 -1.82409221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.329072329 meters 0.11426112757242345 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99985209e-01 4.08462839e-03 -3.59118659e-03 9.24776236e+01] [-4.08326971e-03 9.99991589e-01 3.85587634e-04 -4.68803437e+00] [ 3.59273137e-03 -3.70918148e-04 9.99993477e-01 -1.82422031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359072329 meters 0.1082396310542539 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99985101e-01 4.10498048e-03 -3.59811782e-03 9.24776268e+01] [-4.10342112e-03 9.99991484e-01 4.40657347e-04 -4.68821239e+00] [ 3.59989607e-03 -4.25886189e-04 9.99993430e-01 -1.82422891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38907232900002 meters 0.10731313843597615 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99984468e-01 4.26234339e-03 -3.59116745e-03 9.24773772e+01] [-4.25961924e-03 9.99990634e-01 7.65875864e-04 -4.68926209e+00] [ 3.59439824e-03 -7.50566962e-04 9.99993258e-01 -1.82389208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41907232900002 meters 0.10862640530338913 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99984174e-01 4.29946409e-03 -3.62842650e-03 9.24773427e+01] [-4.29639333e-03 9.99990406e-01 8.53675513e-04 -4.68954952e+00] [ 3.63206203e-03 -8.38072856e-04 9.99993053e-01 -1.82372784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44907232900002 meters 0.10363529617510839 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99983973e-01 4.32824966e-03 -3.64967511e-03 9.24773527e+01] [-4.32483173e-03 9.99990202e-01 9.43872919e-04 -4.68991444e+00] [ 3.65372467e-03 -9.28073561e-04 9.99992894e-01 -1.82367578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479072329 meters 0.10376170434335268 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99983430e-01 4.43948495e-03 -3.66492792e-03 9.24772468e+01] [-4.43527492e-03 9.99989496e-01 1.15606384e-03 -4.69056765e+00] [ 3.67002175e-03 -1.13978972e-03 9.99992616e-01 -1.82352864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509072329 meters 0.10689931856652708 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99983658e-01 4.37670122e-03 -3.67811241e-03 9.24775014e+01] [-4.37262755e-03 9.99989819e-01 1.11485785e-03 -4.69066582e+00] [ 3.68295436e-03 -1.09875662e-03 9.99992614e-01 -1.82388342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539072329 meters 0.10768147928203617 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99983870e-01 4.33477055e-03 -3.67004266e-03 9.24777810e+01] [-4.33065434e-03 9.99989986e-01 1.12877589e-03 -4.69103914e+00] [ 3.67489890e-03 -1.11286400e-03 9.99992628e-01 -1.82434692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569072329 meters 0.10776080852265515 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99983281e-01 4.45147161e-03 -3.69084429e-03 9.24777544e+01] [-4.44637449e-03 9.99989151e-01 1.38807513e-03 -4.69195416e+00] [ 3.69698323e-03 -1.37164105e-03 9.99992225e-01 -1.82430978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599072329 meters 0.11217323358681927 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99982939e-01 4.48434425e-03 -3.74328103e-03 9.24779888e+01] [-4.47861351e-03 9.99988788e-01 1.53792075e-03 -4.69273025e+00] [ 3.75013563e-03 -1.52112980e-03 9.99991811e-01 -1.82452054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629072329 meters 0.10697536539788861 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99982716e-01 4.56909929e-03 -3.70012002e-03 9.24777713e+01] [-4.56286411e-03 9.99988159e-01 1.69182056e-03 -4.69314781e+00] [ 3.70780630e-03 -1.67490817e-03 9.99991723e-01 -1.82436588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659072329 meters 0.10532043511979303 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99982192e-01 4.65771485e-03 -3.73119904e-03 9.24776592e+01] [-4.65074308e-03 9.99987427e-01 1.87500952e-03 -4.69372611e+00] [ 3.73988539e-03 -1.85762328e-03 9.99991281e-01 -1.82410626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.689072329 meters 0.11473542681178892 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99982012e-01 4.76955676e-03 -3.63677002e-03 9.24772856e+01] [-4.76205069e-03 9.99986519e-01 2.06981391e-03 -4.69422641e+00] [ 3.64659309e-03 -2.05245820e-03 9.99991245e-01 -1.82386058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719072329 meters 0.11589676652573616 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99993153e-01 3.05023716e-04 -3.68782639e-03 9.24777528e+01] [-3.14167971e-04 9.99996877e-01 -2.47925368e-03 -4.69369631e+00] [ 3.68705864e-03 2.48039530e-03 9.99990127e-01 -1.82442837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.749072329 meters 0.10800896102275569 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.69, Z:-1.82 [[ 9.99993148e-01 5.31740828e-04 -3.66354329e-03 9.24772926e+01] [-5.39458942e-04 9.99997637e-01 -2.10606883e-03 -4.69465631e+00] [ 3.66241475e-03 2.10803073e-03 9.99991071e-01 -1.82387636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779072329 meters 0.1088828301386364 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993196e-01 7.26296510e-04 -3.61664076e-03 9.24770579e+01] [-7.32128257e-04 9.99998434e-01 -1.61141355e-03 -4.69645738e+00] [ 3.61546473e-03 1.61405044e-03 9.99992162e-01 -1.82375488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.809072329 meters 0.11966944702396023 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993444e-01 8.26255198e-04 -3.52558693e-03 9.24768871e+01] [-8.31143392e-04 9.99998695e-01 -1.38525087e-03 -4.69725451e+00] [ 3.52443776e-03 1.38817206e-03 9.99992826e-01 -1.82381293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839072329 meters 0.11152606290234758 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993598e-01 1.04354750e-03 -3.42270913e-03 9.24764633e+01] [-1.04697332e-03 9.99998953e-01 -9.99270728e-04 -4.69839585e+00] [ 3.42166276e-03 1.00284782e-03 9.99993643e-01 -1.82360003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.869072329 meters 0.11525216425787399 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993386e-01 1.28367400e-03 -3.40284614e-03 9.24763213e+01] [-1.28503327e-03 9.99999095e-01 -3.97293803e-04 -4.70053797e+00] [ 3.40233306e-03 4.01663946e-04 9.99994131e-01 -1.82360795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899072329 meters 0.11782957015946953 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993589e-01 1.33985982e-03 -3.32056593e-03 9.24762798e+01] [-1.34051923e-03 9.99999082e-01 -1.96368318e-04 -4.70148189e+00] [ 3.32029978e-03 2.00818342e-04 9.99994468e-01 -1.82383451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.929072329 meters 0.11761709163395133 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993400e-01 1.61568516e-03 -3.25422620e-03 9.24759122e+01] [-1.61427566e-03 9.99998602e-01 4.35708674e-04 -4.70363412e+00] [ 3.25492562e-03 -4.30452580e-04 9.99994610e-01 -1.82364447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959072329 meters 0.11761709163395133 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993400e-01 1.61568516e-03 -3.25422620e-03 9.24759122e+01] [-1.61427566e-03 9.99998602e-01 4.35708674e-04 -4.70363412e+00] [ 3.25492562e-03 -4.30452580e-04 9.99994610e-01 -1.82364447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.989072329 meters 0.11637993045642733 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.82 [[ 9.99993212e-01 1.80510110e-03 -3.21212724e-03 9.24756191e+01] [-1.80255127e-03 9.99998058e-01 7.96531148e-04 -4.70475283e+00] [ 3.21355882e-03 -7.90735717e-04 9.99994524e-01 -1.82339623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019072329 meters 0.11960856558673094 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.82 [[ 9.99993236e-01 1.87900784e-03 -3.16200604e-03 9.24755689e+01] [-1.87578558e-03 9.99997719e-01 1.02171382e-03 -4.70570457e+00] [ 3.16391863e-03 -1.01577566e-03 9.99994479e-01 -1.82350861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.049072329 meters 0.11761878560774602 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.82 [[ 9.99992981e-01 1.99402599e-03 -3.17202440e-03 9.24755373e+01] [-1.98986019e-03 9.99997154e-01 1.31591027e-03 -4.70682839e+00] [ 3.17463934e-03 -1.30958915e-03 9.99994103e-01 -1.82346711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079072329 meters 0.11998563735102281 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.82 [[ 9.99993010e-01 2.11916520e-03 -3.08049743e-03 9.24752654e+01] [-2.11430686e-03 9.99996517e-01 1.57952797e-03 -4.70770015e+00] [ 3.08383398e-03 -1.57300382e-03 9.99994008e-01 -1.82339281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.109072329 meters 0.117244434485774 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.82 [[ 9.99992795e-01 2.27256751e-03 -3.04065458e-03 9.24751544e+01] [-2.26644690e-03 9.99995402e-01 2.01485887e-03 -4.70929809e+00] [ 3.04521950e-03 -2.00795287e-03 9.99993347e-01 -1.82346498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13907232900002 meters 0.1154746747272362 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.71, Z:-1.82 [[ 9.99992867e-01 2.35685102e-03 -2.95162629e-03 9.24749159e+01] [-2.35033228e-03 9.99994796e-01 2.21004889e-03 -4.71000585e+00] [ 2.95681969e-03 -2.20309582e-03 9.99993202e-01 -1.82341437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16907232900002 meters 0.11903360264349981 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.71, Z:-1.82 [[ 9.99992487e-01 2.47337714e-03 -2.98468386e-03 9.24748380e+01] [-2.46595276e-03 9.99993863e-01 2.48861381e-03 -4.71099640e+00] [ 2.99082082e-03 -2.48123503e-03 9.99992449e-01 -1.82322486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19907232900002 meters 0.11414908041097299 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.71, Z:-1.82 [[ 9.99991652e-01 2.79795276e-03 -2.97788587e-03 9.24744299e+01] [-2.78807058e-03 9.99990610e-01 3.31751566e-03 -4.71388265e+00] [ 2.98714017e-03 -3.30918541e-03 9.99990063e-01 -1.82279263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229072329 meters 0.11616778865517709 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.72, Z:-1.82 [[ 9.99991372e-01 2.93744922e-03 -2.93733022e-03 9.24742733e+01] [-2.92666803e-03 9.99988990e-01 3.66799089e-03 -4.71517571e+00] [ 2.94807241e-03 -3.65936265e-03 9.99988959e-01 -1.82274509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259072329 meters 0.12017567626950777 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.71, Z:-1.82 [[ 9.99994303e-01 -1.51338076e-03 -3.01720558e-03 9.24747795e+01] [ 1.51071184e-03 9.99998466e-01 -8.86650286e-04 -4.71457218e+00] [ 3.01854279e-03 8.82087106e-04 9.99995055e-01 -1.82328601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289072329 meters 0.12601976967222261 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.72, Z:-1.82 [[ 9.99994688e-01 -1.25859191e-03 -3.00673760e-03 9.24746000e+01] [ 1.25796322e-03 9.99999187e-01 -2.10976601e-04 -4.71704206e+00] [ 3.00700069e-03 2.07193115e-04 9.99995457e-01 -1.82321872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319072329 meters 0.12391039176699113 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.72, Z:-1.82 [[ 9.99995141e-01 -1.02845342e-03 -2.94274234e-03 9.24741570e+01] [ 1.02903687e-03 9.99999451e-01 1.96762927e-04 -4.71821571e+00] [ 2.94253837e-03 -1.99790161e-04 9.99995651e-01 -1.82283279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349072329 meters 0.1284835176492538 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.72, Z:-1.82 [[ 9.99995524e-01 -8.54625628e-04 -2.86722237e-03 9.24738643e+01] [ 8.56273565e-04 9.99999469e-01 5.73572054e-04 -4.71950261e+00] [ 2.86673066e-03 -5.76024613e-04 9.99995725e-01 -1.82268325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379072329 meters 0.12726501177305063 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.72, Z:-1.82 [[ 9.99996015e-01 -5.53181061e-04 -2.76828302e-03 9.24732492e+01] [ 5.56301176e-04 9.99999211e-01 1.12645071e-03 -4.72114149e+00] [ 2.76765771e-03 -1.12798622e-03 9.99995534e-01 -1.82215204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.409072329 meters 0.1188118521991639 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.72, Z:-1.82 [[ 9.99996071e-01 -2.49547003e-04 -2.79203285e-03 9.24729089e+01] [ 2.54946289e-04 9.99998098e-01 1.93363019e-03 -4.72404486e+00] [ 2.79154501e-03 -1.93433441e-03 9.99994233e-01 -1.82170845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439072329 meters 0.12448367260051525 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99996190e-01 -5.22550156e-05 -2.75984782e-03 9.24726274e+01] [ 5.86458786e-05 9.99997317e-01 2.31562759e-03 -4.72520812e+00] [ 2.75971942e-03 -2.31578062e-03 9.99993511e-01 -1.82146904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.469072329 meters 0.11871918304431245 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99996179e-01 5.35404150e-05 -2.76376233e-03 9.24725914e+01] [-4.64349128e-05 9.99996694e-01 2.57095283e-03 -4.72615321e+00] [ 2.76389085e-03 -2.57081467e-03 9.99992876e-01 -1.82144950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499072329 meters 0.12195458040843138 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99996129e-01 9.51834528e-05 -2.78088500e-03 9.24728629e+01] [-8.73457593e-05 9.99996024e-01 2.81840249e-03 -4.72734719e+00] [ 2.78114221e-03 -2.81814868e-03 9.99992162e-01 -1.82189971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.529072329 meters 0.13203617026001502 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99996149e-01 1.33387209e-04 -2.77206695e-03 9.24728638e+01] [-1.25255916e-04 9.99995690e-01 2.93326273e-03 -4.72787887e+00] [ 2.77244626e-03 -2.93290421e-03 9.99991856e-01 -1.82191003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559072329 meters 0.1207943202957117 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99996128e-01 1.63783775e-04 -2.77803592e-03 9.24728409e+01] [-1.55367629e-04 9.99995399e-01 3.02947625e-03 -4.72829711e+00] [ 2.77851932e-03 -3.02903290e-03 9.99991552e-01 -1.82184267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.589072329 meters 0.1376987593096821 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99996114e-01 4.16343736e-04 -2.75647978e-03 9.24724343e+01] [-4.06568555e-04 9.99993631e-01 3.54586633e-03 -4.72996525e+00] [ 2.75793853e-03 -3.54473185e-03 9.99989914e-01 -1.82137520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619072329 meters 0.13602125942753343 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99995930e-01 4.53787713e-04 -2.81663520e-03 9.24725350e+01] [-4.43464784e-04 9.99993187e-01 3.66452934e-03 -4.73048104e+00] [ 2.81827893e-03 -3.66326535e-03 9.99989319e-01 -1.82133335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.649072329 meters 0.12414192689599782 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99995984e-01 4.29040733e-04 -2.80128748e-03 9.24726081e+01] [-4.18792102e-04 9.99993221e-01 3.65810544e-03 -4.73056054e+00] [ 2.80283797e-03 -3.65691759e-03 9.99989385e-01 -1.82146926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679072329 meters 0.12443053180191287 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99995774e-01 3.46347037e-04 -2.88638531e-03 9.24731155e+01] [-3.35941524e-04 9.99993446e-01 3.60473792e-03 -4.73078826e+00] [ 2.88761488e-03 -3.60375304e-03 9.99989337e-01 -1.82195386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.709072329 meters 0.12559642397123597 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99995591e-01 3.52484275e-04 -2.94840638e-03 9.24733382e+01] [-3.41756701e-04 9.99993324e-01 3.63814424e-03 -4.73096027e+00] [ 2.94966908e-03 -3.63712057e-03 9.99989035e-01 -1.82211102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739072329 meters 0.1403192059748381 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99995490e-01 3.05787722e-04 -2.98759174e-03 9.24735277e+01] [-2.95012738e-04 9.99993454e-01 3.60635391e-03 -4.73105938e+00] [ 2.98867496e-03 -3.60545627e-03 9.99989034e-01 -1.82223638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.769072329 meters 0.12674757345587678 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99995181e-01 3.60275024e-04 -3.08343747e-03 9.24735454e+01] [-3.48859765e-04 9.99993087e-01 3.70185868e-03 -4.73133215e+00] [ 3.08474984e-03 -3.70076515e-03 9.99988394e-01 -1.82195946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799072329 meters 0.12805774687060753 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99994638e-01 4.43575489e-04 -3.24449403e-03 9.24737014e+01] [-4.30963473e-04 9.99992353e-01 3.88687278e-03 -4.73207111e+00] [ 3.24619334e-03 -3.88545368e-03 9.99987183e-01 -1.82167794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.829072329 meters 0.12826806625398235 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99994553e-01 4.44710981e-04 -3.27053831e-03 9.24737502e+01] [-4.31936077e-04 9.99992279e-01 3.90572496e-03 -4.73218454e+00] [ 3.27224998e-03 -3.90429102e-03 9.99987024e-01 -1.82164408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859072329 meters 0.12287532575947442 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99994247e-01 3.39610028e-04 -3.37493130e-03 9.24741268e+01] [-3.26940350e-04 9.99992901e-01 3.75389798e-03 -4.73188234e+00] [ 3.37618220e-03 -3.75277298e-03 9.99987259e-01 -1.82182873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88907232900002 meters 0.11801077820598319 Centerline is valid? [False, False] Translation: X:92.47, Y:-4.73, Z:-1.82 [[ 9.99993987e-01 2.37650298e-04 -3.45969923e-03 9.24745209e+01] [-2.25235943e-04 9.99993537e-01 3.58822358e-03 -4.73144751e+00] [ 3.46052961e-03 -3.58742275e-03 9.99987577e-01 -1.82213766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91907232900002 meters 0.11842114836375818 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99993287e-01 1.32434582e-04 -3.66168518e-03 9.24750754e+01] [-1.19931622e-04 9.99994163e-01 3.41454568e-03 -4.73108294e+00] [ 3.66211602e-03 -3.41408361e-03 9.99987466e-01 -1.82228339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94907232900002 meters 0.12815057440952896 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99993010e-01 4.26017061e-05 -3.73864812e-03 9.24754082e+01] [-3.03399411e-05 9.99994621e-01 3.27972773e-03 -4.73079613e+00] [ 3.73876773e-03 -3.27959138e-03 9.99987633e-01 -1.82250191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979072329 meters 0.12002955905795312 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99992486e-01 7.84386525e-06 -3.87662189e-03 9.24756902e+01] [ 4.67981197e-06 9.99994782e-01 3.23054491e-03 -4.73073510e+00] [ 3.87662700e-03 -3.23053878e-03 9.99987268e-01 -1.82246828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009072329 meters 0.11969438960449011 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99991619e-01 -1.82294656e-04 -4.09006208e-03 9.24764094e+01] [ 1.94118063e-04 9.99995803e-01 2.89055387e-03 -4.72983435e+00] [ 4.08951798e-03 -2.89132360e-03 9.99987458e-01 -1.82281830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039072329 meters 0.11938998426394083 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99990984e-01 -4.09540921e-04 -4.22653170e-03 9.24770407e+01] [ 4.20163196e-04 9.99996755e-01 2.51265492e-03 -4.72886715e+00] [ 4.22548895e-03 -2.51440810e-03 9.99987911e-01 -1.82324979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069072329 meters 0.11858368362874899 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99990923e-01 -4.76720136e-04 -4.23408831e-03 9.24771774e+01] [ 4.86642620e-04 9.99997137e-01 2.34275494e-03 -4.72818521e+00] [ 4.23295935e-03 -2.34479416e-03 9.99988292e-01 -1.82340390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099072329 meters 0.1199249175854305 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99990025e-01 -7.52528037e-04 -4.40261320e-03 9.24779273e+01] [ 7.60791922e-04 9.99997952e-01 1.87566723e-03 -4.72695273e+00] [ 4.40119269e-03 -1.87899799e-03 9.99988549e-01 -1.82390623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129072329 meters 0.1217621903366936 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.73, Z:-1.82 [[ 9.99988528e-01 -1.02251671e-03 -4.67950801e-03 9.24788111e+01] [ 1.02876292e-03 9.99998583e-01 1.33258790e-03 -4.72534525e+00] [ 4.67813879e-03 -1.33738671e-03 9.99988163e-01 -1.82428591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159072329 meters 0.11736549527535188 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99987877e-01 -1.03033309e-03 -4.81509980e-03 9.24790050e+01] [ 1.03643875e-03 9.99998662e-01 1.26569919e-03 -4.72499255e+00] [ 4.81378926e-03 -1.27067440e-03 9.99987606e-01 -1.82414363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.189072329 meters 0.12262291144400472 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99987270e-01 -1.09180045e-03 -4.92633717e-03 9.24792511e+01] [ 1.09690486e-03 9.99998864e-01 1.03356532e-03 -4.72404618e+00] [ 4.92520313e-03 -1.03895588e-03 9.99987331e-01 -1.82411054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219072329 meters 0.12241385386442301 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99987014e-01 -1.15616505e-03 -4.96334739e-03 9.24793666e+01] [ 1.16059300e-03 9.99998931e-01 8.89343152e-04 -4.72356165e+00] [ 4.96231386e-03 -8.95092029e-04 9.99987287e-01 -1.82414155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.249072329 meters 0.11758771678482426 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99987043e-01 -1.20052079e-03 -4.94689754e-03 9.24793762e+01] [ 1.20428920e-03 9.99998987e-01 7.58864392e-04 -4.72298686e+00] [ 4.94598150e-03 -7.64812055e-04 9.99987476e-01 -1.82416843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279072329 meters 0.11430193216832128 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99985784e-01 -1.43292275e-03 -5.13600752e-03 9.24799456e+01] [ 1.43418375e-03 9.99998942e-01 2.41847130e-04 -4.72134799e+00] [ 5.13565554e-03 -2.49209671e-04 9.99986781e-01 -1.82430366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.309072329 meters 0.12597869830407019 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99985035e-01 -1.64125717e-03 -5.21882150e-03 9.24804545e+01] [ 1.64071765e-03 9.99998648e-01 -1.07660200e-04 -4.72045662e+00] [ 5.21899114e-03 9.90959759e-05 9.99986376e-01 -1.82472784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339072329 meters 0.1198719707395268 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99984396e-01 -1.70279280e-03 -5.32063301e-03 9.24805904e+01] [ 1.70110261e-03 9.99998501e-01 -3.22176115e-04 -4.71951215e+00] [ 5.32117364e-03 3.13120145e-04 9.99985793e-01 -1.82457789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.369072329 meters 0.1197051246705006 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99983312e-01 -1.87279396e-03 -5.46513637e-03 9.24811661e+01] [ 1.86945754e-03 9.99998063e-01 -6.15536820e-04 -4.71879398e+00] [ 5.46627856e-03 6.05309708e-04 9.99984877e-01 -1.82493578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399072329 meters 0.11889467145086736 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99982360e-01 -1.94196659e-03 -5.61322850e-03 9.24814429e+01] [ 1.93671463e-03 9.99997682e-01 -9.40924314e-04 -4.71743160e+00] [ 5.61504273e-03 9.30036494e-04 9.99983803e-01 -1.82481582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.429072329 meters 0.11850611677718734 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.82 [[ 9.99982043e-01 -1.95533669e-03 -5.66481573e-03 9.24815076e+01] [ 1.94950194e-03 9.99997564e-01 -1.03533742e-03 -4.71693662e+00] [ 5.66682636e-03 1.02427526e-03 9.99983419e-01 -1.82474522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459072329 meters 0.11963947454267779 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.72, Z:-1.83 [[ 9.99981115e-01 -2.11611155e-03 -5.76992086e-03 9.24819860e+01] [ 2.10848865e-03 9.99996897e-01 -1.32690726e-03 -4.71616243e+00] [ 5.77271084e-03 1.31471639e-03 9.99982474e-01 -1.82508444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.489072329 meters 0.11441498963356339 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.83 [[ 9.99980310e-01 -2.24660529e-03 -5.85934976e-03 9.24822215e+01] [ 2.23586188e-03 9.99995809e-01 -1.83945506e-03 -4.71399786e+00] [ 5.86345773e-03 1.82631814e-03 9.99981142e-01 -1.82505829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519072329 meters 0.10503863386845394 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.83 [[ 9.99979561e-01 -2.39248900e-03 -5.92901001e-03 9.24824614e+01] [ 2.37951456e-03 9.99994761e-01 -2.19438594e-03 -4.71262065e+00] [ 5.93422899e-03 2.18023292e-03 9.99980016e-01 -1.82515959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.549072329 meters 0.11258606628642706 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.82 [[ 9.99980318e-01 2.02211872e-03 -5.93927174e-03 9.24822141e+01] [-2.00847608e-03 9.99995333e-01 2.30209089e-03 -4.71327022e+00] [ 5.94389912e-03 -2.29011669e-03 9.99979713e-01 -1.82472989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579072329 meters 0.10625975201228036 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.83 [[ 9.99979512e-01 1.76418947e-03 -6.15337105e-03 9.24829505e+01] [-1.75294546e-03 9.99996785e-01 1.83220651e-03 -4.71187107e+00] [ 6.15658363e-03 -1.82138245e-03 9.99979389e-01 -1.82507548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.609072329 meters 0.1096102972364143 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.82 [[ 9.99979144e-01 1.64059903e-03 -6.24652887e-03 9.24831338e+01] [-1.63171202e-03 9.99997650e-01 1.42754161e-03 -4.71023677e+00] [ 6.24885621e-03 -1.41731930e-03 9.99979471e-01 -1.82497864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63907232900002 meters 0.11108582988346004 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.83 [[ 9.99978776e-01 1.51356695e-03 -6.33700720e-03 9.24833834e+01] [-1.50618338e-03 9.99998182e-01 1.16976175e-03 -4.70935690e+00] [ 6.33876619e-03 -1.16019223e-03 9.99979237e-01 -1.82501026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66907232900002 meters 0.11471974398999728 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.83 [[ 9.99978326e-01 1.30735759e-03 -6.45275570e-03 9.24839355e+01] [-1.30203907e-03 9.99998809e-01 8.28357008e-04 -4.70847181e+00] [ 6.45383098e-03 -8.19937314e-04 9.99978838e-01 -1.82541316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69907232900002 meters 0.10301437720352999 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.83 [[ 9.99977907e-01 1.06403855e-03 -6.56143006e-03 9.24844138e+01] [-1.06219692e-03 9.99999395e-01 2.84154287e-04 -4.70666649e+00] [ 6.56172844e-03 -2.77178478e-04 9.99978433e-01 -1.82571046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729072329 meters 0.10583695208493343 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.71, Z:-1.83 [[ 9.99977657e-01 8.82739069e-04 -6.62615485e-03 9.24848116e+01] [-8.83049037e-04 9.99999609e-01 -4.38539501e-05 -4.70566729e+00] [ 6.62611355e-03 4.97041899e-05 9.99978046e-01 -1.82605012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759072329 meters 0.1135452812591753 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.83 [[ 9.99977530e-01 7.96508277e-04 -6.65618006e-03 9.24848077e+01] [-7.99098227e-04 9.99999606e-01 -3.86454144e-04 -4.70417595e+00] [ 6.65586963e-03 3.91764403e-04 9.99977773e-01 -1.82583666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789072329 meters 0.10347784165190389 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.83 [[ 9.99977439e-01 7.52834667e-04 -6.67498760e-03 9.24848550e+01] [-7.56272467e-04 9.99999583e-01 -5.12518148e-04 -4.70363993e+00] [ 6.67459898e-03 5.17554694e-04 9.99977591e-01 -1.82582533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819072329 meters 0.10378674246847007 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.83 [[ 9.99977093e-01 7.23052115e-04 -6.72987700e-03 9.24849053e+01] [-7.27310273e-04 9.99999537e-01 -6.30298717e-04 -4.70301665e+00] [ 6.72941815e-03 6.35178988e-04 9.99977155e-01 -1.82571633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849072329 meters 0.10378674246847007 Centerline is valid? [False, False] Translation: X:92.48, Y:-4.70, Z:-1.83 [[ 9.99977093e-01 7.23052115e-04 -6.72987700e-03 9.24849053e+01] [-7.27310273e-04 9.99999537e-01 -6.30298717e-04 -4.70301665e+00] [ 6.72941815e-03 6.35178988e-04 9.99977155e-01 -1.82571633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879072329 meters 0.10543778552933872 Centerline is valid? [False, False] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976333e-01 5.32113343e-04 -6.85925956e-03 9.24854955e+01] [-5.38461871e-04 9.99999428e-01 -9.23727780e-04 -4.70232865e+00] [ 6.85876411e-03 9.27399368e-04 9.99976048e-01 -1.82615762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.909072329 meters 0.10409082485787648 Centerline is valid? [False, False] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976455e-01 4.19073644e-04 -6.84930578e-03 9.24855424e+01] [-4.27693462e-04 9.99999118e-01 -1.25707888e-03 -4.70096007e+00] [ 6.84877293e-03 1.25997868e-03 9.99975753e-01 -1.82620541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939072329 meters 0.10144285765178801 Centerline is valid? [False, False] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976073e-01 3.95978148e-04 -6.90625361e-03 9.24855311e+01] [-4.05617500e-04 9.99998946e-01 -1.39439763e-03 -4.70031777e+00] [ 6.90569417e-03 1.39716556e-03 9.99975179e-01 -1.82596080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.969072329 meters 0.10056738284358156 Centerline is valid? [False, False] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976009e-01 3.61261750e-04 -6.91745145e-03 9.24855012e+01] [-3.71712075e-04 9.99998792e-01 -1.50949299e-03 -4.69975517e+00] [ 6.91689777e-03 1.51202808e-03 9.99974935e-01 -1.82584956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999072329 meters 0.09528018650765624 Centerline is valid? [False, True] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976676e-01 1.82348279e-04 -6.82744959e-03 9.24855839e+01] [-1.95396707e-04 9.99998156e-01 -1.91055335e-03 -4.69828149e+00] [ 6.82708861e-03 1.91184285e-03 9.99974868e-01 -1.82617783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.029072329 meters 0.1052482558402867 Centerline is valid? [True, False] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976559e-01 1.38834603e-04 -6.84557431e-03 9.24856297e+01] [-1.52737852e-04 9.99997927e-01 -2.03050260e-03 -4.69781334e+00] [ 6.84527822e-03 2.03150059e-03 9.99974507e-01 -1.82617527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059072329 meters 0.09262855810133275 Centerline is valid? [False, True] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976477e-01 6.72330937e-05 -6.85870387e-03 9.24857058e+01] [-8.22326196e-05 9.99997606e-01 -2.18667444e-03 -4.69718571e+00] [ 6.85854043e-03 2.18718701e-03 9.99974088e-01 -1.82624984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.089072329 meters 0.10071331001032695 Centerline is valid? [True, False] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976057e-01 -4.80945251e-05 -6.91974060e-03 9.24862018e+01] [ 3.20011169e-05 9.99997295e-01 -2.32581614e-03 -4.69707996e+00] [ 6.91983373e-03 2.32553901e-03 9.99973354e-01 -1.82681407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119072329 meters 0.09524735929210021 Centerline is valid? [False, True] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976052e-01 -4.04648968e-05 -6.92051578e-03 9.24860581e+01] [ 2.39957551e-05 9.99997168e-01 -2.37982287e-03 -4.69665213e+00] [ 6.92059248e-03 2.37959982e-03 9.99973221e-01 -1.82658635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.149072329 meters 0.10989047147493618 Centerline is valid? [True, False] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99975826e-01 -1.07259710e-04 -6.95247298e-03 9.24862279e+01] [ 9.01136860e-05 9.99996954e-01 -2.46644260e-03 -4.69655468e+00] [ 6.95271635e-03 2.46575646e-03 9.99972790e-01 -1.82671175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179072329 meters 0.09738461564399216 Centerline is valid? [False, True] Translation: X:92.49, Y:-4.70, Z:-1.83 [[ 9.99976314e-01 -9.99916347e-05 -6.88203670e-03 9.24859206e+01] [ 8.24954361e-05 9.99996764e-01 -2.54253644e-03 -4.69600519e+00] [ 6.88226867e-03 2.54190848e-03 9.99973086e-01 -1.82643586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.209072329 meters 0.09435524005667185 Centerline is valid? [True, True] Translation: X:92.52, Y:-4.70, Z:-1.82 [[ 9.99981299e-01 -4.66516900e-04 -6.09791062e-03 9.25155399e+01] [ 4.71491556e-04 9.99999557e-01 8.14384642e-04 -4.69583862e+00] [ 6.09752800e-03 -8.17244526e-04 9.99981076e-01 -1.82467339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239072329 meters 0.10593458368300515 Centerline is valid? [True, False] Translation: X:92.52, Y:-4.70, Z:-1.82 [[ 9.99981530e-01 -5.04914100e-04 -6.05682481e-03 9.25154974e+01] [ 5.09180080e-04 9.99999623e-01 7.02804740e-04 -4.69534476e+00] [ 6.05646767e-03 -7.05875773e-04 9.99981410e-01 -1.82473945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.269072329 meters 0.0993507568300623 Centerline is valid? [False, True] Translation: X:92.52, Y:-4.69, Z:-1.82 [[ 9.99981544e-01 -6.03111758e-04 -6.04552085e-03 9.25156403e+01] [ 6.06343549e-04 9.99999674e-01 5.32757425e-04 -4.69484283e+00] [ 6.04519757e-03 -5.36413255e-04 9.99981584e-01 -1.82497744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299072329 meters 0.10589418777311582 Centerline is valid? [True, False] Translation: X:92.52, Y:-4.69, Z:-1.83 [[ 9.99981328e-01 -6.89424034e-04 -6.07196187e-03 9.25159236e+01] [ 6.91936658e-04 9.99999676e-01 4.11716655e-04 -4.69464356e+00] [ 6.07167605e-03 -4.15910380e-04 9.99981481e-01 -1.82533032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.329072329 meters 0.09882544309042449 Centerline is valid? [False, True] Translation: X:92.52, Y:-4.69, Z:-1.83 [[ 9.99981414e-01 -6.19998857e-04 -6.06524057e-03 9.25157287e+01] [ 6.23081402e-04 9.99999678e-01 5.06354913e-04 -4.69476343e+00] [ 6.06492467e-03 -5.10124640e-04 9.99981478e-01 -1.82506194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359072329 meters 0.0954142424495497 Centerline is valid? [True, True] Translation: X:92.54, Y:-4.69, Z:-1.83 [[ 9.99983132e-01 -1.02227660e-03 -5.71751675e-03 9.25448799e+01] [ 1.02666126e-03 9.99999181e-01 7.63999959e-04 -4.69391863e+00] [ 5.71673105e-03 -7.69857025e-04 9.99983363e-01 -1.82523724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38907232900002 meters 0.09935192812997763 Centerline is valid? [True, True] Translation: X:92.57, Y:-4.70, Z:-1.83 [[ 9.99982172e-01 -1.29074804e-03 -5.83008154e-03 9.25723200e+01] [ 1.29530789e-03 9.99998858e-01 7.78417052e-04 -4.70248808e+00] [ 5.82907015e-03 -7.85954925e-04 9.99982702e-01 -1.82514860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41907232900002 meters 0.10638138097695474 Centerline is valid? [True, False] Translation: X:92.57, Y:-4.70, Z:-1.83 [[ 9.99982359e-01 -1.39053630e-03 -5.77484892e-03 9.25723714e+01] [ 1.39406595e-03 9.99998844e-01 6.07230104e-04 -4.70197142e+00] [ 5.77399787e-03 -6.15269912e-04 9.99983141e-01 -1.82539162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44907232900002 meters 0.10540761327804839 Centerline is valid? [False, False] Translation: X:92.57, Y:-4.70, Z:-1.83 [[ 9.99982648e-01 -1.43735699e-03 -5.71297839e-03 9.25723072e+01] [ 1.44017590e-03 9.99998843e-01 4.89339035e-04 -4.70148133e+00] [ 5.71226843e-03 -4.97558238e-04 9.99983561e-01 -1.82547880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479072329 meters 0.10344299896549775 Centerline is valid? [False, False] Translation: X:92.57, Y:-4.70, Z:-1.83 [[ 9.99982417e-01 -1.45308143e-03 -5.74922500e-03 9.25723518e+01] [ 1.45553478e-03 9.99998851e-01 4.22566535e-04 -4.70116033e+00] [ 5.74860437e-03 -4.30927302e-04 9.99983384e-01 -1.82542927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509072329 meters 0.09303495837481776 Centerline is valid? [False, True] Translation: X:92.57, Y:-4.70, Z:-1.83 [[ 9.99982820e-01 -1.43425805e-03 -5.68362175e-03 9.25721236e+01] [ 1.43659786e-03 9.99998885e-01 4.07614547e-04 -4.70090391e+00] [ 5.68303079e-03 -4.15772623e-04 9.99983765e-01 -1.82530841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539072329 meters 0.09687112953302002 Centerline is valid? [True, True] Translation: X:92.60, Y:-4.71, Z:-1.83 [[ 9.99981710e-01 -1.71213423e-03 -5.80066781e-03 9.25988412e+01] [ 1.71667138e-03 9.99998224e-01 7.77288169e-04 -4.70946007e+00] [ 5.79932669e-03 -7.87231793e-04 9.99982874e-01 -1.82574387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569072329 meters 0.09813338358123136 Centerline is valid? [True, True] Translation: X:92.63, Y:-4.71, Z:-1.83 [[ 9.99978911e-01 -2.61866098e-03 -5.94300513e-03 9.26275386e+01] [ 2.62342659e-03 9.99996243e-01 7.94231788e-04 -4.71421289e+00] [ 5.94090298e-03 -8.09806077e-04 9.99982025e-01 -1.82653187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599072329 meters 0.0980844272566841 Centerline is valid? [True, True] Translation: X:92.66, Y:-4.72, Z:-1.83 [[ 9.99977094e-01 -3.17817431e-03 -5.97591678e-03 9.26565358e+01] [ 3.18299323e-03 9.99994617e-01 7.97052510e-04 -4.71734209e+00] [ 5.97335144e-03 -8.16055555e-04 9.99981826e-01 -1.82712815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629072329 meters 0.09511352707407356 Centerline is valid? [True, True] Translation: X:92.69, Y:-4.72, Z:-1.83 [[ 9.99978579e-01 -3.89111054e-03 -5.26319807e-03 9.26855048e+01] [ 3.89485020e-03 9.99992170e-01 7.00467120e-04 -4.71708937e+00] [ 5.26043126e-03 -7.20951483e-04 9.99985904e-01 -1.82616468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659072329 meters 0.10593280085478275 Centerline is valid? [True, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99999322e-01 8.03855913e-04 -8.42177022e-04 9.26998117e+01] [-8.08855191e-04 9.99981955e-01 -5.95270947e-03 -4.71874112e+00] [ 8.37376704e-04 5.95338664e-03 9.99981928e-01 -1.83114517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.689072329 meters 0.09962437976963616 Centerline is valid? [False, True] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99999343e-01 8.63564025e-04 -7.53925778e-04 9.26994124e+01] [-8.67997160e-04 9.99982220e-01 -5.89967836e-03 -4.71866089e+00] [ 7.48817624e-04 5.90032888e-03 9.99982313e-01 -1.83080510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719072329 meters 0.11320225139898825 Centerline is valid? [True, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99999358e-01 8.46485342e-04 -7.52816828e-04 9.26993553e+01] [-8.50964728e-04 9.99981818e-01 -5.96988639e-03 -4.71828162e+00] [ 7.47749719e-04 5.97052318e-03 9.99981897e-01 -1.83074212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.749072329 meters 0.10066204323844412 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99999406e-01 7.99728919e-04 -7.41033705e-04 9.26994241e+01] [-8.04189726e-04 9.99981441e-01 -6.03909300e-03 -4.71815064e+00] [ 7.36190315e-04 6.03968534e-03 9.99981490e-01 -1.83087077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779072329 meters 0.09831059110454822 Centerline is valid? [False, True] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99986366e-01 5.15359323e-03 -8.42031493e-04 9.26995470e+01] [-5.15483460e-03 9.99985620e-01 -1.47879095e-03 -4.71922352e+00] [ 8.34398298e-04 1.48311132e-03 9.99998552e-01 -1.83074184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.809072329 meters 0.10612507578571727 Centerline is valid? [True, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99986824e-01 5.06393801e-03 -8.41807153e-04 9.26997537e+01] [-5.06530745e-03 9.99985838e-01 -1.63269684e-03 -4.71882562e+00] [ 8.33527356e-04 1.63693934e-03 9.99998313e-01 -1.83105808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839072329 meters 0.10356934834728436 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99987407e-01 4.94426940e-03 -8.59865509e-04 9.27000603e+01] [-4.94580661e-03 9.99986159e-01 -1.79489228e-03 -4.71849456e+00] [ 8.50979176e-04 1.79912241e-03 9.99998019e-01 -1.83148474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.869072329 meters 0.10250528365656839 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99987497e-01 4.90987552e-03 -9.47750864e-04 9.27002994e+01] [-4.91159984e-03 9.99986271e-01 -1.82571407e-03 -4.71855050e+00] [ 9.38773824e-04 1.83034621e-03 9.99997884e-01 -1.83155951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899072329 meters 0.10769898534923786 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99987767e-01 4.85057319e-03 -9.68061473e-04 9.27004495e+01] [-4.85239646e-03 9.99986441e-01 -1.89004729e-03 -4.71842928e+00] [ 9.58880535e-04 1.89472159e-03 9.99997745e-01 -1.83175075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.929072329 meters 0.10098038628924605 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99988019e-01 4.79492972e-03 -9.84797827e-04 9.27005667e+01] [-4.79685608e-03 9.99986568e-01 -1.96313748e-03 -4.71831131e+00] [ 9.75371493e-04 1.96783789e-03 9.99997588e-01 -1.83186698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959072329 meters 0.10209948679376671 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99988011e-01 4.79849230e-03 -9.76341213e-04 9.27005392e+01] [-4.80039454e-03 9.99986566e-01 -1.95540623e-03 -4.71826659e+00] [ 9.66945095e-04 1.96006961e-03 9.99997612e-01 -1.83187525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.989072329 meters 0.09916309417139343 Centerline is valid? [False, True] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99988361e-01 4.71382553e-03 -1.02858370e-03 9.27006742e+01] [-4.71596431e-03 9.99986702e-01 -2.08692506e-03 -4.71796834e+00] [ 1.01873262e-03 2.09175154e-03 9.99997293e-01 -1.83189488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019072329 meters 0.11054102598625366 Centerline is valid? [True, False] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99988497e-01 4.67508426e-03 -1.07222532e-03 9.27008082e+01] [-4.67736230e-03 9.99986788e-01 -2.13201290e-03 -4.71792133e+00] [ 1.06224382e-03 2.13700356e-03 9.99997152e-01 -1.83195483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.049072329 meters 0.09937774870975012 Centerline is valid? [False, True] Translation: X:92.70, Y:-4.72, Z:-1.83 [[ 9.99988785e-01 4.59137501e-03 -1.16182270e-03 9.27010639e+01] [-4.59399953e-03 9.99986879e-01 -2.26646832e-03 -4.71759339e+00] [ 1.15140125e-03 2.27178032e-03 9.99996757e-01 -1.83204162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079072329 meters 0.10474862536703838 Centerline is valid? [True, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994613e-01 -4.55047387e-04 3.25058347e-03 9.26887400e+01] [ 4.42493965e-04 9.99992446e-01 3.86157381e-03 -4.71629453e+00] [-3.25231612e-03 -3.86011464e-03 9.99987261e-01 -1.83520015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.109072329 meters 0.10205424819986912 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994550e-01 -5.21461454e-04 3.26010277e-03 9.26888925e+01] [ 5.09141615e-04 9.99992731e-01 3.77866118e-03 -4.71617635e+00] [-3.26204950e-03 -3.77698073e-03 9.99987547e-01 -1.83545218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13907232900002 meters 0.0998776176649211 Centerline is valid? [False, True] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994432e-01 -5.62794793e-04 3.28940551e-03 9.26889369e+01] [ 5.50561269e-04 9.99992934e-01 3.71879149e-03 -4.71601680e+00] [-3.29147518e-03 -3.71695976e-03 9.99987675e-01 -1.83561851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16907232900002 meters 0.10168768152916215 Centerline is valid? [True, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994470e-01 -7.26664984e-04 3.24529479e-03 9.26893286e+01] [ 7.15482142e-04 9.99993808e-01 3.44569580e-03 -4.71534615e+00] [-3.24777856e-03 -3.44335480e-03 9.99988798e-01 -1.83609239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19907232900002 meters 0.1005652971843625 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994482e-01 -7.50024053e-04 3.23631366e-03 9.26894034e+01] [ 7.39011157e-04 9.99993937e-01 3.40276864e-03 -4.71521642e+00] [-3.23884619e-03 -3.40035819e-03 9.99988974e-01 -1.83619495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229072329 meters 0.10080409715103587 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994390e-01 -8.11536599e-04 3.24987874e-03 9.26894639e+01] [ 8.00750251e-04 9.99994172e-01 3.31892696e-03 -4.71503527e+00] [-3.25255323e-03 -3.31630600e-03 9.99989211e-01 -1.83630013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259072329 meters 0.10282587833774985 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994422e-01 -8.17654437e-04 3.23847934e-03 9.26894724e+01] [ 8.06875376e-04 9.99994136e-01 3.32834205e-03 -4.71504642e+00] [-3.24118178e-03 -3.32571044e-03 9.99989217e-01 -1.83628907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289072329 meters 0.10069648485758848 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994554e-01 -7.60146255e-04 3.21168580e-03 9.26892669e+01] [ 7.49190329e-04 9.99993902e-01 3.41109665e-03 -4.71513277e+00] [-3.21425915e-03 -3.40867191e-03 9.99989025e-01 -1.83588464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319072329 meters 0.10363251344228755 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994632e-01 -7.67170561e-04 3.18549638e-03 9.26893276e+01] [ 7.56226014e-04 9.99993813e-01 3.43552732e-03 -4.71534727e+00] [-3.18811231e-03 -3.43309993e-03 9.99989025e-01 -1.83588039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349072329 meters 0.10386655964179234 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994626e-01 -8.19041764e-04 3.17432950e-03 9.26895432e+01] [ 8.08181675e-04 9.99993822e-01 3.42099711e-03 -4.71548739e+00] [-3.17711183e-03 -3.41841329e-03 9.99989110e-01 -1.83621616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379072329 meters 0.111190414540532 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994539e-01 -8.71188282e-04 3.18807015e-03 9.26896489e+01] [ 8.60468932e-04 9.99993978e-01 3.36216020e-03 -4.71540841e+00] [-3.19098002e-03 -3.35939860e-03 9.99989266e-01 -1.83642957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.409072329 meters 0.10580027057954723 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994451e-01 -8.93471474e-04 3.20936437e-03 9.26896996e+01] [ 8.82652344e-04 9.99993929e-01 3.37094894e-03 -4.71552645e+00] [-3.21235673e-03 -3.36809748e-03 9.99989168e-01 -1.83659048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439072329 meters 0.1080619971379835 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994439e-01 -9.34568220e-04 3.20130144e-03 9.26898190e+01] [ 9.23849229e-04 9.99993968e-01 3.34816672e-03 -4.71561109e+00] [-3.20441122e-03 -3.34519058e-03 9.99989271e-01 -1.83674279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.469072329 meters 0.1053911040287788 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994572e-01 -8.29797373e-04 3.18878103e-03 9.26895937e+01] [ 8.18419483e-04 9.99993301e-01 3.56775009e-03 -4.71624932e+00] [-3.19172018e-03 -3.56512096e-03 9.99988551e-01 -1.83636888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499072329 meters 0.10432897212420135 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994572e-01 -8.44458383e-04 3.18465539e-03 9.26896577e+01] [ 8.33007008e-04 9.99993190e-01 3.59541078e-03 -4.71648496e+00] [-3.18766988e-03 -3.59273842e-03 9.99988465e-01 -1.83644565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.529072329 meters 0.10563901889097244 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994678e-01 -8.04409438e-04 3.16165808e-03 9.26895863e+01] [ 7.92658917e-04 9.99992781e-01 3.71606671e-03 -4.71689659e+00] [-3.16462449e-03 -3.71354082e-03 9.99988097e-01 -1.83626592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559072329 meters 0.11307752761027161 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994417e-01 -8.74493073e-04 3.22506896e-03 9.26896320e+01] [ 8.62789813e-04 9.99993045e-01 3.62844788e-03 -4.71669500e+00] [-3.22821958e-03 -3.62564507e-03 9.99988217e-01 -1.83656153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.589072329 meters 0.11135788337984179 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994309e-01 -8.77172941e-04 3.25763116e-03 9.26896215e+01] [ 8.65232000e-04 9.99992909e-01 3.66513097e-03 -4.71693109e+00] [-3.26082301e-03 -3.66229151e-03 9.99987977e-01 -1.83665066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619072329 meters 0.10517473721479649 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994296e-01 -9.62910246e-04 3.23750093e-03 9.26899109e+01] [ 9.51252303e-04 9.99993066e-01 3.60052143e-03 -4.71695165e+00] [-3.24094546e-03 -3.59742121e-03 9.99988277e-01 -1.83707598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.649072329 meters 0.10997202589489957 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994217e-01 -8.15704754e-04 3.30161636e-03 9.26895990e+01] [ 8.02825079e-04 9.99992071e-01 3.90046820e-03 -4.71783956e+00] [-3.30477181e-03 -3.89779502e-03 9.99986943e-01 -1.83684803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679072329 meters 0.10823987223235981 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994346e-01 -8.41100496e-04 3.25570458e-03 9.26897174e+01] [ 8.28317379e-04 9.99991951e-01 3.92573387e-03 -4.71808290e+00] [-3.25898031e-03 -3.92301492e-03 9.99986994e-01 -1.83687603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.709072329 meters 0.11004258417639257 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994362e-01 -7.85698279e-04 3.26477504e-03 9.26896425e+01] [ 7.72489813e-04 9.99991520e-01 4.04504389e-03 -4.71844426e+00] [-3.26792554e-03 -4.04249908e-03 9.99986489e-01 -1.83681912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739072329 meters 0.10751666692000347 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994254e-01 -8.21336686e-04 3.28907512e-03 9.26896931e+01] [ 8.08138076e-04 9.99991625e-01 4.01218407e-03 -4.71844889e+00] [-3.29234293e-03 -4.00950299e-03 9.99986542e-01 -1.83696431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.769072329 meters 0.10751666692000347 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994254e-01 -8.21336686e-04 3.28907512e-03 9.26896931e+01] [ 8.08138076e-04 9.99991625e-01 4.01218407e-03 -4.71844889e+00] [-3.29234293e-03 -4.00950299e-03 9.99986542e-01 -1.83696431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799072329 meters 0.10095570157620044 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994257e-01 -8.38517035e-04 3.28358400e-03 9.26897286e+01] [ 8.25188803e-04 9.99991425e-01 4.05830361e-03 -4.71873725e+00] [-3.28695880e-03 -4.05557073e-03 9.99986374e-01 -1.83701157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.829072329 meters 0.11110674079541198 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994259e-01 -8.02241621e-04 3.29211363e-03 9.26896761e+01] [ 7.88573505e-04 9.99991074e-01 4.15097512e-03 -4.71906078e+00] [-3.29541432e-03 -4.14835522e-03 9.99985966e-01 -1.83696967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859072329 meters 0.1084650172662025 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994484e-01 -7.94588097e-04 3.22507436e-03 9.26898738e+01] [ 7.80955919e-04 9.99990765e-01 4.22599523e-03 -4.71948472e+00] [-3.22840250e-03 -4.22345327e-03 9.99985870e-01 -1.83707122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88907232900002 meters 0.11985000556088392 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994548e-01 -7.81479341e-04 3.20833103e-03 9.26900024e+01] [ 7.67473518e-04 9.99990182e-01 4.36436698e-03 -4.72015315e+00] [-3.21171019e-03 -4.36188088e-03 9.99985329e-01 -1.83726831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91907232900002 meters 0.11064233312306071 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99994543e-01 -7.99768402e-04 3.20532129e-03 9.26900957e+01] [ 7.85720135e-04 9.99990092e-01 4.38166059e-03 -4.72031378e+00] [-3.20879384e-03 -4.37911819e-03 9.99985263e-01 -1.83741389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94907232900002 meters 0.11681980385499613 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.72, Z:-1.84 [[ 9.99983030e-01 3.02346447e-03 4.97983088e-03 9.27037669e+01] [-3.00292852e-03 9.99986979e-01 -4.12615160e-03 -4.72253090e+00] [-4.99224130e-03 4.11112750e-03 9.99979088e-01 -1.84064208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979072329 meters 0.11124858329169239 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996538e-01 -1.68008172e-03 2.02497783e-03 9.26909068e+01] [ 1.67315306e-03 9.99992757e-01 3.41844733e-03 -4.72084435e+00] [-2.03070643e-03 -3.41504740e-03 9.99992107e-01 -1.83736472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009072329 meters 0.11449984931022594 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996622e-01 -1.55389217e-03 2.08378131e-03 9.26906073e+01] [ 1.54620532e-03 9.99992013e-01 3.68544816e-03 -4.72161097e+00] [-2.08949146e-03 -3.68221376e-03 9.99991038e-01 -1.83712997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039072329 meters 0.12428155606570974 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996811e-01 -1.50476006e-03 2.02823343e-03 9.26906301e+01] [ 1.49701926e-03 9.99991611e-01 3.81265640e-03 -4.72209338e+00] [-2.03395355e-03 -3.80960794e-03 9.99990675e-01 -1.83699400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069072329 meters 0.11131287876055633 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996857e-01 -1.49442324e-03 2.01315615e-03 9.26907743e+01] [ 1.48649376e-03 9.99991155e-01 3.93458377e-03 -4.72269633e+00] [-2.01901828e-03 -3.93157886e-03 9.99990233e-01 -1.83722504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099072329 meters 0.1255624227831775 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996753e-01 -1.52981956e-03 2.03825034e-03 9.26908506e+01] [ 1.52183257e-03 9.99991181e-01 3.91435914e-03 -4.72277039e+00] [-2.04422063e-03 -3.91124456e-03 9.99990262e-01 -1.83741960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.129072329 meters 0.1144480853366616 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996707e-01 -1.58873550e-03 2.01519714e-03 9.26910192e+01] [ 1.58097194e-03 9.99991346e-01 3.84826616e-03 -4.72266135e+00] [-2.02129358e-03 -3.84506752e-03 9.99990565e-01 -1.83759931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159072329 meters 0.10887227171636911 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996933e-01 -1.52581507e-03 1.95107256e-03 9.26910214e+01] [ 1.51796506e-03 9.99990773e-01 4.01860459e-03 -4.72325007e+00] [-1.95718621e-03 -4.01563060e-03 9.99990022e-01 -1.83740508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.189072329 meters 0.11025310047470019 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996874e-01 -1.52207659e-03 1.98384348e-03 9.26909813e+01] [ 1.51399332e-03 9.99990573e-01 4.06970756e-03 -4.72348291e+00] [-1.99001919e-03 -4.06669131e-03 9.99989751e-01 -1.83743735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219072329 meters 0.11872493168490925 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99996998e-01 -1.44610145e-03 1.97827889e-03 9.26908523e+01] [ 1.43779077e-03 9.99990163e-01 4.19595520e-03 -4.72378733e+00] [-1.98432721e-03 -4.19309826e-03 9.99989240e-01 -1.83725627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.249072329 meters 0.11140986581415759 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997111e-01 -1.48491174e-03 1.89024312e-03 9.26910834e+01] [ 1.47699789e-03 9.99990168e-01 4.18121686e-03 -4.72386176e+00] [-1.89643327e-03 -4.17841290e-03 9.99989472e-01 -1.83731936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279072329 meters 0.11290128698101763 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997340e-01 -1.45555779e-03 1.78930558e-03 9.26911843e+01] [ 1.44791394e-03 9.99989853e-01 4.26586094e-03 -4.72418219e+00] [-1.79549663e-03 -4.26325884e-03 9.99989300e-01 -1.83716799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.309072329 meters 0.11302893741421632 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997327e-01 -1.49271897e-03 1.76570530e-03 9.26913258e+01] [ 1.48524158e-03 9.99989957e-01 4.22854178e-03 -4.72412375e+00] [-1.77199959e-03 -4.22590798e-03 9.99989501e-01 -1.83731318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339072329 meters 0.11005015813116917 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997413e-01 -1.54139823e-03 1.67265928e-03 9.26916568e+01] [ 1.53435985e-03 9.99989998e-01 4.20105295e-03 -4.72425886e+00] [-1.67911805e-03 -4.19847562e-03 9.99989777e-01 -1.83753548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.369072329 meters 0.10935080178686254 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997411e-01 -1.59557081e-03 1.62250780e-03 9.26918883e+01] [ 1.58881969e-03 9.99990111e-01 4.15373288e-03 -4.72425992e+00] [-1.62911933e-03 -4.15114425e-03 9.99990057e-01 -1.83773182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399072329 meters 0.11745057778172725 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997397e-01 -1.65545653e-03 1.57030798e-03 9.26920951e+01] [ 1.64901893e-03 9.99990268e-01 4.09205241e-03 -4.72418371e+00] [-1.57706692e-03 -4.08945229e-03 9.99990395e-01 -1.83786194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.429072329 meters 0.11270422750947173 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997429e-01 -1.67957822e-03 1.52329866e-03 9.26922475e+01] [ 1.67334364e-03 9.99990257e-01 4.08490104e-03 -4.72434814e+00] [-1.53014473e-03 -4.08234154e-03 9.99990497e-01 -1.83792353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459072329 meters 0.11247594360730306 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997455e-01 -1.67712223e-03 1.50882041e-03 9.26923763e+01] [ 1.67081619e-03 9.99989905e-01 4.17104640e-03 -4.72476719e+00] [-1.51580054e-03 -4.16851483e-03 9.99990163e-01 -1.83810870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.489072329 meters 0.11423555841248359 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997481e-01 -1.72099208e-03 1.44082315e-03 9.26925867e+01] [ 1.71505637e-03 9.99990080e-01 4.11080923e-03 -4.72471355e+00] [-1.44788352e-03 -4.10832778e-03 9.99990513e-01 -1.83818641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519072329 meters 0.11961874810850151 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997574e-01 -1.66606163e-03 1.44110077e-03 9.26925201e+01] [ 1.65999897e-03 9.99989811e-01 4.19798177e-03 -4.72493447e+00] [-1.44808019e-03 -4.19557936e-03 9.99990150e-01 -1.83812016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.549072329 meters 0.1206611458636206 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997578e-01 -1.73232229e-03 1.35781409e-03 9.26927610e+01] [ 1.72673254e-03 9.99990075e-01 4.10715027e-03 -4.72471934e+00] [-1.36491552e-03 -4.10479574e-03 9.99990644e-01 -1.83819177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579072329 meters 0.11504504950996693 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997551e-01 -1.77641909e-03 1.32001541e-03 9.26929328e+01] [ 1.77105897e-03 9.99990227e-01 4.05078593e-03 -4.72465035e+00] [-1.32719840e-03 -4.04843819e-03 9.99990924e-01 -1.83830674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.609072329 meters 0.10757755977087748 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997411e-01 -1.90464073e-03 1.24551525e-03 9.26933520e+01] [ 1.89980534e-03 9.99990699e-01 3.87197113e-03 -4.72436325e+00] [-1.25287838e-03 -3.86959487e-03 9.99991728e-01 -1.83867434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63907232900002 meters 0.11441344738076185 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997523e-01 -1.89626377e-03 1.16548227e-03 9.26934447e+01] [ 1.89172677e-03 9.99990677e-01 3.88165940e-03 -4.72435538e+00] [-1.17283206e-03 -3.87944501e-03 9.99991787e-01 -1.83854418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66907232900002 meters 0.11818964125210293 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997549e-01 -1.90915859e-03 1.12153208e-03 9.26935632e+01] [ 1.90477748e-03 9.99990602e-01 3.89452742e-03 -4.72454945e+00] [-1.12895681e-03 -3.89238161e-03 9.99991787e-01 -1.83856841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69907232900002 meters 0.11258178576519975 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.72, Z:-1.84 [[ 9.99997574e-01 -1.87050703e-03 1.16333103e-03 9.26934943e+01] [ 1.86586194e-03 9.99990334e-01 3.98126782e-03 -4.72482274e+00] [-1.17076677e-03 -3.97908755e-03 9.99991398e-01 -1.83861029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729072329 meters 0.12079497127360031 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997687e-01 -1.83149416e-03 1.12792335e-03 9.26935799e+01] [ 1.82680101e-03 9.99989729e-01 4.14794781e-03 -4.72559401e+00] [-1.13550870e-03 -4.14587772e-03 9.99990761e-01 -1.83865336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759072329 meters 0.11415521138485171 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997772e-01 -1.79454595e-03 1.11122343e-03 9.26936333e+01] [ 1.78977355e-03 9.99989235e-01 4.28093551e-03 -4.72615527e+00] [-1.11889381e-03 -4.27893713e-03 9.99990219e-01 -1.83870076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789072329 meters 0.10805393587820335 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997809e-01 -1.78182491e-03 1.09880121e-03 9.26936712e+01] [ 1.77705361e-03 9.99989055e-01 4.32806416e-03 -4.72637820e+00] [-1.10650104e-03 -4.32610205e-03 9.99990030e-01 -1.83871904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819072329 meters 0.12169444730671534 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997767e-01 -1.78373884e-03 1.13338000e-03 9.26937376e+01] [ 1.77872590e-03 9.99988700e-01 4.40871801e-03 -4.72685463e+00] [-1.14123119e-03 -4.40669219e-03 9.99989639e-01 -1.83894233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849072329 meters 0.11634372242393315 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997689e-01 -1.82414138e-03 1.13754719e-03 9.26938291e+01] [ 1.81912999e-03 9.99988705e-01 4.39101467e-03 -4.72694834e+00] [-1.14554418e-03 -4.38893518e-03 9.99989712e-01 -1.83906322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879072329 meters 0.11738276574787943 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997707e-01 -1.81386345e-03 1.13861851e-03 9.26937782e+01] [ 1.80880378e-03 9.99988556e-01 4.42910881e-03 -4.72702613e+00] [-1.14663927e-03 -4.42703912e-03 9.99989543e-01 -1.83899154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.909072329 meters 0.12121705913740559 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997693e-01 -1.82647742e-03 1.13027525e-03 9.26938899e+01] [ 1.82142276e-03 9.99988409e-01 4.45704326e-03 -4.72727144e+00] [-1.13840284e-03 -4.45497427e-03 9.99989429e-01 -1.83912720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939072329 meters 0.11583411062444549 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997887e-01 -1.73206911e-03 1.10710375e-03 9.26938264e+01] [ 1.72682940e-03 9.99987387e-01 4.71636692e-03 -4.72825237e+00] [-1.11525886e-03 -4.71444518e-03 9.99988265e-01 -1.83898506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.969072329 meters 0.11451205206207483 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997805e-01 -1.78125878e-03 1.10323355e-03 9.26939393e+01] [ 1.77605740e-03 9.99987388e-01 4.69783377e-03 -4.72835197e+00] [-1.11158770e-03 -4.69586405e-03 9.99988357e-01 -1.83913633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999072329 meters 0.1101975213819836 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99997961e-01 -1.74771388e-03 1.01211286e-03 9.26941759e+01] [ 1.74280025e-03 9.99986790e-01 4.83552447e-03 -4.72903518e+00] [-1.02055061e-03 -4.83375070e-03 9.99987797e-01 -1.83923585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.029072329 meters 0.1152145631728598 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99998090e-01 -1.61221580e-03 1.10500133e-03 9.26939834e+01] [ 1.60648275e-03 9.99985347e-01 5.16967195e-03 -4.73020515e+00] [-1.11331977e-03 -5.16788691e-03 9.99986027e-01 -1.83932354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059072329 meters 0.11555322285882526 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99998169e-01 -1.58520102e-03 1.07167812e-03 9.26941117e+01] [ 1.57950114e-03 9.99984714e-01 5.29873333e-03 -4.73081658e+00] [-1.08006130e-03 -5.29703091e-03 9.99985387e-01 -1.83942803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.089072329 meters 0.11627851261835397 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99998141e-01 -1.60056792e-03 1.07480681e-03 9.26942956e+01] [ 1.59476510e-03 9.99984265e-01 5.37826258e-03 -4.73141709e+00] [-1.08339818e-03 -5.37653852e-03 9.99984959e-01 -1.83972524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119072329 meters 0.1148925403552474 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99998243e-01 -1.51703481e-03 1.10148474e-03 9.26941223e+01] [ 1.51090365e-03 9.99983480e-01 5.54592757e-03 -4.73196112e+00] [-1.10987990e-03 -5.54425358e-03 9.99984015e-01 -1.83959197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.149072329 meters 0.11848305348606654 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99998495e-01 -1.32611809e-03 1.11832682e-03 9.26938912e+01] [ 1.31932757e-03 9.99980822e-01 6.05107018e-03 -4.73384227e+00] [-1.12632981e-03 -6.04958564e-03 9.99981067e-01 -1.83937343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179072329 meters 0.12925335596732013 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.73, Z:-1.84 [[ 9.99998507e-01 -1.31100817e-03 1.12559372e-03 9.26938680e+01] [ 1.30407207e-03 9.99980294e-01 6.14094804e-03 -4.73429811e+00] [-1.13362237e-03 -6.13947102e-03 9.99980511e-01 -1.83934773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.209072329 meters 0.12061504785814096 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.74, Z:-1.84 [[ 9.99998619e-01 -1.23113989e-03 1.11605042e-03 9.26938222e+01] [ 1.22402714e-03 9.99979079e-01 6.35158107e-03 -4.73514078e+00] [-1.12384675e-03 -6.35020622e-03 9.99979206e-01 -1.83928522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239072329 meters 0.1226902041675023 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.74, Z:-1.84 [[ 9.99998801e-01 -1.06213689e-03 1.12652191e-03 9.26936347e+01] [ 1.05444517e-03 9.99976279e-01 6.80659857e-03 -4.73685929e+00] [-1.13372472e-03 -6.80540256e-03 9.99976200e-01 -1.83911080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.269072329 meters 0.12731341635285845 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.74, Z:-1.84 [[ 9.99998822e-01 -1.05297615e-03 1.11689397e-03 9.26937699e+01] [ 1.04525443e-03 9.99975705e-01 6.89176660e-03 -4.73740466e+00] [-1.12412370e-03 -6.89059105e-03 9.99975628e-01 -1.83927989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299072329 meters 0.11559071472527559 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.74, Z:-1.84 [[ 9.99998903e-01 -9.91581623e-04 1.10030664e-03 9.26937792e+01] [ 9.83799318e-04 9.99974657e-01 7.05099354e-03 -4.73807477e+00] [-1.10727039e-03 -7.04990333e-03 9.99974536e-01 -1.83926921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.329072329 meters 0.12482052155294528 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.74, Z:-1.84 [[ 9.99990205e-01 -4.12817060e-03 1.59602942e-03 9.26911245e+01] [ 4.12263538e-03 9.99985530e-01 3.45598896e-03 -4.73643847e+00] [-1.61027324e-03 -3.44937526e-03 9.99992754e-01 -1.83717206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359072329 meters 0.12023434838555343 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.74, Z:-1.84 [[ 9.99991250e-01 -3.82929886e-03 1.68390339e-03 9.26904890e+01] [ 3.82246644e-03 9.99984525e-01 4.04215501e-03 -4.73817282e+00] [-1.69935595e-03 -4.03568298e-03 9.99990413e-01 -1.83657832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38907232900002 meters 0.12141448463307387 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.74, Z:-1.83 [[ 9.99993196e-01 7.61163313e-04 -3.60947244e-03 9.27024730e+01] [-7.66371824e-04 9.99998667e-01 -1.44184830e-03 -4.74113739e+00] [ 3.60837015e-03 1.44460469e-03 9.99992446e-01 -1.83263375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41907232900002 meters 0.13354063791494242 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.74, Z:-1.83 [[ 9.99993124e-01 1.04683574e-03 -3.55740486e-03 9.27020547e+01] [-1.04964939e-03 9.99999138e-01 -7.89151437e-04 -4.74327290e+00] [ 3.55657568e-03 7.92880039e-04 9.99993361e-01 -1.83234510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44907232900002 meters 0.12214226422548073 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.74, Z:-1.83 [[ 9.99993333e-01 1.12429453e-03 -3.47424457e-03 9.27019734e+01] [-1.12625858e-03 9.99999207e-01 -5.63411509e-04 -4.74422271e+00] [ 3.47360838e-03 5.67320650e-04 9.99993806e-01 -1.83255265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479072329 meters 0.1183944753603848 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99993537e-01 1.18770207e-03 -3.39337044e-03 9.27018998e+01] [-1.18895375e-03 9.99999226e-01 -3.66867725e-04 -4.74505457e+00] [ 3.39293208e-03 3.70899915e-04 9.99994175e-01 -1.83272821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509072329 meters 0.11992830430459296 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99993398e-01 1.37202165e-03 -3.36488278e-03 9.27016206e+01] [-1.37145959e-03 9.99999045e-01 1.69338473e-04 -4.74707861e+00] [ 3.36511190e-03 -1.64722554e-04 9.99994324e-01 -1.83252873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539072329 meters 0.1203896048753147 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99993536e-01 1.54076719e-03 -3.24877553e-03 9.27011996e+01] [-1.53898235e-03 9.99998664e-01 5.51815685e-04 -4.74842216e+00] [ 3.24962141e-03 -5.46812309e-04 9.99994570e-01 -1.83232537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569072329 meters 0.12057449122033057 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99993425e-01 1.70134499e-03 -3.20236869e-03 9.27008272e+01] [-1.69851606e-03 9.99998165e-01 8.85897254e-04 -4.74955348e+00] [ 3.20387003e-03 -8.80452154e-04 9.99994480e-01 -1.83195073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599072329 meters 0.13706795910079259 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99993399e-01 1.79748571e-03 -3.15765050e-03 9.27006330e+01] [-1.79375752e-03 9.99997691e-01 1.18311759e-03 -4.75078485e+00] [ 3.15976984e-03 -1.17744572e-03 9.99994315e-01 -1.83183933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.629072329 meters 0.13528685255907363 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99993022e-01 2.10029299e-03 -3.08946021e-03 9.27000953e+01] [-2.09450013e-03 9.99996045e-01 1.87707953e-03 -4.75312090e+00] [ 3.09339041e-03 -1.87059555e-03 9.99993466e-01 -1.83136965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659072329 meters 0.13528685255907363 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99993022e-01 2.10029299e-03 -3.08946021e-03 9.27000953e+01] [-2.09450013e-03 9.99996045e-01 1.87707953e-03 -4.75312090e+00] [ 3.09339041e-03 -1.87059555e-03 9.99993466e-01 -1.83136965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.689072329 meters 0.12615784526038304 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99992935e-01 2.12992672e-03 -3.09723277e-03 9.27002168e+01] [-2.12356799e-03 9.99995634e-01 2.05487910e-03 -4.75406088e+00] [ 3.10159599e-03 -2.04828740e-03 9.99993092e-01 -1.83155939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719072329 meters 0.12704261279375598 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.75, Z:-1.83 [[ 9.99992727e-01 2.24038105e-03 -3.08654612e-03 9.27000758e+01] [-2.23334597e-03 9.99994905e-01 2.28083879e-03 -4.75477653e+00] [ 3.09164034e-03 -2.27392888e-03 9.99992635e-01 -1.83145912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.749072329 meters 0.1281215770432015 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99992447e-01 2.37292076e-03 -3.07818616e-03 9.27001463e+01] [-2.36446694e-03 9.99993431e-01 2.74710072e-03 -4.75673002e+00] [ 3.08468460e-03 -2.73980170e-03 9.99991489e-01 -1.83173664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779072329 meters 0.13281634053344796 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99992299e-01 2.42708345e-03 -3.08388515e-03 9.27001277e+01] [-2.41791949e-03 9.99992661e-01 2.97182609e-03 -4.75775065e+00] [ 3.09107539e-03 -2.96434662e-03 9.99990829e-01 -1.83172499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.809072329 meters 0.1303874429860301 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99992060e-01 2.44929109e-03 -3.14334651e-03 9.27003080e+01] [-2.43940303e-03 9.99992077e-01 3.14570132e-03 -4.75868291e+00] [ 3.15102635e-03 -3.13800845e-03 9.99990112e-01 -1.83182759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839072329 meters 0.12964141177427038 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99991655e-01 2.60801800e-03 -3.14467251e-03 9.27001238e+01] [-2.59686680e-03 9.99990345e-01 3.54494756e-03 -4.76019003e+00] [ 3.15388743e-03 -3.53675168e-03 9.99988772e-01 -1.83161356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.869072329 meters 0.13724976045241893 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99991483e-01 2.68044292e-03 -3.13837408e-03 9.27000764e+01] [-2.66878642e-03 9.99989547e-01 3.71249887e-03 -4.76084245e+00] [ 3.14829241e-03 -3.70409160e-03 9.99988184e-01 -1.83161006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899072329 meters 0.13431095763469134 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996323e-01 -3.03352859e-04 -2.69475118e-03 9.26972321e+01] [ 3.04022758e-04 9.99999923e-01 2.48188083e-04 -4.75905836e+00] [ 2.69467568e-03 -2.49006436e-04 9.99996338e-01 -1.82916239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.929072329 meters 0.12218101425605117 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996391e-01 -1.81095958e-04 -2.68046489e-03 9.26970664e+01] [ 1.82584437e-04 9.99999829e-01 5.55072125e-04 -4.76024579e+00] [ 2.68036391e-03 -5.55559533e-04 9.99996253e-01 -1.82899696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959072329 meters 0.1259251786781554 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996618e-01 -2.84181602e-05 -2.60062955e-03 9.26966629e+01] [ 3.05775582e-05 9.99999655e-01 8.30300620e-04 -4.76103182e+00] [ 2.60060506e-03 -8.30377333e-04 9.99996274e-01 -1.82870799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.989072329 meters 0.1370498388995574 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996648e-01 1.42553926e-04 -2.58541114e-03 9.26964665e+01] [-1.39423987e-04 9.99999257e-01 1.21075551e-03 -4.76241524e+00] [ 2.58558182e-03 -1.21039098e-03 9.99995925e-01 -1.82852224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019072329 meters 0.12552482625046785 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996725e-01 1.31997266e-04 -2.55592476e-03 9.26965547e+01] [-1.28752001e-04 9.99999185e-01 1.26982589e-03 -4.76282896e+00] [ 2.55609030e-03 -1.26949265e-03 9.99995927e-01 -1.82874458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.049072329 meters 0.12667479084211195 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996613e-01 1.31484601e-04 -2.59924933e-03 9.26968000e+01] [-1.27981288e-04 9.99999083e-01 1.34793784e-03 -4.76334901e+00] [ 2.59942418e-03 -1.34760062e-03 9.99995713e-01 -1.82899520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079072329 meters 0.1285629705831033 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996467e-01 1.83723805e-04 -2.65171506e-03 9.26968937e+01] [-1.79765015e-04 9.99998869e-01 1.49307807e-03 -4.76392604e+00] [ 2.65198637e-03 -1.49259611e-03 9.99995370e-01 -1.82900992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.109072329 meters 0.14388332738285065 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99996157e-01 1.85240627e-04 -2.76629173e-03 9.26972747e+01] [-1.80859593e-04 9.99998729e-01 1.58388699e-03 -4.76456586e+00] [ 2.76658161e-03 -1.58338060e-03 9.99994919e-01 -1.82924777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13907232900002 meters 0.12697318655010686 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99996014e-01 2.08671246e-04 -2.81563591e-03 9.26974339e+01] [-2.03969527e-04 9.99998585e-01 1.67004451e-03 -4.76501693e+00] [ 2.81598041e-03 -1.66946355e-03 9.99994642e-01 -1.82933097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16907232900002 meters 0.12680154202999822 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99996018e-01 1.84841111e-04 -2.81607653e-03 9.26975309e+01] [-1.80173957e-04 9.99998610e-01 1.65748846e-03 -4.76508727e+00] [ 2.81637899e-03 -1.65697447e-03 9.99994661e-01 -1.82946489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19907232900002 meters 0.1327222558645423 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99995896e-01 2.99634666e-04 -2.84933925e-03 9.26973574e+01] [-2.94373974e-04 9.99998252e-01 1.84652519e-03 -4.76563101e+00] [ 2.84988755e-03 -1.84567884e-03 9.99994236e-01 -1.82909452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229072329 meters 0.12724056365763609 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99995811e-01 3.14412767e-04 -2.87720483e-03 9.26974820e+01] [-3.08847759e-04 9.99998081e-01 1.93441156e-03 -4.76613682e+00] [ 2.87780751e-03 -1.93351484e-03 9.99993990e-01 -1.82920487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259072329 meters 0.12465123261300842 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99995504e-01 2.69878961e-04 -2.98641173e-03 9.26979228e+01] [-2.63984310e-04 9.99998017e-01 1.97404209e-03 -4.76665432e+00] [ 2.98693856e-03 -1.97324484e-03 9.99993592e-01 -1.82951985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289072329 meters 0.1254078455917563 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99995568e-01 3.56462548e-04 -2.95596444e-03 9.26977436e+01] [-3.50251497e-04 9.99997731e-01 2.10144441e-03 -4.76688290e+00] [ 2.95670682e-03 -2.10039976e-03 9.99993423e-01 -1.82939146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319072329 meters 0.1277655910772271 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99995418e-01 3.01018958e-04 -3.01223445e-03 9.26980946e+01] [-2.94685769e-04 9.99997746e-01 2.10271145e-03 -4.76725449e+00] [ 3.01286062e-03 -2.10181415e-03 9.99993253e-01 -1.82974741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349072329 meters 0.12902521371175285 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99995196e-01 5.16704820e-04 -3.05618361e-03 9.26978803e+01] [-5.09055701e-04 9.99996738e-01 2.50308216e-03 -4.76850648e+00] [ 3.05746700e-03 -2.50151437e-03 9.99992197e-01 -1.82935898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379072329 meters 0.12440787084668492 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99995215e-01 5.07107465e-04 -3.05167083e-03 9.26979722e+01] [-4.99283918e-04 9.99996589e-01 2.56390875e-03 -4.76890143e+00] [ 3.05296060e-03 -2.56237283e-03 9.99992057e-01 -1.82951950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.409072329 meters 0.13292775010142993 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99994960e-01 5.50780428e-04 -3.12661786e-03 9.26980481e+01] [-5.42357702e-04 9.99996224e-01 2.69408672e-03 -4.76947328e+00] [ 3.12808990e-03 -2.69237739e-03 9.99991483e-01 -1.82938735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439072329 meters 0.12610664343301747 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99994881e-01 5.54977130e-04 -3.15116225e-03 9.26981113e+01] [-5.46256041e-04 9.99996021e-01 2.76776517e-03 -4.76990363e+00] [ 3.15268576e-03 -2.76602966e-03 9.99991205e-01 -1.82938231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.469072329 meters 0.12250544495504573 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99994835e-01 6.64609402e-04 -3.14465194e-03 9.26978639e+01] [-6.55205197e-04 9.99995313e-01 2.99062507e-03 -4.77068038e+00] [ 3.14662480e-03 -2.98854923e-03 9.99990584e-01 -1.82904167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499072329 meters 0.11624986564965085 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99994621e-01 6.12658996e-04 -3.22209644e-03 9.26982042e+01] [-6.03108640e-04 9.99995425e-01 2.96415599e-03 -4.77085657e+00] [ 3.22389772e-03 -2.96219677e-03 9.99990416e-01 -1.82928665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.529072329 meters 0.12352372897416096 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99994337e-01 5.71572266e-04 -3.31654449e-03 9.26986330e+01] [-5.61612826e-04 9.99995333e-01 3.00311162e-03 -4.77136121e+00] [ 3.31824550e-03 -3.00123200e-03 9.99989991e-01 -1.82967275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559072329 meters 0.11934107857062823 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99994138e-01 4.95191725e-04 -3.38815808e-03 9.26991869e+01] [-4.85147640e-04 9.99995488e-01 2.96464768e-03 -4.77164533e+00] [ 3.38961086e-03 -2.96298654e-03 9.99989866e-01 -1.83030829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.589072329 meters 0.12382300826994595 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99994044e-01 4.70061379e-04 -3.41909297e-03 9.26993583e+01] [-4.60083387e-04 9.99995635e-01 2.91851698e-03 -4.77149081e+00] [ 3.42044992e-03 -2.91692653e-03 9.99989896e-01 -1.83046760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619072329 meters 0.11823867749161329 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99993771e-01 3.90060788e-04 -3.50783696e-03 9.26997376e+01] [-3.80043479e-04 9.99995850e-01 2.85590716e-03 -4.77156122e+00] [ 3.50893638e-03 -2.85455624e-03 9.99989769e-01 -1.83075034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.649072329 meters 0.12329316673641022 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99993371e-01 3.03250209e-04 -3.62858075e-03 9.27001044e+01] [-2.93230638e-04 9.99996144e-01 2.76150551e-03 -4.77148205e+00] [ 3.62940419e-03 -2.76042319e-03 9.99989604e-01 -1.83088624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679072329 meters 0.11948341527220746 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99992813e-01 3.53768255e-04 -3.77476474e-03 9.27001616e+01] [-3.42984182e-04 9.99995860e-01 2.85715109e-03 -4.77182221e+00] [ 3.77575988e-03 -2.85583587e-03 9.99988794e-01 -1.83048851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.709072329 meters 0.12421764952775563 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99992685e-01 3.72938484e-04 -3.80659098e-03 9.27001141e+01] [-3.62076138e-04 9.99995862e-01 2.85385307e-03 -4.77179434e+00] [ 3.80763954e-03 -2.85245391e-03 9.99988683e-01 -1.83027159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739072329 meters 0.11948587349924018 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99992431e-01 2.84161149e-04 -3.88032752e-03 9.27004786e+01] [-2.73492651e-04 9.99996182e-01 2.74963472e-03 -4.77167670e+00] [ 3.88109405e-03 -2.74855267e-03 9.99988691e-01 -1.83057269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.769072329 meters 0.14204539063976468 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99992065e-01 1.67578288e-04 -3.98018490e-03 9.27009525e+01] [-1.57252987e-04 9.99996622e-01 2.59434738e-03 -4.77144376e+00] [ 3.98060621e-03 -2.59370090e-03 9.99988714e-01 -1.83093797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799072329 meters 0.11593394455737045 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99991710e-01 6.12340556e-05 -4.07128616e-03 9.27014399e+01] [-5.12104781e-05 9.99996968e-01 2.46207611e-03 -4.77134155e+00] [ 4.07142458e-03 -2.46184721e-03 9.99988681e-01 -1.83137586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.829072329 meters 0.12009066853664006 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99991431e-01 5.93792145e-05 -4.13927824e-03 9.27016738e+01] [-4.89484235e-05 9.99996824e-01 2.52000982e-03 -4.77169486e+00] [ 4.13941472e-03 -2.51978562e-03 9.99988258e-01 -1.83152856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859072329 meters 0.12348619702845472 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99991288e-01 5.85025105e-05 -4.17368949e-03 9.27016927e+01] [-4.80809598e-05 9.99996881e-01 2.49702023e-03 -4.77154691e+00] [ 4.17382256e-03 -2.49679780e-03 9.99988173e-01 -1.83142604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88907232900002 meters 0.11186282991501198 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99991062e-01 -4.94214353e-06 -4.22806234e-03 9.27019318e+01] [ 1.51290270e-05 9.99997097e-01 2.40932176e-03 -4.77137667e+00] [ 4.22803817e-03 -2.40936419e-03 9.99988159e-01 -1.83159923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91907232900002 meters 0.11690843405375181 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99990333e-01 -2.13205996e-04 -4.39179863e-03 9.27025693e+01] [ 2.22223051e-04 9.99997868e-01 2.05277205e-03 -4.77051380e+00] [ 4.39135160e-03 -2.05372816e-03 9.99988249e-01 -1.83199092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94907232900002 meters 0.12823116231315326 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99990123e-01 -2.80255345e-04 -4.43574632e-03 9.27027271e+01] [ 2.88639335e-04 9.99998173e-01 1.88956962e-03 -4.76991452e+00] [ 4.43520865e-03 -1.89083128e-03 9.99988377e-01 -1.83205960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979072329 meters 0.11606167817429767 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99989546e-01 -3.82380372e-04 -4.55659547e-03 9.27031245e+01] [ 3.90343632e-04 9.99998398e-01 1.74687260e-03 -4.76964977e+00] [ 4.55592020e-03 -1.74863298e-03 9.99988093e-01 -1.83226929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009072329 meters 0.11918506986744339 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99989425e-01 -3.10892956e-04 -4.58827243e-03 9.27030211e+01] [ 3.19117084e-04 9.99998344e-01 1.79180022e-03 -4.76957946e+00] [ 4.58770778e-03 -1.79324546e-03 9.99987869e-01 -1.83199605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039072329 meters 0.12068843481758373 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99988468e-01 -4.79882149e-04 -4.77854318e-03 9.27036880e+01] [ 4.87298319e-04 9.99998679e-01 1.55092969e-03 -4.76916989e+00] [ 4.77779260e-03 -1.55324038e-03 9.99987380e-01 -1.83237172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069072329 meters 0.12241770185072083 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99988196e-01 -4.79828505e-04 -4.83501957e-03 9.27037520e+01] [ 4.86978273e-04 9.99998790e-01 1.47767771e-03 -4.76876545e+00] [ 4.83430469e-03 -1.48001482e-03 9.99987219e-01 -1.83228733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099072329 meters 0.11373302233695379 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987837e-01 -5.81410694e-04 -4.89782446e-03 9.27040802e+01] [ 5.87845532e-04 9.99998966e-01 1.31247847e-03 -4.76833709e+00] [ 4.89705631e-03 -1.31534167e-03 9.99987144e-01 -1.83257414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.129072329 meters 0.11433597403089485 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987446e-01 -7.07337872e-04 -4.96060013e-03 9.27044963e+01] [ 7.12713117e-04 9.99999161e-01 1.08190353e-03 -4.76780513e+00] [ 4.95983070e-03 -1.08542543e-03 9.99987111e-01 -1.83296331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159072329 meters 0.1132417748444855 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987468e-01 -7.45123464e-04 -4.95055380e-03 9.27045132e+01] [ 7.49943274e-04 9.99999247e-01 9.71805024e-04 -4.76735168e+00] [ 4.94982596e-03 -9.75505480e-04 9.99987274e-01 -1.83298776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.189072329 meters 0.11307721609303807 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987140e-01 -8.50366639e-04 -4.99976303e-03 9.27048330e+01] [ 8.54465625e-04 9.99999301e-01 8.17757270e-04 -4.76703996e+00] [ 4.99906414e-03 -8.22018879e-04 9.99987167e-01 -1.83328054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219072329 meters 0.11337530338261032 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987261e-01 -8.47301444e-04 -4.97584248e-03 9.27046927e+01] [ 8.50675433e-04 9.99999410e-01 6.75996665e-04 -4.76626362e+00] [ 4.97526677e-03 -6.80220881e-04 9.99987392e-01 -1.83310836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.249072329 meters 0.11081955585824384 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987006e-01 -8.66877799e-04 -5.02353520e-03 9.27047762e+01] [ 8.69819275e-04 9.99999452e-01 5.83383808e-04 -4.76585308e+00] [ 5.02302673e-03 -5.87745796e-04 9.99987212e-01 -1.83308014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279072329 meters 0.11134990482887376 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986635e-01 -9.93186600e-04 -5.07383428e-03 9.27051326e+01] [ 9.95136455e-04 9.99999432e-01 3.81786027e-04 -4.76542825e+00] [ 5.07345221e-03 -3.86830082e-04 9.99987055e-01 -1.83343429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.309072329 meters 0.10996654318610355 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99986123e-01 -9.79400206e-04 -5.17631939e-03 9.27052432e+01] [ 9.80982577e-04 9.99999473e-01 3.03164131e-04 -4.76493906e+00] [ 5.17601974e-03 -3.08237803e-04 9.99986557e-01 -1.83327926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339072329 meters 0.1102196336266445 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985677e-01 -1.05752344e-03 -5.24675113e-03 9.27055892e+01] [ 1.05850463e-03 9.99999423e-01 1.84235811e-04 -4.76471619e+00] [ 5.24655327e-03 -1.89786883e-04 9.99986219e-01 -1.83355461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.369072329 meters 0.10213830364131238 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985694e-01 -1.06978413e-03 -5.24089520e-03 9.27055363e+01] [ 1.06992658e-03 9.99999427e-01 2.43775949e-05 -4.76392536e+00] [ 5.24086612e-03 -2.99846192e-05 9.99986266e-01 -1.83349351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399072329 meters 0.10905406612131115 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985388e-01 -1.15222444e-03 -5.28172905e-03 9.27057708e+01] [ 1.15154151e-03 9.99999328e-01 -1.32339727e-04 -4.76348851e+00] [ 5.28187799e-03 1.26255663e-04 9.99986043e-01 -1.83369144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.429072329 meters 0.11371708889523856 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985390e-01 -1.20357462e-03 -5.26986975e-03 9.27057008e+01] [ 1.20199878e-03 9.99999232e-01 -3.02184143e-04 -4.76270206e+00] [ 5.27022941e-03 2.95845352e-04 9.99986068e-01 -1.83359719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459072329 meters 0.1127891515891778 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984774e-01 -1.29837300e-03 -5.36342360e-03 9.27060846e+01] [ 1.29611772e-03 9.99999070e-01 -4.23947430e-04 -4.76258152e+00] [ 5.36396905e-03 4.16989347e-04 9.99985527e-01 -1.83384812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.489072329 meters 0.115745944910402 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984838e-01 -1.24994084e-03 -5.36296269e-03 9.27060319e+01] [ 1.24804966e-03 9.99999158e-01 -3.55969880e-04 -4.76276754e+00] [ 5.36340311e-03 3.49271239e-04 9.99985556e-01 -1.83376583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519072329 meters 0.11539725560865645 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985078e-01 -1.16459873e-03 -5.33730624e-03 9.27058260e+01] [ 1.16319891e-03 9.99999288e-01 -2.65367769e-04 -4.76282904e+00] [ 5.33761149e-03 2.59155460e-04 9.99985721e-01 -1.83354687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.549072329 meters 0.11328536639974808 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984986e-01 -1.21154166e-03 -5.34424143e-03 9.27060205e+01] [ 1.20982715e-03 9.99999216e-01 -3.24035427e-04 -4.76277951e+00] [ 5.34462982e-03 3.17564954e-04 9.99985667e-01 -1.83382915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579072329 meters 0.11328536639974808 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984986e-01 -1.21154166e-03 -5.34424143e-03 9.27060205e+01] [ 1.20982715e-03 9.99999216e-01 -3.24035427e-04 -4.76277951e+00] [ 5.34462982e-03 3.17564954e-04 9.99985667e-01 -1.83382915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.609072329 meters 0.10669741190346474 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984615e-01 -1.35493353e-03 -5.37898063e-03 9.27064466e+01] [ 1.35227520e-03 9.99998962e-01 -4.97814193e-04 -4.76255308e+00] [ 5.37964955e-03 4.90532673e-04 9.99985409e-01 -1.83435988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63907232900002 meters 0.11440171362416592 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984814e-01 -1.28416936e-03 -5.35942467e-03 9.27062268e+01] [ 1.28145128e-03 9.99999049e-01 -5.10562304e-04 -4.76216376e+00] [ 5.36007522e-03 5.03686709e-04 9.99985508e-01 -1.83406242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66907232900002 meters 0.11884456898928063 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984868e-01 -1.21065141e-03 -5.36635801e-03 9.27060051e+01] [ 1.20827551e-03 9.99999171e-01 -4.45960905e-04 -4.76209479e+00] [ 5.36689346e-03 4.39470118e-04 9.99985502e-01 -1.83371965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69907232900002 meters 0.10295957246097846 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985037e-01 -1.12971413e-03 -5.35245312e-03 9.27058082e+01] [ 1.12806343e-03 9.99999315e-01 -3.11409779e-04 -4.76245249e+00] [ 5.35280126e-03 3.05367213e-04 9.99985627e-01 -1.83343100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729072329 meters 0.10653710368542701 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984555e-01 -1.18393963e-03 -5.43030680e-03 9.27061205e+01] [ 1.18203414e-03 9.99999239e-01 -3.54095200e-04 -4.76259026e+00] [ 5.43072189e-03 3.47670923e-04 9.99985193e-01 -1.83364920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759072329 meters 0.1081004835929571 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984775e-01 -1.14362284e-03 -5.39828563e-03 9.27059669e+01] [ 1.14178838e-03 9.99999289e-01 -3.42891354e-04 -4.76240855e+00] [ 5.39867393e-03 3.36722434e-04 9.99985370e-01 -1.83353333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789072329 meters 0.10644161326764272 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99984631e-01 -1.19380100e-03 -5.41409278e-03 9.27061709e+01] [ 1.19161582e-03 9.99999207e-01 -4.06817002e-04 -4.76233985e+00] [ 5.41457415e-03 4.00359231e-04 9.99985261e-01 -1.83381815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819072329 meters 0.12090196344214979 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985105e-01 -1.13905060e-03 -5.33773180e-03 9.27059716e+01] [ 1.13731987e-03 9.99999300e-01 -3.27269991e-04 -4.76247127e+00] [ 5.33810083e-03 3.21194408e-04 9.99985701e-01 -1.83378327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849072329 meters 0.10554103278262923 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985772e-01 -1.07223528e-03 -5.22544172e-03 9.27057110e+01] [ 1.07103990e-03 9.99999400e-01 -2.31555166e-04 -4.76271580e+00] [ 5.22568686e-03 2.25955215e-04 9.99986320e-01 -1.83372495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879072329 meters 0.10101509854358585 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985765e-01 -1.04511171e-03 -5.23236191e-03 9.27056951e+01] [ 1.04448764e-03 9.99999447e-01 -1.22002989e-04 -4.76328948e+00] [ 5.23248653e-03 1.16536115e-04 9.99986304e-01 -1.83366829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.909072329 meters 0.10068902560604828 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985879e-01 -9.40222931e-04 -5.23044482e-03 9.27054426e+01] [ 9.40279408e-04 9.99999558e-01 8.33869577e-06 -4.76345795e+00] [ 5.23043467e-03 -1.32566576e-05 9.99986321e-01 -1.83328820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939072329 meters 0.10420560244906067 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985998e-01 -9.94601472e-04 -5.19762335e-03 9.27055135e+01] [ 9.94189218e-04 9.99999502e-01 -8.18989364e-05 -4.76320199e+00] [ 5.19770223e-03 7.67303685e-05 9.99986489e-01 -1.83349848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.969072329 meters 0.10512447887337299 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99986144e-01 -9.62197461e-04 -5.17545059e-03 9.27053746e+01] [ 9.61652049e-04 9.99999532e-01 -1.07871784e-04 -4.76280739e+00] [ 5.17555196e-03 1.02893307e-04 9.99986601e-01 -1.83336481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999072329 meters 0.10425723996391406 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99985886e-01 -1.01167801e-03 -5.21576365e-03 9.27055988e+01] [ 1.01105024e-03 9.99999481e-01 -1.22996893e-04 -4.76305083e+00] [ 5.21588538e-03 1.17721758e-04 9.99986390e-01 -1.83357271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.029072329 meters 0.10816200901928447 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99986253e-01 -9.18285720e-04 -5.16244602e-03 9.27052944e+01] [ 9.18340837e-04 9.99999578e-01 8.30608782e-06 -4.76334887e+00] [ 5.16243622e-03 -1.30468586e-05 9.99986674e-01 -1.83325853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059072329 meters 0.10098079246280033 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99986066e-01 -8.01797478e-04 -5.21778230e-03 9.27050773e+01] [ 8.02682050e-04 9.99999664e-01 1.67438251e-04 -4.76359782e+00] [ 5.21764630e-03 -1.71624138e-04 9.99986373e-01 -1.83276239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.089072329 meters 0.10332653921396467 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99986890e-01 -6.78358297e-04 -5.07545355e-03 9.27046496e+01] [ 6.80210847e-04 9.99999703e-01 3.63284428e-04 -4.76411747e+00] [ 5.07520560e-03 -3.66732043e-04 9.99987054e-01 -1.83253390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119072329 meters 0.10152180722410746 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99986650e-01 -7.28213472e-04 -5.11560575e-03 9.27048999e+01] [ 7.29973023e-04 9.99999675e-01 3.42098791e-04 -4.76428704e+00] [ 5.11535497e-03 -3.45828479e-04 9.99986857e-01 -1.83278613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.149072329 meters 0.104071651521665 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.76, Z:-1.83 [[ 9.99987010e-01 -6.87089464e-04 -5.05057373e-03 9.27047590e+01] [ 6.89157114e-04 9.99999679e-01 4.07660318e-04 -4.76440356e+00] [ 5.05029201e-03 -4.11135661e-04 9.99987163e-01 -1.83280671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179072329 meters 0.10108239202341913 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.83 [[ 9.99986625e-01 -7.66729824e-04 -5.11486076e-03 9.27052662e+01] [ 7.68895246e-04 9.99999616e-01 4.21405859e-04 -4.76496927e+00] [ 5.11453569e-03 -4.25333015e-04 9.99986830e-01 -1.83341775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.209072329 meters 0.11003091125923921 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986770e-01 -7.02910652e-04 -5.09574937e-03 9.27052570e+01] [ 7.05814764e-04 9.99999590e-01 5.68132700e-04 -4.76544264e+00] [ 5.09534793e-03 -5.71721838e-04 9.99986855e-01 -1.83353241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239072329 meters 0.10873353765876981 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99987044e-01 -5.88633577e-04 -5.05624492e-03 9.27050489e+01] [ 5.92513608e-04 9.99999531e-01 7.65910271e-04 -4.76609645e+00] [ 5.05579171e-03 -7.68896241e-04 9.99986924e-01 -1.83333323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.269072329 meters 0.10325584837092254 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99986893e-01 -4.97308051e-04 -5.09573267e-03 9.27048574e+01] [ 5.01790017e-04 9.99999488e-01 8.78311915e-04 -4.76624387e+00] [ 5.09529327e-03 -8.80857390e-04 9.99986631e-01 -1.83292321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299072329 meters 0.10947209521431629 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987291e-01 -4.34129103e-04 -5.02292010e-03 9.27045766e+01] [ 4.38922151e-04 9.99999449e-01 9.53172408e-04 -4.76635065e+00] [ 5.02250353e-03 -9.55364965e-04 9.99986931e-01 -1.83271137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.329072329 meters 0.10184767881179746 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987297e-01 -3.71815765e-04 -5.02661103e-03 9.27044544e+01] [ 3.77091184e-04 9.99999379e-01 1.04859121e-03 -4.76656442e+00] [ 5.02621802e-03 -1.05047338e-03 9.99986817e-01 -1.83250348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359072329 meters 0.10618095509281411 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987699e-01 -1.81953008e-04 -4.95668223e-03 9.27040168e+01] [ 1.88876604e-04 9.99999007e-01 1.39638827e-03 -4.76754481e+00] [ 4.95642323e-03 -1.39730730e-03 9.99986741e-01 -1.83212856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38907232900002 meters 0.09992008064261389 Centerline is valid? [False, True] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987396e-01 -2.26571813e-04 -5.01553200e-03 9.27043347e+01] [ 2.33692228e-04 9.99998966e-01 1.41913256e-03 -4.76802255e+00] [ 5.01520528e-03 -1.42028676e-03 9.99986415e-01 -1.83242537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41907232900002 meters 0.10470288493926189 Centerline is valid? [True, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99988017e-01 -1.51200867e-04 -4.89318354e-03 9.27041414e+01] [ 1.58812184e-04 9.99998778e-01 1.55514277e-03 -4.76846463e+00] [ 4.89294242e-03 -1.55590123e-03 9.99986819e-01 -1.83256261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44907232900002 meters 0.1070728100372764 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99988129e-01 -5.54649551e-05 -4.87229928e-03 9.27041605e+01] [ 6.44206714e-05 9.99998309e-01 1.83795059e-03 -4.76958989e+00] [ 4.87218910e-03 -1.83824265e-03 9.99986441e-01 -1.83272792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479072329 meters 0.1064234363564169 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987846e-01 -1.57636927e-04 -4.92784064e-03 9.27045149e+01] [ 1.66487330e-04 9.99998374e-01 1.79564156e-03 -4.76985360e+00] [ 4.92754956e-03 -1.79644016e-03 9.99986246e-01 -1.83308660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509072329 meters 0.10605627226287359 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99988203e-01 -7.05546259e-05 -4.85684608e-03 9.27041860e+01] [ 7.97975220e-05 9.99998186e-01 1.90289800e-03 -4.76994007e+00] [ 4.85670301e-03 -1.90326312e-03 9.99986395e-01 -1.83282665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539072329 meters 0.10746447502204436 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987705e-01 -6.90100557e-05 -4.95835315e-03 9.27043364e+01] [ 7.88966711e-05 9.99998009e-01 1.99376335e-03 -4.77051008e+00] [ 4.95820569e-03 -1.99413003e-03 9.99985720e-01 -1.83273212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569072329 meters 0.10609960491256705 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987687e-01 3.94973700e-05 -4.96221637e-03 9.27041467e+01] [-2.88701640e-05 9.99997706e-01 2.14167825e-03 -4.77082777e+00] [ 4.96228958e-03 -2.14150862e-03 9.99985395e-01 -1.83247032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599072329 meters 0.10732990264453353 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987463e-01 -5.35227367e-05 -5.00702172e-03 9.27044169e+01] [ 6.39537642e-05 9.99997828e-01 2.08314296e-03 -4.77093410e+00] [ 5.00689935e-03 -2.08343706e-03 9.99985295e-01 -1.83271624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.629072329 meters 0.1088784217868138 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987447e-01 8.34388227e-06 -5.01055198e-03 9.27044722e+01] [ 2.75351724e-06 9.99997547e-01 2.21479480e-03 -4.77148771e+00] [ 5.01055817e-03 -2.21478080e-03 9.99984994e-01 -1.83282142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659072329 meters 0.11106275103554641 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987535e-01 -5.92655855e-05 -4.99257374e-03 9.27046551e+01] [ 7.01514700e-05 9.99997621e-01 2.18026846e-03 -4.77161729e+00] [ 4.99243265e-03 -2.18059152e-03 9.99985160e-01 -1.83313444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.689072329 meters 0.12506241561338477 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987244e-01 -9.43168171e-05 -5.04997030e-03 9.27048937e+01] [ 1.05518944e-04 9.99997535e-01 2.21803549e-03 -4.77206058e+00] [ 5.04974866e-03 -2.21854006e-03 9.99984789e-01 -1.83332109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719072329 meters 0.11674951871430006 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987286e-01 1.17286073e-04 -5.04124843e-03 9.27045564e+01] [-1.04241339e-04 9.99996646e-01 2.58778478e-03 -4.77307151e+00] [ 5.04153504e-03 -2.58722637e-03 9.99983944e-01 -1.83291266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.749072329 meters 0.10960350841549826 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987196e-01 3.02416912e-05 -5.06035127e-03 9.27048532e+01] [-1.75597954e-05 9.99996859e-01 2.50615520e-03 -4.77312418e+00] [ 5.06041117e-03 -2.50603425e-03 9.99984056e-01 -1.83326610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779072329 meters 0.10368616330840981 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987551e-01 -2.30809741e-05 -4.98980061e-03 9.27048558e+01] [ 3.51599395e-05 9.99997070e-01 2.42065691e-03 -4.77283634e+00] [ 4.98973012e-03 -2.42080221e-03 9.99984621e-01 -1.83347875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.809072329 meters 0.1074754887208668 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987525e-01 -1.02617868e-04 -4.99396932e-03 9.27049829e+01] [ 1.14161733e-04 9.99997322e-01 2.31133081e-03 -4.77262704e+00] [ 4.99371876e-03 -2.31187210e-03 9.99984859e-01 -1.83360241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839072329 meters 0.10413469572122996 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.83 [[ 9.99987680e-01 -6.22408622e-05 -4.96345033e-03 9.27049213e+01] [ 7.41073318e-05 9.99997140e-01 2.39062221e-03 -4.77291516e+00] [ 4.96328734e-03 -2.39096058e-03 9.99984824e-01 -1.83359177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.869072329 meters 0.10871405930856523 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99987472e-01 -1.06166936e-04 -5.00438364e-03 9.27051301e+01] [ 1.18175112e-04 9.99997115e-01 2.39929681e-03 -4.77317782e+00] [ 5.00411447e-03 -2.39985815e-03 9.99984600e-01 -1.83377681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899072329 meters 0.11922808034890837 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99987173e-01 -1.78347112e-04 -5.06180065e-03 9.27054125e+01] [ 1.90205128e-04 9.99997239e-01 2.34226314e-03 -4.77325094e+00] [ 5.06136894e-03 -2.34319587e-03 9.99984446e-01 -1.83400185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.929072329 meters 0.11011869271152225 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99987157e-01 -6.99818258e-05 -5.06766804e-03 9.27052103e+01] [ 8.24309201e-05 9.99996980e-01 2.45640536e-03 -4.77334211e+00] [ 5.06748083e-03 -2.45679154e-03 9.99984142e-01 -1.83373886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959072329 meters 0.11152321470075857 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986872e-01 -2.06846776e-04 -5.11979801e-03 9.27055906e+01] [ 2.18550135e-04 9.99997364e-01 2.28544850e-03 -4.77308782e+00] [ 5.11931178e-03 -2.28653743e-03 9.99984282e-01 -1.83410578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.989072329 meters 0.11263095313697845 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986931e-01 -1.48200773e-04 -5.11027602e-03 9.27054295e+01] [ 1.60149625e-04 9.99997254e-01 2.33787108e-03 -4.77302219e+00] [ 5.10991551e-03 -2.33865894e-03 9.99984210e-01 -1.83392055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019072329 meters 0.11245092115230917 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986340e-01 -3.06497664e-04 -5.21783624e-03 9.27058631e+01] [ 3.17617061e-04 9.99997680e-01 2.13034082e-03 -4.77260746e+00] [ 5.21717119e-03 -2.13196899e-03 9.99984118e-01 -1.83417141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.049072329 meters 0.10950057400472776 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986597e-01 -2.56870937e-04 -5.17101823e-03 9.27056240e+01] [ 2.68049768e-04 9.99997629e-01 2.16124687e-03 -4.77243758e+00] [ 5.17045080e-03 -2.16260400e-03 9.99984295e-01 -1.83399318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079072329 meters 0.1135072421644528 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986361e-01 -3.32218078e-04 -5.21228349e-03 9.27058511e+01] [ 3.42780099e-04 9.99997890e-01 2.02560875e-03 -4.77207425e+00] [ 5.21159955e-03 -2.02736778e-03 9.99984364e-01 -1.83417961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.109072329 meters 0.11375253186982563 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986269e-01 -4.21556413e-04 -5.22343530e-03 9.27060458e+01] [ 4.31392729e-04 9.99998136e-01 1.88212887e-03 -4.77169157e+00] [ 5.22263214e-03 -1.88435637e-03 9.99984587e-01 -1.83440915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13907232900002 meters 0.1165200935881804 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986037e-01 -5.31248432e-04 -5.25776199e-03 9.27063608e+01] [ 5.40342148e-04 9.99998360e-01 1.72830988e-03 -4.77141071e+00] [ 5.25683521e-03 -1.73112673e-03 9.99984684e-01 -1.83473004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16907232900002 meters 0.1185248953865378 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986463e-01 -5.33774401e-04 -5.17584374e-03 9.27062102e+01] [ 5.42488864e-04 9.99998438e-01 1.68242204e-03 -4.77109925e+00] [ 5.17493761e-03 -1.68520710e-03 9.99985190e-01 -1.83476165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19907232900002 meters 0.1250635837867816 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99986132e-01 -6.37034473e-04 -5.22772030e-03 9.27065521e+01] [ 6.45305476e-04 9.99998543e-01 1.58060919e-03 -4.77109480e+00] [ 5.22670578e-03 -1.58396075e-03 9.99985086e-01 -1.83507421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229072329 meters 0.11092397788638579 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99985760e-01 -7.21741231e-04 -5.28767818e-03 9.27068434e+01] [ 7.29687936e-04 9.99998607e-01 1.50109716e-03 -4.77110834e+00] [ 5.28658741e-03 -1.50493413e-03 9.99984893e-01 -1.83529146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259072329 meters 0.12073439824546664 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.83 [[ 9.99986105e-01 -6.12722285e-04 -5.23588334e-03 9.27064591e+01] [ 6.21156924e-04 9.99998512e-01 1.60945516e-03 -4.77110541e+00] [ 5.23488939e-03 -1.61268510e-03 9.99984997e-01 -1.83490117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289072329 meters 0.11154665026488776 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99986035e-01 -6.85538114e-04 -5.24026313e-03 9.27066142e+01] [ 6.93447908e-04 9.99998623e-01 1.50775890e-03 -4.77090245e+00] [ 5.23922229e-03 -1.51137169e-03 9.99985133e-01 -1.83506750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319072329 meters 0.11446175485599638 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99985961e-01 -7.49251099e-04 -5.24558487e-03 9.27066997e+01] [ 7.56712990e-04 9.99998705e-01 1.42066867e-03 -4.77070048e+00] [ 5.24451364e-03 -1.42461813e-03 9.99985233e-01 -1.83514101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349072329 meters 0.1133914021310983 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99985944e-01 -8.28722392e-04 -5.23694857e-03 9.27068470e+01] [ 8.35862183e-04 9.99998724e-01 1.36130784e-03 -4.77083805e+00] [ 5.23581374e-03 -1.36566607e-03 9.99985360e-01 -1.83533944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379072329 meters 0.11468402626305753 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99986404e-01 -8.28290375e-04 -5.14840119e-03 9.27066855e+01] [ 8.35288341e-04 9.99998730e-01 1.35724867e-03 -4.77068221e+00] [ 5.14727045e-03 -1.36153062e-03 9.99985826e-01 -1.83539632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.409072329 meters 0.11595332826427089 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99986481e-01 -9.47740586e-04 -5.11274441e-03 9.27069667e+01] [ 9.54218843e-04 9.99998745e-01 1.26478958e-03 -4.77081414e+00] [ 5.11153930e-03 -1.26965116e-03 9.99986130e-01 -1.83591387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439072329 meters 0.1185936702500852 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99986730e-01 -8.69685325e-04 -5.07771006e-03 9.27067942e+01] [ 8.76565302e-04 9.99998701e-01 1.35286861e-03 -4.77085267e+00] [ 5.07652690e-03 -1.35730161e-03 9.99986193e-01 -1.83581306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.469072329 meters 0.1185936702500852 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99986730e-01 -8.69685325e-04 -5.07771006e-03 9.27067942e+01] [ 8.76565302e-04 9.99998701e-01 1.35286861e-03 -4.77085267e+00] [ 5.07652690e-03 -1.35730161e-03 9.99986193e-01 -1.83581306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499072329 meters 0.11633461185903844 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99987140e-01 -9.01378682e-04 -4.99063340e-03 9.27068045e+01] [ 9.08203144e-04 9.99998655e-01 1.36535665e-03 -4.77106367e+00] [ 4.98939599e-03 -1.36987160e-03 9.99986615e-01 -1.83608886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.529072329 meters 0.12144279183601037 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99987020e-01 -9.58212116e-04 -5.00415751e-03 9.27070064e+01] [ 9.64978282e-04 9.99998623e-01 1.34986960e-03 -4.77134630e+00] [ 5.00285716e-03 -1.35468098e-03 9.99986568e-01 -1.83633724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559072329 meters 0.11776468351492674 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99987700e-01 -1.02321418e-03 -4.85319317e-03 9.27068845e+01] [ 1.02927431e-03 9.99998694e-01 1.24635705e-03 -4.77112006e+00] [ 4.85191154e-03 -1.25133699e-03 9.99987446e-01 -1.83658191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.589072329 meters 0.12080944270839952 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99988114e-01 -8.99612969e-04 -4.79192524e-03 9.27064993e+01] [ 9.06414339e-04 9.99998585e-01 1.41735728e-03 -4.77137733e+00] [ 4.79064339e-03 -1.42168391e-03 9.99987514e-01 -1.83624058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619072329 meters 0.12115898467405904 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99988211e-01 -9.33838937e-04 -4.76504820e-03 9.27065405e+01] [ 9.40544228e-04 9.99998570e-01 1.40513531e-03 -4.77150455e+00] [ 4.76372922e-03 -1.40960048e-03 9.99987660e-01 -1.83636993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.649072329 meters 0.12470621370550859 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99988020e-01 -9.96038429e-04 -4.79240674e-03 9.27067721e+01] [ 1.00255813e-03 9.99998575e-01 1.35821304e-03 -4.77164141e+00] [ 4.79104707e-03 -1.36300144e-03 9.99987594e-01 -1.83661013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679072329 meters 0.12447665595948866 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99988554e-01 -8.94608983e-04 -4.70025599e-03 9.27064202e+01] [ 9.01713200e-04 9.99998454e-01 1.50955158e-03 -4.77197270e+00] [ 4.69889827e-03 -1.51377259e-03 9.99987814e-01 -1.83642164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.709072329 meters 0.12552611596398267 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99988385e-01 -9.54705213e-04 -4.72421647e-03 9.27066534e+01] [ 9.61785506e-04 9.99998417e-01 1.49667840e-03 -4.77223938e+00] [ 4.72278011e-03 -1.50120470e-03 9.99987721e-01 -1.83669818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739072329 meters 0.1176552579092483 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99988697e-01 -9.13315406e-04 -4.66600237e-03 9.27065785e+01] [ 9.21020420e-04 9.99998216e-01 1.64942759e-03 -4.77289052e+00] [ 4.66448760e-03 -1.65370643e-03 9.99987754e-01 -1.83681070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.769072329 meters 0.1304607659560896 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99988952e-01 -9.26831140e-04 -4.60834740e-03 9.27066230e+01] [ 9.34567094e-04 9.99998157e-01 1.67681288e-03 -4.77310959e+00] [ 4.60678478e-03 -1.68110117e-03 9.99987976e-01 -1.83706823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799072329 meters 0.11935850741339442 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989405e-01 -8.44234658e-04 -4.52506762e-03 9.27064449e+01] [ 8.52442728e-04 9.99997994e-01 1.81228919e-03 -4.77348262e+00] [ 4.52352855e-03 -1.81612735e-03 9.99988120e-01 -1.83708952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.829072329 meters 0.13391818005307604 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989203e-01 -1.03217665e-03 -4.53084354e-03 9.27069346e+01] [ 1.03949389e-03 9.99998159e-01 1.61292627e-03 -4.77337616e+00] [ 4.52917038e-03 -1.61761864e-03 9.99988435e-01 -1.83781018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859072329 meters 0.12144487840236022 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989662e-01 -9.89822704e-04 -4.43813600e-03 9.27066806e+01] [ 9.97205011e-04 9.99998123e-01 1.66147592e-03 -4.77340684e+00] [ 4.43648310e-03 -1.66588448e-03 9.99988771e-01 -1.83772099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88907232900002 meters 0.13557853738340558 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989753e-01 -9.52141385e-04 -4.42581841e-03 9.27065228e+01] [ 9.59663810e-04 9.99998098e-01 1.69785579e-03 -4.77333705e+00] [ 4.42419339e-03 -1.70208569e-03 9.99988765e-01 -1.83753136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91907232900002 meters 0.13755982207928005 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990187e-01 -8.48359673e-04 -4.34805130e-03 9.27061426e+01] [ 8.56539429e-04 9.99997866e-01 1.87972977e-03 -4.77377945e+00] [ 4.34644733e-03 -1.88343560e-03 9.99988780e-01 -1.83719998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94907232900002 meters 0.1371302657786164 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990268e-01 -8.73273402e-04 -4.32451299e-03 9.27061449e+01] [ 8.81190110e-04 9.99997939e-01 1.82909197e-03 -4.77361878e+00] [ 4.32290678e-03 -1.83288489e-03 9.99988976e-01 -1.83723393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979072329 meters 0.12761739959957313 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990594e-01 -8.38295010e-04 -4.25543580e-03 9.27059049e+01] [ 8.46269484e-04 9.99997889e-01 1.87249548e-03 -4.77357852e+00] [ 4.25385711e-03 -1.87607911e-03 9.99989192e-01 -1.83711279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009072329 meters 0.12720730519394208 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990235e-01 -9.53678166e-04 -4.31506092e-03 9.27062457e+01] [ 9.61170764e-04 9.99998034e-01 1.73464232e-03 -4.77341430e+00] [ 4.31339815e-03 -1.73877289e-03 9.99989186e-01 -1.83740751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039072329 meters 0.1307500480779739 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990245e-01 -1.03443664e-03 -4.29423976e-03 9.27063411e+01] [ 1.04136070e-03 9.99998161e-01 1.61048503e-03 -4.77306029e+00] [ 4.29256592e-03 -1.61494117e-03 9.99989483e-01 -1.83760778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069072329 meters 0.1431744058364955 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990589e-01 -1.02405219e-03 -4.21577750e-03 9.27062431e+01] [ 1.03080453e-03 9.99998189e-01 1.59982341e-03 -4.77301425e+00] [ 4.21413156e-03 -1.60415399e-03 9.99989834e-01 -1.83768842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099072329 meters 0.13134199925738976 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990200e-01 -1.16978588e-03 -4.26983301e-03 9.27065489e+01] [ 1.17580191e-03 9.99998319e-01 1.40672267e-03 -4.77265265e+00] [ 4.26818027e-03 -1.41172936e-03 9.99989895e-01 -1.83793453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.129072329 meters 0.13562926524385305 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990327e-01 -1.12275021e-03 -4.25258392e-03 9.27063293e+01] [ 1.12882777e-03 9.99998345e-01 1.42701628e-03 -4.77240916e+00] [ 4.25097470e-03 -1.43180292e-03 9.99989940e-01 -1.83765802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159072329 meters 0.11502619873542075 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990549e-01 -1.15339772e-03 -4.19193166e-03 9.27063835e+01] [ 1.15904569e-03 9.99998424e-01 1.34516488e-03 -4.77221648e+00] [ 4.19037355e-03 -1.35001080e-03 9.99990309e-01 -1.83790428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.189072329 meters 0.13346820105638166 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990678e-01 -1.16767964e-03 -4.15707006e-03 9.27063541e+01] [ 1.17293549e-03 9.99998516e-01 1.26210194e-03 -4.77178707e+00] [ 4.15559016e-03 -1.26696615e-03 9.99990563e-01 -1.83797177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219072329 meters 0.12056675420052963 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990115e-01 -1.47376552e-03 -4.19505625e-03 9.27070400e+01] [ 1.47706023e-03 9.99998603e-01 7.82390356e-04 -4.77059308e+00] [ 4.19389733e-03 -7.88578973e-04 9.99990895e-01 -1.83887318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.249072329 meters 0.12468744092641477 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990177e-01 -1.54038996e-03 -4.15609379e-03 9.27071012e+01] [ 1.54303635e-03 9.99998609e-01 6.33619175e-04 -4.77003189e+00] [ 4.15511199e-03 -6.40025955e-04 9.99991163e-01 -1.83907218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279072329 meters 0.1381438399807371 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989795e-01 -1.66354132e-03 -4.20023406e-03 9.27074399e+01] [ 1.66541709e-03 9.99998515e-01 4.43127415e-04 -4.76962531e+00] [ 4.19949067e-03 -4.50118034e-04 9.99991081e-01 -1.83941141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.309072329 meters 0.11186663432693703 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990120e-01 -1.59288766e-03 -4.15008327e-03 9.27070521e+01] [ 1.59468333e-03 9.99998636e-01 4.29408659e-04 -4.76913048e+00] [ 4.14939361e-03 -4.36022485e-04 9.99991296e-01 -1.83896526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339072329 meters 0.12497615353969786 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990181e-01 -1.55943468e-03 -4.14806900e-03 9.27069178e+01] [ 1.56122496e-03 9.99998690e-01 4.28391858e-04 -4.76892649e+00] [ 4.14739551e-03 -4.34863721e-04 9.99991305e-01 -1.83877978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.369072329 meters 0.11399654323798249 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989818e-01 -1.71685874e-03 -4.17339293e-03 9.27071564e+01] [ 1.71757149e-03 9.99998511e-01 1.67204663e-04 -4.76824078e+00] [ 4.17309965e-03 -1.74371062e-04 9.99991277e-01 -1.83901712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399072329 meters 0.11450902351070884 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989874e-01 -1.71588167e-03 -4.16031698e-03 9.27070822e+01] [ 1.71629320e-03 9.99998523e-01 9.53501929e-05 -4.76777716e+00] [ 4.16014722e-03 -1.02489551e-04 9.99991341e-01 -1.83896784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.429072329 meters 0.12034677689153228 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989550e-01 -1.85714689e-03 -4.17745880e-03 9.27073677e+01] [ 1.85663333e-03 9.99998268e-01 -1.26811200e-04 -4.76722603e+00] [ 4.17768707e-03 1.19053866e-04 9.99991266e-01 -1.83930716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459072329 meters 0.12917269783537783 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989932e-01 -1.80950913e-03 -4.10634905e-03 9.27072031e+01] [ 1.80914347e-03 9.99998359e-01 -9.27595790e-05 -4.76715029e+00] [ 4.10651016e-03 8.53296704e-05 9.99991565e-01 -1.83929928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.489072329 meters 0.1134265234420413 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989944e-01 -1.80935648e-03 -4.10334481e-03 9.27070909e+01] [ 1.80866576e-03 9.99998350e-01 -1.72037579e-04 -4.76661989e+00] [ 4.10364931e-03 1.64614269e-04 9.99991566e-01 -1.83914484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519072329 meters 0.11857709898759065 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990136e-01 -1.81613475e-03 -4.05337804e-03 9.27070310e+01] [ 1.81530666e-03 9.99998331e-01 -2.07964038e-04 -4.76645527e+00] [ 4.05374897e-03 2.00603862e-04 9.99991763e-01 -1.83921155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.549072329 meters 0.1114088983463088 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99990093e-01 -1.78031726e-03 -4.07987376e-03 9.27069525e+01] [ 1.77956304e-03 9.99998399e-01 -1.88487015e-04 -4.76635160e+00] [ 4.08020279e-03 1.81224755e-04 9.99991660e-01 -1.83902058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579072329 meters 0.11709647916065011 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989699e-01 -1.89796277e-03 -4.12304479e-03 9.27072596e+01] [ 1.89650478e-03 9.99998138e-01 -3.57500842e-04 -4.76600213e+00] [ 4.12371564e-03 3.49677785e-04 9.99991436e-01 -1.83932951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.609072329 meters 0.12251252937485169 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99989751e-01 -1.95294345e-03 -4.08461045e-03 9.27071636e+01] [ 1.95078283e-03 9.99997955e-01 -5.32883689e-04 -4.76527903e+00] [ 4.08564279e-03 5.24910040e-04 9.99991516e-01 -1.83926257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63907232900002 meters 0.12312397088594958 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99989602e-01 -2.00211299e-03 -4.09720044e-03 9.27071995e+01] [ 1.99943938e-03 9.99997786e-01 -6.56538142e-04 -4.76478081e+00] [ 4.09850583e-03 6.48339211e-04 9.99991391e-01 -1.83924401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66907232900002 meters 0.12462754074834172 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99989790e-01 -1.96613809e-03 -4.06868066e-03 9.27069730e+01] [ 1.96337895e-03 9.99997840e-01 -6.82022442e-04 -4.76446529e+00] [ 4.07001282e-03 6.74027117e-04 9.99991490e-01 -1.83896153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69907232900002 meters 0.12672008098613288 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99989926e-01 -1.95408519e-03 -4.04109437e-03 9.27068531e+01] [ 1.95138992e-03 9.99997871e-01 -6.70799475e-04 -4.76439826e+00] [ 4.04239657e-03 6.62906967e-04 9.99991610e-01 -1.83888634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729072329 meters 0.1225416520852024 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99989758e-01 -1.94471112e-03 -4.08683146e-03 9.27069570e+01] [ 1.94202246e-03 9.99997895e-01 -6.61750345e-04 -4.76439874e+00] [ 4.08810977e-03 6.53806849e-04 9.99991430e-01 -1.83892419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759072329 meters 0.12209624216271585 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99990059e-01 -1.97323054e-03 -3.99844079e-03 9.27071080e+01] [ 1.97057765e-03 9.99997836e-01 -6.67313347e-04 -4.76457000e+00] [ 3.99974890e-03 6.59427475e-04 9.99991784e-01 -1.83947310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789072329 meters 0.11968927015528459 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99990274e-01 -1.91057360e-03 -3.97517188e-03 9.27069727e+01] [ 1.90830036e-03 9.99998014e-01 -5.75574687e-04 -4.76473146e+00] [ 3.97626366e-03 5.67983267e-04 9.99991933e-01 -1.83938782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819072329 meters 0.11785704714742358 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99990288e-01 -1.96043773e-03 -3.94726983e-03 9.27070629e+01] [ 1.95794318e-03 9.99997881e-01 -6.35732584e-04 -4.76467742e+00] [ 3.94850778e-03 6.27997879e-04 9.99992007e-01 -1.83960334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849072329 meters 0.11215792109871012 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99990777e-01 -1.83386500e-03 -3.88378127e-03 9.27066514e+01] [ 1.83201096e-03 9.99998206e-01 -4.80885701e-04 -4.76483490e+00] [ 3.88465618e-03 4.73766136e-04 9.99992342e-01 -1.83916533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879072329 meters 0.1290619159624852 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.76, Z:-1.84 [[ 9.99991316e-01 -1.76547736e-03 -3.77514424e-03 9.27062922e+01] [ 1.76394545e-03 9.99998361e-01 -4.09079130e-04 -4.76484560e+00] [ 3.77586027e-03 4.02416429e-04 9.99992790e-01 -1.83896891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.909072329 meters 0.12139808191271842 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99991450e-01 -1.75851780e-03 -3.74253306e-03 9.27062792e+01] [ 1.75708015e-03 9.99998381e-01 -3.87391521e-04 -4.76500102e+00] [ 3.74320824e-03 3.80812278e-04 9.99992922e-01 -1.83903783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939072329 meters 0.11918244545272098 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99991647e-01 -1.73189663e-03 -3.70225664e-03 9.27062033e+01] [ 1.73085509e-03 9.99998462e-01 -2.84510355e-04 -4.76546477e+00] [ 3.70274369e-03 2.78099909e-04 9.99993106e-01 -1.83904305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.969072329 meters 0.11656819496507853 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99991833e-01 -1.59386922e-03 -3.71408745e-03 9.27059425e+01] [ 1.59365176e-03 9.99998728e-01 -6.15107486e-05 -4.76596629e+00] [ 3.71418076e-03 5.55912842e-05 9.99993101e-01 -1.83865961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999072329 meters 0.11567866390922296 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99992082e-01 -1.53322114e-03 -3.67216211e-03 9.27058317e+01] [ 1.53344964e-03 9.99998823e-01 5.94089850e-05 -4.76633557e+00] [ 3.67206670e-03 -6.50395903e-05 9.99993256e-01 -1.83864344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.029072329 meters 0.11626361495924291 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99992450e-01 -1.44658743e-03 -3.60650831e-03 9.27056812e+01] [ 1.44762043e-03 9.99998912e-01 2.83830509e-04 -4.76714297e+00] [ 3.60609380e-03 -2.89049221e-04 9.99993456e-01 -1.83865130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059072329 meters 0.11942926868513533 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.77, Z:-1.84 [[ 9.99992819e-01 -1.33918408e-03 -3.54524569e-03 9.27054032e+01] [ 1.34088717e-03 9.99998987e-01 4.78055040e-04 -4.76768007e+00] [ 3.54460190e-03 -4.82805382e-04 9.99993601e-01 -1.83845767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.089072329 meters 0.12159764749865874 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99993399e-01 -1.12847713e-03 -3.45374625e-03 9.27048682e+01] [ 1.13144077e-03 9.99998993e-01 8.56260385e-04 -4.76868345e+00] [ 3.45277651e-03 -8.60162442e-04 9.99993669e-01 -1.83797087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119072329 meters 0.12296788299956449 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99993452e-01 -1.14038470e-03 -3.43453433e-03 9.27049842e+01] [ 1.14358864e-03 9.99998913e-01 9.31038059e-04 -4.76919831e+00] [ 3.43346885e-03 -9.34959657e-04 9.99993669e-01 -1.83821075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.149072329 meters 0.12379721532463485 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99993686e-01 -1.06508522e-03 -3.39026165e-03 9.27048650e+01] [ 1.06878880e-03 9.99998834e-01 1.09079234e-03 -4.76970943e+00] [ 3.38909591e-03 -1.09440892e-03 9.99993658e-01 -1.83819668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179072329 meters 0.12525733619652382 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99993828e-01 -9.63828125e-04 -3.37853579e-03 9.27046763e+01] [ 9.68081258e-04 9.99998741e-01 1.25745935e-03 -4.77013044e+00] [ 3.37731956e-03 -1.26072229e-03 9.99993502e-01 -1.83796107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.209072329 meters 0.12830590274970755 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99994043e-01 -9.07886336e-04 -3.33019263e-03 9.27046010e+01] [ 9.12943484e-04 9.99998432e-01 1.51736962e-03 -4.77125026e+00] [ 3.32880981e-03 -1.52040086e-03 9.99993304e-01 -1.83803259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239072329 meters 0.11853237308904047 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99994260e-01 -7.47460843e-04 -3.30462453e-03 9.27043246e+01] [ 7.53460456e-04 9.99998070e-01 1.81464844e-03 -4.77205106e+00] [ 3.30326177e-03 -1.81712793e-03 9.99992893e-01 -1.83774067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.269072329 meters 0.1242203683448201 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99994270e-01 -7.35451046e-04 -3.30446733e-03 9.27043840e+01] [ 7.41871900e-04 9.99997839e-01 1.94227769e-03 -4.77270558e+00] [ 3.30303174e-03 -1.94471805e-03 9.99992654e-01 -1.83784575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299072329 meters 0.12549089671962063 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.77, Z:-1.84 [[ 9.99994577e-01 -5.44662251e-04 -3.24789920e-03 9.27040977e+01] [ 5.52564270e-04 9.99996889e-01 2.43256223e-03 -4.77445213e+00] [ 3.24656417e-03 -2.43434371e-03 9.99991767e-01 -1.83765135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.329072329 meters 0.1270813582632011 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99994722e-01 -4.08224544e-04 -3.22333939e-03 9.27038556e+01] [ 4.16932395e-04 9.99996265e-01 2.70129012e-03 -4.77520787e+00] [ 3.22222462e-03 -2.70261978e-03 9.99991157e-01 -1.83741202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359072329 meters 0.13190521445425027 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99995007e-01 -3.33534960e-04 -3.14250845e-03 9.27037485e+01] [ 3.43256999e-04 9.99995156e-01 3.09368807e-03 -4.77689537e+00] [ 3.14146137e-03 -3.09475131e-03 9.99990277e-01 -1.83757461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38907232900002 meters 0.13190521445425027 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99995007e-01 -3.33534960e-04 -3.14250845e-03 9.27037485e+01] [ 3.43256999e-04 9.99995156e-01 3.09368807e-03 -4.77689537e+00] [ 3.14146137e-03 -3.09475131e-03 9.99990277e-01 -1.83757461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41907232900002 meters 0.1162408369573616 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99994898e-01 -3.33068589e-04 -3.17702090e-03 9.27038561e+01] [ 3.43272617e-04 9.99994783e-01 3.21181840e-03 -4.77756056e+00] [ 3.17593457e-03 -3.21289260e-03 9.99989795e-01 -1.83763315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44907232900002 meters 0.12861455960930346 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99994938e-01 -3.31136268e-04 -3.16460755e-03 9.27039752e+01] [ 3.41816895e-04 9.99994246e-01 3.37507947e-03 -4.77849479e+00] [ 3.16347173e-03 -3.37614410e-03 9.99989297e-01 -1.83786128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479072329 meters 0.1326255039071399 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99995158e-01 -2.05068521e-04 -3.10521541e-03 9.27037026e+01] [ 2.16398690e-04 9.99993319e-01 3.64885835e-03 -4.77935849e+00] [ 3.10444640e-03 -3.64951264e-03 9.99988522e-01 -1.83765564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509072329 meters 0.13223560694330136 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99995191e-01 -7.89857501e-05 -3.10015994e-03 9.27036626e+01] [ 9.18495545e-05 9.99991387e-01 4.14947722e-03 -4.78136647e+00] [ 3.09980549e-03 -4.14974201e-03 9.99986585e-01 -1.83769847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539072329 meters 0.131012936679712 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99995445e-01 2.36970965e-05 -3.01834470e-03 9.27033555e+01] [-1.05076207e-05 9.99990453e-01 4.36971213e-03 -4.78200056e+00] [ 3.01841943e-03 -4.36966050e-03 9.99985898e-01 -1.83752896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569072329 meters 0.1286154771760987 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99995484e-01 8.68545101e-05 -3.00422124e-03 9.27033684e+01] [-7.25436292e-05 9.99988652e-01 4.76337185e-03 -4.78376966e+00] [ 3.00460087e-03 -4.76313240e-03 9.99984142e-01 -1.83764385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599072329 meters 0.12598314947294137 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.78, Z:-1.84 [[ 9.99995571e-01 1.14717409e-04 -2.97389726e-03 9.27033922e+01] [-1.00033608e-04 9.99987807e-01 4.93724045e-03 -4.78464490e+00] [ 2.97442739e-03 -4.93692110e-03 9.99983390e-01 -1.83779135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.629072329 meters 0.12968828770397559 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99995703e-01 3.18102784e-04 -2.91421668e-03 9.27030695e+01] [-3.01917053e-04 9.99984537e-01 5.55281601e-03 -4.78697561e+00] [ 2.91593798e-03 -5.55191230e-03 9.99980337e-01 -1.83757722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659072329 meters 0.13585533133683872 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99995732e-01 3.31778449e-04 -2.90269565e-03 9.27031576e+01] [-3.15111367e-04 9.99983474e-01 5.74050674e-03 -4.78796084e+00] [ 2.90455225e-03 -5.73956757e-03 9.99979310e-01 -1.83777729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.689072329 meters 0.13538043528484878 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99995637e-01 3.78565949e-04 -2.92953412e-03 9.27032957e+01] [-3.61068211e-04 9.99982108e-01 5.97109954e-03 -4.78906416e+00] [ 2.93174216e-03 -5.97001572e-03 9.99977882e-01 -1.83794036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719072329 meters 0.13989195792060793 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99988086e-01 -3.92757812e-03 -2.89854670e-03 9.27035453e+01] [ 3.93254403e-03 9.99990806e-01 1.70953596e-03 -4.78927551e+00] [ 2.89180572e-03 -1.72091425e-03 9.99994338e-01 -1.83848389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.749072329 meters 0.13341284554906077 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99988918e-01 -3.76936960e-03 -2.82074373e-03 9.27032564e+01] [ 3.77508939e-03 9.99990824e-01 2.02519167e-03 -4.79025411e+00] [ 2.81308415e-03 -2.03581779e-03 9.99993971e-01 -1.83837063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779072329 meters 0.13700119830554414 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99989565e-01 -3.67402634e-03 -2.71520084e-03 9.27030970e+01] [ 3.68017976e-03 9.99990663e-01 2.26477270e-03 -4.79114824e+00] [ 2.70685465e-03 -2.27474150e-03 9.99993749e-01 -1.83852123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.809072329 meters 0.13096907340506792 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99990131e-01 -3.55746922e-03 -2.66119595e-03 9.27028856e+01] [ 3.56422357e-03 9.99990428e-01 2.53766260e-03 -4.79210290e+00] [ 2.65214282e-03 -2.54712265e-03 9.99993239e-01 -1.83840890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839072329 meters 0.15402160048055777 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99991019e-01 -3.35463863e-03 -2.59004446e-03 9.27024075e+01] [ 3.36210451e-03 9.99990191e-01 2.88357846e-03 -4.79299897e+00] [ 2.58034569e-03 -2.89226056e-03 9.99992488e-01 -1.83797141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.869072329 meters 0.14011738736266388 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.79, Z:-1.84 [[ 9.99992254e-01 -3.08888015e-03 -2.43961040e-03 9.27017398e+01] [ 3.09720743e-03 9.99989366e-01 3.41699529e-03 -4.79467938e+00] [ 2.42902976e-03 -3.42452480e-03 9.99991186e-01 -1.83745800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899072329 meters 0.1369798311089684 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99992917e-01 -2.91544752e-03 -2.38055833e-03 9.27013297e+01] [ 2.92434352e-03 9.99988723e-01 3.74204683e-03 -4.79557747e+00] [ 2.36962175e-03 -3.74898190e-03 9.99990165e-01 -1.83707340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.929072329 meters 0.13576049844008983 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99992943e-01 -2.87257112e-03 -2.42124081e-03 9.27013939e+01] [ 2.88197734e-03 9.99988279e-01 3.89038253e-03 -4.79626590e+00] [ 2.41003703e-03 -3.89733304e-03 9.99989501e-01 -1.83705465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959072329 meters 0.1293094781728614 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993801e-01 -2.66365378e-03 -2.30298042e-03 9.27008470e+01] [ 2.67341187e-03 9.99987418e-01 4.24451388e-03 -4.79719976e+00] [ 2.29164552e-03 -4.25064438e-03 9.99988340e-01 -1.83664822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.989072329 meters 0.1328014809111955 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993667e-01 -2.67689660e-03 -2.34535332e-03 9.27010976e+01] [ 2.68704081e-03 9.99987003e-01 4.33281839e-03 -4.79784467e+00] [ 2.33372433e-03 -4.33909301e-03 9.99987863e-01 -1.83689446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019072329 meters 0.13036139123111914 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993587e-01 -2.67046004e-03 -2.38633757e-03 9.27012511e+01] [ 2.68092384e-03 9.99986759e-01 4.39249188e-03 -4.79817649e+00] [ 2.37457599e-03 -4.39886130e-03 9.99987506e-01 -1.83702308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.049072329 meters 0.14056144276174598 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993551e-01 -2.65756030e-03 -2.41561822e-03 9.27014135e+01] [ 2.66832232e-03 9.99986481e-01 4.46293399e-03 -4.79856798e+00] [ 2.40372505e-03 -4.46935086e-03 9.99987123e-01 -1.83720201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079072329 meters 0.12889798937824085 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993524e-01 -2.64721154e-03 -2.43793396e-03 9.27015450e+01] [ 2.65815206e-03 9.99986363e-01 4.49536655e-03 -4.79877367e+00] [ 2.42600053e-03 -4.50181783e-03 9.99986924e-01 -1.83733524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.109072329 meters 0.1431711130468421 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993620e-01 -2.58340944e-03 -2.46705866e-03 9.27014969e+01] [ 2.59479048e-03 9.99985956e-01 4.62119696e-03 -4.79920236e+00] [ 2.45508557e-03 -4.62756898e-03 9.99986279e-01 -1.83718677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13907232900002 meters 0.1272777276027011 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993865e-01 -2.49898957e-03 -2.45470988e-03 9.27014318e+01] [ 2.51089414e-03 9.99985044e-01 4.85863616e-03 -4.80019034e+00] [ 2.44253149e-03 -4.86476987e-03 9.99985184e-01 -1.83713027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16907232900002 meters 0.13157063965049662 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99993754e-01 -2.48264104e-03 -2.51570336e-03 9.27015466e+01] [ 2.49509613e-03 9.99984587e-01 4.95995330e-03 -4.80075505e+00] [ 2.50335080e-03 -4.96619924e-03 9.99984535e-01 -1.83710097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19907232900002 meters 0.1262906571551369 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99994454e-01 -2.24721711e-03 -2.45806961e-03 9.27010322e+01] [ 2.26027361e-03 9.99983284e-01 5.32187060e-03 -4.80166561e+00] [ 2.44606913e-03 -5.32739700e-03 9.99982818e-01 -1.83654620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229072329 meters 0.12915022579811652 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99994254e-01 -2.29227201e-03 -2.49762953e-03 9.27012255e+01] [ 2.30551395e-03 9.99983234e-01 5.31188494e-03 -4.80184197e+00] [ 2.48541137e-03 -5.31761274e-03 9.99982773e-01 -1.83669572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259072329 meters 0.1308781047113359 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99994085e-01 -2.29517960e-03 -2.56173764e-03 9.27015035e+01] [ 2.30895310e-03 9.99982826e-01 5.38667694e-03 -4.80238623e+00] [ 2.54933025e-03 -5.39256001e-03 9.99982210e-01 -1.83692619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289072329 meters 0.131065198154548 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99994324e-01 -2.21502622e-03 -2.53877693e-03 9.27014125e+01] [ 2.22907965e-03 9.99982136e-01 5.54611207e-03 -4.80290828e+00] [ 2.52644679e-03 -5.55173972e-03 9.99981397e-01 -1.83690839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319072329 meters 0.13278624159618474 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99994113e-01 -2.18491097e-03 -2.64578914e-03 9.27017117e+01] [ 2.19994127e-03 9.99981384e-01 5.69131534e-03 -4.80373727e+00] [ 2.63330487e-03 -5.69710241e-03 9.99980304e-01 -1.83705517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.349072329 meters 0.13185629174301597 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.80, Z:-1.84 [[ 9.99994597e-01 -1.99893729e-03 -2.60980392e-03 9.27013985e+01] [ 2.01471223e-03 9.99979633e-01 6.05592097e-03 -4.80489827e+00] [ 2.59764536e-03 -6.06114625e-03 9.99978257e-01 -1.83674841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379072329 meters 0.12904549786159594 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.84 [[ 9.99994737e-01 -1.95258152e-03 -2.59112808e-03 9.27013830e+01] [ 1.96864193e-03 9.99978779e-01 6.21022296e-03 -4.80564011e+00] [ 2.57894713e-03 -6.21529128e-03 9.99977359e-01 -1.83677045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.409072329 meters 0.12355650884292854 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.84 [[ 9.99994974e-01 -1.81420130e-03 -2.60000295e-03 9.27013001e+01] [ 1.83130678e-03 9.99976597e-01 6.59181261e-03 -4.80723496e+00] [ 2.58798323e-03 -6.59654089e-03 9.99974894e-01 -1.83665368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439072329 meters 0.13036972397573018 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.84 [[ 9.99994951e-01 -1.80196125e-03 -2.61739754e-03 9.27014611e+01] [ 1.81951787e-03 9.99975760e-01 6.72084149e-03 -4.80798525e+00] [ 2.60522340e-03 -6.72556996e-03 9.99973989e-01 -1.83685548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.469072329 meters 0.13798531310751896 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.84 [[ 9.99994962e-01 -1.75053342e-03 -2.64785648e-03 9.27017205e+01] [ 1.76917238e-03 9.99973560e-01 7.05337812e-03 -4.80965029e+00] [ 2.63543930e-03 -7.05802710e-03 9.99971619e-01 -1.83724588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499072329 meters 0.12478280604744536 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.84 [[ 9.99995308e-01 -1.57384043e-03 -2.62818244e-03 9.27015088e+01] [ 1.59328848e-03 9.99971245e-01 7.41418356e-03 -4.81089632e+00] [ 2.61643812e-03 -7.41833622e-03 9.99969061e-01 -1.83704019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.529072329 meters 0.13240765737624274 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.84 [[ 9.99986488e-01 -4.78939764e-03 -2.02117699e-03 9.26987889e+01] [ 4.79719695e-03 9.99980998e-01 3.87175473e-03 -4.80985287e+00] [ 2.00259521e-03 -3.88139840e-03 9.99990462e-01 -1.83515082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559072329 meters 0.12842087602104743 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.83 [[ 9.99988601e-01 -4.33607774e-03 -1.99884108e-03 9.26980600e+01] [ 4.34553820e-03 9.99979262e-01 4.75318176e-03 -4.81267185e+00] [ 1.97818946e-03 -4.76181362e-03 9.99986706e-01 -1.83424801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.589072329 meters 0.12344878949931305 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.83 [[ 9.99989403e-01 -4.16445148e-03 -1.96231920e-03 9.26977147e+01] [ 4.17436243e-03 9.99978415e-01 5.07389766e-03 -4.81365915e+00] [ 1.94114684e-03 -5.08203533e-03 9.99985202e-01 -1.83388537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619072329 meters 0.137497212133898 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.81, Z:-1.83 [[ 9.99989725e-01 -4.11844898e-03 -1.89432228e-03 9.26975961e+01] [ 4.12836867e-03 9.99977630e-01 5.26278417e-03 -4.81454226e+00] [ 1.87260540e-03 -5.27055055e-03 9.99984357e-01 -1.83390747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.649072329 meters 0.12922953134131457 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.82, Z:-1.83 [[ 9.99990680e-01 -3.90393032e-03 -1.84381337e-03 9.26971951e+01] [ 3.91428327e-03 9.99976405e-01 5.64513809e-03 -4.81570692e+00] [ 1.82173164e-03 -5.65230268e-03 9.99982366e-01 -1.83350435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679072329 meters 0.1263770820234046 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.82, Z:-1.83 [[ 9.99991867e-01 -3.61532002e-03 -1.78771912e-03 9.26968063e+01] [ 3.62641551e-03 9.99973938e-01 6.24271315e-03 -4.81775484e+00] [ 1.76510312e-03 -6.24914538e-03 9.99978916e-01 -1.83322005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.709072329 meters 0.13007987171339108 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.82, Z:-1.83 [[ 9.99992361e-01 -3.51696363e-03 -1.70555832e-03 9.26966897e+01] [ 3.52800715e-03 9.99972548e-01 6.51582500e-03 -4.81892508e+00] [ 1.68259558e-03 -6.52179245e-03 9.99977317e-01 -1.83332002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739072329 meters 0.13789530188980623 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.82, Z:-1.83 [[ 9.99992942e-01 -3.31021135e-03 -1.77722046e-03 9.26967259e+01] [ 3.32274806e-03 9.99969288e-01 7.09811584e-03 -4.82131361e+00] [ 1.75366961e-03 -7.10397100e-03 9.99973229e-01 -1.83328903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.769072329 meters 0.1349236537773472 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.82, Z:-1.83 [[ 9.99993077e-01 -3.25505411e-03 -1.80308935e-03 9.26968317e+01] [ 3.26819278e-03 9.99967777e-01 7.33237789e-03 -4.82244876e+00] [ 1.77916396e-03 -7.33821997e-03 9.99971492e-01 -1.83338638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799072329 meters 0.1313866849088757 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.82, Z:-1.83 [[ 9.99993361e-01 -3.15642250e-03 -1.82045129e-03 9.26967847e+01] [ 3.17005920e-03 9.99966570e-01 7.53723802e-03 -4.82325501e+00] [ 1.79659973e-03 -7.54295892e-03 9.99969938e-01 -1.83328415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.829072329 meters 0.1292656902526611 Centerline is valid? [False, False] Translation: X:92.69, Y:-4.82, Z:-1.83 [[ 9.99979502e-01 -6.28042010e-03 -1.24583815e-03 9.26939663e+01] [ 6.28546153e-03 9.99971903e-01 4.08484108e-03 -4.82241985e+00] [ 1.22014863e-03 -4.09258802e-03 9.99990881e-01 -1.83111931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859072329 meters 0.13316297016205628 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99984343e-01 3.49446275e-04 -5.58497946e-03 9.27028086e+01] [-3.51098387e-04 9.99999895e-01 -2.94835695e-04 -4.82542825e+00] [ 5.58487584e-03 2.96791956e-04 9.99984360e-01 -1.82603560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88907232900002 meters 0.1401749670744728 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99984062e-01 5.97908230e-04 -5.61412525e-03 9.27025245e+01] [-5.97315560e-04 9.99999816e-01 1.07243740e-04 -4.82657532e+00] [ 5.61418834e-03 -1.03888626e-04 9.99984235e-01 -1.82563179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91907232900002 meters 0.12574715274428722 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99983907e-01 5.52310911e-04 -5.64634243e-03 9.27027855e+01] [-5.51589252e-04 9.99999840e-01 1.29366518e-04 -4.82703113e+00] [ 5.64641298e-03 -1.26249974e-04 9.99984051e-01 -1.82590565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94907232900002 meters 0.13053343237937085 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99983578e-01 6.45651928e-04 -5.69441516e-03 9.27027972e+01] [-6.43903502e-04 9.99999745e-01 3.08870299e-04 -4.82767965e+00] [ 5.69461313e-03 -3.05198573e-04 9.99983739e-01 -1.82580560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979072329 meters 0.13028150578243083 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99983102e-01 9.91311987e-04 -5.72832599e-03 9.27022267e+01] [-9.86400801e-04 9.99999144e-01 8.60112690e-04 -4.82911753e+00] [ 5.72917373e-03 -8.54447730e-04 9.99983223e-01 -1.82494231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.009072329 meters 0.13009975785302588 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99982558e-01 1.01512884e-03 -5.81842812e-03 9.27024973e+01] [-1.00943677e-03 9.99999009e-01 9.81136386e-04 -4.82986400e+00] [ 5.81941834e-03 -9.75245937e-04 9.99982591e-01 -1.82508430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039072329 meters 0.1316194782351013 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99982005e-01 1.03887058e-03 -5.90855971e-03 9.27027285e+01] [-1.03255744e-03 9.99998893e-01 1.07142263e-03 -4.83039592e+00] [ 5.90966624e-03 -1.06530242e-03 9.99981970e-01 -1.82514114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069072329 meters 0.13524693642533425 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99981615e-01 1.11762428e-03 -5.95992656e-03 9.27027445e+01] [-1.11072996e-03 9.99998710e-01 1.15996402e-03 -4.83054352e+00] [ 5.96121528e-03 -1.15332283e-03 9.99981567e-01 -1.82503878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099072329 meters 0.13143428509526395 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99980514e-01 1.09490552e-03 -6.14598834e-03 9.27032795e+01] [-1.08762259e-03 9.99998703e-01 1.18820723e-03 -4.83099028e+00] [ 6.14728135e-03 -1.18149956e-03 9.99980407e-01 -1.82527332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.129072329 meters 0.12593676819722258 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99980383e-01 1.23554117e-03 -6.14057516e-03 9.27030645e+01] [-1.22694440e-03 9.99998262e-01 1.40356385e-03 -4.83154897e+00] [ 6.14229865e-03 -1.39600218e-03 9.99980161e-01 -1.82501480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159072329 meters 0.12493233596733261 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99979448e-01 1.44429901e-03 -6.24645060e-03 9.27029438e+01] [-1.43311946e-03 9.99997364e-01 1.79385064e-03 -4.83290612e+00] [ 6.24902500e-03 -1.78486186e-03 9.99978882e-01 -1.82452316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.189072329 meters 0.1245679237179215 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99979123e-01 1.62357993e-03 -6.25443901e-03 9.27026216e+01] [-1.61065491e-03 9.99996558e-01 2.07101798e-03 -4.83359140e+00] [ 6.25777994e-03 -2.06090100e-03 9.99978296e-01 -1.82405598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219072329 meters 0.12023170759260907 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99978569e-01 1.62485989e-03 -6.34197003e-03 9.27028634e+01] [-1.61138471e-03 9.99996435e-01 2.12929417e-03 -4.83403362e+00] [ 6.34540723e-03 -2.11902918e-03 9.99977623e-01 -1.82414041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.249072329 meters 0.1263348260362378 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99978587e-01 1.60905314e-03 -6.34329308e-03 9.27029669e+01] [-1.59574716e-03 9.99996517e-01 2.10214877e-03 -4.83403613e+00] [ 6.34665346e-03 -2.09198147e-03 9.99977672e-01 -1.82425671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279072329 meters 0.1263348260362378 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99978587e-01 1.60905314e-03 -6.34329308e-03 9.27029669e+01] [-1.59574716e-03 9.99996517e-01 2.10214877e-03 -4.83403613e+00] [ 6.34665346e-03 -2.09198147e-03 9.99977672e-01 -1.82425671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.309072329 meters 0.12491977085484766 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99978098e-01 1.49946397e-03 -6.44637401e-03 9.27035037e+01] [-1.48676574e-03 9.99996946e-01 1.97416510e-03 -4.83403843e+00] [ 6.44931451e-03 -1.96453761e-03 9.99977273e-01 -1.82469666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339072329 meters 0.13196232992855278 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.82 [[ 9.99977730e-01 1.50766929e-03 -6.50132438e-03 9.27036315e+01] [-1.49475433e-03 9.99996901e-01 1.99091284e-03 -4.83416884e+00] [ 6.50430587e-03 -1.98115062e-03 9.99976884e-01 -1.82467946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.369072329 meters 0.12270908924881531 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.83, Z:-1.83 [[ 9.99976929e-01 1.42982003e-03 -6.64049038e-03 9.27041620e+01] [-1.41691197e-03 9.99997099e-01 1.94813913e-03 -4.83444219e+00] [ 6.64325660e-03 -1.93868520e-03 9.99976054e-01 -1.82503201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399072329 meters 0.12278603032801137 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.84, Z:-1.82 [[ 9.99975936e-01 1.54525242e-03 -6.76308986e-03 9.27043213e+01] [-1.53053177e-03 9.99996450e-01 2.18125025e-03 -4.83545647e+00] [ 6.76643644e-03 -2.17084664e-03 9.99974751e-01 -1.82490052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.429072329 meters 0.12802937624258232 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.84, Z:-1.83 [[ 9.99975759e-01 1.50075051e-03 -6.79918700e-03 9.27045077e+01] [-1.48618424e-03 9.99996591e-01 2.14690078e-03 -4.83553751e+00] [ 6.80238578e-03 -2.13674389e-03 9.99974581e-01 -1.82502393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459072329 meters 0.12979928324905796 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.84, Z:-1.83 [[ 9.99975326e-01 1.54642280e-03 -6.85248652e-03 9.27047276e+01] [-1.53128266e-03 9.99996376e-01 2.21413311e-03 -4.83587728e+00] [ 6.85588568e-03 -2.20358539e-03 9.99974070e-01 -1.82520468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.489072329 meters 0.12991844199411223 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.84, Z:-1.83 [[ 9.99974830e-01 1.56678603e-03 -6.91992433e-03 9.27048530e+01] [-1.55138807e-03 9.99996310e-01 2.22997039e-03 -4.83598756e+00] [ 6.92339268e-03 -2.21917877e-03 9.99973571e-01 -1.82515107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519072329 meters 0.12027944876194034 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.83 [[ 9.99974283e-01 1.46956434e-03 -7.01945475e-03 9.27053577e+01] [-1.45464449e-03 9.99996673e-01 2.13013229e-03 -4.83605482e+00] [ 7.02256177e-03 -2.11986670e-03 9.99973095e-01 -1.82556696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.549072329 meters 0.1209357432955748 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.83 [[ 9.99973649e-01 1.60789932e-03 -7.07929437e-03 9.27053027e+01] [-1.59146433e-03 9.99996027e-01 2.32658038e-03 -4.83669037e+00] [ 7.08300715e-03 -2.31525263e-03 9.99972235e-01 -1.82531655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579072329 meters 0.12114420814163047 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.83 [[ 9.99972869e-01 1.61011705e-03 -7.18811390e-03 9.27055035e+01] [-1.59331851e-03 9.99995988e-01 2.34210445e-03 -4.83681753e+00] [ 7.19185612e-03 -2.33058795e-03 9.99971422e-01 -1.82525724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.609072329 meters 0.12010517342863258 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.83 [[ 9.99971740e-01 1.67274048e-03 -7.32945285e-03 9.27057014e+01] [-1.65468310e-03 9.99995583e-01 2.46904598e-03 -4.83742782e+00] [ 7.33355055e-03 -2.45684828e-03 9.99970091e-01 -1.82509628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63907232900002 meters 0.12145646067388212 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99971334e-01 1.85563574e-03 -7.34089708e-03 9.27053632e+01] [-1.83593167e-03 9.99994697e-01 2.68997990e-03 -4.83785644e+00] [ 7.34584977e-03 -2.67642541e-03 9.99969437e-01 -1.82459498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66907232900002 meters 0.11922926336941225 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99970938e-01 1.84436149e-03 -7.39733407e-03 9.27055189e+01] [-1.82448297e-03 9.99994709e-01 2.69310344e-03 -4.83797722e+00] [ 7.40226199e-03 -2.67952886e-03 9.99969013e-01 -1.82462475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69907232900002 meters 0.1218222702470048 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99970608e-01 1.82033283e-03 -7.44775547e-03 9.27057233e+01] [-1.80043131e-03 9.99994793e-01 2.67798207e-03 -4.83815293e+00] [ 7.45259151e-03 -2.66449419e-03 9.99968679e-01 -1.82473700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729072329 meters 0.11893476401849117 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99970066e-01 1.96201417e-03 -7.48444632e-03 9.27056324e+01] [-1.94071114e-03 9.99994048e-01 2.85250915e-03 -4.83855619e+00] [ 7.48999844e-03 -2.83789861e-03 9.99967923e-01 -1.82455353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759072329 meters 0.11726199132244074 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99969724e-01 1.90221096e-03 -7.54534211e-03 9.27060384e+01] [-1.88082876e-03 9.99994199e-01 2.83991197e-03 -4.83895138e+00] [ 7.55070044e-03 -2.82563449e-03 9.99967501e-01 -1.82494486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789072329 meters 0.1182098428497024 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99968899e-01 1.99829184e-03 -7.62935447e-03 9.27061385e+01] [-1.97540452e-03 9.99993530e-01 3.00626093e-03 -4.83958845e+00] [ 7.63531250e-03 -2.99109637e-03 9.99966377e-01 -1.82483046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819072329 meters 0.10622045384214798 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99968463e-01 2.01386498e-03 -7.68229923e-03 9.27062367e+01] [-1.99034544e-03 9.99993313e-01 3.06794178e-03 -4.83996735e+00] [ 7.68842628e-03 -3.05255460e-03 9.99965784e-01 -1.82478414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.849072329 meters 0.11710026318125838 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99968832e-01 2.04012847e-03 -7.62706131e-03 9.27061900e+01] [-2.01593823e-03 9.99992918e-01 3.17797610e-03 -4.84059350e+00] [ 7.63349078e-03 -3.16250136e-03 9.99965864e-01 -1.82484972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879072329 meters 0.12160540728658986 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99968411e-01 2.03500100e-03 -7.68346905e-03 9.27063490e+01] [-2.01042253e-03 9.99992842e-01 3.20524704e-03 -4.84093498e+00] [ 7.68993673e-03 -3.18969877e-03 9.99965345e-01 -1.82486193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.909072329 meters 0.11880591986284791 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99967925e-01 2.21599148e-03 -7.69662736e-03 9.27060914e+01] [-2.18920308e-03 9.99991523e-01 3.48722037e-03 -4.84168790e+00] [ 7.70428977e-03 -3.47025903e-03 9.99964300e-01 -1.82450422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939072329 meters 0.11617941527384325 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99967633e-01 2.23065433e-03 -7.73030462e-03 9.27062003e+01] [-2.20329391e-03 9.99991285e-01 3.54608187e-03 -4.84204059e+00] [ 7.73814734e-03 -3.52893496e-03 9.99963833e-01 -1.82455577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.969072329 meters 0.10690984981028058 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.82 [[ 9.99967240e-01 2.18961841e-03 -7.79262187e-03 9.27065954e+01] [-2.16180421e-03 9.99991270e-01 3.57593506e-03 -4.84261261e+00] [ 7.80038377e-03 -3.55897179e-03 9.99963243e-01 -1.82494012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999072329 meters 0.11812323832622534 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.83 [[ 9.99966785e-01 2.17769539e-03 -7.85409061e-03 9.27069224e+01] [-2.14918348e-03 9.99991077e-01 3.63681403e-03 -4.84321918e+00] [ 7.86194041e-03 -3.61981335e-03 9.99962543e-01 -1.82522217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.029072329 meters 0.1041138120922726 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.84, Z:-1.83 [[ 9.99965604e-01 2.35092686e-03 -7.95384163e-03 9.27069760e+01] [-2.31881746e-03 9.99989135e-01 4.04378391e-03 -4.84488835e+00] [ 7.96326186e-03 -4.02520131e-03 9.99960191e-01 -1.82505024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059072329 meters 0.11544454030084499 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.83 [[ 9.99965430e-01 2.37792320e-03 -7.96767437e-03 9.27070392e+01] [-2.34477342e-03 9.99988568e-01 4.16729600e-03 -4.84556389e+00] [ 7.97749280e-03 -4.14846955e-03 9.99959574e-01 -1.82507570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.089072329 meters 0.1163014182210134 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.83 [[ 9.99965043e-01 2.37508118e-03 -8.01691356e-03 9.27071618e+01] [-2.34116796e-03 9.99988284e-01 4.23694621e-03 -4.84608710e+00] [ 8.02688272e-03 -4.21802916e-03 9.99958888e-01 -1.82506722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119072329 meters 0.11555077095083528 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.83 [[ 9.99964665e-01 2.42731281e-03 -8.04837784e-03 9.27073102e+01] [-2.39149613e-03 9.99987209e-01 4.45681516e-03 -4.84730996e+00] [ 8.05909297e-03 -4.43741001e-03 9.99957679e-01 -1.82517649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.149072329 meters 0.11687343727107469 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.83 [[ 9.99964563e-01 2.50779792e-03 -8.03645140e-03 9.27072130e+01] [-2.47065422e-03 9.99986236e-01 4.62850318e-03 -4.84795935e+00] [ 8.04794814e-03 -4.60848386e-03 9.99956995e-01 -1.82509376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179072329 meters 0.11665751018710327 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.83 [[ 9.99964214e-01 2.53424077e-03 -8.07148780e-03 9.27073664e+01] [-2.49569197e-03 9.99985450e-01 4.78241865e-03 -4.84888950e+00] [ 8.08349016e-03 -4.76210356e-03 9.99955989e-01 -1.82521095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.209072329 meters 0.10590305493014689 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.83 [[ 9.99963355e-01 2.70715965e-03 -8.12157002e-03 9.27074010e+01] [-2.66501067e-03 9.99982949e-01 5.19609761e-03 -4.85073861e+00] [ 8.13549820e-03 -5.17426312e-03 9.99953519e-01 -1.82516749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239072329 meters 0.10438630569844375 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.82 [[ 9.99970590e-01 -6.64443966e-04 -7.64052354e-03 9.27051459e+01] [ 6.76073403e-04 9.99998617e-01 1.51959124e-03 -4.84960223e+00] [ 7.63950329e-03 -1.52471210e-03 9.99969656e-01 -1.82360482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.269072329 meters 0.10464214896461807 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.82 [[ 9.99970577e-01 -4.96596479e-04 -7.65502927e-03 9.27051631e+01] [ 5.10886678e-04 9.99998131e-01 1.86493028e-03 -4.85101259e+00] [ 7.65408884e-03 -1.86878626e-03 9.99968961e-01 -1.82367469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299072329 meters 0.11680398698485064 Centerline is valid? [False, False] Translation: X:92.71, Y:-4.85, Z:-1.82 [[ 9.99971011e-01 -4.90667684e-04 -7.59839012e-03 9.27051652e+01] [ 5.05397684e-04 9.99997997e-01 1.93676982e-03 -4.85149281e+00] [ 7.59742459e-03 -1.94055388e-03 9.99969256e-01 -1.82382680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.329072329 meters 0.10230539656322725 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.85, Z:-1.82 [[ 9.99970951e-01 -2.97919434e-04 -7.61626706e-03 9.27048374e+01] [ 3.14800253e-04 9.99997497e-01 2.21531354e-03 -4.85214326e+00] [ 7.61558801e-03 -2.21764679e-03 9.99968542e-01 -1.82333946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359072329 meters 0.10449299001046422 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.85, Z:-1.82 [[ 9.99970488e-01 -1.52107364e-04 -7.68118907e-03 9.27048319e+01] [ 1.71557777e-04 9.99996781e-01 2.53161850e-03 -4.85348699e+00] [ 7.68077927e-03 -2.53286155e-03 9.99967295e-01 -1.82315488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38907232900002 meters 0.11564648886783209 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.85, Z:-1.82 [[ 9.99970903e-01 -2.11241005e-05 -7.62836515e-03 9.27045479e+01] [ 4.21736217e-05 9.99996192e-01 2.75922482e-03 -4.85417651e+00] [ 7.62827782e-03 -2.75946625e-03 9.99967097e-01 -1.82292757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41907232900002 meters 0.10390432760236148 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.86, Z:-1.82 [[ 9.99969988e-01 7.75778099e-05 -7.74709217e-03 9.27047076e+01] [-5.43888141e-05 9.99995518e-01 2.99341739e-03 -4.85525264e+00] [ 7.74728967e-03 -2.99290620e-03 9.99965510e-01 -1.82281143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449072329 meters 0.10454741349885349 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.86, Z:-1.82 [[ 9.99970014e-01 1.39877651e-04 -7.74286272e-03 9.27046644e+01] [-1.15749613e-04 9.99995137e-01 3.11652540e-03 -4.85574010e+00] [ 7.74326100e-03 -3.11553572e-03 9.99965167e-01 -1.82274827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479072329 meters 0.11569314143200495 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.86, Z:-1.82 [[ 9.99970015e-01 2.00435277e-04 -7.74138926e-03 9.27046121e+01] [-1.75564533e-04 9.99994822e-01 3.21324370e-03 -4.85603985e+00] [ 7.74199322e-03 -3.21178824e-03 9.99964872e-01 -1.82269214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509072329 meters 0.10490493487090162 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.86, Z:-1.82 [[ 9.99969834e-01 1.27877899e-04 -7.76627575e-03 9.27049448e+01] [-1.03358854e-04 9.99995010e-01 3.15743684e-03 -4.85623840e+00] [ 7.76664076e-03 -3.15653888e-03 9.99964857e-01 -1.82306701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539072329 meters 0.10300858484637042 Centerline is valid? [False, False] Translation: X:92.70, Y:-4.86, Z:-1.82 [[ 9.99969836e-01 1.92872509e-04 -7.76466560e-03 9.27049093e+01] [-1.67523560e-04 9.99994655e-01 3.26517236e-03 -4.85665032e+00] [ 7.76525386e-03 -3.26377310e-03 9.99964524e-01 -1.82300959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569072329 meters 0.09977172820547589 Centerline is valid? [False, True] Translation: X:92.71, Y:-4.86, Z:-1.82 [[ 9.99969366e-01 1.87813804e-04 -7.82508234e-03 9.27052175e+01] [-1.61611095e-04 9.99994379e-01 3.34905161e-03 -4.85739478e+00] [ 7.82566735e-03 -3.34768440e-03 9.99963775e-01 -1.82327317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599072329 meters 0.09959794595120512 Centerline is valid? [True, True] Translation: X:92.73, Y:-4.86, Z:-1.83 [[ 9.99960849e-01 7.83641096e-04 -8.81393851e-03 9.27338725e+01] [-7.72444083e-04 9.99998890e-01 1.27370817e-03 -4.86097953e+00] [ 8.81492686e-03 -1.26685003e-03 9.99960345e-01 -1.82528975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.629072329 meters 0.10147869065980097 Centerline is valid? [True, False] Translation: X:92.73, Y:-4.86, Z:-1.82 [[ 9.99960011e-01 8.98007889e-04 -8.89773733e-03 9.27337895e+01] [-8.85207534e-04 9.99998568e-01 1.44244167e-03 -4.86131459e+00] [ 8.89901991e-03 -1.43450765e-03 9.99959374e-01 -1.82494935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659072329 meters 0.09770766375808598 Centerline is valid? [False, True] Translation: X:92.73, Y:-4.86, Z:-1.83 [[ 9.99959270e-01 8.87442016e-04 -8.98168393e-03 9.27340747e+01] [-8.74077835e-04 9.99998505e-01 1.49175315e-03 -4.86182834e+00] [ 8.98299435e-03 -1.48384170e-03 9.99958551e-01 -1.82508456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.689072329 meters 0.10225559186446478 Centerline is valid? [True, False] Translation: X:92.73, Y:-4.86, Z:-1.82 [[ 9.99958977e-01 1.06535156e-03 -8.99491877e-03 9.27336833e+01] [-1.04998446e-03 9.99997982e-01 1.71296945e-03 -4.86216973e+00] [ 8.99672553e-03 -1.70345466e-03 9.99958078e-01 -1.82450887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719072329 meters 0.0985771168414363 Centerline is valid? [False, True] Translation: X:92.73, Y:-4.86, Z:-1.82 [[ 9.99958614e-01 1.15169506e-03 -9.02457989e-03 9.27335626e+01] [-1.13520316e-03 9.99997677e-01 1.83235235e-03 -4.86247450e+00] [ 9.02666924e-03 -1.82203178e-03 9.99957599e-01 -1.82423121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.749072329 meters 0.0985771168414363 Centerline is valid? [True, True] Translation: X:92.76, Y:-4.87, Z:-1.82 [[ 9.99957986e-01 1.07354625e-03 -9.10350060e-03 9.27619896e+01] [-1.06207746e-03 9.99998636e-01 1.26456268e-03 -4.86616127e+00] [ 9.10484576e-03 -1.25484093e-03 9.99957763e-01 -1.82473042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779072329 meters 0.0973927948460235 Centerline is valid? [True, True] Translation: X:92.79, Y:-4.87, Z:-1.83 [[ 9.99954178e-01 2.99876535e-03 -9.09116245e-03 9.27922675e+01] [-2.98740640e-03 9.99994740e-01 1.26277154e-03 -4.86958278e+00] [ 9.09490139e-03 -1.23555468e-03 9.99957877e-01 -1.82525240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.809072329 meters 0.09582098305782162 Centerline is valid? [True, True] Translation: X:92.82, Y:-4.87, Z:-1.83 [[ 9.99951044e-01 3.89587793e-03 -9.09565837e-03 9.28233394e+01] [-3.88454227e-03 9.99991657e-01 1.26360631e-03 -4.87220704e+00] [ 9.10050534e-03 -1.22821198e-03 9.99957835e-01 -1.82548984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839072329 meters 0.09041414842842155 Centerline is valid? [True, True] Translation: X:92.86, Y:-4.87, Z:-1.83 [[ 9.99936694e-01 5.98660726e-03 -9.52722046e-03 9.28550944e+01] [-5.97426171e-03 9.99981278e-01 1.32375084e-03 -4.87035790e+00] [ 9.53496686e-03 -1.26674893e-03 9.99953739e-01 -1.82528898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.869072329 meters 0.10982043159086981 Centerline is valid? [True, False] Translation: X:92.86, Y:-4.87, Z:-1.83 [[ 9.99936532e-01 5.86244398e-03 -9.62104961e-03 9.28556059e+01] [-5.85128122e-03 9.99982175e-01 1.18798277e-03 -4.87031902e+00] [ 9.62784261e-03 -1.13161190e-03 9.99953011e-01 -1.82570786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899072329 meters 0.09540244807641053 Centerline is valid? [False, True] Translation: X:92.86, Y:-4.87, Z:-1.83 [[ 9.99936665e-01 5.79346568e-03 -9.64895129e-03 9.28557602e+01] [-5.78314617e-03 9.99982676e-01 1.09705359e-03 -4.87017673e+00] [ 9.65513987e-03 -1.04118281e-03 9.99952846e-01 -1.82579231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.929072329 meters 0.10935845773851183 Centerline is valid? [True, False] Translation: X:92.86, Y:-4.87, Z:-1.83 [[ 9.99937213e-01 5.75337402e-03 -9.61609214e-03 9.28558437e+01] [-5.74364704e-03 9.99982966e-01 1.03884170e-03 -4.87013479e+00] [ 9.62190518e-03 -9.83545036e-04 9.99953225e-01 -1.82596303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959072329 meters 0.09725493847697332 Centerline is valid? [False, True] Translation: X:92.86, Y:-4.87, Z:-1.83 [[ 9.99937156e-01 5.64814904e-03 -9.68410498e-03 9.28562569e+01] [-5.63929837e-03 9.99983656e-01 9.41001502e-04 -4.87022037e+00] [ 9.68926162e-03 -8.86330809e-04 9.99952665e-01 -1.82633018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.989072329 meters 0.09213481692610942 Centerline is valid? [True, True] Translation: X:92.89, Y:-4.87, Z:-1.83 [[ 9.99932218e-01 6.59755294e-03 -9.59334681e-03 9.28884041e+01] [-6.58535225e-03 9.99977468e-01 1.30281996e-03 -4.86838693e+00] [ 9.60172607e-03 -1.23955608e-03 9.99953134e-01 -1.82569464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019072329 meters 0.0998006602619793 Centerline is valid? [True, True] Translation: X:92.92, Y:-4.88, Z:-1.83 [[ 9.99927004e-01 7.23088738e-03 -9.67987610e-03 9.29176049e+01] [-7.21847048e-03 9.99973079e-01 1.31707819e-03 -4.88340552e+00] [ 9.68913915e-03 -1.24710814e-03 9.99952282e-01 -1.82620693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.049072329 meters 0.09533718373740326 Centerline is valid? [True, True] Translation: X:92.95, Y:-4.88, Z:-1.83 [[ 9.99920699e-01 8.14634319e-03 -9.60381847e-03 9.29495088e+01] [-8.13415789e-03 9.99966063e-01 1.30717693e-03 -4.88296219e+00] [ 9.61414125e-03 -1.22895429e-03 9.99953028e-01 -1.82510854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079072329 meters 0.09582851288354079 Centerline is valid? [True, True] Translation: X:92.98, Y:-4.89, Z:-1.82 [[ 9.99923072e-01 8.63253373e-03 -8.90669821e-03 9.29806121e+01] [-8.62205139e-03 9.99962092e-01 1.21463227e-03 -4.88854973e+00] [ 8.91684592e-03 -1.13774482e-03 9.99959597e-01 -1.82488410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.109072329 meters 0.09421243675569291 Centerline is valid? [True, True] Translation: X:93.01, Y:-4.89, Z:-1.82 [[ 9.99918649e-01 9.33560383e-03 -8.69144512e-03 9.30128321e+01] [-9.32562753e-03 9.99955810e-01 1.18765148e-03 -4.89165615e+00] [ 8.70214849e-03 -1.10650168e-03 9.99961523e-01 -1.82473678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13907232900002 meters 0.09001368392417292 Centerline is valid? [True, True] Translation: X:93.05, Y:-4.89, Z:-1.82 [[ 9.99915904e-01 9.50340800e-03 -8.82435701e-03 9.30455982e+01] [-9.49310879e-03 9.99954209e-01 1.20828791e-03 -4.89145884e+00] [ 8.83543580e-03 -1.12441572e-03 9.99960335e-01 -1.82472387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16907232900002 meters 0.09492254565861868 Centerline is valid? [True, True] Translation: X:93.08, Y:-4.90, Z:-1.83 [[ 9.99909196e-01 1.00494808e-02 -8.97813221e-03 9.30752281e+01] [-1.00388202e-02 9.99948851e-01 1.23167078e-03 -4.90267423e+00] [ 8.99005064e-03 -1.14142908e-03 9.99958937e-01 -1.82525490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199072329 meters 0.09492254565861868 Centerline is valid? [True, True] Translation: X:93.11, Y:-4.91, Z:-1.83 [[ 9.99906088e-01 1.03544670e-02 -8.97775841e-03 9.31074166e+01] [-1.03437944e-02 9.99945740e-01 1.23439237e-03 -4.90735456e+00] [ 8.99005275e-03 -1.14141236e-03 9.99958937e-01 -1.82524420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229072329 meters 0.09463751569175048 Centerline is valid? [True, True] Translation: X:93.14, Y:-4.91, Z:-1.83 [[ 9.99901788e-01 1.04276919e-02 -9.36363926e-03 9.31391356e+01] [-1.04160612e-02 9.99944919e-01 1.29001932e-03 -4.91223198e+00] [ 9.37657543e-03 -1.19236039e-03 9.99955328e-01 -1.82548986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259072329 meters 0.09276046600911712 Centerline is valid? [True, True] Translation: X:93.17, Y:-4.92, Z:-1.83 [[ 9.99897032e-01 1.05121596e-02 -9.76831939e-03 9.31704926e+01] [-1.04994812e-02 9.99943970e-01 1.34829100e-03 -4.91506295e+00] [ 9.78194552e-03 -1.24558988e-03 9.99951380e-01 -1.82531237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289072329 meters 0.09449021189158384 Centerline is valid? [True, True] Translation: X:93.20, Y:-4.92, Z:-1.83 [[ 9.99895801e-01 1.07947139e-02 -9.58446319e-03 9.32015600e+01] [-1.07824941e-02 9.99940988e-01 1.32571841e-03 -4.92263453e+00] [ 9.59820834e-03 -1.22223585e-03 9.99953189e-01 -1.82531632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319072329 meters 0.09625975720411503 Centerline is valid? [True, True] Translation: X:93.23, Y:-4.93, Z:-1.83 [[ 9.99892068e-01 1.10549841e-02 -9.67679019e-03 9.32327773e+01] [-1.10425125e-02 9.99938130e-01 1.34130807e-03 -4.92991482e+00] [ 9.69101962e-03 -1.23430722e-03 9.99952279e-01 -1.82601002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.349072329 meters 0.09647263551631242 Centerline is valid? [True, True] Translation: X:93.26, Y:-4.93, Z:-1.83 [[ 9.99893731e-01 1.08191438e-02 -9.77098613e-03 9.32646420e+01] [-1.08063911e-02 9.99940688e-01 1.35702224e-03 -4.93475346e+00] [ 9.78508841e-03 -1.25128894e-03 9.99951342e-01 -1.82628779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379072329 meters 0.09776110395677957 Centerline is valid? [True, True] Translation: X:93.29, Y:-4.94, Z:-1.83 [[ 9.99892136e-01 1.11321068e-02 -9.58085532e-03 9.32947520e+01] [-1.11198366e-02 9.99937284e-01 1.33302033e-03 -4.94105793e+00] [ 9.59509378e-03 -1.22633900e-03 9.99953214e-01 -1.82658035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.409072329 meters 0.09373980607853954 Centerline is valid? [True, True] Translation: X:93.33, Y:-4.94, Z:-1.83 [[ 9.99894009e-01 1.12053921e-02 -9.29573132e-03 9.33266817e+01] [-1.11938207e-02 9.99936507e-01 1.29589774e-03 -4.94054457e+00] [ 9.30966215e-03 -1.19170564e-03 9.99955954e-01 -1.82543774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439072329 meters 0.09727038390165256 Centerline is valid? [True, True] Translation: X:93.36, Y:-4.95, Z:-1.83 [[ 9.99904692e-01 1.09026613e-02 -8.46985082e-03 9.33563603e+01] [-1.08930260e-02 9.99939970e-01 1.18290901e-03 -4.95065875e+00] [ 8.48223923e-03 -1.09053396e-03 9.99963431e-01 -1.82554218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.469072329 meters 0.0957949873214394 Centerline is valid? [True, True] Translation: X:93.39, Y:-4.95, Z:-1.83 [[ 9.99904179e-01 1.11962490e-02 -8.14111315e-03 9.33885684e+01] [-1.11873362e-02 9.99936771e-01 1.13951468e-03 -4.95396145e+00] [ 8.15335668e-03 -1.04832812e-03 9.99966211e-01 -1.82588290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499072329 meters 0.09509226133238557 Centerline is valid? [True, True] Translation: X:93.42, Y:-4.96, Z:-1.83 [[ 9.99899831e-01 1.10978227e-02 -8.78440740e-03 9.34200129e+01] [-1.10874205e-02 9.99937774e-01 1.23198222e-03 -4.95772514e+00] [ 8.79753310e-03 -1.13446240e-03 9.99960657e-01 -1.82608685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.529072329 meters 0.09416449328611749 Centerline is valid? [True, True] Translation: X:93.45, Y:-4.96, Z:-1.83 [[ 9.99891017e-01 1.14610276e-02 -9.30586400e-03 9.34527723e+01] [-1.14493418e-02 9.99933599e-01 1.30805031e-03 -4.96142014e+00] [ 9.32023768e-03 -1.20136174e-03 9.99955844e-01 -1.82703314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559072329 meters 0.09783274067791077 Centerline is valid? [True, True] Translation: X:93.48, Y:-4.97, Z:-1.83 [[ 9.99878121e-01 1.16192546e-02 -1.04276961e-02 9.34828807e+01] [-1.16045617e-02 9.99931587e-01 1.46842827e-03 -4.97055072e+00] [ 1.04440447e-02 -1.34724045e-03 9.99944552e-01 -1.82990062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.589072329 meters 0.09821727794028495 Centerline is valid? [True, True] Translation: X:93.51, Y:-4.98, Z:-1.83 [[ 9.99884682e-01 1.16035061e-02 -9.79703020e-03 9.35143880e+01] [-1.15905101e-02 9.99931872e-01 1.38226092e-03 -4.97568899e+00] [ 9.81240182e-03 -1.26854894e-03 9.99951053e-01 -1.83032344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619072329 meters 0.10024867874839731 Centerline is valid? [True, False] Translation: X:93.51, Y:-4.97, Z:-1.83 [[ 9.99926626e-01 7.28339740e-03 -9.67963599e-03 9.35143191e+01] [-7.31544114e-03 9.99967865e-01 -3.27915405e-03 -4.97388488e+00] [ 9.65544155e-03 3.34972425e-03 9.99947775e-01 -1.83065874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.649072329 meters 0.09528745144365537 Centerline is valid? [False, True] Translation: X:93.51, Y:-4.97, Z:-1.83 [[ 9.99925550e-01 7.55065736e-03 -9.58546091e-03 9.35135163e+01] [-7.57896823e-03 9.99967014e-01 -2.92064073e-03 -4.97448485e+00] [ 9.56309197e-03 2.99307119e-03 9.99949793e-01 -1.82980609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679072329 meters 0.09373303543646241 Centerline is valid? [True, True] Translation: X:93.55, Y:-4.98, Z:-1.83 [[ 9.99931947e-01 8.13100930e-03 -8.36588715e-03 9.35450250e+01] [-8.12170943e-03 9.99966363e-01 1.14501616e-03 -4.97847434e+00] [ 8.37491588e-03 -1.07699293e-03 9.99964350e-01 -1.82552349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.709072329 meters 0.09451712302118559 Centerline is valid? [True, True] Translation: X:93.58, Y:-4.98, Z:-1.82 [[ 9.99929872e-01 8.57431187e-03 -8.16903459e-03 9.35764477e+01] [-8.56544079e-03 9.99962688e-01 1.12030815e-03 -4.98380149e+00] [ 8.17833566e-03 -1.05025821e-03 9.99966005e-01 -1.82465935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739072329 meters 0.0965269930425796 Centerline is valid? [True, True] Translation: X:93.61, Y:-4.99, Z:-1.83 [[ 9.99925083e-01 9.24931129e-03 -8.01741229e-03 9.36067372e+01] [-9.24077148e-03 9.99956696e-01 1.10154840e-03 -4.99032765e+00] [ 8.02725367e-03 -1.02737880e-03 9.99967253e-01 -1.82608306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.769072329 meters 0.09373254782867951 Centerline is valid? [True, True] Translation: X:93.64, Y:-4.99, Z:-1.83 [[ 9.99921698e-01 9.64963015e-03 -7.96759071e-03 9.36384409e+01] [-9.64119136e-03 9.99952921e-01 1.09687170e-03 -4.99116285e+00] [ 7.97780001e-03 -1.01996875e-03 9.99967657e-01 -1.82617165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799072329 meters 0.09539875270223376 Centerline is valid? [True, True] Translation: X:93.67, Y:-5.00, Z:-1.83 [[ 9.99918906e-01 9.62576024e-03 -8.33818513e-03 9.36701219e+01] [-9.61649830e-03 9.99953099e-01 1.15016801e-03 -4.99772992e+00] [ 8.34886530e-03 -1.06989060e-03 9.99964575e-01 -1.82717722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.829072329 meters 0.099437138954575 Centerline is valid? [True, True] Translation: X:93.70, Y:-5.01, Z:-1.83 [[ 9.99909665e-01 9.86835415e-03 -9.12562393e-03 9.37007617e+01] [-9.85724593e-03 9.99950621e-01 1.26143469e-03 -5.00779060e+00] [ 9.13762159e-03 -1.17136722e-03 9.99957565e-01 -1.82778015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859072329 meters 0.10357273385807625 Centerline is valid? [True, False] Translation: X:93.70, Y:-5.01, Z:-1.83 [[ 9.99943358e-01 5.59172558e-03 -9.05617037e-03 9.37007568e+01] [-5.62154130e-03 9.99978852e-01 -3.27020812e-03 -5.00655044e+00] [ 9.03769274e-03 3.32093252e-03 9.99953645e-01 -1.82807204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88907232900002 meters 0.09701441510527088 Centerline is valid? [False, True] Translation: X:93.70, Y:-5.01, Z:-1.83 [[ 9.99943454e-01 5.70850758e-03 -8.97226160e-03 9.37003364e+01] [-5.73693766e-03 9.99978594e-01 -3.14612731e-03 -5.00659190e+00] [ 8.95410985e-03 3.19742271e-03 9.99954799e-01 -1.82772126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91907232900002 meters 0.0972993335170291 Centerline is valid? [True, True] Translation: X:93.73, Y:-5.01, Z:-1.82 [[ 9.99947078e-01 6.08470727e-03 -8.29564084e-03 9.37316142e+01] [-6.07568355e-03 9.99980924e-01 1.11253471e-03 -5.01275701e+00] [ 8.30225204e-03 -1.06207415e-03 9.99964972e-01 -1.82396841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949072329 meters 0.09411442727610697 Centerline is valid? [True, True] Translation: X:93.76, Y:-5.01, Z:-1.82 [[ 9.99954578e-01 6.58298466e-03 -6.89248903e-03 9.37634638e+01] [-6.57675416e-03 9.99977944e-01 9.26229975e-04 -5.01395206e+00] [ 6.89843437e-03 -8.80857697e-04 9.99975818e-01 -1.82325521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979072329 meters 0.09680470523762366 Centerline is valid? [True, True] Translation: X:93.79, Y:-5.02, Z:-1.82 [[ 9.99953951e-01 6.77336190e-03 -6.79839785e-03 9.37942567e+01] [-6.76729128e-03 9.99976682e-01 9.15556110e-04 -5.02204256e+00] [ 6.80444072e-03 -8.69507211e-04 9.99976471e-01 -1.82280723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009072329 meters 0.10223058494252464 Centerline is valid? [True, False] Translation: X:93.79, Y:-5.02, Z:-1.82 [[ 9.99953890e-01 6.71766008e-03 -6.86226194e-03 9.37945943e+01] [-6.71153007e-03 9.99977058e-01 9.15931317e-04 -5.02249631e+00] [ 6.86825742e-03 -8.69832806e-04 9.99976035e-01 -1.82308304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039072329 meters 0.10337082098510318 Centerline is valid? [False, False] Translation: X:93.79, Y:-5.02, Z:-1.82 [[ 9.99953148e-01 6.89863413e-03 -6.79050975e-03 9.37940833e+01] [-6.89089237e-03 9.99975581e-01 1.16282195e-03 -5.02297705e+00] [ 6.79836581e-03 -1.11597480e-03 9.99976268e-01 -1.82256536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069072329 meters 0.09677816229444325 Centerline is valid? [False, True] Translation: X:93.79, Y:-5.02, Z:-1.82 [[ 9.99951994e-01 7.05910364e-03 -6.79555153e-03 9.37938435e+01] [-7.04927930e-03 9.99974075e-01 1.46857140e-03 -5.02399652e+00] [ 6.80574215e-03 -1.42059716e-03 9.99975832e-01 -1.82222666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099072329 meters 0.09282794928897095 Centerline is valid? [True, True] Translation: X:93.83, Y:-5.02, Z:-1.82 [[ 9.99949196e-01 7.14595565e-03 -7.10924873e-03 9.38263275e+01] [-7.13930249e-03 9.99974053e-01 9.60785206e-04 -5.02353477e+00] [ 7.11593000e-03 -9.09981317e-04 9.99974267e-01 -1.82256564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.129072329 meters 0.09784229541430405 Centerline is valid? [True, True] Translation: X:93.86, Y:-5.04, Z:-1.82 [[ 9.99947395e-01 7.43714403e-03 -7.06372516e-03 9.38557557e+01] [-7.43057480e-03 9.99971936e-01 9.55785229e-04 -5.03558755e+00] [ 7.07063523e-03 -9.03247411e-04 9.99974595e-01 -1.82250059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159072329 meters 0.10461783509826296 Centerline is valid? [True, False] Translation: X:93.86, Y:-5.04, Z:-1.82 [[ 9.99947786e-01 7.32257047e-03 -7.12773539e-03 9.38561586e+01] [-7.31678918e-03 9.99972882e-01 8.36837153e-04 -5.03560640e+00] [ 7.13366990e-03 -7.84641322e-04 9.99974247e-01 -1.82285749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.189072329 meters 0.09778835268320399 Centerline is valid? [False, True] Translation: X:93.86, Y:-5.04, Z:-1.82 [[ 9.99948240e-01 7.24355670e-03 -7.14485689e-03 9.38563442e+01] [-7.23834994e-03 9.99973518e-01 7.54332706e-04 -5.03555756e+00] [ 7.15013173e-03 -7.02576687e-04 9.99974191e-01 -1.82305033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219072329 meters 0.09526034303906998 Centerline is valid? [True, True] Translation: X:93.89, Y:-5.04, Z:-1.82 [[ 9.99946520e-01 8.47841800e-03 -5.92233594e-03 9.38875179e+01] [-8.47384830e-03 9.99963779e-01 7.96271504e-04 -5.03670485e+00] [ 5.92887255e-03 -7.46043943e-04 9.99982146e-01 -1.82357888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.249072329 meters 0.09801164176666838 Centerline is valid? [True, True] Translation: X:93.92, Y:-5.04, Z:-1.82 [[ 9.99938325e-01 9.17714855e-03 -6.25516672e-03 9.39178906e+01] [-9.17205553e-03 9.99957581e-01 8.42411346e-04 -5.04470132e+00] [ 6.26263232e-03 -7.84986654e-04 9.99980081e-01 -1.82329793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279072329 meters 0.08613213582377738 Centerline is valid? [True, True] Translation: X:93.95, Y:-5.03, Z:-1.82 [[ 9.99925172e-01 1.00746628e-02 -6.93914917e-03 9.39518326e+01] [-1.00684027e-02 9.99948874e-01 9.36478945e-04 -5.03348041e+00] [ 6.94822911e-03 -8.66542721e-04 9.99975485e-01 -1.82295635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.309072329 meters 0.0925138489530708 Centerline is valid? [True, True] Translation: X:93.98, Y:-5.05, Z:-1.83 [[ 9.99906674e-01 1.16445775e-02 -7.14475273e-03 9.39799177e+01] [-1.16379755e-02 9.99931811e-01 9.64921988e-04 -5.04634494e+00] [ 7.15550165e-03 -8.81681479e-04 9.99974010e-01 -1.82507081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339072329 meters 0.09769872313094675 Centerline is valid? [True, True] Translation: X:94.01, Y:-5.06, Z:-1.82 [[ 9.99899052e-01 1.23716253e-02 -6.98768412e-03 9.40102144e+01] [-1.23653157e-02 9.99923100e-01 9.45433507e-04 -5.05752498e+00] [ 6.99884332e-03 -8.58933147e-04 9.99975139e-01 -1.82486432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.369072329 meters 0.08831124205091159 Centerline is valid? [True, True] Translation: X:94.04, Y:-5.05, Z:-1.82 [[ 9.99887263e-01 1.34523059e-02 -6.67059593e-03 9.40432910e+01] [-1.34465762e-02 9.99909183e-01 9.03068719e-04 -5.04953720e+00] [ 6.68213848e-03 -8.13270234e-04 9.99977344e-01 -1.82326266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399072329 meters 0.08440721026454649 Centerline is valid? [True, True] Translation: X:94.08, Y:-5.05, Z:-1.82 [[ 9.99871438e-01 1.46987134e-02 -6.40741507e-03 9.40756434e+01] [-1.46934496e-02 9.99891669e-01 8.67823002e-04 -5.04855299e+00] [ 6.41947682e-03 -7.73564403e-04 9.99979096e-01 -1.82246761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.429072329 meters 0.08378939825544247 Centerline is valid? [True, True] Translation: X:94.11, Y:-5.05, Z:-1.82 [[ 9.99834112e-01 1.70950543e-02 -6.28549664e-03 9.41057967e+01] [-1.70900351e-02 9.99853592e-01 8.51386207e-04 -5.05129494e+00] [ 6.29913089e-03 -7.43825614e-04 9.99979884e-01 -1.82205077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459072329 meters 0.08064966320802437 Centerline is valid? [True, True] Translation: X:94.14, Y:-5.05, Z:-1.82 [[ 9.99808741e-01 1.85250251e-02 -6.26942697e-03 9.41380804e+01] [-1.85200571e-02 9.99828128e-01 8.49549935e-04 -5.05114371e+00] [ 6.28408736e-03 -7.33277305e-04 9.99979986e-01 -1.82218029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.489072329 meters 0.09060921279778525 Centerline is valid? [True, True] Translation: X:94.17, Y:-5.07, Z:-1.82 [[ 9.99741790e-01 2.18098307e-02 -6.37837770e-03 9.41661326e+01] [-2.18047542e-02 9.99761874e-01 8.64353978e-04 -5.06818578e+00] [ 6.39571025e-03 -7.25051835e-04 9.99979284e-01 -1.82433386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519072329 meters 0.08124727816674944 Centerline is valid? [True, True] Translation: X:94.20, Y:-5.06, Z:-1.82 [[ 9.99706949e-01 2.32761892e-02 -6.65096777e-03 9.41994777e+01] [-2.32706993e-02 9.99728794e-01 9.01641752e-04 -5.05974422e+00] [ 6.67015077e-03 -7.46604854e-04 9.99977476e-01 -1.82426253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.549072329 meters 0.08701988029762636 Centerline is valid? [True, True] Translation: X:94.23, Y:-5.07, Z:-1.83 [[ 9.99680190e-01 2.45578382e-02 -6.03573635e-03 9.42286378e+01] [-2.45533392e-02 9.99698186e-01 8.18380931e-04 -5.07119978e+00] [ 6.05401235e-03 -6.69921722e-04 9.99981450e-01 -1.82505880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579072329 meters 0.0768486071774488 Centerline is valid? [True, True] Translation: X:94.26, Y:-5.06, Z:-1.82 [[ 9.99583773e-01 2.83811526e-02 -5.17597715e-03 9.42609150e+01] [-2.83778946e-02 9.99597020e-01 7.01812277e-04 -5.06159225e+00] [ 5.19380957e-03 -5.54636830e-04 9.99986358e-01 -1.82350846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.609072329 meters 0.07490754812142314 Centerline is valid? [True, True] Translation: X:94.29, Y:-5.06, Z:-1.82 [[ 9.99526480e-01 3.03196107e-02 -5.24752524e-03 9.42920817e+01] [-3.03162880e-02 9.99540102e-01 7.11600967e-04 -5.06247762e+00] [ 5.26668738e-03 -5.52178524e-04 9.99985978e-01 -1.82320506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63907232900002 meters 0.07461232203203622 Centerline is valid? [True, True] Translation: X:94.32, Y:-5.07, Z:-1.82 [[ 9.99477875e-01 3.18366157e-02 -5.51434452e-03 9.43234376e+01] [-3.18329682e-02 9.99492923e-01 7.47986648e-04 -5.06558764e+00] [ 5.53536168e-03 -5.72058151e-04 9.99984516e-01 -1.82337223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66907232900002 meters 0.07261596284605518 Centerline is valid? [True, True] Translation: X:94.35, Y:-5.07, Z:-1.82 [[ 9.99407944e-01 3.39277585e-02 -5.71565342e-03 9.43547047e+01] [-3.39238730e-02 9.99424119e-01 7.75420312e-04 -5.06636702e+00] [ 5.73867016e-03 -5.81064120e-04 9.99983365e-01 -1.82388779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699072329 meters 0.07162952936972353 Centerline is valid? [True, True] Translation: X:94.38, Y:-5.07, Z:-1.83 [[ 9.99267349e-01 3.77947204e-02 -6.02694032e-03 9.43843156e+01] [-3.77904703e-02 9.99285351e-01 8.17557601e-04 -5.06735505e+00] [ 6.05353254e-03 -5.89197708e-04 9.99981504e-01 -1.82559119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729072329 meters 0.07049006842115181 Centerline is valid? [True, True] Translation: X:94.42, Y:-5.07, Z:-1.83 [[ 9.99181354e-01 3.98565528e-02 -6.93372516e-03 9.44153999e+01] [-3.98509758e-02 9.99205192e-01 9.40684584e-04 -5.06939490e+00] [ 6.96570662e-03 -6.63598783e-04 9.99975519e-01 -1.82607542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759072329 meters 0.06455509774329075 Centerline is valid? [True, True] Translation: X:94.45, Y:-5.06, Z:-1.83 [[ 9.99058476e-01 4.29147142e-02 -6.36302682e-03 9.44467859e+01] [-4.29100786e-02 9.99078565e-01 8.63323644e-04 -5.06482361e+00] [ 6.39421300e-03 -5.89472824e-04 9.99979383e-01 -1.82547246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789072329 meters 0.06757739873496017 Centerline is valid? [True, True] Translation: X:94.48, Y:-5.07, Z:-1.83 [[ 9.98989285e-01 4.45080678e-02 -6.28021923e-03 9.44762985e+01] [-4.45035826e-02 9.99008861e-01 8.52205522e-04 -5.07264634e+00] [ 6.31192469e-03 -5.71851929e-04 9.99979916e-01 -1.82585529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819072329 meters 0.0792774339500355 Centerline is valid? [True, True] Translation: X:94.50, Y:-5.09, Z:-1.83 [[ 9.98925108e-01 4.59658185e-02 -5.98095910e-03 9.45045319e+01] [-4.59617751e-02 9.98942869e-01 8.11810698e-04 -5.09185278e+00] [ 6.01195198e-03 -5.36042592e-04 9.99981784e-01 -1.82719524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.849072329 meters 0.061151716369861046 Centerline is valid? [True, True] Translation: X:94.54, Y:-5.07, Z:-1.83 [[ 9.98869712e-01 4.72081441e-02 -5.53976637e-03 9.45385946e+01] [-4.72046930e-02 9.98884954e-01 7.52144613e-04 -5.07149904e+00] [ 5.56909663e-03 -4.89791502e-04 9.99984373e-01 -1.82631166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879072329 meters 0.06094790869835877 Centerline is valid? [True, True] Translation: X:94.57, Y:-5.08, Z:-1.83 [[ 9.98811605e-01 4.84704768e-02 -5.09812765e-03 9.45694961e+01] [-4.84675693e-02 9.98824517e-01 6.92382843e-04 -5.07516030e+00] [ 5.12569501e-03 -4.44466164e-04 9.99986765e-01 -1.82632028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.909072329 meters 0.06321764041720088 Centerline is valid? [True, True] Translation: X:94.60, Y:-5.08, Z:-1.83 [[ 9.98693599e-01 5.08068129e-02 -5.45550038e-03 9.45983737e+01] [-5.08035184e-02 9.98708393e-01 7.40856697e-04 -5.08144905e+00] [ 5.48609458e-03 -4.62730228e-04 9.99984844e-01 -1.82718513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939072329 meters 0.06310269883916318 Centerline is valid? [True, True] Translation: X:94.63, Y:-5.09, Z:-1.83 [[ 9.98636386e-01 5.19500856e-02 -5.15344008e-03 9.46291272e+01] [-5.19471602e-02 9.98649589e-01 6.99991412e-04 -5.08539011e+00] [ 5.18284543e-03 -4.31330316e-04 9.99986476e-01 -1.82688251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.969072329 meters 0.061914064795262916 Centerline is valid? [True, True] Translation: X:94.66, Y:-5.09, Z:-1.83 [[ 9.98575867e-01 5.31539271e-02 -4.57148239e-03 9.46606404e+01] [-5.31516328e-02 9.98586259e-01 6.21985186e-04 -5.08855354e+00] [ 4.59808046e-03 -3.78117642e-04 9.99989357e-01 -1.82546337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999072329 meters 0.057034192596579054 Centerline is valid? [True, True] Translation: X:94.69, Y:-5.09, Z:-1.82 [[ 9.98481737e-01 5.49656720e-02 -3.60483232e-03 9.46922392e+01] [-5.49642562e-02 9.98488202e-01 4.90730239e-04 -5.08639524e+00] [ 3.62635586e-03 -2.91848255e-04 9.99993382e-01 -1.82370360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.029072329 meters 0.0606585506198984 Centerline is valid? [True, True] Translation: X:94.72, Y:-5.10, Z:-1.82 [[ 9.98439190e-01 5.57436155e-02 -3.43992583e-03 9.47218379e+01] [-5.57423284e-02 9.98445078e-01 4.68989143e-04 -5.09550557e+00] [ 3.46072017e-03 -2.76507664e-04 9.99993973e-01 -1.82338030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059072329 meters 0.05979344392539815 Centerline is valid? [True, True] Translation: X:94.75, Y:-5.10, Z:-1.82 [[ 9.98385492e-01 5.66979767e-02 -3.42762829e-03 9.47540614e+01] [-5.66967012e-02 9.98391339e-01 4.68206435e-04 -5.09866531e+00] [ 3.44866076e-03 -2.73115295e-04 9.99994016e-01 -1.82372583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.089072329 meters 0.05979344392539815 Centerline is valid? [True, True] Translation: X:94.79, Y:-5.10, Z:-1.82 [[ 9.98368660e-01 5.69936022e-02 -3.42749320e-03 9.47861169e+01] [-5.69923251e-02 9.98374506e-01 4.69194174e-04 -5.10328467e+00] [ 3.44866289e-03 -2.73087952e-04 9.99994016e-01 -1.82370184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119072329 meters 0.06204176949964918 Centerline is valid? [True, True] Translation: X:94.82, Y:-5.11, Z:-1.83 [[ 9.98317298e-01 5.78424005e-02 -4.10223315e-03 9.48165584e+01] [-5.78405751e-02 9.98325674e-01 5.62329739e-04 -5.11042397e+00] [ 4.12789118e-03 -3.24107982e-04 9.99991428e-01 -1.82532528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.149072329 meters 0.06245281096490668 Centerline is valid? [True, True] Translation: X:94.85, Y:-5.12, Z:-1.83 [[ 9.98302177e-01 5.80705657e-02 -4.53566583e-03 9.48490540e+01] [-5.80683309e-02 9.98312416e-01 6.22981145e-04 -5.11525918e+00] [ 4.56418838e-03 -3.58544890e-04 9.99989520e-01 -1.82682257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179072329 meters 0.058951392191501716 Centerline is valid? [True, True] Translation: X:94.88, Y:-5.12, Z:-1.83 [[ 9.98238581e-01 5.90989313e-02 -5.20107289e-03 9.48815471e+01] [-5.90959991e-02 9.98252048e-01 7.15801015e-04 -5.11564997e+00] [ 5.23428473e-03 -4.07177591e-04 9.99986218e-01 -1.82779167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.209072329 meters 0.05637622139103413 Centerline is valid? [True, True] Translation: X:94.91, Y:-5.12, Z:-1.83 [[ 9.98208828e-01 5.95749549e-02 -5.47355097e-03 9.49138189e+01] [-5.95717063e-02 9.98223744e-01 7.54786568e-04 -5.11705128e+00] [ 5.50879492e-03 -4.27365845e-04 9.99984735e-01 -1.82748902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239072329 meters 0.05424932877459336 Centerline is valid? [True, True] Translation: X:94.95, Y:-5.12, Z:-1.83 [[ 9.98200449e-01 5.97994614e-02 -4.45967582e-03 9.49464245e+01] [-5.97973047e-02 9.98210350e-01 6.15505645e-04 -5.11926270e+00] [ 4.48850147e-03 -3.47721417e-04 9.99989866e-01 -1.82668748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.269072329 meters 0.05638222249311458 Centerline is valid? [True, True] Translation: X:94.98, Y:-5.13, Z:-1.83 [[ 9.98213296e-01 5.96781065e-02 -2.95615594e-03 9.49769609e+01] [-5.96771566e-02 9.98217647e-01 4.08611528e-04 -5.12724654e+00] [ 2.97527218e-03 -2.31466480e-04 9.99995547e-01 -1.82531601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299072329 meters 0.06056529280964842 Centerline is valid? [True, True] Translation: X:95.01, Y:-5.14, Z:-1.83 [[ 9.98188681e-01 6.00720737e-02 -3.27143852e-03 9.50078051e+01] [-6.00709093e-02 9.98194009e-01 4.53124573e-04 -5.13808150e+00] [ 3.29275046e-03 -2.55785534e-04 9.99994546e-01 -1.82557151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.329072329 meters 0.05398809754808642 Centerline is valid? [True, True] Translation: X:95.04, Y:-5.13, Z:-1.83 [[ 9.98189408e-01 6.00591624e-02 -3.28676944e-03 9.50407534e+01] [-6.00579839e-02 9.98194786e-01 4.56166047e-04 -5.13416057e+00] [ 3.30823306e-03 -2.57943370e-04 9.99994495e-01 -1.82507042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359072329 meters 0.057986283367759475 Centerline is valid? [True, True] Translation: X:95.07, Y:-5.14, Z:-1.83 [[ 9.98218571e-01 5.95659444e-02 -3.40339519e-03 9.50704305e+01] [-5.95646749e-02 9.98224336e-01 4.73243865e-04 -5.14365361e+00] [ 3.42554112e-03 -2.69678686e-04 9.99994096e-01 -1.82626671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38907232900002 meters 0.05463693976502094 Centerline is valid? [True, True] Translation: X:95.10, Y:-5.15, Z:-1.83 [[ 9.98224962e-01 5.94264854e-02 -3.92650886e-03 9.51020875e+01] [-5.94247903e-02 9.98232636e-01 5.47084643e-04 -5.14515458e+00] [ 3.95208061e-03 -3.12781581e-04 9.99992142e-01 -1.82622263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41907232900002 meters 0.05600535934763127 Centerline is valid? [True, True] Translation: X:95.13, Y:-5.15, Z:-1.83 [[ 9.98211059e-01 5.96727547e-02 -3.72066040e-03 9.51336256e+01] [-5.96712303e-02 9.98217949e-01 5.19480319e-04 -5.15205079e+00] [ 3.74502881e-03 -2.96534616e-04 9.99992943e-01 -1.82677646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449072329 meters 0.05404225236689529 Centerline is valid? [True, True] Translation: X:95.17, Y:-5.15, Z:-1.83 [[ 9.98203390e-01 5.97386163e-02 -4.61406097e-03 9.51658614e+01] [-5.97362663e-02 9.98213986e-01 6.45572309e-04 -5.15475796e+00] [ 4.64438579e-03 -3.68785693e-04 9.99989147e-01 -1.82599490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479072329 meters 0.06362885263858489 Centerline is valid? [True, True] Translation: X:95.20, Y:-5.17, Z:-1.83 [[ 9.98200835e-01 5.98323724e-02 -3.89608814e-03 9.51959251e+01] [-5.98306944e-02 9.98208390e-01 5.45920275e-04 -5.17266006e+00] [ 3.92177158e-03 -3.11832415e-04 9.99992261e-01 -1.82674591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509072329 meters 0.059223211801140825 Centerline is valid? [True, True] Translation: X:95.23, Y:-5.17, Z:-1.83 [[ 9.98167713e-01 6.03214815e-02 -4.74717002e-03 9.52278561e+01] [-6.03189899e-02 9.98178930e-01 6.66420327e-04 -5.17228939e+00] [ 4.77872455e-03 -3.78854753e-04 9.99988510e-01 -1.82700632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539072329 meters 0.05441603368176394 Centerline is valid? [True, True] Translation: X:95.26, Y:-5.17, Z:-1.83 [[ 9.98149878e-01 6.06446082e-02 -4.36483167e-03 9.52614391e+01] [-6.06424990e-02 9.98159361e-01 6.14084657e-04 -5.17091211e+00] [ 4.39403852e-03 -3.48254225e-04 9.99990286e-01 -1.82737206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569072329 meters 0.05306807325603037 Centerline is valid? [True, True] Translation: X:95.29, Y:-5.17, Z:-1.83 [[ 9.98131018e-01 6.09686022e-02 -4.15933019e-03 9.52942995e+01] [-6.09666841e-02 9.98139629e-01 5.86502344e-04 -5.17429697e+00] [ 4.18735052e-03 -3.31825612e-04 9.99991178e-01 -1.82801641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599072329 meters 0.056391673922648385 Centerline is valid? [True, True] Translation: X:95.32, Y:-5.18, Z:-1.83 [[ 9.98136454e-01 6.08569299e-02 -4.47803754e-03 9.53239502e+01] [-6.08547000e-02 9.98146435e-01 6.32671075e-04 -5.18421756e+00] [ 4.50823962e-03 -3.58982433e-04 9.99989773e-01 -1.82894958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.629072329 meters 0.05685414807472882 Centerline is valid? [True, True] Translation: X:95.36, Y:-5.19, Z:-1.83 [[ 9.98117745e-01 6.11255362e-02 -4.96341535e-03 9.53560649e+01] [-6.11227924e-02 9.98130007e-01 7.02777344e-04 -5.19047147e+00] [ 4.99709144e-03 -3.98076732e-04 9.99987435e-01 -1.82868656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659072329 meters 0.05433766146845611 Centerline is valid? [True, True] Translation: X:95.39, Y:-5.19, Z:-1.83 [[ 9.98128433e-01 6.10151526e-02 -4.09662065e-03 9.53877656e+01] [-6.10132778e-02 9.98136785e-01 5.81178827e-04 -5.19231591e+00] [ 4.12444848e-03 -3.30142858e-04 9.99991440e-01 -1.82804625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.689072329 meters 0.056174998988797686 Centerline is valid? [True, True] Translation: X:95.42, Y:-5.20, Z:-1.83 [[ 9.98099858e-01 6.14415261e-02 -4.64890742e-03 9.54179715e+01] [-6.14391105e-02 9.98110615e-01 6.60777626e-04 -5.20019148e+00] [ 4.68072303e-03 -3.73897318e-04 9.99988975e-01 -1.82710171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719072329 meters 0.05418595990638367 Centerline is valid? [True, True] Translation: X:95.45, Y:-5.20, Z:-1.83 [[ 9.98082812e-01 6.17979246e-02 -3.42297927e-03 9.54508053e+01] [-6.17966137e-02 9.98088644e-01 4.87530984e-04 -5.20249610e+00] [ 3.44656514e-03 -2.75067768e-04 9.99994023e-01 -1.82656447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.749072329 meters 0.058433645193103324 Centerline is valid? [True, True] Translation: X:95.48, Y:-5.21, Z:-1.83 [[ 9.98027184e-01 6.27200344e-02 -2.81719438e-03 9.54805924e+01] [-6.27191480e-02 9.98031135e-01 4.01979665e-04 -5.21332106e+00] [ 2.83685988e-03 -2.24494602e-04 9.99995951e-01 -1.82526811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779072329 meters 0.05442594727635725 Centerline is valid? [True, True] Translation: X:95.51, Y:-5.21, Z:-1.82 [[ 9.97969239e-01 6.36391972e-02 -2.72975448e-03 9.55133218e+01] [-6.36383664e-02 9.97972949e-01 3.90238021e-04 -5.21284756e+00] [ 2.74905556e-03 -2.15728425e-04 9.99996198e-01 -1.82489132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.809072329 meters 0.05676258459537265 Centerline is valid? [True, True] Translation: X:95.54, Y:-5.22, Z:-1.82 [[ 9.97909881e-01 6.45766746e-02 -2.39196956e-03 9.55439821e+01] [-6.45760378e-02 9.97912731e-01 3.42581414e-04 -5.22106838e+00] [ 2.40909965e-03 -1.87401461e-04 9.99997081e-01 -1.82482342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839072329 meters 0.054853771592347014 Centerline is valid? [True, True] Translation: X:95.58, Y:-5.22, Z:-1.83 [[ 9.97814222e-01 6.60452445e-02 -2.19164577e-03 9.55757589e+01] [-6.60447122e-02 9.97816615e-01 3.14469827e-04 -5.22314254e+00] [ 2.20762980e-03 -1.69035853e-04 9.99997549e-01 -1.82550201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.869072329 meters 0.05444082716139303 Centerline is valid? [True, True] Translation: X:95.61, Y:-5.23, Z:-1.83 [[ 9.97751703e-01 6.69487466e-02 -3.06680055e-03 9.56077924e+01] [-6.69477057e-02 9.97756388e-01 4.40952432e-04 -5.22754022e+00] [ 3.08944106e-03 -2.34645779e-04 9.99995200e-01 -1.82614739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899072329 meters 0.05356898106550521 Centerline is valid? [True, True] Translation: X:95.64, Y:-5.23, Z:-1.83 [[ 9.97712223e-01 6.75299190e-02 -3.16695021e-03 9.56398846e+01] [-6.75288091e-02 9.97717220e-01 4.56222517e-04 -5.23084004e+00] [ 3.19052943e-03 -2.41318405e-04 9.99994881e-01 -1.82732200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.929072329 meters 0.05505568589257636 Centerline is valid? [True, True] Translation: X:95.67, Y:-5.24, Z:-1.83 [[ 9.97644428e-01 6.85272566e-02 -3.10021178e-03 9.56700764e+01] [-6.85261952e-02 9.97649217e-01 4.47399643e-04 -5.23753479e+00] [ 3.12358293e-03 -2.33900043e-04 9.99995094e-01 -1.82779024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959072329 meters 0.056362551344520215 Centerline is valid? [True, True] Translation: X:95.70, Y:-5.24, Z:-1.83 [[ 9.97541869e-01 6.99940923e-02 -3.32360172e-03 9.57008980e+01] [-6.99928777e-02 9.97547375e-01 4.80521026e-04 -5.24429040e+00] [ 3.34908381e-03 -2.46711393e-04 9.99994361e-01 -1.82756500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.989072329 meters 0.05047295786076328 Centerline is valid? [True, True] Translation: X:95.73, Y:-5.24, Z:-1.83 [[ 9.97486457e-01 7.07897781e-02 -3.09428559e-03 9.57342132e+01] [-7.07887278e-02 9.97491231e-01 4.47780975e-04 -5.24140427e+00] [ 3.11822106e-03 -2.27614918e-04 9.99995112e-01 -1.82646708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019072329 meters 0.05223285831130275 Centerline is valid? [True, True] Translation: X:95.76, Y:-5.25, Z:-1.83 [[ 9.97452546e-01 7.13018325e-02 -2.11379974e-03 9.57649258e+01] [-7.13013426e-02 9.97454773e-01 3.06295220e-04 -5.24856860e+00] [ 2.13025905e-03 -1.54798187e-04 9.99997719e-01 -1.82577427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.049072329 meters 0.0507869246354407 Centerline is valid? [True, True] Translation: X:95.80, Y:-5.25, Z:-1.82 [[ 9.97383366e-01 7.22662544e-02 -2.00252316e-03 9.57965861e+01] [-7.22658156e-02 9.97385366e-01 2.90694858e-04 -5.25143562e+00] [ 2.01829473e-03 -1.45220246e-04 9.99997953e-01 -1.82475011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079072329 meters 0.0531187573531824 Centerline is valid? [True, True] Translation: X:95.83, Y:-5.26, Z:-1.82 [[ 9.97310264e-01 7.32811528e-02 -1.45284816e-03 9.58270385e+01] [-7.32809226e-02 9.97311316e-01 2.11158625e-04 -5.25942789e+00] [ 1.46441586e-03 -1.04124610e-04 9.99998922e-01 -1.82462657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.109072329 meters 0.04940401843559327 Centerline is valid? [True, True] Translation: X:95.86, Y:-5.26, Z:-1.83 [[ 9.97304695e-01 7.33575264e-02 -1.42057543e-03 9.58590875e+01] [-7.33573059e-02 9.97305702e-01 2.06769846e-04 -5.25884320e+00] [ 1.43191610e-03 -1.02002951e-04 9.99998970e-01 -1.82520057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13907232900002 meters 0.05079827108704785 Centerline is valid? [True, True] Translation: X:95.89, Y:-5.27, Z:-1.83 [[ 9.97261129e-01 7.39080178e-02 -2.80088489e-03 9.58891646e+01] [-7.39071602e-02 9.97265042e-01 4.08602793e-04 -5.26523444e+00] [ 2.82342361e-03 -2.00478234e-04 9.99995994e-01 -1.82746141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16907232900002 meters 0.048224321579740166 Centerline is valid? [True, True] Translation: X:95.92, Y:-5.27, Z:-1.83 [[ 9.97242463e-01 7.41462939e-02 -3.12997490e-03 9.59224279e+01] [-7.41452211e-02 9.97247350e-01 4.57588408e-04 -5.26686511e+00] [ 3.15528765e-03 -2.24253911e-04 9.99994997e-01 -1.82805510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199072329 meters 0.051219227096665494 Centerline is valid? [True, True] Translation: X:95.95, Y:-5.28, Z:-1.83 [[ 9.97238315e-01 7.42047348e-02 -3.06612368e-03 9.59520211e+01] [-7.42037030e-02 9.97243004e-01 4.49084793e-04 -5.27572781e+00] [ 3.09099461e-03 -2.20326831e-04 9.99995199e-01 -1.82846342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229072329 meters 0.04981001190102407 Centerline is valid? [True, True] Translation: X:95.98, Y:-5.28, Z:-1.83 [[ 9.97250052e-01 7.40581535e-02 -2.77912202e-03 9.59839784e+01] [-7.40573031e-02 9.97253904e-01 4.07784602e-04 -5.27879980e+00] [ 2.80169006e-03 -2.00848934e-04 9.99996055e-01 -1.82734406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259072329 meters 0.05209644281866063 Centerline is valid? [True, True] Translation: X:96.01, Y:-5.29, Z:-1.83 [[ 9.97282619e-01 7.36604895e-02 -1.22847622e-03 9.60139647e+01] [-7.36603227e-02 9.97283372e-01 1.80472099e-04 -5.28703851e+00] [ 1.23843257e-03 -8.94917328e-05 9.99999229e-01 -1.82513988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289072329 meters 0.05202561659614814 Centerline is valid? [True, True] Translation: X:96.05, Y:-5.29, Z:-1.82 [[ 9.97264323e-01 7.39020044e-02 -1.53769709e-03 9.60465560e+01] [-7.39017428e-02 9.97265502e-01 2.26381010e-04 -5.29244020e+00] [ 1.55022227e-03 -1.12123210e-04 9.99998792e-01 -1.82449252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319072329 meters 0.052280197872841654 Centerline is valid? [True, True] Translation: X:96.08, Y:-5.30, Z:-1.82 [[ 9.97319457e-01 7.31575123e-02 -1.37113328e-03 9.60780512e+01] [-7.31573030e-02 9.97320394e-01 2.02234700e-04 -5.29712567e+00] [ 1.38225417e-03 -1.01384188e-04 9.99999040e-01 -1.82493132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.349072329 meters 0.051337907316703686 Centerline is valid? [True, True] Translation: X:96.11, Y:-5.30, Z:-1.83 [[ 9.97312574e-01 7.32441001e-02 -1.71203868e-03 9.61096344e+01] [-7.32437730e-02 9.97314036e-01 2.53033816e-04 -5.30053871e+00] [ 1.72597343e-03 -1.26957634e-04 9.99998502e-01 -1.82611865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379072329 meters 0.0512159741239018 Centerline is valid? [True, True] Translation: X:96.14, Y:-5.30, Z:-1.83 [[ 9.97324349e-01 7.30783990e-02 -1.92124805e-03 9.61411204e+01] [-7.30779858e-02 9.97326189e-01 2.84508695e-04 -5.30495095e+00] [ 1.93690244e-03 -1.43346511e-04 9.99998114e-01 -1.82664066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.409072329 meters 0.05069021963975298 Centerline is valid? [True, True] Translation: X:96.17, Y:-5.31, Z:-1.83 [[ 9.97312637e-01 7.32393328e-02 -1.87197515e-03 9.61735767e+01] [-7.32389397e-02 9.97314384e-01 2.77772443e-04 -5.30954139e+00] [ 1.88729161e-03 -1.39924492e-04 9.99998209e-01 -1.82668637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439072329 meters 0.0500627812396043 Centerline is valid? [True, True] Translation: X:96.21, Y:-5.31, Z:-1.82 [[ 9.97292055e-01 7.35147665e-02 -2.03399040e-03 9.62056245e+01] [-7.35143016e-02 9.97294117e-01 3.02483468e-04 -5.31372041e+00] [ 2.05072366e-03 -1.52136975e-04 9.99997886e-01 -1.82499873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.469072329 meters 0.05484119300711677 Centerline is valid? [True, True] Translation: X:96.24, Y:-5.32, Z:-1.83 [[ 9.97259487e-01 7.39632398e-02 -1.71878519e-03 9.62357660e+01] [-7.39629078e-02 9.97260960e-01 2.56060557e-04 -5.32479108e+00] [ 1.73301643e-03 -1.28232469e-04 9.99998490e-01 -1.82508033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499072329 meters 0.05243092127007079 Centerline is valid? [True, True] Translation: X:96.27, Y:-5.33, Z:-1.83 [[ 9.97230815e-01 7.43567204e-02 -1.33420667e-03 9.62683506e+01] [-7.43565202e-02 9.97231702e-01 1.99101513e-04 -5.32591531e+00] [ 1.34531773e-03 -9.93431989e-05 9.99999090e-01 -1.82523884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.529072329 meters 0.05388225177191711 Centerline is valid? [True, True] Translation: X:96.30, Y:-5.33, Z:-1.83 [[ 9.97209125e-01 7.46582011e-02 -3.38722358e-04 9.62996297e+01] [-7.46581883e-02 9.97209182e-01 5.04918412e-05 -5.33221588e+00] [ 3.41546675e-04 -2.50625272e-05 9.99999941e-01 -1.82544735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559072329 meters 0.053503489343582705 Centerline is valid? [True, True] Translation: X:96.33, Y:-5.34, Z:-1.83 [[ 9.97178490e-01 7.50552766e-02 -1.32839413e-03 9.63313066e+01] [-7.50550777e-02 9.97179370e-01 1.99006321e-04 -5.33634672e+00] [ 1.33958370e-03 -9.87420984e-05 9.99999098e-01 -1.82595173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.589072329 meters 0.05212072869920005 Centerline is valid? [True, True] Translation: X:96.36, Y:-5.34, Z:-1.83 [[ 9.97159963e-01 7.53118728e-02 -3.61648265e-04 9.63642618e+01] [-7.53118581e-02 9.97160028e-01 5.41171220e-05 -5.33910575e+00] [ 3.64696855e-04 -2.67270246e-05 9.99999933e-01 -1.82561231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619072329 meters 0.05132583024745218 Centerline is valid? [True, True] Translation: X:96.40, Y:-5.34, Z:-1.83 [[ 9.97083348e-01 7.63192001e-02 -4.19942641e-04 9.63955902e+01] [-7.63191803e-02 9.97083436e-01 6.30206234e-05 -5.34299835e+00] [ 4.23527535e-04 -3.07871360e-05 9.99999910e-01 -1.82560672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.649072329 meters 0.05183086894952554 Centerline is valid? [True, True] Translation: X:96.43, Y:-5.35, Z:-1.83 [[ 9.97054160e-01 7.66995514e-02 -4.25985258e-04 9.64277839e+01] [-7.66995310e-02 9.97054250e-01 6.40358124e-05 -5.34836743e+00] [ 4.29641930e-04 -3.11743036e-05 9.99999907e-01 -1.82564131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679072329 meters 0.05218770355374748 Centerline is valid? [True, True] Translation: X:96.46, Y:-5.35, Z:-1.83 [[ 9.96992925e-01 7.74858501e-02 -1.02532516e-03 9.64592476e+01] [-7.74857317e-02 9.96993449e-01 1.54755569e-04 -5.35346339e+00] [ 1.03423383e-03 -7.48421370e-05 9.99999462e-01 -1.82600330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.709072329 meters 0.05009049199283858 Centerline is valid? [True, True] Translation: X:96.49, Y:-5.35, Z:-1.83 [[ 9.96973376e-01 7.77395746e-02 -8.03992275e-04 9.64921033e+01] [-7.77395017e-02 9.96973698e-01 1.21527311e-04 -5.35461034e+00] [ 8.11006634e-04 -5.86575348e-05 9.99999669e-01 -1.82714641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739072329 meters 0.05127681949663192 Centerline is valid? [True, True] Translation: X:96.52, Y:-5.36, Z:-1.83 [[ 9.96913678e-01 7.84762542e-02 -2.14386589e-03 9.65226230e+01] [-7.84757360e-02 9.96915971e-01 3.24892229e-04 -5.35988394e+00] [ 2.16275047e-03 -1.55648054e-04 9.99997649e-01 -1.82862382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.769072329 meters 0.05253096381848091 Centerline is valid? [True, True] Translation: X:96.55, Y:-5.37, Z:-1.83 [[ 9.96908833e-01 7.85416227e-02 -1.99786316e-03 9.65526931e+01] [-7.85411720e-02 9.96910825e-01 3.03191716e-04 -5.36624346e+00] [ 2.01550458e-03 -1.45339986e-04 9.99997958e-01 -1.82882768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799072329 meters 0.052208711861049306 Centerline is valid? [True, True] Translation: X:96.58, Y:-5.37, Z:-1.83 [[ 9.96873466e-01 7.89897247e-02 -1.97906385e-03 9.65843411e+01] [-7.89892823e-02 9.96875420e-01 3.00856567e-04 -5.37094116e+00] [ 1.99664468e-03 -1.43591096e-04 9.99997996e-01 -1.82802583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.829072329 meters 0.052733141358744906 Centerline is valid? [True, True] Translation: X:96.62, Y:-5.38, Z:-1.83 [[ 9.96883506e-01 7.88700522e-02 -1.67028585e-03 9.66157977e+01] [-7.88697361e-02 9.96884898e-01 2.54334520e-04 -5.37667199e+00] [ 1.68514212e-03 -1.21806884e-04 9.99998573e-01 -1.82701263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859072329 meters 0.05356895812577071 Centerline is valid? [True, True] Translation: X:96.65, Y:-5.38, Z:-1.83 [[ 9.96914483e-01 7.84925854e-02 -6.54025763e-04 9.66477127e+01] [-7.84925369e-02 9.96914696e-01 9.96453308e-05 -5.38240477e+00] [ 6.59829314e-04 -4.80017321e-05 9.99999781e-01 -1.82641407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88907232900002 meters 0.05407500058815483 Centerline is valid? [True, True] Translation: X:96.68, Y:-5.39, Z:-1.83 [[ 9.96894061e-01 7.87451629e-02 -1.19637669e-03 9.66799387e+01] [-7.87449999e-02 9.96894775e-01 1.82774615e-04 -5.38821002e+00] [ 1.20705429e-03 -8.79982455e-05 9.99999268e-01 -1.82661929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91907232900002 meters 0.05060841645444478 Centerline is valid? [True, True] Translation: X:96.71, Y:-5.39, Z:-1.83 [[ 9.96941268e-01 7.81361623e-02 -1.68770261e-03 9.67127118e+01] [-7.81358361e-02 9.96942689e-01 2.58415780e-04 -5.38806549e+00] [ 1.70273440e-03 -1.25755301e-04 9.99998542e-01 -1.82848651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949072329 meters 0.05141712579113272 Centerline is valid? [True, True] Translation: X:96.75, Y:-5.39, Z:-1.83 [[ 9.96930097e-01 7.82847927e-02 -1.36839853e-03 9.67451638e+01] [-7.82845780e-02 9.96931031e-01 2.09892038e-04 -5.39413156e+00] [ 1.38063031e-03 -1.02123188e-04 9.99999042e-01 -1.82905608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979072329 meters 0.05141712579113272 Centerline is valid? [True, True] Translation: X:96.78, Y:-5.40, Z:-1.83 [[ 9.96905842e-01 7.85930603e-02 -1.36833351e-03 9.67771189e+01] [-7.85928453e-02 9.96906776e-01 2.10315248e-04 -5.39926463e+00] [ 1.38063027e-03 -1.02123276e-04 9.99999042e-01 -1.82903208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009072329 meters 0.054768281057790635 Centerline is valid? [True, True] Translation: X:96.81, Y:-5.41, Z:-1.83 [[ 9.96902833e-01 7.86214547e-02 -1.84643642e-03 9.68066484e+01] [-7.86210622e-02 9.96904533e-01 2.84281324e-04 -5.40863012e+00] [ 1.86307145e-03 -1.38232064e-04 9.99998255e-01 -1.82922122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039072329 meters 0.052899816020825934 Centerline is valid? [True, True] Translation: X:96.84, Y:-5.41, Z:-1.83 [[ 9.96873861e-01 7.89895140e-02 -1.77821803e-03 9.68393556e+01] [-7.89891499e-02 9.96875438e-01 2.74212080e-04 -5.41124376e+00] [ 1.79432176e-03 -1.32894925e-04 9.99998381e-01 -1.82834472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.069072329 meters 0.05412033105631656 Centerline is valid? [True, True] Translation: X:96.87, Y:-5.42, Z:-1.83 [[ 9.96843252e-01 7.93858081e-02 -1.19309848e-03 9.68705736e+01] [-7.93856441e-02 9.96843962e-01 1.84270291e-04 -5.41757713e+00] [ 1.20396146e-03 -8.89737048e-05 9.99999271e-01 -1.82806281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099072329 meters 0.051398094272989234 Centerline is valid? [True, True] Translation: X:96.90, Y:-5.42, Z:-1.83 [[ 9.96810609e-01 7.98001994e-02 -7.33953982e-04 9.69029799e+01] [-7.98001373e-02 9.96810877e-01 1.13488576e-04 -5.41843861e+00] [ 7.40669724e-04 -5.45569881e-05 9.99999724e-01 -1.82783044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.129072329 meters 0.049268877359198514 Centerline is valid? [True, True] Translation: X:96.93, Y:-5.42, Z:-1.83 [[ 9.96703797e-01 8.11260321e-02 -3.28454073e-04 9.69349367e+01] [-8.11260198e-02 9.96703851e-01 5.08533816e-05 -5.41983589e+00] [ 3.31496973e-04 -2.40395869e-05 9.99999945e-01 -1.82795079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159072329 meters 0.051416459235508125 Centerline is valid? [True, True] Translation: X:96.97, Y:-5.43, Z:-1.83 [[ 9.96673882e-01 8.14926849e-02 3.40062094e-04 9.69658639e+01] [-8.14926716e-02 9.96673939e-01 -5.30124280e-05 -5.42727947e+00] [-3.43251152e-04 2.51235339e-05 9.99999941e-01 -1.82752497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.189072329 meters 0.04922095339851207 Centerline is valid? [True, True] Translation: X:97.00, Y:-5.43, Z:-1.83 [[ 9.96603872e-01 8.23434413e-02 5.29324633e-04 9.69981457e+01] [-8.23434090e-02 9.96604012e-01 -8.25291919e-05 -5.42922578e+00] [-5.34322790e-04 3.86625175e-05 9.99999857e-01 -1.82825958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219072329 meters 0.05238330500690483 Centerline is valid? [True, True] Translation: X:97.03, Y:-5.44, Z:-1.83 [[ 9.96484668e-01 8.37748286e-02 2.90946373e-04 9.70281139e+01] [-8.37748189e-02 9.96484710e-01 -4.55114055e-05 -5.43713747e+00] [-2.93736323e-04 2.09774381e-05 9.99999957e-01 -1.82844637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.249072329 meters 0.0493205803577126 Centerline is valid? [True, True] Translation: X:97.06, Y:-5.44, Z:-1.83 [[ 9.96431559e-01 8.44044195e-02 2.05231179e-04 9.70605006e+01] [-8.44044146e-02 9.96431580e-01 -3.22280815e-05 -5.43781596e+00] [-2.07219021e-04 1.47906599e-05 9.99999978e-01 -1.82871956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279072329 meters 0.05162822338335685 Centerline is valid? [True, True] Translation: X:97.09, Y:-5.45, Z:-1.83 [[ 9.96374431e-01 8.50763244e-02 1.12722414e-04 9.70909866e+01] [-8.50763229e-02 9.96374437e-01 -1.77225076e-05 -5.44549848e+00] [-1.13821498e-04 8.06824490e-06 9.99999993e-01 -1.82850817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.309072329 meters 0.04727104467771847 Centerline is valid? [True, True] Translation: X:97.12, Y:-5.44, Z:-1.83 [[ 9.96292996e-01 8.60246998e-02 1.30012600e-04 9.71241735e+01] [-8.60246979e-02 9.96293005e-01 -2.03952756e-05 -5.44476975e+00] [-1.31285141e-04 9.13537564e-06 9.99999991e-01 -1.82800588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339072329 meters 0.0467388129822767 Centerline is valid? [True, True] Translation: X:97.16, Y:-5.45, Z:-1.83 [[ 9.96250472e-01 8.65037031e-02 1.45118675e-03 9.71556700e+01] [-8.65034631e-02 9.96251524e-01 -2.27450049e-04 -5.44816752e+00] [-1.46542228e-03 1.01064540e-04 9.99998921e-01 -1.82661490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.369072329 meters 0.046068943711944206 Centerline is valid? [True, True] Translation: X:97.19, Y:-5.45, Z:-1.83 [[ 9.96200148e-01 8.70805637e-02 1.49659732e-03 9.71876935e+01] [-8.70803085e-02 9.96201267e-01 -2.34979145e-04 -5.45206236e+00] [-1.51137426e-03 1.03762103e-04 9.99998852e-01 -1.82613753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399072329 meters 0.04670881437625319 Centerline is valid? [True, True] Translation: X:97.22, Y:-5.46, Z:-1.83 [[ 9.96158679e-01 8.75438676e-02 1.98938535e-03 9.72180073e+01] [-8.75434167e-02 9.96160656e-01 -3.12779788e-04 -5.45781457e+00] [-2.00912937e-03 1.37420710e-04 9.99997972e-01 -1.82543343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.429072329 meters 0.04683795922438323 Centerline is valid? [True, True] Translation: X:97.25, Y:-5.46, Z:-1.83 [[ 9.96139892e-01 8.77732329e-02 1.08414059e-03 9.72507251e+01] [-8.77730986e-02 9.96140479e-01 -1.70924401e-04 -5.46230545e+00] [-1.09495891e-03 7.51062359e-05 9.99999398e-01 -1.82661612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459072329 meters 0.050983063224768504 Centerline is valid? [True, True] Translation: X:97.28, Y:-5.47, Z:-1.83 [[ 9.96102939e-01 8.81913909e-02 1.10184078e-03 9.72815836e+01] [-8.81912521e-02 9.96103545e-01 -1.74019642e-04 -5.47318816e+00] [-1.11289455e-03 7.61687584e-05 9.99999378e-01 -1.82710491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.489072329 meters 0.048794931305495136 Centerline is valid? [True, True] Translation: X:97.31, Y:-5.47, Z:-1.83 [[ 9.96140972e-01 8.77654823e-02 6.18974564e-04 9.73136088e+01] [-8.77654382e-02 9.96141164e-01 -9.80040698e-05 -5.47490087e+00] [-6.25187417e-04 4.33012955e-05 9.99999804e-01 -1.82809616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519072329 meters 0.04936105810839607 Centerline is valid? [True, True] Translation: X:97.35, Y:-5.48, Z:-1.83 [[ 9.96181974e-01 8.72984871e-02 6.70318776e-04 9.73450442e+01] [-8.72984353e-02 9.96182198e-01 -1.06299221e-04 -5.48040307e+00] [-6.77039393e-04 4.73755877e-05 9.99999770e-01 -1.82782606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.549072329 meters 0.04874080034013289 Centerline is valid? [True, True] Translation: X:97.38, Y:-5.48, Z:-1.83 [[ 9.96242588e-01 8.65954334e-02 1.39161786e-03 9.73768031e+01] [-8.65952089e-02 9.96243555e-01 -2.20856503e-04 -5.48455034e+00] [-1.40551548e-03 9.95192150e-05 9.99999007e-01 -1.82729109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579072329 meters 0.04998540759919769 Centerline is valid? [True, True] Translation: X:97.41, Y:-5.49, Z:-1.83 [[ 9.96301073e-01 8.59021645e-02 2.23371962e-03 9.74076316e+01] [-8.59015835e-02 9.96303564e-01 -3.54933655e-04 -5.49125878e+00] [-2.25595239e-03 1.61740729e-04 9.99997442e-01 -1.82709379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.609072329 meters 0.051773017161020465 Centerline is valid? [True, True] Translation: X:97.44, Y:-5.50, Z:-1.82 [[ 9.96515975e-01 8.33420345e-02 3.16489875e-03 9.74374096e+01] [-8.33408559e-02 9.96520973e-01 -5.02710037e-04 -5.49937391e+00] [-3.19578485e-03 2.37193213e-04 9.99994865e-01 -1.82498933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63907232900002 meters 0.05230967206282609 Centerline is valid? [True, True] Translation: X:97.47, Y:-5.51, Z:-1.82 [[ 9.96665850e-01 8.15238985e-02 3.32223983e-03 9.74674639e+01] [-8.15225895e-02 9.96671354e-01 -5.27766631e-04 -5.50543191e+00] [-3.35420687e-03 2.55169384e-04 9.99994342e-01 -1.82453713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66907232900002 meters 0.053812317791312174 Centerline is valid? [True, True] Translation: X:97.50, Y:-5.51, Z:-1.82 [[ 9.96841025e-01 7.93734757e-02 2.79680223e-03 9.74979147e+01] [-7.93725392e-02 9.96844924e-01 -4.44422949e-04 -5.51249514e+00] [-2.82325350e-03 2.21029733e-04 9.99995990e-01 -1.82463050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699072329 meters 0.05991170185183616 Centerline is valid? [True, True] Translation: X:97.53, Y:-5.53, Z:-1.83 [[ 9.97190978e-01 7.48640530e-02 2.35083396e-03 9.75261589e+01] [-7.48633789e-02 9.97193730e-01 -3.73557991e-04 -5.52627954e+00] [-2.37220295e-03 1.96517285e-04 9.99997167e-01 -1.82531365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729072329 meters 0.060543885334471415 Centerline is valid? [True, True] Translation: X:97.56, Y:-5.53, Z:-1.83 [[ 9.97399788e-01 7.20063955e-02 2.95666519e-03 9.75565252e+01] [-7.20053166e-02 9.97404138e-01 -4.69882346e-04 -5.53191823e+00] [-2.98282463e-03 2.55764939e-04 9.99995519e-01 -1.82573098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759072329 meters 0.06459322242516667 Centerline is valid? [True, True] Translation: X:97.59, Y:-5.54, Z:-1.83 [[ 9.97596995e-01 6.92133063e-02 3.12318804e-03 9.75854354e+01] [-6.92120883e-02 9.97601845e-01 -4.96537414e-04 -5.54238784e+00] [-3.15006514e-03 2.79181865e-04 9.99995000e-01 -1.82569391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789072329 meters 0.0687811777360939 Centerline is valid? [True, True] Translation: X:97.61, Y:-5.55, Z:-1.82 [[ 9.97814992e-01 6.59969493e-02 3.10544396e-03 9.76140790e+01] [-6.59957292e-02 9.97819783e-01 -4.93831406e-04 -5.55312762e+00] [-3.13126479e-03 2.87806342e-04 9.99995056e-01 -1.82498639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819072329 meters 0.07137844269855775 Centerline is valid? [True, True] Translation: X:97.64, Y:-5.56, Z:-1.82 [[ 9.98257657e-01 5.88567716e-02 4.18705950e-03 9.76438241e+01] [-5.88544910e-02 9.98266350e-01 -6.65918145e-04 -5.56246425e+00] [-4.21899440e-03 4.18330631e-04 9.99991013e-01 -1.82430927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.849072329 meters 0.06988189181446602 Centerline is valid? [True, True] Translation: X:97.67, Y:-5.57, Z:-1.82 [[ 9.98490119e-01 5.47981146e-02 3.82731244e-03 9.76749777e+01] [-5.47961792e-02 9.98497375e-01 -6.08828849e-04 -5.56588637e+00] [-3.85492410e-03 3.98187492e-04 9.99992490e-01 -1.82490578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879072329 meters 0.07727916273520924 Centerline is valid? [True, True] Translation: X:97.70, Y:-5.58, Z:-1.83 [[ 9.98747766e-01 4.98852535e-02 3.78955103e-03 9.77029885e+01] [-4.98833201e-02 9.98754870e-01 -6.03047424e-04 -5.58084209e+00] [-3.81491572e-03 4.13256881e-04 9.99992638e-01 -1.82516255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.909072329 meters 0.07808600514805414 Centerline is valid? [True, True] Translation: X:97.73, Y:-5.59, Z:-1.83 [[ 9.98977517e-01 4.51003371e-02 3.14331902e-03 9.77331177e+01] [-4.50989835e-02 9.98982398e-01 -5.00218987e-04 -5.58740749e+00] [-3.16268042e-03 3.57947029e-04 9.99994935e-01 -1.82576703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939072329 meters 0.0874503817093878 Centerline is valid? [True, True] Translation: X:97.76, Y:-5.61, Z:-1.83 [[ 9.99389121e-01 3.48287537e-02 2.88823610e-03 9.77604365e+01] [-3.48275683e-02 9.99393230e-01 -4.59719671e-04 -5.60593038e+00] [-2.90249507e-03 3.58848598e-04 9.99995723e-01 -1.82673386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.969072329 meters 0.08830207500570349 Centerline is valid? [True, True] Translation: X:97.79, Y:-5.61, Z:-1.83 [[ 9.99565471e-01 2.92744738e-02 3.44591041e-03 9.77906691e+01] [-2.92727538e-02 9.99571311e-01 -5.48531396e-04 -5.61205584e+00] [-3.46049116e-03 4.47421756e-04 9.99993912e-01 -1.82734505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999072329 meters 0.10314363651850446 Centerline is valid? [True, False] Translation: X:97.78, Y:-5.61, Z:-1.83 [[ 9.99901491e-01 1.39498763e-02 1.55228457e-03 9.77825491e+01] [-1.39466009e-02 9.99900534e-01 -2.10129159e-03 -5.60932044e+00] [-1.58144293e-03 2.07943550e-03 9.99996587e-01 -1.82870212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.029072329 meters 0.0959614910537265 Centerline is valid? [False, True] Translation: X:97.77, Y:-5.61, Z:-1.83 [[ 9.99994000e-01 3.29194588e-03 -1.07864640e-03 9.77734409e+01] [-3.29115288e-03 9.99994313e-01 7.36130159e-04 -5.60650012e+00] [ 1.08106357e-03 -7.32575752e-04 9.99999147e-01 -1.82788020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059072329 meters 0.09979685452763257 Centerline is valid? [True, True] Translation: X:97.80, Y:-5.62, Z:-1.83 [[ 9.99998059e-01 -1.59519865e-03 -1.15665847e-03 9.78015286e+01] [ 1.59539693e-03 9.99998713e-01 1.70523964e-04 -5.61584954e+00] [ 1.15638496e-03 -1.72368962e-04 9.99999317e-01 -1.82830587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.089072329 meters 0.09902173929183046 Centerline is valid? [True, True] Translation: X:97.83, Y:-5.62, Z:-1.83 [[ 9.99981267e-01 -6.10427365e-03 -4.50122150e-04 9.78315208e+01] [ 6.10430417e-03 9.99981366e-01 6.64652145e-05 -5.61997077e+00] [ 4.49708041e-04 -6.92116519e-05 9.99999896e-01 -1.82803526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119072329 meters 0.08529168105281708 Centerline is valid? [True, True] Translation: X:97.86, Y:-5.61, Z:-1.83 [[ 9.99876543e-01 -1.57084806e-02 -3.76483212e-04 9.78645217e+01] [ 1.57085027e-02 9.99876612e-01 5.56464997e-05 -5.60602239e+00] [ 3.75562637e-04 -6.15536173e-05 9.99999928e-01 -1.82975860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.149072329 meters 0.0915134697754655 Centerline is valid? [True, True] Translation: X:97.89, Y:-5.62, Z:-1.83 [[ 9.99786370e-01 -2.06674293e-02 -2.69208268e-04 9.78925212e+01] [ 2.06674407e-02 9.99786405e-01 3.97393206e-05 -5.61866113e+00] [ 2.68329457e-04 -4.52946770e-05 9.99999963e-01 -1.82896741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179072329 meters 0.09899498927630809 Centerline is valid? [True, True] Translation: X:97.92, Y:-5.63, Z:-1.83 [[ 9.99675599e-01 -2.54669931e-02 -3.60352112e-04 9.79198702e+01] [ 2.54670139e-02 9.99675662e-01 5.31981979e-05 -5.63265920e+00] [ 3.58880438e-04 -6.23580326e-05 9.99999934e-01 -1.82892536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.209072329 meters 0.09887957146929166 Centerline is valid? [True, True] Translation: X:97.95, Y:-5.64, Z:-1.83 [[ 9.99419997e-01 -3.40518688e-02 3.74242972e-04 9.79502068e+01] [ 3.40518917e-02 9.99420065e-01 -5.52218397e-05 -5.63529589e+00] [-3.72145528e-04 6.79334920e-05 9.99999928e-01 -1.82991680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239072329 meters 0.09999024082052757 Centerline is valid? [True, True] Translation: X:97.98, Y:-5.64, Z:-1.83 [[ 9.99268519e-01 -3.82343742e-02 7.48359303e-04 9.79804922e+01] [ 3.82344672e-02 9.99268789e-01 -1.10417290e-04 -5.63965706e+00] [-7.43590359e-04 1.38949641e-04 9.99999714e-01 -1.83036645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.269072329 meters 0.11162598401453434 Centerline is valid? [True, False] Translation: X:98.00, Y:-5.64, Z:-1.84 [[ 9.99673315e-01 -2.52202809e-02 4.14731051e-03 9.80032861e+01] [ 2.52659551e-02 9.99616259e-01 -1.13563478e-02 -5.64487524e+00] [-3.85930874e-03 1.14574237e-02 9.99926914e-01 -1.83516777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299072329 meters 0.10975102753954344 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.65, Z:-1.83 [[ 9.99771231e-01 -2.10126170e-02 3.99435037e-03 9.80032236e+01] [ 2.10382457e-02 9.99757631e-01 -6.48631017e-03 -5.64770154e+00] [-3.85708791e-03 6.56886043e-03 9.99970986e-01 -1.83482405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.329072329 meters 0.1170381917980621 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.65, Z:-1.83 [[ 9.99769987e-01 -2.10858307e-02 3.91920308e-03 9.80034728e+01] [ 2.11104032e-02 9.99757062e-01 -6.33786316e-03 -5.64865623e+00] [-3.78461184e-03 6.41914132e-03 9.99972235e-01 -1.83498709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359072329 meters 0.11022733782693514 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.65, Z:-1.84 [[ 9.99868997e-01 -1.28026616e-02 9.90354763e-03 9.80050231e+01] [ 1.29433286e-02 9.99814366e-01 -1.42724617e-02 -5.65023029e+00] [-9.71898370e-03 1.43987768e-02 9.99849097e-01 -1.83936469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38907232900002 meters 0.11963200885333947 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.83 [[ 9.99956410e-01 -4.82569385e-03 7.99321443e-03 9.80071596e+01] [ 4.84828274e-03 9.99984302e-01 -2.80904681e-03 -5.65717783e+00] [-7.97953335e-03 2.84767773e-03 9.99964108e-01 -1.83372057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41907232900002 meters 0.12264862579040416 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99970327e-01 -1.60113265e-03 7.53536299e-03 9.80094961e+01] [ 1.59351964e-03 9.99998214e-01 1.01620109e-03 -5.65991914e+00] [-7.53697660e-03 -1.00416319e-03 9.99971092e-01 -1.83562565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449072329 meters 0.1378751495462261 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99970306e-01 -1.71972425e-03 7.51200567e-03 9.80097749e+01] [ 1.71295869e-03 9.99998122e-01 9.06974318e-04 -5.65972834e+00] [-7.51355131e-03 -8.94079631e-04 9.99971373e-01 -1.83599569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479072329 meters 0.14388588626240692 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99969806e-01 -1.90778740e-03 7.53303287e-03 9.80099975e+01] [ 1.90166919e-03 9.99997856e-01 8.19263039e-04 -5.65979851e+00] [-7.53457970e-03 -8.04912966e-04 9.99971291e-01 -1.83638665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.509072329 meters 0.15180718909894825 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99970221e-01 -2.03362932e-03 7.44449681e-03 9.80104342e+01] [ 2.02798530e-03 9.99997651e-01 7.65617459e-04 -5.66004209e+00] [-7.44603630e-03 -7.50497330e-04 9.99971996e-01 -1.83677157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539072329 meters 0.15589497041926406 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99970772e-01 -2.17002733e-03 7.33115034e-03 9.80109356e+01] [ 2.16529708e-03 9.99997442e-01 6.53102385e-04 -5.66011784e+00] [-7.33254884e-03 -6.37209177e-04 9.99972913e-01 -1.83714716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.569072329 meters 0.17435925047259931 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99971342e-01 -2.26613002e-03 7.22360647e-03 9.80113116e+01] [ 2.26166200e-03 9.99997246e-01 6.26639122e-04 -5.66030553e+00] [-7.22500662e-03 -6.10283808e-04 9.99973713e-01 -1.83737778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599072329 meters 0.18304726442100563 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99973037e-01 -3.01450356e-03 6.69617503e-03 9.80136166e+01] [ 3.01468874e-03 9.99995456e-01 -1.75606747e-05 -5.66010265e+00] [-6.69609167e-03 3.77470847e-05 9.99977580e-01 -1.83915324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.629072329 meters 0.18695440099232802 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99973416e-01 -3.09167818e-03 6.60375508e-03 9.80140198e+01] [ 3.09203377e-03 9.99995219e-01 -4.36379219e-05 -5.66018817e+00] [-6.60358859e-03 6.40557955e-05 9.99978194e-01 -1.83948106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659072329 meters 0.19238032195850274 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.66, Z:-1.84 [[ 9.99973927e-01 -3.18928728e-03 6.47873550e-03 9.80144760e+01] [ 3.19010828e-03 9.99994905e-01 -1.16392857e-04 -5.66012622e+00] [-6.47833128e-03 1.37057690e-04 9.99979006e-01 -1.83977935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.689072329 meters 0.20589607848038496 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.66, Z:-1.84 [[ 9.99982516e-01 4.36936354e-04 5.89722790e-03 9.80161264e+01] [-4.61922902e-04 9.99990920e-01 4.23630216e-03 -5.66313234e+00] [-5.89532336e-03 -4.23895216e-03 9.99973638e-01 -1.84033102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719072329 meters 0.21609663235372026 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.66, Z:-1.84 [[ 9.99983708e-01 3.42633847e-04 5.69792932e-03 9.80167140e+01] [-3.67058115e-04 9.99990748e-01 4.28602333e-03 -5.66381454e+00] [-5.69640806e-03 -4.28804497e-03 9.99974581e-01 -1.84056131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.749072329 meters 0.2189963270175143 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.66, Z:-1.84 [[ 9.99985047e-01 2.01457777e-04 5.46489713e-03 9.80174242e+01] [-2.24862391e-04 9.99990805e-01 4.28244177e-03 -5.66439901e+00] [-5.46398415e-03 -4.28360658e-03 9.99975898e-01 -1.84086534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779072329 meters 0.2327920111751596 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.67, Z:-1.84 [[ 9.99988768e-01 -6.51115181e-04 4.69465919e-03 9.80203019e+01] [ 6.33040304e-04 9.99992386e-01 3.85055226e-03 -5.66583028e+00] [-4.69713060e-03 -3.84753711e-03 9.99981567e-01 -1.84274556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.809072329 meters 0.2392517734933072 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.67, Z:-1.84 [[ 9.99989663e-01 -7.29705639e-04 4.48791388e-03 9.80209288e+01] [ 7.12054269e-04 9.99992011e-01 3.93343124e-03 -5.66660294e+00] [-4.49074828e-03 -3.93019494e-03 9.99982193e-01 -1.84304052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839072329 meters 0.2430873506350794 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.67, Z:-1.84 [[ 9.99990779e-01 -8.17121782e-04 4.21592897e-03 9.80217156e+01] [ 7.99904744e-04 9.99991341e-01 4.08387769e-03 -5.66776774e+00] [-4.21922949e-03 -4.08046769e-03 9.99982774e-01 -1.84339480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.869072329 meters 0.25419624229957355 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.67, Z:-1.84 [[ 9.99992889e-01 -1.35298574e-03 3.52014143e-03 9.80239312e+01] [ 1.33836533e-03 9.99990483e-01 4.15240423e-03 -5.67017236e+00] [-3.52572607e-03 -4.14766347e-03 9.99985183e-01 -1.84458393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899072329 meters 0.2600520623183355 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.67, Z:-1.84 [[ 9.99993913e-01 -1.39394866e-03 3.19868244e-03 9.80246566e+01] [ 1.37984990e-03 9.99989343e-01 4.40565726e-03 -5.67162093e+00] [-3.20478961e-03 -4.40121674e-03 9.99985179e-01 -1.84466125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.929072329 meters 0.2600520623183355 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.67, Z:-1.84 [[ 9.99993913e-01 -1.39394866e-03 3.19868244e-03 9.80246566e+01] [ 1.37984990e-03 9.99989343e-01 4.40565726e-03 -5.67162093e+00] [-3.20478961e-03 -4.40121674e-03 9.99985179e-01 -1.84466125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959072329 meters 0.2617461456488688 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.67, Z:-1.84 [[ 9.99994754e-01 -1.42751949e-03 2.90759789e-03 9.80253334e+01] [ 1.41395951e-03 9.99988141e-01 4.66036427e-03 -5.67305859e+00] [-2.91421617e-03 -4.65622860e-03 9.99984913e-01 -1.84471626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.989072329 meters 0.2626804083056345 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.68, Z:-1.85 [[ 9.99995563e-01 -2.31690103e-03 1.87249706e-03 9.80287750e+01] [ 2.30841317e-03 9.99987109e-01 4.52242854e-03 -5.67601629e+00] [-1.88295095e-03 -4.51808597e-03 9.99988021e-01 -1.84660452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019072329 meters 0.26936505961081697 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.68, Z:-1.85 [[ 9.99996019e-01 -2.33840327e-03 1.57940483e-03 9.80294954e+01] [ 2.33073916e-03 9.99985585e-01 4.83706752e-03 -5.67764046e+00] [-1.59069308e-03 -4.83336708e-03 9.99987054e-01 -1.84678576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.049072329 meters 0.25832650527701007 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.68, Z:-1.85 [[ 9.99996477e-01 -2.35530159e-03 1.22447138e-03 9.80303203e+01] [ 2.34896465e-03 9.99983974e-01 5.15117510e-03 -5.67928687e+00] [-1.23658433e-03 -5.14828071e-03 9.99985983e-01 -1.84691229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079072329 meters 0.2428901912280958 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.68, Z:-1.85 [[ 9.99993636e-01 -3.56481882e-03 1.40608640e-04 9.80345843e+01] [ 3.56411602e-03 9.99982525e-01 4.71656740e-03 -5.68341295e+00] [-1.57419891e-04 -4.71603623e-03 9.99988867e-01 -1.84958808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.109072329 meters 0.24541268055894663 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.69, Z:-1.85 [[ 9.99990365e-01 -4.32488207e-03 -7.51601985e-04 9.80376554e+01] [ 4.32815401e-03 9.99980920e-01 4.40759226e-03 -5.68503659e+00] [ 7.32525328e-04 -4.41080285e-03 9.99990004e-01 -1.85133524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13907232900002 meters 0.24172146883703555 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.69, Z:-1.85 [[ 9.99985800e-01 -5.08386090e-03 -1.59804896e-03 9.80405998e+01] [ 5.09040589e-03 9.99978562e-01 4.11858626e-03 -5.68659127e+00] [ 1.57707638e-03 -4.12666249e-03 9.99990242e-01 -1.85304646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16907232900002 meters 0.24627298079974413 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.69, Z:-1.85 [[ 9.99985456e-01 -5.03417508e-03 -1.93521310e-03 9.80412840e+01] [ 5.04277260e-03 9.99977322e-01 4.46376832e-03 -5.68814398e+00] [ 1.91269782e-03 -4.47346224e-03 9.99988165e-01 -1.85298626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199072329 meters 0.2553658257278544 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.69, Z:-1.85 [[ 9.99977863e-01 -5.88854077e-03 -3.09828691e-03 9.80450149e+01] [ 5.90189500e-03 9.99973257e-01 4.31885550e-03 -5.69094743e+00] [ 3.07277230e-03 -4.33704566e-03 9.99985874e-01 -1.85483382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.229072329 meters 0.24551996973629392 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.69, Z:-1.85 [[ 9.99978534e-01 -5.73355905e-03 -3.17151585e-03 9.80450710e+01] [ 5.74844864e-03 9.99972405e-01 4.70576294e-03 -5.69225194e+00] [ 3.14444756e-03 -4.72389322e-03 9.99983899e-01 -1.85465470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259072329 meters 0.25784401439372545 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.69, Z:-1.85 [[ 9.99977791e-01 -5.68961356e-03 -3.47069387e-03 9.80457156e+01] [ 5.70687420e-03 9.99971296e-01 4.98378936e-03 -5.69348118e+00] [ 3.44223842e-03 -5.00348549e-03 9.99981558e-01 -1.85467644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.289072329 meters 0.25244761714845604 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.69, Z:-1.85 [[ 9.99978038e-01 -5.57172193e-03 -3.58890698e-03 9.80459169e+01] [ 5.59067773e-03 9.99970361e-01 5.29357700e-03 -5.69460732e+00] [ 3.55930626e-03 -5.31352516e-03 9.99979549e-01 -1.85455433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319072329 meters 0.2436157357425836 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99978148e-01 -5.38585997e-03 -3.83353522e-03 9.80462675e+01] [ 5.40855490e-03 9.99967764e-01 5.93456398e-03 -5.69700563e+00] [ 3.80144891e-03 -5.95516818e-03 9.99975042e-01 -1.85419441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.349072329 meters 0.251423241140869 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99977911e-01 -5.33232308e-03 -3.96792393e-03 9.80465461e+01] [ 5.35656781e-03 9.99966896e-01 6.12484798e-03 -5.69778878e+00] [ 3.93513291e-03 -6.14596714e-03 9.99973371e-01 -1.85413590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379072329 meters 0.2501288942251158 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99976921e-01 -5.24053108e-03 -4.32378528e-03 9.80472811e+01] [ 5.26825890e-03 9.99965472e-01 6.42658493e-03 -5.69895282e+00] [ 4.28995727e-03 -6.44921543e-03 9.99970001e-01 -1.85407948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.409072329 meters 0.24280891229982174 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99975752e-01 -5.27994796e-03 -4.54070255e-03 9.80478413e+01] [ 5.30893213e-03 9.99965459e-01 6.39500616e-03 -5.69900399e+00] [ 4.50678041e-03 -6.41895737e-03 9.99969242e-01 -1.85423143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439072329 meters 0.24298208886791026 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99975967e-01 -5.19129318e-03 -4.59527332e-03 9.80478927e+01] [ 5.22126336e-03 9.99965021e-01 6.53416614e-03 -5.69942836e+00] [ 4.56119181e-03 -6.55800223e-03 9.99968094e-01 -1.85410486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.469072329 meters 0.2597019991488504 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99975046e-01 -5.22028629e-03 -4.75988761e-03 9.80483094e+01] [ 5.25129289e-03 9.99964923e-01 6.52508644e-03 -5.69951756e+00] [ 4.72565783e-03 -6.54991917e-03 9.99967383e-01 -1.85421413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499072329 meters 0.24727190402856192 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99974627e-01 -5.15589575e-03 -4.91552886e-03 9.80486070e+01] [ 5.18864800e-03 9.99964269e-01 6.67371302e-03 -5.70004693e+00] [ 4.88094426e-03 -6.69904864e-03 9.99965649e-01 -1.85411451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.529072329 meters 0.2416142826632886 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99973802e-01 -5.18465260e-03 -5.05122816e-03 9.80490035e+01] [ 5.21837114e-03 9.99964038e-01 6.68516218e-03 -5.70022383e+00] [ 5.01638626e-03 -6.71134622e-03 9.99964896e-01 -1.85432268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559072329 meters 0.24364894964229739 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99973643e-01 -5.19508530e-03 -5.07197812e-03 9.80491083e+01] [ 5.22883723e-03 9.99964123e-01 6.66416300e-03 -5.70019870e+00] [ 5.03717526e-03 -6.69050790e-03 9.99964931e-01 -1.85443606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.589072329 meters 0.2470451508292634 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99973665e-01 -5.22149510e-03 -5.04029944e-03 9.80490944e+01] [ 5.25483978e-03 9.99964246e-01 6.62519906e-03 -5.70007331e+00] [ 5.00552578e-03 -6.65151055e-03 9.99965350e-01 -1.85454458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619072329 meters 0.24403326095761677 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99974313e-01 -5.15307883e-03 -4.98187445e-03 9.80489267e+01] [ 5.18694114e-03 9.99963371e-01 6.80824491e-03 -5.70060721e+00] [ 4.94660854e-03 -6.83391072e-03 9.99964414e-01 -1.85450315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.649072329 meters 0.2436646995736215 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99973683e-01 -5.20407938e-03 -5.05484057e-03 9.80491432e+01] [ 5.23867093e-03 9.99962787e-01 6.85428932e-03 -5.70093649e+00] [ 5.01898220e-03 -6.88058958e-03 9.99963733e-01 -1.85464297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679072329 meters 0.24365842064895046 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99974460e-01 -5.12187987e-03 -4.98461508e-03 9.80488789e+01] [ 5.15696310e-03 9.99961843e-01 7.05108782e-03 -5.70156100e+00] [ 4.94831006e-03 -7.07661320e-03 9.99962717e-01 -1.85442929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.709072329 meters 0.24316620266832525 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99976253e-01 -5.05848648e-03 -4.68024628e-03 9.80481576e+01] [ 5.09305893e-03 9.99959615e-01 7.40469404e-03 -5.70267030e+00] [ 4.64260072e-03 -7.42835497e-03 9.99961632e-01 -1.85433703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739072329 meters 0.2422060043821366 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99977142e-01 -5.05112995e-03 -4.49460875e-03 9.80477880e+01] [ 5.08512131e-03 9.99958314e-01 7.58368371e-03 -5.70326926e+00] [ 4.45611522e-03 -7.60636600e-03 9.99961142e-01 -1.85444112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.769072329 meters 0.23986705654668938 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.70, Z:-1.85 [[ 9.99978034e-01 -5.04605901e-03 -4.29763432e-03 9.80474507e+01] [ 5.07914389e-03 9.99957281e-01 7.72259056e-03 -5.70372898e+00] [ 4.25848208e-03 -7.74424923e-03 9.99960945e-01 -1.85465078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799072329 meters 0.24692129332837018 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.71, Z:-1.85 [[ 9.99980237e-01 -5.06756400e-03 -3.72104507e-03 9.80462349e+01] [ 5.09801338e-03 9.99953223e-01 8.21964563e-03 -5.70530892e+00] [ 3.67921743e-03 -8.23845311e-03 9.99959295e-01 -1.85481222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.829072329 meters 0.24395212018671567 Centerline is valid? [False, False] Translation: X:98.05, Y:-5.71, Z:-1.85 [[ 9.99981729e-01 -5.01184741e-03 -3.37973787e-03 9.80454938e+01] [ 5.04053784e-03 9.99950876e-01 8.53454942e-03 -5.70631148e+00] [ 3.33679799e-03 -8.55142918e-03 9.99957869e-01 -1.85482908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859072329 meters 0.23779381391952137 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.71, Z:-1.85 [[ 9.99983250e-01 -4.96390332e-03 -2.97645168e-03 9.80445867e+01] [ 4.99017049e-03 9.99948090e-01 8.88348397e-03 -5.70743983e+00] [ 2.93220042e-03 -8.89818818e-03 9.99956111e-01 -1.85475446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88907232900002 meters 0.2383618820523073 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.71, Z:-1.85 [[ 9.99984239e-01 -5.16698580e-03 -2.19642872e-03 9.80429232e+01] [ 5.18797674e-03 9.99939873e-01 9.66106733e-03 -5.71038412e+00] [ 2.14637806e-03 -9.67231008e-03 9.99950919e-01 -1.85487018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91907232900002 meters 0.23991717627229417 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.71, Z:-1.86 [[ 9.99951585e-01 -9.60006955e-03 -2.16000344e-03 9.80432242e+01] [ 9.61110337e-03 9.99940513e-01 5.15720479e-03 -5.70973052e+00] [ 2.11036542e-03 -5.17771512e-03 9.99984369e-01 -1.85556948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.949072329 meters 0.23596479449015176 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.71, Z:-1.86 [[ 9.99952903e-01 -9.56787593e-03 -1.62712528e-03 9.80420874e+01] [ 9.57685618e-03 9.99938438e-01 5.60388942e-03 -5.71115454e+00] [ 1.57340779e-03 -5.61920824e-03 9.99982974e-01 -1.85563352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979072329 meters 0.23721545058940288 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.71, Z:-1.86 [[ 9.99952274e-01 -9.75336100e-03 -5.66602760e-04 9.80398108e+01] [ 9.75689481e-03 9.99930550e-01 6.61051076e-03 -5.71479221e+00] [ 5.02088712e-04 -6.61572355e-03 9.99977990e-01 -1.85571726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.009072329 meters 0.2362560794367666 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.72, Z:-1.86 [[ 9.99952614e-01 -9.73502234e-03 9.07085168e-06 9.80385128e+01] [ 9.73471068e-03 9.99927239e-01 7.12402820e-03 -5.71643371e+00] [-7.84227654e-05 -7.12360232e-03 9.99974624e-01 -1.85563391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039072329 meters 0.2338270799094141 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.72, Z:-1.86 [[ 9.99952278e-01 -9.75850374e-03 4.61476469e-04 9.80375145e+01] [ 9.75468321e-03 9.99923075e-01 7.66098246e-03 -5.71832642e+00] [-5.36200696e-04 -7.65611531e-03 9.99970548e-01 -1.85563289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.069072329 meters 0.2350439854812687 Centerline is valid? [False, False] Translation: X:98.04, Y:-5.72, Z:-1.86 [[ 9.99951889e-01 -9.75260111e-03 1.05215160e-03 9.80362477e+01] [ 9.74366795e-03 9.99919027e-01 8.18536800e-03 -5.72003106e+00] [-1.13189504e-03 -8.17472238e-03 9.99965946e-01 -1.85566868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099072329 meters 0.2336021542625261 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.72, Z:-1.86 [[ 9.99946707e-01 -1.00865602e-02 2.20113349e-03 9.80337574e+01] [ 1.00661096e-02 9.99907816e-01 9.11219485e-03 -5.72360982e+00] [-2.29284128e-03 -9.08955238e-03 9.99956060e-01 -1.85563282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.129072329 meters 0.23278007842953571 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.73, Z:-1.86 [[ 9.99945641e-01 -1.00478439e-02 2.78494646e-03 9.80324372e+01] [ 1.00205847e-02 9.99903373e-01 9.63499030e-03 -5.72529223e+00] [-2.88148824e-03 -9.60655976e-03 9.99949704e-01 -1.85552635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159072329 meters 0.23221562646841926 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.73, Z:-1.86 [[ 9.99939465e-01 -1.02531641e-02 3.99232421e-03 9.80297208e+01] [ 1.02097296e-02 9.99890072e-01 1.07519963e-02 -5.72914644e+00] [-4.10212733e-03 -1.07105849e-02 9.99934226e-01 -1.85537292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.189072329 meters 0.23776671394093965 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.73, Z:-1.86 [[ 9.99885385e-01 -1.45653864e-02 4.13121632e-03 9.80296704e+01] [ 1.45385661e-02 9.99873509e-01 6.44949867e-03 -5.72906626e+00] [-4.22463320e-03 -6.38869749e-03 9.99970668e-01 -1.85577073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219072329 meters 0.23189443495712117 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.73, Z:-1.86 [[ 9.99883373e-01 -1.45480762e-02 4.64687708e-03 9.80285360e+01] [ 1.45154782e-02 9.99870328e-01 6.97336857e-03 -5.73073926e+00] [-4.74772360e-03 -6.90510365e-03 9.99964889e-01 -1.85577466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.249072329 meters 0.2331886458905581 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.73, Z:-1.86 [[ 9.99880204e-01 -1.46178199e-02 5.08899905e-03 9.80276249e+01] [ 1.45796575e-02 9.99865904e-01 7.45701981e-03 -5.73241182e+00] [-5.19732201e-03 -7.38193063e-03 9.99959247e-01 -1.85592050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279072329 meters 0.23315136038921472 Centerline is valid? [False, False] Translation: X:98.03, Y:-5.74, Z:-1.86 [[ 9.99869971e-01 -1.48595991e-02 6.26373417e-03 9.80251213e+01] [ 1.48066772e-02 9.99854987e-01 8.41229083e-03 -5.73579837e+00] [-6.38782911e-03 -8.31845189e-03 9.99944998e-01 -1.85596194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.309072329 meters 0.2322357253395692 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.74, Z:-1.86 [[ 9.99866261e-01 -1.48537011e-02 6.84306620e-03 9.80238979e+01] [ 1.47924756e-02 9.99850864e-01 8.91246369e-03 -5.73738399e+00] [-6.97442873e-03 -8.81004586e-03 9.99936868e-01 -1.85602736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339072329 meters 0.23419225008354064 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.74, Z:-1.86 [[ 9.99788537e-01 -1.91471980e-02 7.50113553e-03 9.80227243e+01] [ 1.91096302e-02 9.99804649e-01 5.04834654e-03 -5.73869001e+00] [-7.59633186e-03 -4.90393507e-03 9.99959123e-01 -1.85636432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.369072329 meters 0.23651071754930458 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.74, Z:-1.86 [[ 9.99784514e-01 -1.91121893e-02 8.10242088e-03 9.80213846e+01] [ 1.90666885e-02 9.99802215e-01 5.65624600e-03 -5.74060622e+00] [-8.20892158e-03 -5.50054082e-03 9.99951178e-01 -1.85627019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399072329 meters 0.23264249463295447 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.74, Z:-1.86 [[ 9.99779307e-01 -1.90896674e-02 8.77050993e-03 9.80198974e+01] [ 1.90360881e-02 9.99799867e-01 6.15243406e-03 -5.74213801e+00] [-8.88620258e-03 -5.98412007e-03 9.99942611e-01 -1.85614023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.429072329 meters 0.2331315426637813 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.74, Z:-1.86 [[ 9.99774130e-01 -1.90988934e-02 9.32311136e-03 9.80186688e+01] [ 1.90374799e-02 9.99796774e-01 6.63213643e-03 -5.74366719e+00] [-9.44788313e-03 -6.45314989e-03 9.99934545e-01 -1.85603730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459072329 meters 0.2331277575078131 Centerline is valid? [False, False] Translation: X:98.02, Y:-5.75, Z:-1.86 [[ 9.99767902e-01 -1.91097284e-02 9.94783927e-03 9.80173028e+01] [ 1.90396751e-02 9.99793592e-01 7.08976813e-03 -5.74505190e+00] [-1.00812695e-02 -6.89871898e-03 9.99925385e-01 -1.85600580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.489072329 meters 0.23502500831361314 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.75, Z:-1.86 [[ 9.99750275e-01 -1.93713176e-02 1.11417973e-02 9.80147479e+01] [ 1.92831230e-02 9.99782302e-01 7.96935123e-03 -5.74800585e+00] [-1.12937485e-02 -7.75251244e-03 9.99906170e-01 -1.85604143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519072329 meters 0.2335737826099979 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.75, Z:-1.86 [[ 9.99907193e-01 -1.17219268e-02 6.94279509e-03 9.80123165e+01] [ 1.17068391e-02 9.99929031e-01 2.20981242e-03 -5.75020890e+00] [-6.96820563e-03 -2.12832915e-03 9.99973457e-01 -1.85520369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.549072329 meters 0.23539860377245378 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.75, Z:-1.86 [[ 9.99902002e-01 -1.17517097e-02 7.60813433e-03 9.80109101e+01] [ 1.17304716e-02 9.99927191e-01 2.83013450e-03 -5.75224668e+00] [-7.64083930e-03 -2.74061015e-03 9.99967053e-01 -1.85525630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579072329 meters 0.2360106141818322 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.76, Z:-1.86 [[ 9.99883260e-01 -1.24883735e-02 8.80381538e-03 9.80085996e+01] [ 1.24544154e-02 9.99914829e-01 3.90154016e-03 -5.75739945e+00] [-8.85178944e-03 -3.79143832e-03 9.99953634e-01 -1.85568099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.609072329 meters 0.2349460444002023 Centerline is valid? [False, False] Translation: X:98.01, Y:-5.76, Z:-1.86 [[ 9.99876605e-01 -1.25057518e-02 9.50690828e-03 9.80070192e+01] [ 1.24633926e-02 9.99912195e-01 4.50189581e-03 -5.75934195e+00] [-9.56237311e-03 -4.38285196e-03 9.99944674e-01 -1.85550338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63907232900002 meters 0.23789713187188413 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.76, Z:-1.86 [[ 9.99857964e-01 -1.30615903e-02 1.06511104e-02 9.80046884e+01] [ 1.30037631e-02 9.99900428e-01 5.48051478e-03 -5.76321695e+00] [-1.07216341e-02 -5.34123184e-03 9.99928256e-01 -1.85580858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66907232900002 meters 0.23657253187500493 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.76, Z:-1.86 [[ 9.99851040e-01 -1.30623804e-02 1.12815094e-02 9.80033248e+01] [ 1.29958624e-02 9.99897850e-01 5.94951857e-03 -5.76462967e+00] [-1.13580719e-02 -5.80201938e-03 9.99918662e-01 -1.85578987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699072329 meters 0.23815764622953114 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.77, Z:-1.86 [[ 9.99843886e-01 -1.30985173e-02 1.18588154e-02 9.80020364e+01] [ 1.30219355e-02 9.99894005e-01 6.51214550e-03 -5.76645862e+00] [-1.19428578e-02 -6.35670414e-03 9.99908476e-01 -1.85571398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.729072329 meters 0.23793689675424926 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.77, Z:-1.86 [[ 9.99836758e-01 -1.31661626e-02 1.23737134e-02 9.80008936e+01] [ 1.30791125e-02 9.99889329e-01 7.08987528e-03 -5.76846072e+00] [-1.24656905e-02 -6.92688073e-03 9.99898307e-01 -1.85566654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759072329 meters 0.23912167748769514 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.77, Z:-1.86 [[ 9.99761981e-01 -1.73927613e-02 1.31709454e-02 9.79992036e+01] [ 1.73441935e-02 9.99842384e-01 3.79279290e-03 -5.77169857e+00] [-1.32348366e-02 -3.56345071e-03 9.99906066e-01 -1.85553301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.789072329 meters 0.23912167748769514 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.77, Z:-1.86 [[ 9.99761981e-01 -1.73927613e-02 1.31709454e-02 9.79992036e+01] [ 1.73441935e-02 9.99842384e-01 3.79279290e-03 -5.77169857e+00] [-1.32348366e-02 -3.56345071e-03 9.99906066e-01 -1.85553301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819072329 meters 0.23956152042271645 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.77, Z:-1.86 [[ 9.99751432e-01 -1.74437211e-02 1.38849343e-02 9.79976552e+01] [ 1.73823431e-02 9.99838658e-01 4.52895872e-03 -5.77422696e+00] [-1.39616960e-02 -4.28648027e-03 9.99893343e-01 -1.85544116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.849072329 meters 0.24012541019671987 Centerline is valid? [False, False] Translation: X:98.00, Y:-5.78, Z:-1.86 [[ 9.99741007e-01 -1.74925040e-02 1.45578891e-02 9.79961617e+01] [ 1.74178027e-02 9.99834555e-01 5.24240960e-03 -5.77662753e+00] [-1.46471834e-02 -4.98748541e-03 9.99880285e-01 -1.85529758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879072329 meters 0.24088897927601496 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.78, Z:-1.86 [[ 9.99706358e-01 -1.81863969e-02 1.60141235e-02 9.79931695e+01] [ 1.80848562e-02 9.99815568e-01 6.46285694e-03 -5.78130910e+00] [-1.61287061e-02 -6.17134606e-03 9.99850879e-01 -1.85546305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.909072329 meters 0.24165159924049107 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.78, Z:-1.86 [[ 9.99695847e-01 -1.82001312e-02 1.66423960e-02 9.79917518e+01] [ 1.80842305e-02 9.99811340e-01 7.08836781e-03 -5.78330619e+00] [-1.67682655e-02 -6.78524694e-03 9.99836379e-01 -1.85532010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939072329 meters 0.24249438363866413 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.79, Z:-1.86 [[ 9.99686071e-01 -1.82464629e-02 1.71705232e-02 9.79905675e+01] [ 1.81167353e-02 9.99806376e-01 7.68072625e-03 -5.78525430e+00] [-1.73073447e-02 -7.36724122e-03 9.99823074e-01 -1.85520438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.969072329 meters 0.24270030203685353 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.79, Z:-1.86 [[ 9.99823079e-01 -1.34242872e-02 1.31757065e-02 9.79826295e+01] [ 1.33574398e-02 9.99897531e-01 5.14849981e-03 -5.78714646e+00] [-1.32434713e-02 -4.97159523e-03 9.99899942e-01 -1.85887450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999072329 meters 0.24390764474209453 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.79, Z:-1.86 [[ 9.99799405e-01 -1.39158789e-02 1.44047630e-02 9.79800315e+01] [ 1.38246544e-02 9.99883868e-01 6.41326713e-03 -5.79220201e+00] [-1.44923364e-02 -6.21283979e-03 9.99875679e-01 -1.85874146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.029072329 meters 0.2439431351846425 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.79, Z:-1.86 [[ 9.99792169e-01 -1.39600961e-02 1.48571287e-02 9.79790031e+01] [ 1.38560038e-02 9.99878891e-01 7.08624614e-03 -5.79460944e+00] [-1.49542541e-02 -6.87891296e-03 9.99864516e-01 -1.85861111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059072329 meters 0.24503013054734873 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.86 [[ 9.99784488e-01 -1.40085343e-02 1.53211950e-02 9.79779522e+01] [ 1.38906338e-02 9.99873293e-01 7.77479166e-03 -5.79704291e+00] [-1.54281672e-02 -7.56029499e-03 9.99852396e-01 -1.85845566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.089072329 meters 0.24800921993123815 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.86 [[ 9.99713004e-01 -1.80808624e-02 1.57159620e-02 9.79771586e+01] [ 1.80155915e-02 9.99828524e-01 4.28487489e-03 -5.79952535e+00] [-1.57907413e-02 -4.00051279e-03 9.99867315e-01 -1.85849143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119072329 meters 0.2467603827144412 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.86 [[ 9.99705084e-01 -1.80520078e-02 1.62440698e-02 9.79759736e+01] [ 1.79751001e-02 9.99826583e-01 4.86813499e-03 -5.80132456e+00] [-1.63291324e-02 -4.57471052e-03 9.99856205e-01 -1.85837532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.149072329 meters 0.24664061570681542 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.86 [[ 9.99699611e-01 -1.79850161e-02 1.66501261e-02 9.79750177e+01] [ 1.78963574e-02 9.99824947e-01 5.45858722e-03 -5.80316467e+00] [-1.67453842e-02 -5.15897091e-03 9.99846477e-01 -1.85822201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179072329 meters 0.2476210506861621 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.81, Z:-1.86 [[ 9.99682455e-01 -1.82290832e-02 1.73980063e-02 9.79734730e+01] [ 1.81152878e-02 9.99813616e-01 6.67605986e-03 -5.80757507e+00] [-1.75164620e-02 -6.35877001e-03 9.99826355e-01 -1.85825951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.209072329 meters 0.24751773967717533 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.81, Z:-1.86 [[ 9.99678336e-01 -1.81459456e-02 1.77185998e-02 9.79726273e+01] [ 1.80185247e-02 9.99810823e-01 7.32473563e-03 -5.80970370e+00] [-1.78481621e-02 -7.00311650e-03 9.99816183e-01 -1.85793950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239072329 meters 0.24805653102941144 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.81, Z:-1.86 [[ 9.99666597e-01 -1.83628483e-02 1.81521298e-02 9.79716384e+01] [ 1.82111338e-02 9.99798132e-01 8.48822422e-03 -5.81432951e+00] [-1.83043334e-02 -8.15482336e-03 9.99799205e-01 -1.85773150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.269072329 meters 0.2497211607131481 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.82, Z:-1.86 [[ 9.99665042e-01 -1.82577168e-02 1.83428315e-02 9.79710670e+01] [ 1.80948292e-02 9.99795702e-01 9.00725957e-03 -5.81599265e+00] [-1.85035361e-02 -8.67233212e-03 9.99791183e-01 -1.85742476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299072329 meters 0.25050545541694963 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.82, Z:-1.86 [[ 9.99660395e-01 -1.81565719e-02 1.86931285e-02 9.79702001e+01] [ 1.79803410e-02 9.99792703e-01 9.55288367e-03 -5.81767973e+00] [-1.88627011e-02 -9.21353064e-03 9.99779630e-01 -1.85719072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.329072329 meters 0.24840038078409235 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.82, Z:-1.86 [[ 9.99659569e-01 -1.80513844e-02 1.88386153e-02 9.79697516e+01] [ 1.78638451e-02 9.99789653e-01 1.00763035e-02 -5.81936543e+00] [-1.90165439e-02 -9.73634309e-03 9.99771761e-01 -1.85694648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359072329 meters 0.2492797417316804 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.82, Z:-1.86 [[ 9.99659744e-01 -1.79290130e-02 1.89458909e-02 9.79694047e+01] [ 1.77299929e-02 9.99786399e-01 1.06209437e-02 -5.82112643e+00] [-1.91322671e-02 -1.02814193e-02 9.99764097e-01 -1.85674331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38907232900002 meters 0.2514892326332242 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.82, Z:-1.86 [[ 9.99659904e-01 -1.77788020e-02 1.90785199e-02 9.79688752e+01] [ 1.75590499e-02 9.99778249e-01 1.16246642e-02 -5.82466249e+00] [-1.92809618e-02 -1.12857100e-02 9.99750407e-01 -1.85629112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41907232900002 meters 0.24931688208803823 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.86 [[ 9.99660846e-01 -1.76466081e-02 1.91517888e-02 9.79685270e+01] [ 1.74166868e-02 9.99775022e-01 1.21063468e-02 -5.82621958e+00] [-1.93611161e-02 -1.17686802e-02 9.99743290e-01 -1.85593978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.449072329 meters 0.2513571514011717 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.86 [[ 9.99666298e-01 -1.74426128e-02 1.90538373e-02 9.79684319e+01] [ 1.71997593e-02 9.99769676e-01 1.28360286e-02 -5.82870270e+00] [-1.92733426e-02 -1.25040237e-02 9.99736059e-01 -1.85541009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479072329 meters 0.24972432680887183 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.86 [[ 9.99669264e-01 -1.73344896e-02 1.89967779e-02 9.79683810e+01] [ 1.70861852e-02 9.99767462e-01 1.31561502e-02 -5.82971867e+00] [-1.92204156e-02 -1.28272165e-02 9.99732983e-01 -1.85510010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.509072329 meters 0.24710322525274664 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.85 [[ 9.99673579e-01 -1.72377009e-02 1.88572697e-02 9.79685861e+01] [ 1.69855721e-02 9.99765269e-01 1.34498290e-02 -5.83069094e+00] [-1.90846875e-02 -1.31251372e-02 9.99731717e-01 -1.85496911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539072329 meters 0.24981118368743332 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.85 [[ 9.99840354e-01 -1.75426118e-02 3.39455077e-03 9.79736452e+01] [ 1.75001396e-02 9.99772899e-01 1.21612589e-02 -5.83100511e+00] [-3.60712011e-03 -1.20999123e-02 9.99920287e-01 -1.85336764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.569072329 meters 0.24845863256436748 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.85 [[ 9.99844646e-01 -1.73490866e-02 3.11333012e-03 9.79740510e+01] [ 1.73082316e-02 9.99769517e-01 1.27018978e-02 -5.83286145e+00] [-3.33297887e-03 -1.26460382e-02 9.99914481e-01 -1.85307047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599072329 meters 0.2463294978253996 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.85 [[ 9.99846512e-01 -1.72682221e-02 2.95994302e-03 9.79743071e+01] [ 1.72285763e-02 9.99767923e-01 1.29335668e-02 -5.83365635e+00] [-3.18259579e-03 -1.28805860e-02 9.99911977e-01 -1.85296477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.629072329 meters 0.24793151213589998 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.83, Z:-1.85 [[ 9.99848951e-01 -1.71668487e-02 2.71542492e-03 9.79747429e+01] [ 1.71296030e-02 9.99766254e-01 1.31914612e-02 -5.83454932e+00] [-2.94124601e-03 -1.31429545e-02 9.99909302e-01 -1.85285730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659072329 meters 0.2455422770753226 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.84, Z:-1.85 [[ 9.99850767e-01 -1.70989577e-02 2.46352957e-03 9.79751963e+01] [ 1.70645989e-02 9.99765244e-01 1.33512606e-02 -5.83514770e+00] [-2.69124388e-03 -1.33072290e-02 9.99907833e-01 -1.85272607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.689072329 meters 0.24701306836678566 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.84, Z:-1.85 [[ 9.99853243e-01 -1.70220580e-02 1.93455736e-03 9.79762605e+01] [ 1.69943397e-02 9.99763906e-01 1.35397577e-02 -5.83593065e+00] [-2.16457516e-03 -1.35048941e-02 9.99906462e-01 -1.85270212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719072329 meters 0.24704774960923037 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.84, Z:-1.85 [[ 9.99853652e-01 -1.70336383e-02 1.59022237e-03 9.79770081e+01] [ 1.70106551e-02 9.99764258e-01 1.34931619e-02 -5.83587827e+00] [-1.81968513e-03 -1.34641365e-02 9.99907699e-01 -1.85278581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.749072329 meters 0.24661958902690784 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.84, Z:-1.85 [[ 9.99854015e-01 -1.70398237e-02 1.26210403e-03 9.79777372e+01] [ 1.70212908e-02 9.99764368e-01 1.34716368e-02 -5.83589854e+00] [-1.49136095e-03 -1.34481876e-02 9.99908457e-01 -1.85290631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779072329 meters 0.24592763807406176 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.84, Z:-1.85 [[ 9.99944483e-01 -9.21175839e-03 5.11616843e-03 9.79847533e+01] [ 9.16810041e-03 9.99921911e-01 8.49222031e-03 -5.83833280e+00] [-5.19399720e-03 -8.44484330e-03 9.99950852e-01 -1.85119193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.809072329 meters 0.2444976435457108 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99945812e-01 -9.21834966e-03 4.83688605e-03 9.79853651e+01] [ 9.17673220e-03 9.99921280e-01 8.55696406e-03 -5.83866764e+00] [-4.91538638e-03 -8.51211357e-03 9.99951690e-01 -1.85128064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.839072329 meters 0.245113620054681 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99946247e-01 -9.23522578e-03 4.71307619e-03 9.79856243e+01] [ 9.19462696e-03 9.99921053e-01 8.56425053e-03 -5.83873945e+00] [-4.79179690e-03 -8.52045520e-03 9.99952219e-01 -1.85130737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.869072329 meters 0.246152003492691 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99946618e-01 -9.36877823e-03 4.35740795e-03 9.79866539e+01] [ 9.33211647e-03 9.99921514e-01 8.35923708e-03 -5.83829191e+00] [-4.43538179e-03 -8.31812701e-03 9.99955567e-01 -1.85191667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.899072329 meters 0.24607680020971645 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99946438e-01 -9.42659818e-03 4.27318488e-03 9.79869636e+01] [ 9.39113816e-03 9.99921921e-01 8.24373599e-03 -5.83796162e+00] [-4.35056162e-03 -8.20316437e-03 9.99956889e-01 -1.85222133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.929072329 meters 0.24661046105265277 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99946534e-01 -9.52542116e-03 4.02430560e-03 9.79876266e+01] [ 9.49243157e-03 9.99921825e-01 8.13866121e-03 -5.83776554e+00] [-4.10151518e-03 -8.10002562e-03 9.99958783e-01 -1.85253563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.959072329 meters 0.24544128095335274 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99945979e-01 -9.58723641e-03 4.01558792e-03 9.79876895e+01] [ 9.55496340e-03 9.99922505e-01 7.98045401e-03 -5.83729202e+00] [-4.09178723e-03 -7.94165410e-03 9.99960093e-01 -1.85261102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.989072329 meters 0.24618471374256867 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99945627e-01 -9.67693017e-03 3.88578337e-03 9.79880272e+01] [ 9.64605831e-03 9.99922375e-01 7.88648578e-03 -5.83710422e+00] [-3.96179871e-03 -7.84857448e-03 9.99961351e-01 -1.85274792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.019072329 meters 0.24602329362499342 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99945091e-01 -9.78940324e-03 3.73936662e-03 9.79883905e+01] [ 9.76036712e-03 9.99922674e-01 7.70587244e-03 -5.83660281e+00] [-3.81451336e-03 -7.66895173e-03 9.99963318e-01 -1.85288163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.049072329 meters 0.24716818747036282 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.84, Z:-1.85 [[ 9.99944244e-01 -9.91257427e-03 3.63997944e-03 9.79886980e+01] [ 9.88535356e-03 9.99923597e-01 7.42161444e-03 -5.83573350e+00] [-3.71326864e-03 -7.38521815e-03 9.99965835e-01 -1.85308495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.079072329 meters 0.24710331030278868 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.85 [[ 9.99942186e-01 -1.01921045e-02 3.42720617e-03 9.79896381e+01] [ 1.01687186e-02 9.99925358e-01 6.77317134e-03 -5.83375640e+00] [-3.49598322e-03 -6.73792946e-03 9.99971189e-01 -1.85400430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.109072329 meters 0.24854976812011412 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.85 [[ 9.99941266e-01 -1.03377448e-02 3.25516729e-03 9.79901923e+01] [ 1.03163350e-02 9.99925485e-01 6.52665532e-03 -5.83306974e+00] [-3.32239563e-03 -6.49269058e-03 9.99973403e-01 -1.85439165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13907232900002 meters 0.24766647769990968 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.85 [[ 9.99940311e-01 -1.04503897e-02 3.18804229e-03 9.79905118e+01] [ 1.04300796e-02 9.99925619e-01 6.32217647e-03 -5.83248092e+00] [-3.25387436e-03 -6.28854758e-03 9.99974933e-01 -1.85476359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16907232900002 meters 0.24867221889427948 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.86 [[ 9.99939138e-01 -1.05898204e-02 3.09443989e-03 9.79908545e+01] [ 1.05704647e-02 9.99924874e-01 6.20578775e-03 -5.83224809e+00] [-3.15992559e-03 -6.17270038e-03 9.99975956e-01 -1.85504773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199072329 meters 0.24964040330582465 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.86 [[ 9.99936787e-01 -1.07842109e-02 3.18174361e-03 9.79908476e+01] [ 1.07658467e-02 9.99925609e-01 5.73350026e-03 -5.83077390e+00] [-3.24333819e-03 -5.69888366e-03 9.99978502e-01 -1.85536745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.229072329 meters 0.24959328519761506 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.86 [[ 9.99935266e-01 -1.09438570e-02 3.11370337e-03 9.79911648e+01] [ 1.09269281e-02 9.99925703e-01 5.40293347e-03 -5.82977610e+00] [-3.17260096e-03 -5.36856050e-03 9.99980556e-01 -1.85569682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259072329 meters 0.2479881086175403 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.86 [[ 9.99933808e-01 -1.11039635e-02 3.01371611e-03 9.79915471e+01] [ 1.10886339e-02 9.99925734e-01 5.05652679e-03 -5.82871409e+00] [-3.06963978e-03 -5.02277409e-03 9.99982674e-01 -1.85603383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.289072329 meters 0.2515211259311234 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.86 [[ 9.99931004e-01 -1.13444266e-02 3.04829756e-03 9.79918195e+01] [ 1.13308325e-02 9.99925945e-01 4.44044779e-03 -5.82669183e+00] [-3.09844615e-03 -4.40560167e-03 9.99985495e-01 -1.85669666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319072329 meters 0.251417905158042 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.83, Z:-1.86 [[ 9.99929390e-01 -1.15067909e-02 2.96780974e-03 9.79921915e+01] [ 1.14941853e-02 9.99924992e-01 4.23008139e-03 -5.82612271e+00] [-3.01626179e-03 -4.19567016e-03 9.99986649e-01 -1.85710997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.349072329 meters 0.2534341934528451 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99926104e-01 -1.17101196e-02 3.26488659e-03 9.79918887e+01] [ 1.16978125e-02 9.99924496e-01 3.76348711e-03 -5.82460986e+00] [-3.30871096e-03 -3.72501697e-03 9.99987588e-01 -1.85774120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379072329 meters 0.25409403711881684 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99924008e-01 -1.18921280e-02 3.24891890e-03 9.79921024e+01] [ 1.18806629e-02 9.99923207e-01 3.52571482e-03 -5.82393960e+00] [-3.29059765e-03 -3.48684759e-03 9.99988507e-01 -1.85810553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.409072329 meters 0.25423423645951615 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99922057e-01 -1.20541715e-02 3.25234118e-03 9.79922647e+01] [ 1.20434769e-02 9.99922069e-01 3.28805591e-03 -5.82323538e+00] [-3.29172251e-03 -3.24863013e-03 9.99989305e-01 -1.85845511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439072329 meters 0.254336580848852 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99919627e-01 -1.22360124e-02 3.31959751e-03 9.79923191e+01] [ 1.22262797e-02 9.99920944e-01 2.93652044e-03 -5.82212599e+00] [-3.35526638e-03 -2.89569810e-03 9.99990179e-01 -1.85885380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.469072329 meters 0.2545439116780219 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99915362e-01 -1.25573203e-02 3.40319232e-03 9.79926374e+01] [ 1.25492960e-02 9.99918448e-01 2.36907979e-03 -5.82036837e+00] [-3.43266407e-03 -2.32617161e-03 9.99991403e-01 -1.85976945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499072329 meters 0.257166906052215 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99912645e-01 -1.27332739e-02 3.54484705e-03 9.79925414e+01] [ 1.27260639e-02 9.99916921e-01 2.04911520e-03 -5.81934534e+00] [-3.57064450e-03 -2.00382425e-03 9.99991618e-01 -1.86018507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.529072329 meters 0.2548846147339025 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99909994e-01 -1.29049818e-02 3.66955796e-03 9.79924107e+01] [ 1.28983890e-02 9.99915166e-01 1.81465088e-03 -5.81862541e+00] [-3.69266469e-03 -1.76715616e-03 9.99991621e-01 -1.86045512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559072329 meters 0.2585088283646541 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99903830e-01 -1.32010661e-02 4.24993077e-03 9.79914359e+01] [ 1.31951706e-02 9.99911943e-01 1.41225380e-03 -5.81737483e+00] [-4.26819979e-03 -1.35603942e-03 9.99989972e-01 -1.86090439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.589072329 meters 0.2605927980725221 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99900246e-01 -1.33815075e-02 4.52028093e-03 9.79910098e+01] [ 1.33762618e-02 9.99909827e-01 1.18873584e-03 -5.81666237e+00] [-4.53578040e-03 -1.12815280e-03 9.99989077e-01 -1.86121760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619072329 meters 0.26201490607604183 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99897311e-01 -1.35734434e-02 4.59667923e-03 9.79910656e+01] [ 1.35689989e-02 9.99907440e-01 9.96705955e-04 -5.81614867e+00] [-4.60978250e-03 -9.34231268e-04 9.99988938e-01 -1.86166118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.649072329 meters 0.261627342934468 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.82, Z:-1.86 [[ 9.99893807e-01 -1.37522960e-02 4.82171491e-03 9.79907527e+01] [ 1.37490871e-02 9.99905233e-01 6.98039162e-04 -5.81518431e+00] [-4.83085761e-03 -6.31670857e-04 9.99988132e-01 -1.86200767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679072329 meters 0.2615395535993796 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.86 [[ 9.99888140e-01 -1.40419487e-02 5.15086047e-03 9.79904474e+01] [ 1.40410445e-02 9.99901397e-01 2.11650410e-04 -5.81358180e+00] [-5.15332456e-03 -1.39303273e-04 9.99986712e-01 -1.86277212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.709072329 meters 0.2650271392340244 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.86 [[ 9.99884440e-01 -1.42328930e-02 5.34144303e-03 9.79902103e+01] [ 1.42335670e-02 9.99898694e-01 -8.81873862e-05 -5.81261447e+00] [-5.33964674e-03 1.64204983e-04 9.99985731e-01 -1.86312935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739072329 meters 0.2650271392340244 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.86 [[ 9.99884440e-01 -1.42328930e-02 5.34144303e-03 9.79902103e+01] [ 1.42335670e-02 9.99898694e-01 -8.81873862e-05 -5.81261447e+00] [-5.33964674e-03 1.64204983e-04 9.99985731e-01 -1.86312935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.769072329 meters 0.2642538636437515 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.86 [[ 9.99881441e-01 -1.44383995e-02 5.35125644e-03 9.79903518e+01] [ 1.44406367e-02 9.99895656e-01 -3.79661648e-04 -5.81176511e+00] [-5.34521636e-03 4.56892185e-04 9.99985610e-01 -1.86345795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799072329 meters 0.26428691585511555 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.86 [[ 9.99871727e-01 -1.48033952e-02 6.11463617e-03 9.79891218e+01] [ 1.48079015e-02 9.99890117e-01 -6.92347853e-04 -5.81076105e+00] [-6.10371518e-03 7.82803974e-04 9.99981066e-01 -1.86421606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.829072329 meters 0.26466552344544836 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.86 [[ 9.99866521e-01 -1.49905934e-02 6.49791427e-03 9.79885173e+01] [ 1.49966220e-02 9.99887157e-01 -8.80055348e-04 -5.81013179e+00] [-6.48398847e-03 9.77384643e-04 9.99978501e-01 -1.86468301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859072329 meters 0.2685022668653478 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.87 [[ 9.99861359e-01 -1.51734432e-02 6.85778270e-03 9.79879523e+01] [ 1.51805757e-02 9.99884279e-01 -9.89206203e-04 -5.80975446e+00] [-6.84197945e-03 1.09317415e-03 9.99975996e-01 -1.86515097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88907232900002 meters 0.2678881553200364 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.87 [[ 9.99855217e-01 -1.53776135e-02 7.28521068e-03 9.79872321e+01] [ 1.53866618e-02 9.99880913e-01 -1.18757902e-03 -5.80907347e+00] [-7.26608098e-03 1.29950215e-03 9.99972757e-01 -1.86556975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91907232900002 meters 0.26655366950006965 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.87 [[ 9.99840223e-01 -1.58830355e-02 8.20108544e-03 9.79856110e+01] [ 1.58965137e-02 9.99872393e-01 -1.58089151e-03 -5.80781349e+00] [-8.17492956e-03 1.71100758e-03 9.99965121e-01 -1.86618469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.949072329 meters 0.2706959191711997 Centerline is valid? [False, False] Translation: X:97.99, Y:-5.81, Z:-1.87 [[ 9.99833500e-01 -1.61365106e-02 8.51972440e-03 9.79850771e+01] [ 1.61529461e-02 9.99867795e-01 -1.86383220e-03 -5.80693156e+00] [-8.48852230e-03 2.00114052e-03 9.99961969e-01 -1.86647926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979072329 meters 0.5082438017224227 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99816079e-01 -1.66889087e-02 9.44930554e-03 9.79832902e+01] [ 1.67131060e-02 9.99857232e-01 -2.48760008e-03 -5.80499232e+00] [-9.40644115e-03 2.64506980e-03 9.99952260e-01 -1.86680384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.009072329 meters 0.5098889695722703 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99808036e-01 -1.69620288e-02 9.80721657e-03 9.79827527e+01] [ 1.69900655e-02 9.99851787e-01 -2.78255866e-03 -5.80407873e+00] [-9.75856517e-03 2.94864976e-03 9.99948037e-01 -1.86727605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039072329 meters 0.5095961280118032 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99798089e-01 -1.72229731e-02 1.03513513e-02 9.79817872e+01] [ 1.72555847e-02 9.99846400e-01 -3.06944760e-03 -5.80310687e+00] [-1.02968964e-02 3.24744646e-03 9.99941712e-01 -1.86770596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.069072329 meters 0.5106077659776338 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99773648e-01 -1.78863982e-02 1.15208703e-02 9.79797837e+01] [ 1.79268310e-02 9.99833466e-01 -3.41586031e-03 -5.80204574e+00] [-1.14578542e-02 3.62161982e-03 9.99927798e-01 -1.86864690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099072329 meters 0.5124752844958745 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99764521e-01 -1.81399035e-02 1.19099105e-02 9.79792581e+01] [ 1.81840589e-02 9.99828140e-01 -3.60967767e-03 -5.80142543e+00] [-1.18423845e-02 3.82539819e-03 9.99922559e-01 -1.86930673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.129072329 meters 0.5132160576694553 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99755256e-01 -1.83857431e-02 1.23041993e-02 9.79786449e+01] [ 1.84348514e-02 9.99822497e-01 -3.88973203e-03 -5.80048598e+00] [-1.22304997e-02 4.11560613e-03 9.99916735e-01 -1.86980025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159072329 meters 0.5146213295274891 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99733511e-01 -1.89660385e-02 1.31604436e-02 9.79773423e+01] [ 1.90240182e-02 9.99809804e-01 -4.29448651e-03 -5.79914010e+00] [-1.30764912e-02 4.54370659e-03 9.99904175e-01 -1.87082912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.189072329 meters 0.5205501128451602 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99722077e-01 -1.92986634e-02 1.35399876e-02 9.79767853e+01] [ 1.93624206e-02 9.99801978e-01 -4.59361972e-03 -5.79818915e+00] [-1.34486556e-02 4.85450998e-03 9.99897778e-01 -1.87134570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219072329 meters 0.5188085643722118 Centerline is valid? [False, False] Translation: X:97.98, Y:-5.80, Z:-1.87 [[ 9.99707846e-01 -1.96259330e-02 1.41083393e-02 9.79757655e+01] [ 1.96968101e-02 9.99793979e-01 -4.90248236e-03 -5.79712405e+00] [-1.40092169e-02 5.17893936e-03 9.99888454e-01 -1.87176964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.249072329 meters 0.5185444597999983 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.80, Z:-1.87 [[ 9.99685985e-01 -2.00628480e-02 1.50138054e-02 9.79739915e+01] [ 2.01401895e-02 9.99784573e-01 -5.01799563e-03 -5.79669162e+00] [-1.49098958e-02 5.31880079e-03 9.99874695e-01 -1.87214618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279072329 meters 0.5190660823133034 Centerline is valid? [False, False] Translation: X:97.97, Y:-5.80, Z:-1.87 [[ 9.99589871e-01 -2.22921425e-02 1.79763528e-02 9.79676420e+01] [ 2.23926651e-02 9.99734614e-01 -5.41014914e-03 -5.79684925e+00] [-1.78509783e-02 5.81046873e-03 9.99823775e-01 -1.87247931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.309072329 meters 0.5196587159196039 Centerline is valid? [False, False] Translation: X:97.96, Y:-5.80, Z:-1.87 [[ 9.99531296e-01 -2.33361922e-02 1.98143750e-02 9.79638475e+01] [ 2.34457244e-02 9.99710990e-01 -5.31369776e-03 -5.79752892e+00] [-1.96846470e-02 5.77576958e-03 9.99789555e-01 -1.87281783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339072329 meters 0.5182710966583703 Centerline is valid? [False, False] Translation: X:97.96, Y:-5.80, Z:-1.87 [[ 9.99448909e-01 -2.47922087e-02 2.20731501e-02 9.79591367e+01] [ 2.49134832e-02 9.99675898e-01 -5.23623025e-03 -5.79837193e+00] [-2.19361784e-02 5.78326367e-03 9.99742646e-01 -1.87312772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.369072329 meters 0.516969391804441 Centerline is valid? [False, False] Translation: X:97.95, Y:-5.80, Z:-1.87 [[ 9.99351141e-01 -2.63940938e-02 2.45081197e-02 9.79540771e+01] [ 2.65278990e-02 9.99634804e-01 -5.15059099e-03 -5.79937973e+00] [-2.43632242e-02 5.79739791e-03 9.99686363e-01 -1.87349214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399072329 meters 0.5209516766476524 Centerline is valid? [False, False] Translation: X:97.94, Y:-5.80, Z:-1.87 [[ 9.98991579e-01 -3.38680591e-02 2.94750554e-02 9.79438997e+01] [ 3.41305958e-02 9.99381660e-01 -8.44988157e-03 -5.80257647e+00] [-2.91706487e-02 9.44736173e-03 9.99529800e-01 -1.87427179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.429072329 meters 0.5206100376534637 Centerline is valid? [False, False] Translation: X:97.93, Y:-5.80, Z:-1.88 [[ 9.98772724e-01 -4.36607485e-02 2.33834213e-02 9.79313267e+01] [ 4.38898015e-02 9.98992405e-01 -9.37332629e-03 -5.79551458e+00] [-2.29506139e-02 1.03881164e-02 9.99682628e-01 -1.87601285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459072329 meters 0.5218867644558827 Centerline is valid? [False, False] Translation: X:97.92, Y:-5.80, Z:-1.88 [[ 9.97797918e-01 -6.25708038e-02 2.20047417e-02 9.79221456e+01] [ 6.28091526e-02 9.97972280e-01 -1.03120526e-02 -5.79583142e+00] [-2.13148889e-02 1.16714438e-02 9.99704683e-01 -1.87724767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.489072329 meters 0.5244350085955459 Centerline is valid? [False, False] Translation: X:97.92, Y:-5.80, Z:-1.88 [[ 9.97542996e-01 -6.53032518e-02 2.53664267e-02 9.79151251e+01] [ 6.55834494e-02 9.97793152e-01 -1.03748628e-02 -5.79653872e+00] [-2.46329346e-02 1.20129895e-02 9.99624383e-01 -1.87779576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519072329 meters 0.5251518648432405 Centerline is valid? [False, False] Translation: X:97.91, Y:-5.80, Z:-1.88 [[ 9.97256836e-01 -6.82515598e-02 2.86448629e-02 9.79080658e+01] [ 6.85844602e-02 9.97586816e-01 -1.08035264e-02 -5.79668851e+00] [-2.78383801e-02 1.27384830e-02 9.99531268e-01 -1.87801268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.549072329 meters 0.525708188230264 Centerline is valid? [False, False] Translation: X:97.89, Y:-5.79, Z:-1.88 [[ 9.95230957e-01 -9.20457330e-02 3.22943487e-02 9.78855349e+01] [ 9.23481168e-02 9.95694668e-01 -7.99703499e-03 -5.78862635e+00] [-3.14192179e-02 1.09412191e-02 9.99446408e-01 -1.87962561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579072329 meters 0.528254196035715 Centerline is valid? [False, False] Translation: X:97.87, Y:-5.78, Z:-1.88 [[ 9.94441802e-01 -1.01511606e-01 2.79445340e-02 9.78695124e+01] [ 1.01783682e-01 9.94770337e-01 -8.48872435e-03 -5.77936198e+00] [-2.69366894e-02 1.12858399e-02 9.99573431e-01 -1.88096210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.609072329 meters 0.5302757943060968 Centerline is valid? [False, False] Translation: X:97.85, Y:-5.77, Z:-1.88 [[ 9.93571963e-01 -1.10336905e-01 2.53085199e-02 9.78496253e+01] [ 1.10580619e-01 9.93831346e-01 -8.43702363e-03 -5.76787852e+00] [-2.42214853e-02 1.11814219e-02 9.99644084e-01 -1.88103700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63907232900002 meters 0.4957490697382196 Centerline is valid? [False, False] Translation: X:97.82, Y:-5.76, Z:-1.88 [[ 9.90570911e-01 -1.33743061e-01 2.96995462e-02 9.78247744e+01] [ 1.33945023e-01 9.90976605e-01 -4.90913659e-03 -5.75781876e+00] [-2.87749925e-02 8.84095430e-03 9.99546816e-01 -1.88178589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66907232900002 meters 0.4973053020040165 Centerline is valid? [False, False] Translation: X:97.80, Y:-5.74, Z:-1.88 [[ 9.89492549e-01 -1.41774595e-01 2.83629863e-02 9.78013246e+01] [ 1.41953933e-01 9.89863475e-01 -4.40242258e-03 -5.74384978e+00] [-2.74513325e-02 8.38240180e-03 9.99587995e-01 -1.88106332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699072329 meters 0.534680364892406 Centerline is valid? [False, False] Translation: X:97.78, Y:-5.73, Z:-1.88 [[ 9.88159402e-01 -1.49683278e-01 3.37032898e-02 9.77759252e+01] [ 1.49857648e-01 9.88703913e-01 -2.69413042e-03 -5.73091827e+00] [-3.29193082e-02 7.71292603e-03 9.99428252e-01 -1.88257060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.729072329 meters 0.5333977330726478 Centerline is valid? [False, False] Translation: X:97.74, Y:-5.71, Z:-1.88 [[ 9.84911961e-01 -1.69827142e-01 3.32741746e-02 9.77396658e+01] [ 1.69977178e-01 9.85446511e-01 -1.71277854e-03 -5.70945391e+00] [-3.24990430e-02 7.34278638e-03 9.99444794e-01 -1.88053575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759072329 meters 0.5360138669526922 Centerline is valid? [False, False] Translation: X:97.71, Y:-5.69, Z:-1.88 [[ 9.83804233e-01 -1.76164014e-01 3.30979085e-02 9.77107785e+01] [ 1.76296572e-01 9.84336473e-01 -1.10731172e-03 -5.69090999e+00] [-3.23844100e-02 6.92442577e-03 9.99451501e-01 -1.87870438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.789072329 meters 0.5068938810190051 Centerline is valid? [False, False] Translation: X:97.68, Y:-5.67, Z:-1.88 [[ 9.82915544e-01 -1.81011418e-01 3.33451558e-02 9.76782776e+01] [ 1.81113566e-01 9.83462188e-01 -4.36122269e-05 -5.66952139e+00] [-3.27858055e-02 6.08212721e-03 9.99443895e-01 -1.87684900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819072329 meters 0.5657417798250163 Centerline is valid? [False, False] Translation: X:97.65, Y:-5.65, Z:-1.87 [[ 9.82079810e-01 -1.85478702e-01 3.34200114e-02 9.76453879e+01] [ 1.85532010e-01 9.82637036e-01 1.52607521e-03 -5.64748298e+00] [-3.31227954e-02 4.70175424e-03 9.99440230e-01 -1.87497809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.849072329 meters 0.5419676675569285 Centerline is valid? [False, False] Translation: X:97.62, Y:-5.63, Z:-1.87 [[ 9.78178861e-01 -2.05474035e-01 3.07658543e-02 9.76160175e+01] [ 2.05432381e-01 9.78660768e-01 4.54284344e-03 -5.62724707e+00] [-3.10427709e-02 1.87658926e-03 9.99516295e-01 -1.87423600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879072329 meters 0.5272434115249408 Centerline is valid? [False, False] Translation: X:97.61, Y:-5.62, Z:-1.87 [[ 9.78077868e-01 -2.05400212e-01 3.42700542e-02 9.76058246e+01] [ 2.05288051e-01 9.78677988e-01 6.79797012e-03 -5.62443424e+00] [-3.49356522e-02 3.86288520e-04 9.99389489e-01 -1.87284218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.909072329 meters 0.5283486217764244 Centerline is valid? [False, False] Translation: X:97.58, Y:-5.61, Z:-1.87 [[ 9.75365497e-01 -2.17941763e-01 3.41106334e-02 9.75832066e+01] [ 2.17876314e-01 9.75959922e-01 5.66939969e-03 -5.60935063e+00] [-3.45262101e-02 1.90216225e-03 9.99401982e-01 -1.87306002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939072329 meters 0.527723976461585 Centerline is valid? [False, False] Translation: X:97.56, Y:-5.59, Z:-1.87 [[ 9.74355421e-01 -2.23160983e-01 2.88216933e-02 9.75614572e+01] [ 2.23112228e-01 9.74780259e-01 4.93768419e-03 -5.59139714e+00] [-2.91967161e-02 1.61941284e-03 9.99572373e-01 -1.87009316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.969072329 meters 0.5461907912389494 Centerline is valid? [False, False] Translation: X:97.55, Y:-5.59, Z:-1.87 [[ 9.74316012e-01 -2.22842933e-01 3.23934430e-02 9.75510501e+01] [ 2.22740256e-01 9.74854178e-01 6.79046300e-03 -5.58732327e+00] [-3.30920900e-02 5.99266945e-04 9.99452127e-01 -1.86910310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999072329 meters 0.6462358476797082 Centerline is valid? [False, False] Translation: X:97.53, Y:-5.57, Z:-1.86 [[ 9.75114522e-01 -2.20263587e-01 2.52115199e-02 9.75336168e+01] [ 2.20255058e-01 9.75437231e-01 3.14924352e-03 -5.57435215e+00] [-2.52859188e-02 2.48209168e-03 9.99677179e-01 -1.86383311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.029072329 meters 0.5478105485068304 Centerline is valid? [False, False] Translation: X:97.52, Y:-5.57, Z:-1.86 [[ 9.76737824e-01 -2.13653071e-01 1.83190959e-02 9.75188181e+01] [ 2.13699968e-01 9.76899146e-01 -6.18941520e-04 -5.56553820e+00] [-1.77636704e-02 4.51933380e-03 9.99832000e-01 -1.85838866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059072329 meters 0.5501248918097189 Centerline is valid? [False, False] Translation: X:97.52, Y:-5.57, Z:-1.86 [[ 9.76260289e-01 -2.15775195e-01 1.88921466e-02 9.75183102e+01] [ 2.15803058e-01 9.76436741e-01 5.75507138e-04 -5.57023148e+00] [-1.85711662e-02 3.51513825e-03 9.99821362e-01 -1.85728330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.089072329 meters 0.5511593749923747 Centerline is valid? [False, False] Translation: X:97.51, Y:-5.57, Z:-1.86 [[ 9.76427504e-01 -2.14823096e-01 2.09848995e-02 9.75112059e+01] [ 2.14816527e-01 9.76650979e-01 2.59337906e-03 -5.56613757e+00] [-2.10520403e-02 1.97565657e-03 9.99776429e-01 -1.85644366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119072329 meters 0.5686483470879584 Centerline is valid? [False, False] Translation: X:97.51, Y:-5.56, Z:-1.86 [[ 9.76307242e-01 -2.15242988e-01 2.22401768e-02 9.75080268e+01] [ 2.15242880e-01 9.76557531e-01 2.42706199e-03 -5.56478090e+00] [-2.22412202e-02 2.41748150e-03 9.99749711e-01 -1.85583581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.149072329 meters 0.5816470514539323 Centerline is valid? [False, False] Translation: X:97.51, Y:-5.56, Z:-1.86 [[ 9.75808105e-01 -2.17331646e-01 2.37801830e-02 9.75050207e+01] [ 2.17351919e-01 9.76091720e-01 1.76011798e-03 -5.56441172e+00] [-2.35941690e-02 3.45113100e-03 9.99715662e-01 -1.85548756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179072329 meters 0.5518254920491669 Centerline is valid? [False, False] Translation: X:97.50, Y:-5.56, Z:-1.85 [[ 9.76121600e-01 -2.15867815e-01 2.42426982e-02 9.75018408e+01] [ 2.15827907e-01 9.76422029e-01 4.28202960e-03 -5.56258253e+00] [-2.45954569e-02 1.05246924e-03 9.99696932e-01 -1.85467570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.209072329 meters 0.5447964693192581 Centerline is valid? [False, False] Translation: X:97.50, Y:-5.57, Z:-1.85 [[ 9.76517889e-01 -2.14144120e-01 2.35607432e-02 9.75021287e+01] [ 2.14002529e-01 9.76796947e-01 8.40488541e-03 -5.56521877e+00] [-2.48139188e-02 -3.16546233e-03 9.99687076e-01 -1.85329588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239072329 meters 0.5525540861233841 Centerline is valid? [False, False] Translation: X:97.50, Y:-5.57, Z:-1.85 [[ 9.76489265e-01 -2.14297930e-01 2.33476613e-02 9.75027850e+01] [ 2.14153597e-01 9.76762617e-01 8.54555366e-03 -5.56597081e+00] [-2.46364172e-02 -3.34465575e-03 9.99690882e-01 -1.85327825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.269072329 meters 0.5591435641899186 Centerline is valid? [False, False] Translation: X:97.50, Y:-5.57, Z:-1.85 [[ 9.77005741e-01 -2.11934875e-01 2.33107643e-02 9.75009767e+01] [ 2.11704902e-01 9.77260514e-01 1.19549924e-02 -5.56547139e+00] [-2.53143693e-02 -6.74509315e-03 9.99656784e-01 -1.85278398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299072329 meters 0.568023332102059 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.56, Z:-1.85 [[ 9.78699208e-01 -2.03932604e-01 2.36506662e-02 9.74883434e+01] [ 2.03717188e-01 9.78965585e-01 1.12111502e-02 -5.56485909e+00] [-2.54395073e-02 -6.15429665e-03 9.99657419e-01 -1.85164952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.329072329 meters 0.5569689278577885 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.57, Z:-1.85 [[ 9.78720720e-01 -2.03891862e-01 2.31054480e-02 9.74896453e+01] [ 2.03680097e-01 9.78973429e-01 1.12001556e-02 -5.56523947e+00] [-2.49032403e-02 -6.25570444e-03 9.99670293e-01 -1.85152003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359072329 meters 0.5415119676036322 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.57, Z:-1.85 [[ 9.79384137e-01 -2.00737042e-01 2.26131154e-02 9.74889690e+01] [ 2.00429060e-01 9.79590721e-01 1.51726855e-02 -5.56526024e+00] [-2.51973180e-02 -1.03275620e-02 9.99629150e-01 -1.85127071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38907232900002 meters 0.5510020174079142 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.57, Z:-1.85 [[ 9.80068264e-01 -1.97554479e-01 2.09386265e-02 9.74913148e+01] [ 1.97156053e-01 9.80175043e-01 1.96564507e-02 -5.56737192e+00] [-2.44067390e-02 -1.51364865e-02 9.99587514e-01 -1.85021743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41907232900002 meters 0.6499878050748507 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.57, Z:-1.85 [[ 9.80796668e-01 -1.93988092e-01 2.01622669e-02 9.74911437e+01] [ 1.93509022e-01 9.80817008e-01 2.35001269e-02 -5.56664178e+00] [-2.43342390e-02 -1.91472656e-02 9.99520499e-01 -1.84988299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.449072329 meters 0.5375315652363302 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.57, Z:-1.85 [[ 9.81476539e-01 -1.90575365e-01 1.96171984e-02 9.74904601e+01] [ 1.90017609e-01 9.81403848e-01 2.71991734e-02 -5.56552034e+00] [-2.44358864e-02 -2.29677374e-02 9.99437527e-01 -1.84953312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479072329 meters 0.5335650756602288 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.57, Z:-1.85 [[ 9.83458861e-01 -1.79990371e-01 2.03011147e-02 9.74940028e+01] [ 1.79550203e-01 9.83508122e-01 2.17600434e-02 -5.56696968e+00] [-2.38829094e-02 -1.77550383e-02 9.99557085e-01 -1.84974161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.509072329 meters 0.5259877212400578 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.57, Z:-1.85 [[ 9.85146982e-01 -1.70019930e-01 2.40550793e-02 9.74929306e+01] [ 1.69638660e-01 9.85357875e-01 1.71050380e-02 -5.56514333e+00] [-2.66110592e-02 -1.27703052e-02 9.99564290e-01 -1.85023288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539072329 meters 0.5152487637187867 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.56, Z:-1.85 [[ 9.85912754e-01 -1.65279514e-01 2.56656318e-02 9.74882460e+01] [ 1.64831932e-01 9.86144638e-01 1.86865755e-02 -5.56250724e+00] [-2.83985332e-02 -1.41928174e-02 9.99495917e-01 -1.85232301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.569072329 meters 0.5103722217732893 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.56, Z:-1.85 [[ 9.88063658e-01 -1.51917710e-01 2.55189715e-02 9.74916429e+01] [ 1.51542755e-01 9.88320446e-01 1.60464981e-02 -5.56327381e+00] [-2.76586685e-02 -1.19877464e-02 9.99545543e-01 -1.85271944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599072329 meters 0.5103722217732893 Centerline is valid? [False, False] Translation: X:97.48, Y:-5.56, Z:-1.85 [[ 9.88821911e-01 -1.46543405e-01 2.75001557e-02 9.74829342e+01] [ 1.45987895e-01 9.89058448e-01 2.12348922e-02 -5.55733534e+00] [-3.03110948e-02 -1.69828368e-02 9.99396228e-01 -1.85148128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.629072329 meters 0.51823686995852 Centerline is valid? [False, False] Translation: X:97.48, Y:-5.56, Z:-1.85 [[ 9.89439666e-01 -1.42529681e-01 2.63521699e-02 9.74842389e+01] [ 1.41874606e-01 9.89562310e-01 2.52592855e-02 -5.55714485e+00] [-2.96773120e-02 -2.12538353e-02 9.99333544e-01 -1.85139968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659072329 meters 0.5197821031003659 Centerline is valid? [False, False] Translation: X:97.48, Y:-5.56, Z:-1.85 [[ 9.91128212e-01 -1.29994754e-01 2.76808909e-02 9.74830365e+01] [ 1.29397885e-01 9.91340439e-01 2.23678642e-02 -5.55526867e+00] [-3.03488916e-02 -1.85875725e-02 9.99366523e-01 -1.85148641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.689072329 meters 0.5126680209600751 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.56, Z:-1.85 [[ 9.92710224e-01 -1.17316539e-01 2.76268194e-02 9.74883404e+01] [ 1.16856882e-01 9.92990874e-01 1.77085555e-02 -5.55765076e+00] [-2.95106860e-02 -1.43510801e-02 9.99461438e-01 -1.85315737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719072329 meters 0.5157777968087209 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.56, Z:-1.85 [[ 9.93977499e-01 -1.05698329e-01 2.89239487e-02 9.74878061e+01] [ 1.05303705e-01 9.94329272e-01 1.48468391e-02 -5.55605498e+00] [-3.03292149e-02 -1.17116251e-02 9.99471349e-01 -1.85386223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.749072329 meters 0.5016705276180554 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.55, Z:-1.85 [[ 9.94868966e-01 -9.67428580e-02 2.96067686e-02 9.74872032e+01] [ 9.63733946e-02 9.95251447e-01 1.36647798e-02 -5.55443426e+00] [-3.07881491e-02 -1.07413605e-02 9.99468215e-01 -1.85482648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779072329 meters 0.5068528833771693 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.55, Z:-1.86 [[ 9.95871037e-01 -8.54855849e-02 3.05465541e-02 9.74877962e+01] [ 8.51735290e-02 9.96301173e-01 1.13773173e-02 -5.55310327e+00] [-3.14061643e-02 -8.72858297e-03 9.99468591e-01 -1.85545305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.809072329 meters 0.5065684831963799 Centerline is valid? [False, False] Translation: X:97.49, Y:-5.55, Z:-1.86 [[ 9.97103732e-01 -7.05601483e-02 2.83798172e-02 9.74941359e+01] [ 7.03690777e-02 9.97491481e-01 7.67717635e-03 -5.55443909e+00] [-2.88503286e-02 -5.65787962e-03 9.99567730e-01 -1.85586358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839072329 meters Centerline is valid? [False, False] Translation: X:97.50, Y:-5.56, Z:-1.86 [[ 9.97194776e-01 -6.99759494e-02 2.65696262e-02 9.74984119e+01] [ 6.97917325e-02 9.97531092e-01 7.79966431e-03 -5.55587815e+00] [-2.70498172e-02 -5.92344426e-03 9.99616537e-01 -1.85585602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.869072329 meters Centerline is valid? [False, False] /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) Translation: X:97.50, Y:-5.56, Z:-1.86 [[ 9.97317851e-01 -6.89267598e-02 2.46212291e-02 9.75027264e+01] [ 6.87537571e-02 9.97603119e-01 7.80631980e-03 -5.55679994e+00] [-2.51002793e-02 -6.09258008e-03 9.99666373e-01 -1.85553409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899072329 meters Centerline is valid? [False, False] Translation: X:97.51, Y:-5.56, Z:-1.86 [[ 9.98275714e-01 -5.40870733e-02 2.28076064e-02 9.75090406e+01] [ 5.40199859e-02 9.98533552e-01 3.54782342e-03 -5.55864396e+00] [-2.29660516e-02 -2.30963938e-03 9.99733578e-01 -1.85721965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.929072329 meters Centerline is valid? [False, False] Translation: X:97.51, Y:-5.56, Z:-1.86 [[ 9.98538050e-01 -4.96602940e-02 2.13452122e-02 9.75120263e+01] [ 4.95057036e-02 9.98744073e-01 7.71112746e-03 -5.55923809e+00] [-2.17013410e-02 -6.64314443e-03 9.99742427e-01 -1.85707301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959072329 meters Centerline is valid? [False, False] Translation: X:97.51, Y:-5.56, Z:-1.86 [[ 9.99098542e-01 -3.64401498e-02 2.17765506e-02 9.75126757e+01] [ 3.63514167e-02 9.99329130e-01 4.45689245e-03 -5.55800653e+00] [-2.19243512e-02 -3.66126628e-03 9.99752928e-01 -1.85798601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.989072329 meters Centerline is valid? [False, False] Translation: X:97.52, Y:-5.56, Z:-1.86 [[ 9.99304138e-01 -3.33888582e-02 1.66260168e-02 9.75247665e+01] [ 3.33081998e-02 9.99432091e-01 5.10491879e-03 -5.56180010e+00] [-1.67870222e-02 -4.54758378e-03 9.99848746e-01 -1.85810082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019072329 meters Centerline is valid? [False, False] Translation: X:97.53, Y:-5.56, Z:-1.86 [[ 9.99665304e-01 -1.96897970e-02 1.67806923e-02 9.75250152e+01] [ 1.96649654e-02 9.99805275e-01 1.64351447e-03 -5.56031160e+00] [-1.68097851e-02 -1.31297266e-03 9.99857844e-01 -1.85854273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.049072329 meters Centerline is valid? [False, False] Translation: X:97.53, Y:-5.56, Z:-1.86 [[ 9.99711634e-01 -1.88749664e-02 1.48453606e-02 9.75293092e+01] [ 1.88517664e-02 9.99820842e-01 1.70117954e-03 -5.56145578e+00] [-1.48748107e-02 -1.42082771e-03 9.99888354e-01 -1.85815912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079072329 meters Centerline is valid? [False, False] /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) Translation: X:97.54, Y:-5.56, Z:-1.86 [[ 9.99825497e-01 -1.59329734e-02 9.75269809e-03 9.75413235e+01] [ 1.59125032e-02 9.99871027e-01 2.17294088e-03 -5.56478845e+00] [-9.78606166e-03 -2.01737186e-03 9.99950080e-01 -1.85832082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.109072329 meters 0.5204753393390898 Centerline is valid? [False, False] Translation: X:97.54, Y:-5.57, Z:-1.86 [[ 9.99899864e-01 -1.14543484e-02 8.31018361e-03 9.75447763e+01] [ 1.14017648e-02 9.99914850e-01 6.34763047e-03 -5.56559571e+00] [-8.38218397e-03 -6.25224409e-03 9.99945323e-01 -1.85826514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13907232900002 meters 0.5335699614784717 Centerline is valid? [False, False] Translation: X:97.55, Y:-5.57, Z:-1.86 [[ 9.99922438e-01 -1.07056611e-02 6.36442710e-03 9.75492206e+01] [ 1.06652853e-02 9.99922997e-01 6.34442429e-03 -5.56662922e+00] [-6.43185828e-03 -6.27605378e-03 9.99959620e-01 -1.85801117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16907232900002 meters 0.5317177482630063 Centerline is valid? [False, False] Translation: X:97.57, Y:-5.57, Z:-1.86 [[ 9.99997013e-01 -1.94727614e-03 1.47743244e-03 9.75660871e+01] [ 1.94250025e-03 9.99992906e-01 3.22713847e-03 -5.57118871e+00] [-1.48370609e-03 -3.22425892e-03 9.99993701e-01 -1.85689477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199072329 meters Centerline is valid? [False, False] Translation: X:97.57, Y:-5.57, Z:-1.86 [[ 9.99998721e-01 -1.47240185e-03 -6.23788838e-04 9.75712224e+01] [ 1.47434552e-03 9.99994024e-01 3.12699593e-03 -5.57223506e+00] [ 6.19180916e-04 -3.12791161e-03 9.99994916e-01 -1.85701240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.229072329 meters Centerline is valid? [False, False] Translation: X:97.58, Y:-5.57, Z:-1.86 [[ 9.99995935e-01 -1.01409325e-03 -2.66501211e-03 9.75762194e+01] [ 1.02185455e-03 9.99995236e-01 2.91255079e-03 -5.57283623e+00] [ 2.66204581e-03 -2.91526220e-03 9.99992207e-01 -1.85718629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259072329 meters 0.5462012707352124 Centerline is valid? [False, False] Translation: X:97.59, Y:-5.57, Z:-1.86 [[ 9.99974851e-01 9.26251729e-04 -7.03131603e-03 9.75866557e+01] [-9.06067972e-04 9.99995462e-01 2.87319474e-03 -5.57456645e+00] [ 7.03394542e-03 -2.86675163e-03 9.99971152e-01 -1.85757481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.289072329 meters 0.5453485078761341 Centerline is valid? [False, False] Translation: X:97.59, Y:-5.57, Z:-1.86 [[ 9.99960268e-01 1.53179996e-03 -8.78154018e-03 9.75906489e+01] [-1.50811565e-03 9.99995210e-01 2.70304363e-03 -5.57488571e+00] [ 8.78563863e-03 -2.68969266e-03 9.99957788e-01 -1.85730008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.319072329 meters Centerline is valid? [False, False] Translation: X:97.60, Y:-5.58, Z:-1.86 [[ 9.99938217e-01 1.85709758e-03 -1.09596617e-02 9.75963456e+01] [-1.83210231e-03 9.99995699e-01 2.29026052e-03 -5.57522234e+00] [ 1.09638678e-02 -2.27003980e-03 9.99937318e-01 -1.85779644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.349072329 meters 0.556106872831142 Centerline is valid? [False, False] Translation: X:97.60, Y:-5.58, Z:-1.87 [[ 9.99998333e-01 1.67680154e-03 -7.22552335e-04 9.76043602e+01] [-1.67257175e-03 9.99981692e-01 5.81533084e-03 -5.58152992e+00] [ 7.32290262e-04 -5.81411262e-03 9.99982830e-01 -1.87378776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.379072329 meters 0.5532569059979802 Centerline is valid? [False, False] Translation: X:97.61, Y:-5.58, Z:-1.87 [[ 9.99983480e-01 3.16024843e-03 -4.80140012e-03 9.76145877e+01] [-3.13476807e-03 9.99981014e-01 5.30515025e-03 -5.58233390e+00] [ 4.81807456e-03 -5.29001133e-03 9.99974401e-01 -1.87454317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.409072329 meters 0.5543875516828373 Centerline is valid? [False, False] Translation: X:97.62, Y:-5.58, Z:-1.87 [[ 9.99972034e-01 3.64444301e-03 -6.53062677e-03 9.76188010e+01] [-3.61177352e-03 9.99980941e-01 5.00733498e-03 -5.58234783e+00] [ 6.54875125e-03 -4.98360780e-03 9.99966138e-01 -1.87458218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439072329 meters 0.5504060853509959 Centerline is valid? [False, False] Translation: X:97.63, Y:-5.58, Z:-1.88 [[ 9.99939532e-01 4.72248652e-03 -9.93127372e-03 9.76273534e+01] [-4.67888264e-03 9.99979333e-01 4.40922409e-03 -5.58225669e+00] [ 9.95189097e-03 -4.36249021e-03 9.99940963e-01 -1.87535806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.469072329 meters 0.5516783572875386 Centerline is valid? [False, False] Translation: X:97.63, Y:-5.58, Z:-1.88 [[ 9.99922195e-01 5.18882522e-03 -1.13437279e-02 9.76306139e+01] [-5.14322321e-03 9.99978590e-01 4.04550342e-03 -5.58173900e+00] [ 1.13644765e-02 -3.98684533e-03 9.99927474e-01 -1.87513912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499072329 meters 0.5519203926546357 Centerline is valid? [False, False] Translation: X:97.63, Y:-5.58, Z:-1.87 [[ 9.99902421e-01 5.66882605e-03 -1.27676454e-02 9.76338797e+01] [-5.62324641e-03 9.99977698e-01 3.60300798e-03 -5.58098290e+00] [ 1.27877855e-02 -3.53086078e-03 9.99911999e-01 -1.87488797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.529072329 meters 0.5617966161321548 Centerline is valid? [False, False] Translation: X:97.64, Y:-5.58, Z:-1.87 [[ 9.99881312e-01 6.13319708e-03 -1.41331275e-02 9.76369159e+01] [-6.08827559e-03 9.99976284e-01 3.21928994e-03 -5.58040459e+00] [ 1.41525368e-02 -3.13286148e-03 9.99894940e-01 -1.87443682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559072329 meters 0.5628670150625672 Centerline is valid? [False, False] Translation: X:97.65, Y:-5.58, Z:-1.88 [[ 9.99947242e-01 9.14035902e-03 -4.68698440e-03 9.76514727e+01] [-9.14596062e-03 9.99957484e-01 -1.17510057e-03 -5.58272176e+00] [ 4.67604429e-03 1.21790555e-03 9.99988326e-01 -1.88077073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.589072329 meters 0.578313771198665 Centerline is valid? [False, False] Translation: X:97.65, Y:-5.58, Z:-1.88 [[ 9.99937030e-01 9.48718981e-03 -5.99405685e-03 9.76546194e+01] [-9.49697908e-03 9.99953612e-01 -1.60681529e-03 -5.58201192e+00] [ 5.97853463e-03 1.66363954e-03 9.99980745e-01 -1.88069092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.619072329 meters 0.5626683764652347 Centerline is valid? [False, False] Translation: X:97.66, Y:-5.58, Z:-1.88 [[ 9.99925997e-01 9.80953905e-03 -7.19535463e-03 9.76575682e+01] [-9.82442474e-03 9.99949666e-01 -2.03636974e-03 -5.58122315e+00] [ 7.17501661e-03 2.10690926e-03 9.99972040e-01 -1.88073231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.649072329 meters 0.5661712221408548 Centerline is valid? [False, False] Translation: X:97.66, Y:-5.58, Z:-1.88 [[ 9.99894451e-01 1.05212544e-02 -1.00194825e-02 9.76648131e+01] [-1.05513849e-02 9.99939954e-01 -2.95909819e-03 -5.57985315e+00] [ 9.98774749e-03 3.06450528e-03 9.99945425e-01 -1.88151871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679072329 meters 0.5778545355664202 Centerline is valid? [False, False] Translation: X:97.67, Y:-5.58, Z:-1.88 [[ 9.99880244e-01 1.07708425e-02 -1.11124484e-02 9.76675174e+01] [-1.08097151e-02 9.99935642e-01 -3.44399420e-03 -5.57882344e+00] [ 1.10746385e-02 3.56370416e-03 9.99932324e-01 -1.88155349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.709072329 meters 0.5729560457798938 Centerline is valid? [False, False] Translation: X:97.67, Y:-5.58, Z:-1.88 [[ 9.99843621e-01 1.13370166e-02 -1.35722666e-02 9.76736835e+01] [-1.13984536e-02 9.99925098e-01 -4.45789067e-03 -5.57695323e+00] [ 1.35207109e-02 4.61189639e-03 9.99897955e-01 -1.88204188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739072329 meters 0.5722829945394081 Centerline is valid? [False, False] Translation: X:97.68, Y:-5.58, Z:-1.88 [[ 9.99827022e-01 1.15521650e-02 -1.45764493e-02 9.76761264e+01] [-1.16246946e-02 9.99920421e-01 -4.90092655e-03 -5.57601511e+00] [ 1.45186730e-02 5.06952557e-03 9.99881747e-01 -1.88195535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.769072329 meters 0.5732417448680437 Centerline is valid? [False, False] Translation: X:97.68, Y:-5.58, Z:-1.88 [[ 9.99809319e-01 1.17373759e-02 -1.56064038e-02 9.76787900e+01] [-1.18210293e-02 9.99916195e-01 -5.27879197e-03 -5.57533528e+00] [ 1.55431367e-02 5.46226916e-03 9.99864278e-01 -1.88205653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799072329 meters 0.5805061494511896 Centerline is valid? [False, False] Translation: X:97.70, Y:-5.58, Z:-1.89 [[ 9.99907406e-01 6.67418047e-03 -1.18589454e-02 9.76964115e+01] [-6.70829612e-03 9.99973468e-01 -2.83934069e-03 -5.58030574e+00] [ 1.18396805e-02 2.91863110e-03 9.99925649e-01 -1.88755308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.829072329 meters 0.5815582483248282 Centerline is valid? [False, False] Translation: X:97.71, Y:-5.58, Z:-1.88 [[ 9.99797988e-01 7.13906307e-03 -1.87887503e-02 9.77132025e+01] [-7.19152882e-03 9.99970424e-01 -2.72631863e-03 -5.58115937e+00] [ 1.87687312e-02 2.86088772e-03 9.99819759e-01 -1.88297657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859072329 meters 0.5757763985265426 Centerline is valid? [False, False] Translation: X:97.72, Y:-5.58, Z:-1.89 [[ 9.99946950e-01 9.27884922e-03 -4.47206748e-03 9.77159914e+01] [-9.29879373e-03 9.99946820e-01 -4.45983147e-03 -5.58167925e+00] [ 4.43044755e-03 4.50117972e-03 9.99980055e-01 -1.88889847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88907232900002 meters 0.5902517735778418 Centerline is valid? [False, False] Translation: X:97.72, Y:-5.58, Z:-1.89 [[ 9.99941783e-01 9.39019109e-03 -5.31552455e-03 9.77181713e+01] [-9.41650912e-03 9.99943422e-01 -4.94798012e-03 -5.58046337e+00] [ 5.26876133e-03 4.99774575e-03 9.99973631e-01 -1.88903685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91907232900002 meters 0.5860096260931937 Centerline is valid? [False, False] Translation: X:97.74, Y:-5.58, Z:-1.88 [[ 9.99875894e-01 9.67998180e-03 -1.24296168e-02 9.77354236e+01] [-9.73908174e-03 9.99941514e-01 -4.70307362e-03 -5.58130730e+00] [ 1.23833642e-02 4.82354300e-03 9.99911689e-01 -1.88385930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.949072329 meters 0.5984117377637438 Centerline is valid? [False, False] Translation: X:97.74, Y:-5.58, Z:-1.88 [[ 9.99863947e-01 9.78052215e-03 -1.32826303e-02 9.77375964e+01] [-9.85056071e-03 9.99937869e-01 -5.21779511e-03 -5.58005547e+00] [ 1.32307723e-02 5.34792657e-03 9.99898168e-01 -1.88383768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979072329 meters 0.5904050311710964 Centerline is valid? [False, False] Translation: X:97.74, Y:-5.58, Z:-1.88 [[ 9.99851245e-01 9.86142585e-03 -1.41506250e-02 9.77398640e+01] [-9.94350768e-03 9.99934076e-01 -5.74199283e-03 -5.57882030e+00] [ 1.40930679e-02 5.88184552e-03 9.99883388e-01 -1.88387802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.009072329 meters 0.5991955328324855 Centerline is valid? [False, False] Translation: X:97.76, Y:-5.58, Z:-1.88 [[ 9.99725152e-01 1.03281265e-02 -2.10463926e-02 9.77565658e+01] [-1.04556282e-02 9.99927594e-01 -5.95711702e-03 -5.57869181e+00] [ 2.09833429e-02 6.17553297e-03 9.99760752e-01 -1.87881677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039072329 meters 0.5973295272862804 Centerline is valid? [False, False] Translation: X:97.76, Y:-5.58, Z:-1.88 [[ 9.99915030e-01 1.10348335e-02 -6.94018740e-03 9.77603575e+01] [-1.10947088e-02 9.99901048e-01 -8.64882590e-03 -5.57895318e+00] [ 6.84406230e-03 8.72509036e-03 9.99938514e-01 -1.88472020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.069072329 meters 0.601525870758604 Centerline is valid? [False, False] Translation: X:97.77, Y:-5.58, Z:-1.89 [[ 9.99899106e-01 1.12420971e-02 -8.68297433e-03 9.77651491e+01] [-1.13270147e-02 9.99887889e-01 -9.79331441e-03 -5.57627434e+00] [ 8.57190347e-03 9.89067850e-03 9.99914345e-01 -1.88548951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099072329 meters 0.6080083221707564 Centerline is valid? [False, False] Translation: X:97.77, Y:-5.58, Z:-1.89 [[ 9.99893570e-01 1.12203435e-02 -9.32485030e-03 9.77669916e+01] [-1.13151488e-02 9.99884190e-01 -1.01771593e-02 -5.57532104e+00] [ 9.20957916e-03 1.02815882e-02 9.99904732e-01 -1.88569993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.129072329 meters 0.5981561333084217 Centerline is valid? [False, False] Translation: X:97.77, Y:-5.57, Z:-1.89 [[ 9.99887479e-01 1.11826336e-02 -9.99887029e-03 9.77688830e+01] [-1.12886020e-02 9.99880042e-01 -1.06051727e-02 -5.57425556e+00] [ 9.87907708e-03 1.07168526e-02 9.99893771e-01 -1.88583933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159072329 meters 0.6004765946086728 Centerline is valid? [False, False] Translation: X:97.77, Y:-5.57, Z:-1.89 [[ 9.99881355e-01 1.11258009e-02 -1.06532789e-02 9.77706662e+01] [-1.12431303e-02 9.99876094e-01 -1.10176362e-02 -5.57321442e+00] [ 1.05293789e-02 1.11361052e-02 9.99882553e-01 -1.88586055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.189072329 meters 0.6055088539305846 Centerline is valid? [False, False] Translation: X:97.77, Y:-5.57, Z:-1.89 [[ 9.99867418e-01 1.12468967e-02 -1.17751333e-02 9.77735105e+01] [-1.13869953e-02 9.99864364e-01 -1.18991753e-02 -5.57095452e+00] [ 1.16397074e-02 1.20316811e-02 9.99859868e-01 -1.88599460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219072329 meters 0.611268436453148 Centerline is valid? [False, False] Translation: X:97.78, Y:-5.57, Z:-1.89 [[ 9.99861599e-01 1.11796410e-02 -1.23206372e-02 9.77751103e+01] [-1.13305614e-02 9.99860787e-01 -1.22484404e-02 -5.57005637e+00] [ 1.21819888e-02 1.23863450e-02 9.99849077e-01 -1.88616684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.249072329 meters 0.6099101827270682 Centerline is valid? [False, False] Translation: X:97.78, Y:-5.57, Z:-1.89 [[ 9.99854972e-01 1.10991652e-02 -1.29167738e-02 9.77768941e+01] [-1.12617846e-02 9.99857374e-01 -1.25858941e-02 -5.56923224e+00] [ 1.27752386e-02 1.27295348e-02 9.99837363e-01 -1.88638698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279072329 meters 0.6084126574442216 Centerline is valid? [False, False] Translation: X:97.78, Y:-5.57, Z:-1.89 [[ 9.99847739e-01 1.10354672e-02 -1.35173273e-02 9.77786937e+01] [-1.12097640e-02 9.99854121e-01 -1.28871465e-02 -5.56852541e+00] [ 1.33731397e-02 1.30367103e-02 9.99825586e-01 -1.88658715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.309072329 meters 0.6338450328277021 Centerline is valid? [False, False] Translation: X:97.78, Y:-5.57, Z:-1.89 [[ 9.99834997e-01 1.08186786e-02 -1.45923083e-02 9.77824154e+01] [-1.10182035e-02 9.99845950e-01 -1.36629130e-02 -5.56706791e+00] [ 1.44422457e-02 1.38214396e-02 9.99800175e-01 -1.88783810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339072329 meters 0.6386274977702545 Centerline is valid? [False, False] Translation: X:97.78, Y:-5.57, Z:-1.89 [[ 9.99827809e-01 1.07179904e-02 -1.51485158e-02 9.77842252e+01] [-1.09296515e-02 9.99842827e-01 -1.39593695e-02 -5.56636589e+00] [ 1.49965185e-02 1.41225338e-02 9.99787807e-01 -1.88821280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.369072329 meters 0.6590152190134063 Centerline is valid? [False, False] Translation: X:97.79, Y:-5.57, Z:-1.89 [[ 9.99820872e-01 1.06196963e-02 -1.56667419e-02 9.77858579e+01] [-1.08430916e-02 9.99839757e-01 -1.42438450e-02 -5.56566163e+00] [ 1.55129661e-02 1.44111694e-02 9.99775808e-01 -1.88846918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399072329 meters 0.6487751329010102 Centerline is valid? [False, False] Translation: X:97.81, Y:-5.57, Z:-1.90 [[ 9.99913483e-01 3.28083638e-03 -1.27382676e-02 9.78088253e+01] [-3.46166624e-03 9.99893186e-01 -1.41997965e-02 -5.56918987e+00] [ 1.26903197e-02 1.42426636e-02 9.99818035e-01 -1.89544380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.429072329 meters 0.6431555012783652 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.57, Z:-1.89 [[ 9.99857902e-01 -4.43691239e-03 -1.62631325e-02 9.78251960e+01] [ 4.16051760e-03 9.99847007e-01 -1.69897881e-02 -5.56935707e+00] [ 1.63360265e-02 1.69197108e-02 9.99723391e-01 -1.89287403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459072329 meters 0.6475577190349114 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.89 [[ 9.99715824e-01 -1.10035163e-02 -2.11469766e-02 9.78405111e+01] [ 1.05679235e-02 9.99731925e-01 -2.06008773e-02 -5.56996577e+00] [ 2.13679897e-02 2.03715433e-02 9.99564110e-01 -1.88840187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.489072329 meters 0.6360067083626769 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99934618e-01 -9.82519895e-03 -5.85014756e-03 9.78411794e+01] [ 9.67951897e-03 9.99654678e-01 -2.44301498e-02 -5.56864749e+00] [ 6.08815845e-03 2.43719259e-02 9.99684422e-01 -1.89813852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519072329 meters 0.6242201767988068 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99967027e-01 -5.75842637e-03 -5.72587246e-03 9.78406578e+01] [ 5.64147856e-03 9.99779335e-01 -2.02350191e-02 -5.56840890e+00] [ 5.84113083e-03 2.02020495e-02 9.99778855e-01 -1.89795632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.549072329 meters 0.6242201767988068 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99985266e-01 -1.61323970e-03 -5.18308608e-03 9.78388650e+01] [ 1.53192920e-03 9.99876303e-01 -1.56535159e-02 -5.56909208e+00] [ 5.20769782e-03 1.56453452e-02 9.99864042e-01 -1.89763356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579072329 meters 0.6236451731489608 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99982920e-01 2.37080711e-03 -5.34223364e-03 9.78393627e+01] [-2.43364398e-03 9.99927574e-01 -1.17866467e-02 -5.56822734e+00] [ 5.31390285e-03 1.17994465e-02 9.99916264e-01 -1.89765016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.609072329 meters 0.6244264851763923 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99982250e-01 2.33901140e-03 -5.47985397e-03 9.78399014e+01] [-2.40364283e-03 9.99927280e-01 -1.18176260e-02 -5.56821370e+00] [ 5.45181391e-03 1.18305878e-02 9.99915154e-01 -1.89786944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63907232900002 meters 0.6154045030326913 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99981535e-01 2.29476204e-03 -5.62711213e-03 9.78404069e+01] [-2.36139428e-03 9.99926839e-01 -1.18633711e-02 -5.56814571e+00] [ 5.59947683e-03 1.18764399e-02 9.99913794e-01 -1.89799624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66907232900002 meters 0.6075328501252677 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99981747e-01 2.24278877e-03 -5.61030667e-03 9.78402357e+01] [-2.30810619e-03 9.99929319e-01 -1.16631426e-02 -5.56889401e+00] [ 5.58375216e-03 1.16758789e-02 9.99916244e-01 -1.89776780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699072329 meters 0.6020761024570387 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99966615e-01 6.27707361e-03 -5.23129831e-03 9.78389234e+01] [-6.31461368e-03 9.99954209e-01 -7.19070092e-03 -5.56970520e+00] [ 5.18592220e-03 7.22349449e-03 9.99960463e-01 -1.89723714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.729072329 meters 0.6005474910996699 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99966340e-01 6.26906057e-03 -5.29323479e-03 9.78391862e+01] [-6.30661016e-03 9.99954856e-01 -7.10724434e-03 -5.57003520e+00] [ 5.24844009e-03 7.14038748e-03 9.99960734e-01 -1.89736755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759072329 meters 0.6044221067852558 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99965999e-01 6.28582277e-03 -5.33753298e-03 9.78394632e+01] [-6.32296624e-03 9.99955713e-01 -6.97079805e-03 -5.57055258e+00] [ 5.29347939e-03 7.00431008e-03 9.99961459e-01 -1.89758451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.789072329 meters 0.5879777885550954 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99966084e-01 6.24280636e-03 -5.37200390e-03 9.78401727e+01] [-6.27856207e-03 9.99958078e-01 -6.66501291e-03 -5.57187021e+00] [ 5.33017031e-03 6.69851532e-03 9.99963359e-01 -1.89845716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819072329 meters 0.5651358404731442 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99966230e-01 6.28591799e-03 -5.29393679e-03 9.78400495e+01] [-6.31999726e-03 9.99959256e-01 -6.44548028e-03 -5.57257966e+00] [ 5.25320533e-03 6.47872029e-03 9.99965214e-01 -1.89859932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.849072329 meters 0.5788942866661433 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99966215e-01 6.31501459e-03 -5.26211557e-03 9.78399999e+01] [-6.34786978e-03 9.99960317e-01 -6.25058997e-03 -5.57322887e+00] [ 5.22243419e-03 6.28378202e-03 9.99966620e-01 -1.89864950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.879072329 meters 0.555199195144433 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99967022e-01 6.33060322e-03 -5.08711014e-03 9.78395562e+01] [-6.36131554e-03 9.99961501e-01 -6.04395243e-03 -5.57382030e+00] [ 5.04865243e-03 6.07611383e-03 9.99968795e-01 -1.89872833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.909072329 meters 0.5276245072912007 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.57, Z:-1.90 [[ 9.99941785e-01 9.93905044e-03 -4.20031298e-03 9.78367143e+01] [-9.94630513e-03 9.99949072e-01 -1.70983228e-03 -5.57468343e+00] [ 4.18310496e-03 1.75151033e-03 9.99989717e-01 -1.89788025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.939072329 meters 0.5167305005274649 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.58, Z:-1.90 [[ 9.99942734e-01 9.93723119e-03 -3.97250408e-03 9.78361304e+01] [-9.94334418e-03 9.99949405e-01 -1.52205001e-03 -5.57517156e+00] [ 3.95717813e-03 1.56146282e-03 9.99990951e-01 -1.89796795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.969072329 meters 0.5106136545410372 Centerline is valid? [False, False] Translation: X:97.84, Y:-5.58, Z:-1.90 [[ 9.99975239e-01 5.64386357e-03 -4.20323890e-03 9.78373738e+01] [-5.66813893e-03 9.99967196e-01 -5.78605045e-03 -5.57558612e+00] [ 4.17044534e-03 5.80973173e-03 9.99974427e-01 -1.89887942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.999072329 meters 0.5043673683599504 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.58, Z:-1.90 [[ 9.99957024e-01 8.73275830e-03 -3.11286480e-03 9.78336219e+01] [-8.73859221e-03 9.99960078e-01 -1.86548309e-03 -5.57611908e+00] [ 3.09644971e-03 1.89260497e-03 9.99993415e-01 -1.89768362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.029072329 meters 0.4712097636012295 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.58, Z:-1.90 [[ 9.99957776e-01 8.74677711e-03 -2.81788244e-03 9.78327534e+01] [-8.75120403e-03 9.99960487e-01 -1.56252606e-03 -5.57696087e+00] [ 2.80410403e-03 1.58711995e-03 9.99994809e-01 -1.89760597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.059072329 meters 0.4663593726500996 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.58, Z:-1.90 [[ 9.99958552e-01 8.75905622e-03 -2.48472393e-03 9.78319203e+01] [-8.76213799e-03 9.99960853e-01 -1.23212636e-03 -5.57788305e+00] [ 2.47383439e-03 1.25384678e-03 9.99996154e-01 -1.89773713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.089072329 meters 0.45343956167361743 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.58, Z:-1.90 [[ 9.99959024e-01 8.78897509e-03 -2.16911793e-03 9.78312137e+01] [-8.79081353e-03 9.99961008e-01 -8.39476830e-04 -5.57904239e+00] [ 2.16165521e-03 8.58510742e-04 9.99997295e-01 -1.89797098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.119072329 meters 0.4477183892822421 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.58, Z:-1.90 [[ 9.99960787e-01 8.73904825e-03 -1.43326069e-03 9.78301920e+01] [-8.73895035e-03 9.99961812e-01 7.45499165e-05 -5.58201569e+00] [ 1.43385746e-03 -6.20217991e-05 9.99998970e-01 -1.89938314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.149072329 meters 0.4491879622167761 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.58, Z:-1.90 [[ 9.99960959e-01 8.79072683e-03 -8.96765252e-04 9.78290656e+01] [-8.79018428e-03 9.99961181e-01 6.07170577e-04 -5.58351946e+00] [ 9.02067911e-04 -5.99264141e-04 9.99999414e-01 -1.89992116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.179072329 meters 0.44681410551521517 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.59, Z:-1.90 [[ 9.99960890e-01 8.83559326e-03 -3.87809021e-04 9.78279849e+01] [-8.83514940e-03 9.99960329e-01 1.13169819e-03 -5.58501359e+00] [ 3.97792861e-04 -1.12822758e-03 9.99999284e-01 -1.90040352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.209072329 meters 0.4426526614630593 Centerline is valid? [False, False] Translation: X:97.83, Y:-5.59, Z:-1.90 [[ 9.99961680e-01 8.71106815e-03 8.69311346e-04 9.78250653e+01] [-8.71305488e-03 9.99959376e-01 2.30839604e-03 -5.58843717e+00] [-8.49167436e-04 -2.31588194e-03 9.99996958e-01 -1.90089783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.239072329 meters 0.44078107374459463 Centerline is valid? [False, False] Translation: X:97.82, Y:-5.59, Z:-1.90 [[ 9.99960381e-01 8.75647885e-03 1.60018550e-03 9.78230643e+01] [-8.76124183e-03 9.99957137e-01 2.99415249e-03 -5.59031884e+00] [-1.57389867e-03 -3.00805348e-03 9.99994237e-01 -1.90085790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.269072329 meters 0.4394397438971434 Centerline is valid? [False, False] Translation: X:97.82, Y:-5.59, Z:-1.90 [[ 9.99958428e-01 8.80933254e-03 2.35345085e-03 9.78209100e+01] [-8.81816171e-03 9.99954020e-01 3.76792753e-03 -5.59246343e+00] [-2.32014971e-03 -3.78852400e-03 9.99990132e-01 -1.90065923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.299072329 meters 0.4330255200460893 Centerline is valid? [False, False] Translation: X:97.82, Y:-5.60, Z:-1.90 [[ 9.99955221e-01 8.29479804e-03 4.55556568e-03 9.78157976e+01] [-8.32011386e-03 9.99949893e-01 5.56656973e-03 -5.59746496e+00] [-4.50916384e-03 -5.60422329e-03 9.99974130e-01 -1.90121198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.329072329 meters 0.4303541200639961 Centerline is valid? [False, False] Translation: X:97.81, Y:-5.60, Z:-1.90 [[ 9.99949701e-01 8.29091002e-03 5.64413454e-03 9.78131941e+01] [-8.32789526e-03 9.99943797e-01 6.56120689e-03 -5.60019549e+00] [-5.58941894e-03 -6.60788063e-03 9.99962546e-01 -1.90166601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.359072329 meters 0.4280150842291614 Centerline is valid? [False, False] Translation: X:97.81, Y:-5.60, Z:-1.90 [[ 9.99942276e-01 8.28404295e-03 6.84240694e-03 9.78103297e+01] [-8.33668292e-03 9.99935596e-01 7.70083951e-03 -5.60337195e+00] [-6.77817218e-03 -7.75743797e-03 9.99946938e-01 -1.90211141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38907232900002 meters 0.42165473451338864 Centerline is valid? [False, False] Translation: X:97.79, Y:-5.60, Z:-1.90 [[ 9.99997657e-01 1.56717978e-03 1.49363047e-03 9.77882117e+01] [-1.57983329e-03 9.99962554e-01 8.50846202e-03 -5.60185756e+00] [-1.48024025e-03 -8.51080177e-03 9.99962687e-01 -1.90015422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41907232900002 meters 0.4181500525718862 Centerline is valid? [False, False] Translation: X:97.78, Y:-5.61, Z:-1.90 [[ 9.99994424e-01 1.38676031e-03 3.03785189e-03 9.77844981e+01] [-1.41641688e-03 9.99951151e-01 9.78204769e-03 -5.60529296e+00] [-3.02413814e-03 -9.78629601e-03 9.99947540e-01 -1.90050689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.449072329 meters 0.41038502247018077 Centerline is valid? [False, False] Translation: X:97.77, Y:-5.61, Z:-1.90 [[ 9.99972397e-01 4.29847800e-05 7.42993370e-03 9.77740621e+01] [-1.37090268e-04 9.99919778e-01 1.26656786e-02 -5.61262287e+00] [-7.42879323e-03 -1.26663475e-02 9.99892183e-01 -1.90062440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479072329 meters 0.4086508375209895 Centerline is valid? [False, False] Translation: X:97.77, Y:-5.62, Z:-1.90 [[ 9.99950639e-01 -7.72032108e-04 9.90570426e-03 9.77684031e+01] [ 6.31728678e-04 9.99899554e-01 1.41592220e-02 -5.61632726e+00] [-9.91564064e-03 -1.41522654e-02 9.99850686e-01 -1.90101329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.509072329 meters 0.3829219425657744 Centerline is valid? [False, False] Translation: X:97.76, Y:-5.62, Z:-1.90 [[ 9.99919113e-01 -1.82582556e-03 1.25870435e-02 9.77626213e+01] [ 1.62676658e-03 9.99873742e-01 1.58067334e-02 -5.62062975e+00] [-1.26143146e-02 -1.57849787e-02 9.99795836e-01 -1.90179965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.539072329 meters 0.3817481474029254 Centerline is valid? [False, False] Translation: X:97.76, Y:-5.62, Z:-1.90 [[ 9.99870171e-01 -3.20891671e-03 1.57906154e-02 9.77556679e+01] [ 2.93235401e-03 9.99842450e-01 1.75064635e-02 -5.62484250e+00] [-1.58443044e-02 -1.74578870e-02 9.99722051e-01 -1.90250727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.569072329 meters 0.5641900353777 Centerline is valid? [False, False] Translation: X:97.73, Y:-5.63, Z:-1.90 [[ 9.99847490e-01 -1.32791370e-02 1.13429334e-02 9.77336439e+01] [ 1.30955849e-02 9.99784530e-01 1.61058920e-02 -5.62562416e+00] [-1.15543616e-02 -1.59548933e-02 9.99805950e-01 -1.90201982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.599072329 meters 0.5625789493202513 Centerline is valid? [False, False] Translation: X:97.73, Y:-5.63, Z:-1.90 [[ 9.99772986e-01 -1.50504413e-02 1.50818123e-02 9.77256780e+01] [ 1.47804123e-02 9.99731269e-01 1.78585876e-02 -5.62988996e+00] [-1.53465389e-02 -1.76316180e-02 9.99726768e-01 -1.90287829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.629072329 meters 0.5653972042310093 Centerline is valid? [False, False] Translation: X:97.72, Y:-5.63, Z:-1.90 [[ 9.99678223e-01 -1.68517106e-02 1.89596759e-02 9.77173627e+01] [ 1.64789584e-02 9.99671153e-01 1.96476527e-02 -5.63421757e+00] [-1.92845376e-02 -1.93288948e-02 9.99627181e-01 -1.90365759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.659072329 meters 0.5641317938982356 Centerline is valid? [False, False] Translation: X:97.71, Y:-5.64, Z:-1.90 [[ 9.99562860e-01 -1.87032595e-02 2.28971086e-02 9.77089869e+01] [ 1.82123559e-02 9.99603734e-01 2.14635578e-02 -5.63864490e+00] [-2.32894738e-02 -2.10371649e-02 9.99507398e-01 -1.90445255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.689072329 meters 0.5696776976332164 Centerline is valid? [False, False] Translation: X:97.69, Y:-5.64, Z:-1.90 [[ 9.99367085e-01 -2.94561215e-02 1.99440557e-02 9.76850691e+01] [ 2.90500829e-02 9.99370758e-01 2.03514212e-02 -5.63937558e+00] [-2.05309800e-02 -1.97591641e-02 9.99593945e-01 -1.90491905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.719072329 meters 0.5698986395754185 Centerline is valid? [False, False] Translation: X:97.68, Y:-5.64, Z:-1.91 [[ 9.99197940e-01 -3.16262516e-02 2.45612733e-02 9.76751936e+01] [ 3.10834782e-02 9.99270782e-01 2.21748177e-02 -5.64347229e+00] [-2.52446691e-02 -2.13935823e-02 9.99452361e-01 -1.90559716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.749072329 meters 0.5685266924015914 Centerline is valid? [False, False] Translation: X:97.65, Y:-5.65, Z:-1.91 [[ 9.98760409e-01 -3.40880504e-02 3.62718987e-02 9.76477510e+01] [ 3.32386285e-02 9.99164761e-01 2.37691619e-02 -5.64729472e+00] [-3.70518474e-02 -2.25340697e-02 9.99059246e-01 -1.91064824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.779072329 meters 0.5686598439388187 Centerline is valid? [False, False] Translation: X:97.64, Y:-5.65, Z:-1.91 [[ 9.98481955e-01 -3.63767465e-02 4.13584108e-02 9.76366305e+01] [ 3.53346929e-02 9.99046218e-01 2.56537372e-02 -5.65130714e+00] [-4.22521634e-02 -2.41534070e-02 9.98814982e-01 -1.91071715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.809072329 meters 0.5682079468840427 Centerline is valid? [False, False] Translation: X:97.62, Y:-5.64, Z:-1.91 [[ 9.98282112e-01 -4.52684106e-02 3.71967202e-02 9.76161702e+01] [ 4.44053009e-02 9.98732157e-01 2.37117627e-02 -5.64273799e+00] [-3.82229544e-02 -2.20192970e-02 9.99026604e-01 -1.91117943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.839072329 meters 0.572041181387561 Centerline is valid? [False, False] Translation: X:97.60, Y:-5.65, Z:-1.91 [[ 9.97491594e-01 -5.29389605e-02 4.69892244e-02 9.75961014e+01] [ 5.18576026e-02 9.98367454e-01 2.39419267e-02 -5.65400603e+00] [-4.81799731e-02 -2.14451221e-02 9.98608430e-01 -1.91244133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.869072329 meters 0.5700926292970423 Centerline is valid? [False, False] Translation: X:97.57, Y:-5.64, Z:-1.91 [[ 9.97130096e-01 -6.10859303e-02 4.47222714e-02 9.75710707e+01] [ 6.00969736e-02 9.97924414e-01 2.31347851e-02 -5.64183417e+00] [-4.60426563e-02 -2.03807174e-02 9.98731546e-01 -1.91094924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.899072329 meters 0.571397018522753 Centerline is valid? [False, False] Translation: X:97.56, Y:-5.65, Z:-1.91 [[ 9.96686719e-01 -6.37467824e-02 5.05166468e-02 9.75588009e+01] [ 6.25515123e-02 9.97731066e-01 2.49003773e-02 -5.64546243e+00] [-5.19893467e-02 -2.16579827e-02 9.98412760e-01 -1.91106800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.929072329 meters 0.5709394115359584 Centerline is valid? [False, False] Translation: X:97.53, Y:-5.65, Z:-1.91 [[ 9.95399404e-01 -8.08784271e-02 5.13683449e-02 9.75328225e+01] [ 7.98370307e-02 9.96564800e-01 2.20147391e-02 -5.64509466e+00] [-5.29724018e-02 -1.78123621e-02 9.98437101e-01 -1.91277874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.959072329 meters 0.5677247545578403 Centerline is valid? [False, False] Translation: X:97.52, Y:-5.65, Z:-1.91 [[ 9.94828562e-01 -8.37359078e-02 5.74841756e-02 9.75199444e+01] [ 8.24957692e-02 9.96311421e-01 2.36220460e-02 -5.64807457e+00] [-5.92501541e-02 -1.87576848e-02 9.98066916e-01 -1.91268294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.989072329 meters 0.5678192455108734 Centerline is valid? [False, False] Translation: X:97.51, Y:-5.65, Z:-1.91 [[ 9.94203651e-01 -8.66442815e-02 6.36542924e-02 9.75069899e+01] [ 8.51951038e-02 9.96046986e-01 2.51435080e-02 -5.65086826e+00] [-6.55812072e-02 -1.95747334e-02 9.97655219e-01 -1.91247229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019072329 meters 0.56333019802134 Centerline is valid? [False, False] Translation: X:97.48, Y:-5.64, Z:-1.91 [[ 9.91999553e-01 -1.06731733e-01 6.74182818e-02 9.74767815e+01] [ 1.05470204e-01 9.94178804e-01 2.20122988e-02 -5.64482682e+00] [-6.93752376e-02 -1.47255706e-02 9.97481947e-01 -1.91451223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.049072329 meters 0.5594926990642786 Centerline is valid? [False, False] Translation: X:97.46, Y:-5.65, Z:-1.91 [[ 9.91200077e-01 -1.09888820e-01 7.38028161e-02 9.74635578e+01] [ 1.08447296e-01 9.93829680e-01 2.32755709e-02 -5.64676462e+00] [-7.59051541e-02 -1.50670319e-02 9.97001200e-01 -1.91409761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.079072329 meters 0.5567126249350414 Centerline is valid? [False, False] Translation: X:97.45, Y:-5.65, Z:-1.91 [[ 9.90343144e-01 -1.13127966e-01 8.01406265e-02 9.74506013e+01] [ 1.11509603e-01 9.93463665e-01 2.44040081e-02 -5.64840724e+00] [-8.23775763e-02 -1.52318927e-02 9.96484784e-01 -1.91380941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.109072329 meters 0.5565635801185341 Centerline is valid? [False, False] Translation: X:97.44, Y:-5.65, Z:-1.91 [[ 9.89428537e-01 -1.16425699e-01 8.64651784e-02 9.74377717e+01] [ 1.14634227e-01 9.93082482e-01 2.54200203e-02 -5.64982134e+00] [-8.88265976e-02 -1.52394246e-02 9.95930517e-01 -1.91342702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13907232900002 meters 0.5505681399100357 Centerline is valid? [False, False] Translation: X:97.41, Y:-5.65, Z:-1.91 [[ 9.85299694e-01 -1.45543808e-01 8.94511807e-02 9.74125126e+01] [ 1.43724705e-01 9.89263205e-01 2.64862441e-02 -5.64500791e+00] [-9.23456705e-02 -1.32405436e-02 9.95638973e-01 -1.91385399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16907232900002 meters 0.547545471014127 Centerline is valid? [False, False] Translation: X:97.40, Y:-5.65, Z:-1.91 [[ 9.84165915e-01 -1.48887394e-01 9.61769003e-02 9.73988898e+01] [ 1.46920334e-01 9.88772623e-01 2.72601274e-02 -5.64535223e+00] [-9.91557753e-02 -1.26981459e-02 9.94990899e-01 -1.91329074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199072329 meters 0.5375858988379312 Centerline is valid? [False, False] Translation: X:97.38, Y:-5.63, Z:-1.91 [[ 9.82625814e-01 -1.59295009e-01 9.52449998e-02 9.73753900e+01] [ 1.57363929e-01 9.87157654e-01 2.75020014e-02 -5.62839705e+00] [-9.84027621e-02 -1.20360491e-02 9.95073882e-01 -1.91260890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.229072329 meters 0.5348162017749218 Centerline is valid? [False, False] Translation: X:97.36, Y:-5.63, Z:-1.91 [[ 9.81368948e-01 -1.62933575e-01 1.01821599e-01 9.73622056e+01] [ 1.60900531e-01 9.86575466e-01 2.79261295e-02 -5.62801616e+00] [-1.05004796e-01 -1.10226870e-02 9.94410626e-01 -1.91183562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259072329 meters 0.5290939402076323 Centerline is valid? [False, False] Translation: X:97.34, Y:-5.62, Z:-1.91 [[ 9.75077534e-01 -1.96280176e-01 1.03430631e-01 9.73378737e+01] [ 1.94443464e-01 9.80523923e-01 2.76509479e-02 -5.61967124e+00] [-1.06843541e-01 -6.85040802e-03 9.94252247e-01 -1.90990173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.289072329 meters 0.5246704632266641 Centerline is valid? [False, False] Translation: X:97.32, Y:-5.62, Z:-1.91 [[ 9.73487799e-01 -2.00246294e-01 1.10557348e-01 9.73237616e+01] [ 1.98375883e-01 9.79732258e-01 2.77797174e-02 -5.61815149e+00] [-1.13879386e-01 -5.11130432e-03 9.93481434e-01 -1.90916127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.319072329 meters 0.5161078462860075 Centerline is valid? [False, False] Translation: X:97.31, Y:-5.62, Z:-1.91 [[ 9.65433110e-01 -2.34803982e-01 1.13163600e-01 9.73067915e+01] [ 2.33095143e-01 9.72042290e-01 2.82920651e-02 -5.61808273e+00] [-1.16642895e-01 -9.36210855e-04 9.93173479e-01 -1.90935589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.349072329 meters 0.514019863068269 Centerline is valid? [False, False] Translation: X:97.30, Y:-5.62, Z:-1.91 [[ 9.62615769e-01 -2.42769978e-01 1.20139998e-01 9.72964173e+01] [ 2.41594373e-01 9.70068511e-01 2.44794219e-02 -5.61857197e+00] [-1.22486898e-01 5.46087007e-03 9.92455107e-01 -1.91010428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.379072329 meters 0.5103306395108609 Centerline is valid? [False, False] Translation: X:97.28, Y:-5.62, Z:-1.91 [[ 9.60697529e-01 -2.46762974e-01 1.27154598e-01 9.72829917e+01] [ 2.45673688e-01 9.69044718e-01 2.44289362e-02 -5.61669931e+00] [-1.29246649e-01 7.76972039e-03 9.91582037e-01 -1.90984792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.409072329 meters 0.5103306395108609 Centerline is valid? [False, False] Translation: X:97.28, Y:-5.61, Z:-1.91 [[ 9.61526713e-01 -2.43306526e-01 1.27547300e-01 9.72770316e+01] [ 2.41630537e-01 9.69944065e-01 2.86913549e-02 -5.61043814e+00] [-1.30694541e-01 3.23181860e-03 9.91417416e-01 -1.90730982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.439072329 meters 0.5000446202007649 Centerline is valid? [False, False] Translation: X:97.27, Y:-5.62, Z:-1.91 [[ 9.50907422e-01 -2.81529265e-01 1.28515942e-01 9.72709513e+01] [ 2.79973371e-01 9.59526524e-01 3.03934314e-02 -5.62025351e+00] [-1.31871095e-01 7.07970184e-03 9.91241591e-01 -1.90653205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.469072329 meters 0.5350654201545578 Centerline is valid? [False, False] Translation: X:97.27, Y:-5.63, Z:-1.91 [[ 9.48319924e-01 -2.88719829e-01 1.31644153e-01 9.72693507e+01] [ 2.87314059e-01 9.57367461e-01 2.99695991e-02 -5.63039831e+00] [-1.34684646e-01 9.40244802e-03 9.90843903e-01 -1.90856210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.499072329 meters 0.5216745495195146 Centerline is valid? [False, False] Translation: X:97.28, Y:-5.65, Z:-1.91 [[ 9.45021300e-01 -2.99024925e-01 1.32358747e-01 9.72762671e+01] [ 2.97860706e-01 9.54169366e-01 2.89796605e-02 -5.64908129e+00] [-1.34958302e-01 1.20380733e-02 9.90778149e-01 -1.91013798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.529072329 meters 0.5115802776647111 Centerline is valid? [False, False] Translation: X:97.29, Y:-5.69, Z:-1.91 [[ 9.30940989e-01 -3.40001165e-01 1.33221930e-01 9.72948828e+01] [ 3.39462464e-01 9.40219168e-01 2.74436115e-02 -5.68825727e+00] [-1.34588672e-01 1.96754616e-02 9.90706195e-01 -1.91207865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.559072329 meters 0.5139263928023077 Centerline is valid? [False, False] Translation: X:97.33, Y:-5.75, Z:-1.92 [[ 9.20120273e-01 -3.65836794e-01 1.39793144e-01 9.73310972e+01] [ 3.65667025e-01 9.30329435e-01 2.78346599e-02 -5.74871411e+00] [-1.40236620e-01 2.55065084e-02 9.89789426e-01 -1.91761037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.589072329 meters 0.5153790331991384 Centerline is valid? [False, False] Translation: X:97.37, Y:-5.82, Z:-1.92 [[ 9.08140984e-01 -3.92430453e-01 1.45870810e-01 9.73738671e+01] [ 3.92693440e-01 9.19236586e-01 2.82127904e-02 -5.81673752e+00] [-1.45161344e-01 3.16613189e-02 9.88901282e-01 -1.92385648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619072329 meters 0.47424385007895353 Centerline is valid? [False, False] Translation: X:97.43, Y:-5.91, Z:-1.93 [[ 8.96604670e-01 -4.16754480e-01 1.49718964e-01 9.74344262e+01] [ 4.17690167e-01 9.08198082e-01 2.66677300e-02 -5.90606722e+00] [-1.47088372e-01 3.86257278e-02 9.88368891e-01 -1.93259794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.649072329 meters 0.515577391085395 Centerline is valid? [False, False] Translation: X:97.50, Y:-6.00, Z:-1.94 [[ 8.72752667e-01 -4.63257364e-01 1.53933092e-01 9.74956882e+01] [ 4.65193768e-01 8.84844104e-01 2.54100361e-02 -5.99752654e+00] [-1.47978175e-01 4.94320383e-02 9.87754490e-01 -1.94176970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679072329 meters 0.5105713546651426 Centerline is valid? [False, False] Translation: X:97.55, Y:-6.07, Z:-1.95 [[ 8.55573387e-01 -4.91895519e-01 1.61347385e-01 9.75486883e+01] [ 4.94787009e-01 8.68666476e-01 2.45839154e-02 -6.07359706e+00] [-1.52249782e-01 5.87992461e-02 9.86591431e-01 -1.95211841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.709072329 meters 0.507695793078659 Centerline is valid? [False, False] Translation: X:97.59, Y:-6.13, Z:-1.96 [[ 8.37747689e-01 -5.19505196e-01 1.68205709e-01 9.75910855e+01] [ 5.23462590e-01 8.51725597e-01 2.34611390e-02 -6.13241455e+00] [-1.55453292e-01 6.83948811e-02 9.85472686e-01 -1.96219823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739072329 meters 0.5151409317650315 Centerline is valid? [False, False] Translation: X:97.63, Y:-6.18, Z:-1.97 [[ 8.24067857e-01 -5.40622250e-01 1.69232827e-01 9.76273567e+01] [ 5.45827185e-01 8.37700016e-01 1.82034946e-02 -6.17549861e+00] [-1.51607556e-01 7.73709628e-02 9.85407978e-01 -1.97081912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.769072329 meters 0.4961889824396571 Centerline is valid? [False, False] Translation: X:97.66, Y:-6.22, Z:-1.98 [[ 7.94477978e-01 -5.83084300e-01 1.69757006e-01 9.76614803e+01] [ 5.89020319e-01 8.07909755e-01 1.83546000e-02 -6.21966297e+00] [-1.47850620e-01 8.54080001e-02 9.85315009e-01 -1.97624254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799072329 meters 0.5012097543793682 Centerline is valid? [False, False] Translation: X:97.68, Y:-6.25, Z:-1.98 [[ 7.82703928e-01 -5.98280381e-01 1.71566742e-01 9.76846115e+01] [ 6.05002523e-01 7.96064327e-01 1.59227686e-02 -6.24625340e+00] [-1.46104443e-01 9.13354983e-02 9.85043815e-01 -1.98098918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.829072329 meters 0.4956752652365906 Centerline is valid? [False, False] Translation: X:97.72, Y:-6.29, Z:-1.99 [[ 7.49477470e-01 -6.39226831e-01 1.72257312e-01 9.77184620e+01] [ 6.46710855e-01 7.62567168e-01 1.60119704e-02 -6.28657491e+00] [-1.41593052e-01 9.94000626e-02 9.84921842e-01 -1.98663084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859072329 meters 0.48854423694328647 Centerline is valid? [False, False] Translation: X:97.74, Y:-6.31, Z:-1.99 [[ 7.37729726e-01 -6.51944900e-01 1.75278919e-01 9.77378464e+01] [ 6.60216074e-01 7.50939198e-01 1.43197856e-02 -6.30940827e+00] [-1.40959522e-01 1.05157828e-01 9.84414671e-01 -1.99115744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88907232900002 meters 0.5073714515275621 Centerline is valid? [False, False] Translation: X:97.75, Y:-6.33, Z:-2.00 [[ 7.27634285e-01 -6.62353365e-01 1.78427484e-01 9.77518530e+01] [ 6.71343819e-01 7.41030858e-01 1.30669493e-02 -6.32727383e+00] [-1.40875209e-01 1.10278228e-01 9.83866296e-01 -1.99533832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91907232900002 meters 0.4950558030257839 Centerline is valid? [False, False] Translation: X:97.76, Y:-6.34, Z:-2.00 [[ 7.19137779e-01 -6.70887236e-01 1.80972848e-01 9.77631026e+01] [ 6.80295590e-01 7.32816758e-01 1.33232657e-02 -6.34285811e+00] [-1.41558345e-01 1.13533767e-01 9.83397844e-01 -1.99875159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.949072329 meters 0.5403038956755247 Centerline is valid? [False, False] Translation: X:97.75, Y:-6.32, Z:-1.99 [[ 6.82077264e-01 -7.08532172e-01 1.80977257e-01 9.77521696e+01] [ 7.18513809e-01 6.95363662e-01 1.43973478e-02 -6.31711977e+00] [-1.36045992e-01 1.20214554e-01 9.83381894e-01 -1.99498194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979072329 meters 0.5452346150631003 Centerline is valid? [False, False] Translation: X:97.72, Y:-6.27, Z:-1.99 [[ 6.63673786e-01 -7.26019676e-01 1.80090353e-01 9.77195347e+01] [ 7.35978247e-01 6.76809948e-01 1.62577819e-02 -6.26526799e+00] [-1.33690412e-01 1.21752719e-01 9.83515709e-01 -1.98839699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.009072329 meters 0.5385308468475812 Centerline is valid? [False, False] Translation: X:97.67, Y:-6.19, Z:-1.98 [[ 6.46060043e-01 -7.41982444e-01 1.79076728e-01 9.76676587e+01] [ 7.51760234e-01 6.59162406e-01 1.90124337e-02 -6.18644511e+00] [-1.32147539e-01 1.22339589e-01 9.83651388e-01 -1.97701462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.039072329 meters 0.5257727149350653 Centerline is valid? [False, False] Translation: X:97.60, Y:-6.07, Z:-1.96 [[ 6.14474443e-01 -7.69300891e-01 1.74920832e-01 9.75966315e+01] [ 7.78840080e-01 6.26870623e-01 2.10083834e-02 -6.06709361e+00] [-1.25814499e-01 1.23326240e-01 9.84358345e-01 -1.96168171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.069072329 meters 0.518946311322521 Centerline is valid? [False, False] Translation: X:97.51, Y:-5.93, Z:-1.94 [[ 6.04909245e-01 -7.77822871e-01 1.70517995e-01 9.75093610e+01] [ 7.86843720e-01 6.16758315e-01 2.20485956e-02 -5.92616901e+00] [-1.22318293e-01 1.20833614e-01 9.85107848e-01 -1.94457623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099072329 meters 0.5220518512287926 Centerline is valid? [False, False] Translation: X:97.42, Y:-5.78, Z:-1.93 [[ 5.94947481e-01 -7.86467464e-01 1.65850601e-01 9.74223344e+01] [ 7.94918084e-01 6.06266817e-01 2.33620778e-02 -5.78108139e+00] [-1.18923230e-01 1.17938433e-01 9.85874126e-01 -1.92922785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.129072329 meters 0.5247435614404249 Centerline is valid? [False, False] Translation: X:97.33, Y:-5.63, Z:-1.91 [[ 5.82334973e-01 -7.96907654e-01 1.60699004e-01 9.73261184e+01] [ 8.05082571e-01 5.92753151e-01 2.20398728e-02 -5.63278714e+00] [-1.12818584e-01 1.16541379e-01 9.86757353e-01 -1.91359229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.159072329 meters 0.5236499614507968 Centerline is valid? [False, False] Translation: X:97.23, Y:-5.47, Z:-1.90 [[ 5.80111480e-01 -7.99516122e-01 1.55706908e-01 9.72318512e+01] [ 8.07521518e-01 5.89544440e-01 1.86104856e-02 -5.46732121e+00] [-1.06675525e-01 1.14940522e-01 9.87627971e-01 -1.90009252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.189072329 meters 0.5041685756029766 Centerline is valid? [False, False] Translation: X:97.14, Y:-5.29, Z:-1.89 [[ 5.74837907e-01 -8.04273382e-01 1.50684133e-01 9.71415461e+01] [ 8.12247178e-01 5.83147025e-01 1.39308804e-02 -5.29471575e+00] [-9.90752399e-02 1.14384763e-01 9.88483800e-01 -1.88788799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219072329 meters 0.4708219841851419 Centerline is valid? [False, False] Translation: X:97.05, Y:-5.13, Z:-1.87 [[ 5.71327891e-01 -8.07943090e-01 1.44265051e-01 9.70493814e+01] [ 8.15825335e-01 5.78249150e-01 7.54609549e-03 -5.13473665e+00] [-8.95179587e-02 1.13383788e-01 9.89510309e-01 -1.87341158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.249072329 meters 0.4579970674814751 Centerline is valid? [False, False] Translation: X:96.97, Y:-4.96, Z:-1.86 [[ 5.73775178e-01 -8.07507488e-01 1.36798033e-01 9.69656574e+01] [ 8.15167760e-01 5.79224931e-01 3.97854651e-05 -4.95756493e+00] [-7.92689585e-02 1.11490519e-01 9.90598958e-01 -1.86005555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.279072329 meters 0.4466683546429277 Centerline is valid? [False, False] Translation: X:96.88, Y:-4.77, Z:-1.84 [[ 5.87344915e-01 -7.99133993e-01 1.28104691e-01 9.68767366e+01] [ 8.06503312e-01 5.91143437e-01 -1.00917708e-02 -4.77421040e+00] [-6.76635701e-02 1.09244208e-01 9.91709304e-01 -1.84452547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.309072329 meters 0.42467493328431266 Centerline is valid? [False, False] Translation: X:96.79, Y:-4.58, Z:-1.83 [[ 5.98249180e-01 -7.92904996e-01 1.15756583e-01 9.67868559e+01] [ 7.99812217e-01 5.99696166e-01 -2.57861475e-02 -4.57750425e+00] [-4.89728137e-02 1.08010071e-01 9.92942842e-01 -1.82601282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339072329 meters 0.4152648380195945 Centerline is valid? [False, False] Translation: X:96.70, Y:-4.38, Z:-1.81 [[ 6.26420113e-01 -7.72673464e-01 1.02827817e-01 9.67046981e+01] [ 7.78824631e-01 6.25850594e-01 -4.17519998e-02 -4.38102745e+00] [-3.20941882e-02 1.06239129e-01 9.93822525e-01 -1.80603828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.369072329 meters 0.41253724197405595 Centerline is valid? [False, False] Translation: X:96.63, Y:-4.19, Z:-1.79 [[ 6.57241141e-01 -7.48532395e-01 8.79393903e-02 9.66347527e+01] [ 7.53549796e-01 6.54810561e-01 -5.81879153e-02 -4.19457320e+00] [-1.40281019e-02 1.04510202e-01 9.94424874e-01 -1.78505893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.399072329 meters 0.4049304675407666 Centerline is valid? [False, False] Translation: X:96.58, Y:-4.02, Z:-1.76 [[ 6.92419090e-01 -7.18229532e-01 6.85721680e-02 9.65800789e+01] [ 7.21453200e-01 6.88214733e-01 -7.65882580e-02 -4.02498121e+00] [ 7.81557249e-03 1.02502782e-01 9.94702014e-01 -1.76200074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.429072329 meters 0.39411519390480076 Centerline is valid? [False, False] Translation: X:96.53, Y:-3.87, Z:-1.73 [[ 7.35027354e-01 -6.76462469e-01 4.61878501e-02 9.65277739e+01] [ 6.77298550e-01 7.29341491e-01 -9.65798310e-02 -3.87178916e+00] [ 3.16459154e-02 1.02271781e-01 9.94252995e-01 -1.73429063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.459072329 meters 0.3989627240803826 Centerline is valid? [False, False] Translation: X:96.49, Y:-3.74, Z:-1.71 [[ 7.83267273e-01 -6.21231074e-01 2.37556655e-02 9.64913889e+01] [ 6.19567932e-01 7.76878811e-01 -1.12226957e-01 -3.73760731e+00] [ 5.12635996e-02 1.02621951e-01 9.93398600e-01 -1.70922487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.489072329 meters 0.40177100733812476 Centerline is valid? [False, False] Translation: X:96.46, Y:-3.62, Z:-1.68 [[ 8.27648694e-01 -5.61244321e-01 1.56549170e-03 9.64582325e+01] [ 5.57023675e-01 8.21076733e-01 -1.24730203e-01 -3.62183592e+00] [ 6.87187293e-02 1.04104806e-01 9.92189461e-01 -1.68440869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.519072329 meters 0.4060562112328415 Centerline is valid? [False, False] Translation: X:96.45, Y:-3.51, Z:-1.66 [[ 8.55638708e-01 -5.17264690e-01 -1.78785645e-02 9.64544220e+01] [ 5.10839645e-01 8.49556377e-01 -1.31517369e-01 -3.51104102e+00] [ 8.32181396e-02 1.03398272e-01 9.91152631e-01 -1.66248410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.549072329 meters 0.4107082267839302 Centerline is valid? [False, False] Translation: X:96.46, Y:-3.42, Z:-1.65 [[ 8.74116830e-01 -4.84621138e-01 -3.25901886e-02 9.64593617e+01] [ 4.76645621e-01 8.68766935e-01 -1.34361322e-01 -3.42463296e+00] [ 9.34276151e-02 1.01913522e-01 9.90396342e-01 -1.64535412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.579072329 meters 0.4163407572225489 Centerline is valid? [False, False] Translation: X:96.46, Y:-3.39, Z:-1.64 [[ 8.81885246e-01 -4.69327551e-01 -4.48337343e-02 9.64649881e+01] [ 4.60051228e-01 8.77434388e-01 -1.35874072e-01 -3.38625804e+00] [ 1.03108106e-01 9.91995248e-02 9.89711156e-01 -1.63513944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.609072329 meters 0.41673404983750967 Centerline is valid? [False, False] Translation: X:96.47, Y:-3.36, Z:-1.63 [[ 8.88089030e-01 -4.56389932e-01 -5.48279515e-02 9.64688030e+01] [ 4.46082931e-01 8.84470421e-01 -1.36828704e-01 -3.35726830e+00] [ 1.10940944e-01 9.70582575e-02 9.89076236e-01 -1.62717049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63907232900002 meters 0.4295894694647661 Centerline is valid? [False, False] Translation: X:96.48, Y:-3.34, Z:-1.62 [[ 8.83291689e-01 -4.64372203e-01 -6.44534655e-02 9.64774961e+01] [ 4.53196369e-01 8.80940945e-01 -1.36220786e-01 -3.34324913e+00] [ 1.20036843e-01 9.11126118e-02 9.88579611e-01 -1.62200982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66907232900002 meters 0.4380867211153351 Centerline is valid? [False, False] Translation: X:96.48, Y:-3.33, Z:-1.62 [[ 8.85093293e-01 -4.60063409e-01 -7.03670469e-02 9.64821224e+01] [ 4.48530315e-01 8.83533427e-01 -1.34867487e-01 -3.32856475e+00] [ 1.24219234e-01 8.78085542e-02 9.88361897e-01 -1.61843988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699072329 meters 0.43973789309020367 Centerline is valid? [False, False] Translation: X:96.49, Y:-3.32, Z:-1.62 [[ 8.85283841e-01 -4.58952304e-01 -7.50686604e-02 9.64856861e+01] [ 4.47291233e-01 8.84492316e-01 -1.32679676e-01 -3.32297180e+00] [ 1.27291296e-01 8.38816198e-02 9.88312096e-01 -1.61735697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.729072329 meters 0.4487207976058866 Centerline is valid? [False, False] Translation: X:96.49, Y:-3.33, Z:-1.62 [[ 8.75726835e-01 -4.75541956e-01 -8.34407499e-02 9.64920587e+01] [ 4.63532201e-01 8.76459291e-01 -1.30219083e-01 -3.33373241e+00] [ 1.35057058e-01 7.53588710e-02 9.87967930e-01 -1.61787407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759072329 meters 0.4519782724818429 Centerline is valid? [False, False] Translation: X:96.49, Y:-3.34, Z:-1.62 [[ 8.74467978e-01 -4.77624693e-01 -8.47372835e-02 9.64933485e+01] [ 4.65758122e-01 8.75535675e-01 -1.28478220e-01 -3.33893043e+00] [ 1.35554885e-01 7.28830112e-02 9.88085492e-01 -1.61806746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.789072329 meters 0.4531661982750097 Centerline is valid? [False, False] Translation: X:96.49, Y:-3.36, Z:-1.62 [[ 8.70135676e-01 -4.83715425e-01 -9.42512200e-02 9.64932726e+01] [ 4.71245117e-01 8.72655910e-01 -1.28061323e-01 -3.35634633e+00] [ 1.44194121e-01 6.70152985e-02 9.87277572e-01 -1.61958404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819072329 meters 0.4524295705924886 Centerline is valid? [False, False] Translation: X:96.49, Y:-3.40, Z:-1.63 [[ 8.54140567e-01 -5.10350070e-01 -9.99334664e-02 9.64879093e+01] [ 4.97972340e-01 8.58036168e-01 -1.25688040e-01 -3.39527828e+00] [ 1.49891429e-01 5.75911517e-02 9.87023717e-01 -1.62640457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.849072329 meters 0.450204359318113 Centerline is valid? [False, False] Translation: X:96.48, Y:-3.43, Z:-1.63 [[ 8.50558519e-01 -5.14819419e-01 -1.07290128e-01 9.64767317e+01] [ 5.02347279e-01 8.55755623e-01 -1.23812458e-01 -3.42981774e+00] [ 1.55555188e-01 5.14128368e-02 9.86488370e-01 -1.63187822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879072329 meters 0.44692200348059175 Centerline is valid? [False, False] Translation: X:96.46, Y:-3.47, Z:-1.64 [[ 8.47745302e-01 -5.17955787e-01 -1.14235310e-01 9.64629055e+01] [ 5.05541289e-01 8.54211978e-01 -1.21449176e-01 -3.46662876e+00] [ 1.60486474e-01 4.52073021e-02 9.86002227e-01 -1.63786329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.909072329 meters 0.44051353605250543 Centerline is valid? [False, False] Translation: X:96.45, Y:-3.51, Z:-1.65 [[ 8.45188894e-01 -5.20803394e-01 -1.20081467e-01 9.64459099e+01] [ 5.08590682e-01 8.52768622e-01 -1.18832634e-01 -3.50579122e+00] [ 1.64290147e-01 3.93637075e-02 9.85626322e-01 -1.64510397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939072329 meters 0.4329255581138359 Centerline is valid? [False, False] Translation: X:96.43, Y:-3.55, Z:-1.65 [[ 8.43245345e-01 -5.22621920e-01 -1.25712435e-01 9.64271958e+01] [ 5.10819470e-01 8.51926641e-01 -1.15258260e-01 -3.54642212e+00] [ 1.67334266e-01 3.29746317e-02 9.85348627e-01 -1.65307779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.969072329 meters 0.4185725195203737 Centerline is valid? [False, False] Translation: X:96.41, Y:-3.60, Z:-1.66 [[ 8.32227065e-01 -5.38534869e-01 -1.31826809e-01 9.64074917e+01] [ 5.27440777e-01 8.42290120e-01 -1.11146661e-01 -3.59750341e+00] [ 1.70892771e-01 2.29684251e-02 9.85021884e-01 -1.66198260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999072329 meters 0.4055413112233169 Centerline is valid? [False, False] Translation: X:96.39, Y:-3.64, Z:-1.67 [[ 8.32006306e-01 -5.37783176e-01 -1.36215865e-01 9.63850393e+01] [ 5.27434825e-01 8.42919884e-01 -1.06294755e-01 -3.64093146e+00] [ 1.71982593e-01 1.65929158e-02 9.84960234e-01 -1.67169401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.029072329 meters 0.3883103612984887 Centerline is valid? [False, False] Translation: X:96.36, Y:-3.69, Z:-1.68 [[ 8.32260344e-01 -5.36537166e-01 -1.39537057e-01 9.63596923e+01] [ 5.26974427e-01 8.43806474e-01 -1.01432671e-01 -3.68525324e+00] [ 1.72164670e-01 1.08859284e-02 9.85008032e-01 -1.68179767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.059072329 meters 0.3700760137337827 Centerline is valid? [False, False] Translation: X:96.33, Y:-3.74, Z:-1.69 [[ 8.24069133e-01 -5.48165329e-01 -1.42915487e-01 9.63335359e+01] [ 5.39376460e-01 8.36362532e-01 -9.78302034e-02 -3.73624570e+00] [ 1.73156285e-01 3.53360124e-03 9.84888021e-01 -1.69200227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.089072329 meters 0.3615426965086178 Centerline is valid? [False, False] Translation: X:96.31, Y:-3.78, Z:-1.70 [[ 8.24753950e-01 -5.46577511e-01 -1.45030845e-01 9.63056159e+01] [ 5.38589886e-01 8.37407479e-01 -9.31109480e-02 -3.78028288e+00] [ 1.72342265e-01 -1.31852439e-03 9.85036246e-01 -1.70274474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.119072329 meters 0.35062036779817396 Centerline is valid? [False, False] Translation: X:96.27, Y:-3.83, Z:-1.72 [[ 8.17684152e-01 -5.56751067e-01 -1.46358724e-01 9.62735173e+01] [ 5.49551384e-01 8.30648034e-01 -8.95383731e-02 -3.83250774e+00] [ 1.71423171e-01 -7.21753073e-03 9.85171053e-01 -1.71537445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.149072329 meters 0.3464303674406659 Centerline is valid? [False, False] Translation: X:96.24, Y:-3.88, Z:-1.73 [[ 8.18975086e-01 -5.54597622e-01 -1.47313568e-01 9.62410158e+01] [ 5.48157860e-01 8.32044152e-01 -8.50028799e-02 -3.87801034e+00] [ 1.69713787e-01 -1.11358491e-02 9.85430476e-01 -1.72687926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.179072329 meters 0.3419572625550137 Centerline is valid? [False, False] Translation: X:96.21, Y:-3.92, Z:-1.74 [[ 8.20418187e-01 -5.52180961e-01 -1.48358298e-01 9.62070924e+01] [ 5.46534187e-01 8.33584626e-01 -8.02312573e-02 -3.92383852e+00] [ 1.67971369e-01 -1.52596993e-02 9.85673760e-01 -1.73838677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.209072329 meters 0.34107386699365433 Centerline is valid? [False, False] Translation: X:96.17, Y:-3.98, Z:-1.75 [[ 8.15595647e-01 -5.58674775e-01 -1.50619509e-01 9.61710139e+01] [ 5.53826786e-01 8.29118444e-01 -7.64100526e-02 -3.97564380e+00] [ 1.67569782e-01 -2.10974121e-02 9.85634449e-01 -1.74923747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.239072329 meters 0.34019582219753036 Centerline is valid? [False, False] Translation: X:96.13, Y:-4.02, Z:-1.76 [[ 8.18242783e-01 -5.54745414e-01 -1.50785524e-01 9.61332805e+01] [ 5.50471723e-01 8.31686611e-01 -7.26516605e-02 -4.02222658e+00] [ 1.65709477e-01 -2.35564702e-02 9.85893231e-01 -1.76064799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.269072329 meters 0.33998460771784766 Centerline is valid? [False, False] Translation: X:96.09, Y:-4.07, Z:-1.77 [[ 8.20568083e-01 -5.51365247e-01 -1.50546953e-01 9.60949547e+01] [ 5.47597667e-01 8.33870778e-01 -6.92554704e-02 -4.06787063e+00] [ 1.63721764e-01 -2.56103316e-02 9.86174069e-01 -1.77152956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299072329 meters 0.34274396180746314 Centerline is valid? [False, False] Translation: X:96.05, Y:-4.12, Z:-1.78 [[ 8.18872241e-01 -5.53990345e-01 -1.50143097e-01 9.60548102e+01] [ 5.50763272e-01 8.32034736e-01 -6.61665813e-02 -4.11778824e+00] [ 1.61579920e-01 -2.85113268e-02 9.86447684e-01 -1.78148341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.329072329 meters 0.34410445201040357 Centerline is valid? [False, False] Translation: X:96.01, Y:-4.16, Z:-1.79 [[ 8.22663948e-01 -5.48525980e-01 -1.49476683e-01 9.60136935e+01] [ 5.45619180e-01 8.35620626e-01 -6.35443177e-02 -4.16333144e+00] [ 1.59761509e-01 -2.92817261e-02 9.86721258e-01 -1.79252286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359072329 meters 0.34410445201040357 Centerline is valid? [False, False] Translation: X:95.98, Y:-4.20, Z:-1.80 [[ 8.30260781e-01 -5.36606197e-01 -1.50734284e-01 9.59763067e+01] [ 5.33849016e-01 8.43325906e-01 -6.16980157e-02 -4.20246733e+00] [ 1.60225664e-01 -2.92439062e-02 9.86647116e-01 -1.80089706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38907232900002 meters 0.34812639241426113 Centerline is valid? [False, False] Translation: X:95.94, Y:-4.24, Z:-1.81 [[ 8.34230278e-01 -5.30600104e-01 -1.50077891e-01 9.59357484e+01] [ 5.28124855e-01 8.47097156e-01 -5.92498630e-02 -4.24478285e+00] [ 1.58568538e-01 -2.98318347e-02 9.86897198e-01 -1.81158308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41907232900002 meters 0.34846794555218885 Centerline is valid? [False, False] Translation: X:95.89, Y:-4.29, Z:-1.82 [[ 8.38455421e-01 -5.23980303e-01 -1.49790354e-01 9.58939766e+01] [ 5.21678809e-01 8.51203624e-01 -5.74770442e-02 -4.28748290e+00] [ 1.57618931e-01 -2.99505141e-02 9.87045713e-01 -1.82207024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.449072329 meters 0.35195636625098714 Centerline is valid? [False, False] Translation: X:95.85, Y:-4.33, Z:-1.83 [[ 8.39731728e-01 -5.21992253e-01 -1.49581794e-01 9.58494955e+01] [ 5.19671167e-01 8.52437951e-01 -5.73708826e-02 -4.33261593e+00] [ 1.57456354e-01 -2.95571948e-02 9.87083517e-01 -1.83264887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479072329 meters 0.3542297824034934 Centerline is valid? [False, False] Translation: X:95.81, Y:-4.37, Z:-1.84 [[ 8.44674646e-01 -5.14120253e-01 -1.49013784e-01 9.58077790e+01] [ 5.11830913e-01 8.57237957e-01 -5.63223095e-02 -4.37298577e+00] [ 1.56696712e-01 -2.86958342e-02 9.87229806e-01 -1.84258649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.509072329 meters 0.3560665905923613 Centerline is valid? [False, False] Translation: X:95.76, Y:-4.41, Z:-1.85 [[ 8.49438424e-01 -5.06393820e-01 -1.48390238e-01 9.57647761e+01] [ 5.04161354e-01 8.61848116e-01 -5.51285193e-02 -4.41301351e+00] [ 1.55806589e-01 -2.79843408e-02 9.87391100e-01 -1.85241923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539072329 meters 0.35632486210786446 Centerline is valid? [False, False] Translation: X:95.72, Y:-4.46, Z:-1.86 [[ 8.52896046e-01 -5.00428954e-01 -1.48792460e-01 9.57173682e+01] [ 4.98367523e-01 8.65309476e-01 -5.35660632e-02 -4.45670857e+00] [ 1.55557535e-01 -2.84670462e-02 9.87416569e-01 -1.86245762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.569072329 meters 0.35773667477227133 Centerline is valid? [False, False] Translation: X:95.67, Y:-4.50, Z:-1.87 [[ 8.58262585e-01 -4.91321349e-01 -1.48285765e-01 9.56727433e+01] [ 4.89426324e-01 8.70518167e-01 -5.15751337e-02 -4.49577861e+00] [ 1.54425416e-01 -2.83099492e-02 9.87598774e-01 -1.87146725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599072329 meters 0.35752373262794956 Centerline is valid? [False, False] Translation: X:95.63, Y:-4.53, Z:-1.88 [[ 8.63741609e-01 -4.81782121e-01 -1.47771517e-01 9.56284916e+01] [ 4.79922471e-01 8.75862678e-01 -5.03884077e-02 -4.53360364e+00] [ 1.53703790e-01 -2.73963070e-02 9.87737104e-01 -1.87996064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.629072329 meters 0.3613407949200171 Centerline is valid? [False, False] Translation: X:95.58, Y:-4.57, Z:-1.89 [[ 8.68377583e-01 -4.73502738e-01 -1.47361906e-01 9.55818670e+01] [ 4.71623334e-01 8.80398388e-01 -4.97001986e-02 -4.57286833e+00] [ 1.53270365e-01 -2.63407751e-02 9.87833163e-01 -1.88872673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659072329 meters 0.3597014420416599 Centerline is valid? [False, False] Translation: X:95.54, Y:-4.61, Z:-1.89 [[ 8.74324046e-01 -4.61886512e-01 -1.49058085e-01 9.55412108e+01] [ 4.59636846e-01 8.86623603e-01 -5.13084325e-02 -4.60669897e+00] [ 1.55857090e-01 -2.36523919e-02 9.87496396e-01 -1.89416580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.689072329 meters 0.36019668238799646 Centerline is valid? [False, False] Translation: X:95.50, Y:-4.64, Z:-1.90 [[ 8.80006826e-01 -4.50543895e-01 -1.50326926e-01 9.55005896e+01] [ 4.47983705e-01 8.92502571e-01 -5.24381526e-02 -4.63998646e+00] [ 1.57792858e-01 -2.11980811e-02 9.87244679e-01 -1.90044847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719072329 meters 0.3602111959664482 Centerline is valid? [False, False] Translation: X:95.46, Y:-4.67, Z:-1.91 [[ 8.85557363e-01 -4.38974217e-01 -1.51953263e-01 9.54599042e+01] [ 4.36122209e-01 8.98299740e-01 -5.34321647e-02 -4.67207405e+00] [ 1.59954919e-01 -1.89529456e-02 9.86942354e-01 -1.90655744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.749072329 meters 0.3611452266515601 Centerline is valid? [False, False] Translation: X:95.41, Y:-4.71, Z:-1.91 [[ 8.91105387e-01 -4.27273228e-01 -1.52868498e-01 9.54148874e+01] [ 4.24322246e-01 9.03952417e-01 -5.31098794e-02 -4.70599310e+00] [ 1.60878278e-01 -1.75390046e-02 9.86818404e-01 -1.91346633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779072329 meters 0.36093036300693687 Centerline is valid? [False, False] Translation: X:95.38, Y:-4.74, Z:-1.92 [[ 8.95981527e-01 -4.16435619e-01 -1.54267555e-01 9.53750139e+01] [ 4.13415738e-01 9.09014764e-01 -5.27217863e-02 -4.73543964e+00] [ 1.62186715e-01 -1.65388884e-02 9.86621475e-01 -1.91957147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.809072329 meters 0.3599308772382497 Centerline is valid? [False, False] Translation: X:95.34, Y:-4.76, Z:-1.93 [[ 9.00577645e-01 -4.05862524e-01 -1.55677608e-01 9.53355874e+01] [ 4.02789514e-01 9.13800118e-01 -5.22489432e-02 -4.76356011e+00] [ 1.63464104e-01 -1.56510777e-02 9.86425127e-01 -1.92552099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839072329 meters 0.3584462560304105 Centerline is valid? [False, False] Translation: X:95.29, Y:-4.79, Z:-1.93 [[ 9.05609442e-01 -3.93967305e-01 -1.57039173e-01 9.52917596e+01] [ 3.90512585e-01 9.19035593e-01 -5.36050394e-02 -4.79427892e+00] [ 1.65443222e-01 -1.27805437e-02 9.86136501e-01 -1.93114582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.869072329 meters 0.3639597495437221 Centerline is valid? [False, False] Translation: X:95.25, Y:-4.82, Z:-1.94 [[ 9.09867357e-01 -3.83455964e-01 -1.58439001e-01 9.52517380e+01] [ 3.79856923e-01 9.23489010e-01 -5.36354898e-02 -4.82185548e+00] [ 1.66883525e-01 -1.13829703e-02 9.85910907e-01 -1.93706543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899072329 meters 0.35959806581502285 Centerline is valid? [False, False] Translation: X:95.21, Y:-4.85, Z:-1.94 [[ 9.14896847e-01 -3.70408630e-01 -1.60502977e-01 9.52076377e+01] [ 3.66524604e-01 9.28823664e-01 -5.42799697e-02 -4.85105252e+00] [ 1.69184732e-01 -9.16771697e-03 9.85541719e-01 -1.94292585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.929072329 meters 0.3576477108908659 Centerline is valid? [False, False] Translation: X:95.17, Y:-4.88, Z:-1.95 [[ 9.19078368e-01 -3.58917658e-01 -1.62705466e-01 9.51671146e+01] [ 3.54930078e-01 9.33333684e-01 -5.39710450e-02 -4.87720150e+00] [ 1.71229653e-01 -8.14544359e-03 9.85197471e-01 -1.94858282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959072329 meters 0.3582224739246082 Centerline is valid? [False, False] Translation: X:95.13, Y:-4.90, Z:-1.95 [[ 9.22707731e-01 -3.48323765e-01 -1.65169602e-01 9.51286964e+01] [ 3.44335466e-01 9.37341502e-01 -5.31412782e-02 -4.90132882e+00] [ 1.73330693e-01 -7.83988365e-03 9.84832477e-01 -1.95416691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.989072329 meters 0.36363264060387757 Centerline is valid? [False, False] Translation: X:95.09, Y:-4.92, Z:-1.96 [[ 9.25935210e-01 -3.38588363e-01 -1.67337706e-01 9.50916787e+01] [ 3.34618524e-01 9.40903819e-01 -5.22536789e-02 -4.92390919e+00] [ 1.75141175e-01 -7.61077517e-03 9.84513913e-01 -1.96037078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019072329 meters 0.35976318573860033 Centerline is valid? [False, False] Translation: X:95.06, Y:-4.94, Z:-1.96 [[ 9.30550576e-01 -3.25209950e-01 -1.68267985e-01 9.50631220e+01] [ 3.20392674e-01 9.45639758e-01 -5.58030758e-02 -4.94143891e+00] [ 1.77268612e-01 -1.98424533e-03 9.84160506e-01 -1.96128872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.049072329 meters 0.36473586026400745 Centerline is valid? [False, False] Translation: X:95.03, Y:-4.96, Z:-1.96 [[ 9.34909610e-01 -3.12510458e-01 -1.68170255e-01 9.50316614e+01] [ 3.06719624e-01 9.49903347e-01 -6.00558383e-02 -4.96071196e+00] [ 1.78513565e-01 4.56566319e-03 9.83926858e-01 -1.96248833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079072329 meters 0.355381758567394 Centerline is valid? [False, False] Translation: X:95.01, Y:-4.98, Z:-1.96 [[ 9.39016174e-01 -2.99817274e-01 -1.68399011e-01 9.50091842e+01] [ 2.93132231e-01 9.53937903e-01 -6.38433400e-02 -4.97534533e+00] [ 1.79783536e-01 1.05867510e-02 9.83649227e-01 -1.96450750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.109072329 meters 0.3572613551347365 Centerline is valid? [False, False] Translation: X:94.99, Y:-4.99, Z:-1.97 [[ 9.42899136e-01 -2.87368905e-01 -1.68405258e-01 9.49893578e+01] [ 2.79857078e-01 9.57681079e-01 -6.72827342e-02 -4.98887873e+00] [ 1.80613495e-01 1.63114285e-02 9.83418885e-01 -1.96722349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13907232900002 meters 0.3590256832431831 Centerline is valid? [False, False] Translation: X:94.97, Y:-5.00, Z:-1.97 [[ 9.46542005e-01 -2.75153120e-01 -1.68371593e-01 9.49681069e+01] [ 2.66780827e-01 9.61143633e-01 -7.09288912e-02 -5.00335505e+00] [ 1.81345590e-01 2.22188621e-02 9.83168398e-01 -1.96956865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16907232900002 meters 0.35793233547946374 Centerline is valid? [False, False] Translation: X:94.96, Y:-5.01, Z:-1.97 [[ 9.48944438e-01 -2.66099762e-01 -1.69397079e-01 9.49569685e+01] [ 2.57316473e-01 9.63621739e-01 -7.22590950e-02 -5.01305434e+00] [ 1.82462836e-01 2.49812074e-02 9.82895342e-01 -1.97104975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199072329 meters 0.35633762794672236 Centerline is valid? [False, False] Translation: X:94.95, Y:-5.02, Z:-1.97 [[ 9.51200952e-01 -2.58372545e-01 -1.68702035e-01 9.49469530e+01] [ 2.49222181e-01 9.65637683e-01 -7.37032579e-02 -5.02099949e+00] [ 1.81947941e-01 2.80623198e-02 9.82907652e-01 -1.97417126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.229072329 meters 0.3626540317253286 Centerline is valid? [False, False] Translation: X:94.94, Y:-5.03, Z:-1.98 [[ 9.53298099e-01 -2.49818465e-01 -1.69745307e-01 9.49372025e+01] [ 2.40245128e-01 9.67802019e-01 -7.51101266e-02 -5.03188490e+00] [ 1.83043748e-01 3.08218578e-02 9.82621494e-01 -1.97620001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259072329 meters 0.360825917916426 Centerline is valid? [False, False] Translation: X:94.93, Y:-5.04, Z:-1.98 [[ 9.55306095e-01 -2.43477243e-01 -1.67657677e-01 9.49289354e+01] [ 2.33558401e-01 9.69301702e-01 -7.68419446e-02 -5.03886630e+00] [ 1.81220136e-01 3.42497193e-02 9.82845979e-01 -1.98139305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.289072329 meters 0.3637076536186334 Centerline is valid? [False, False] Translation: X:94.92, Y:-5.05, Z:-1.99 [[ 9.57232941e-01 -2.37171522e-01 -1.65694794e-01 9.49205927e+01] [ 2.26881650e-01 9.70731885e-01 -7.87675270e-02 -5.04553914e+00] [ 1.79526634e-01 3.78057631e-02 9.83026404e-01 -1.98656173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319072329 meters 0.36351237469960207 Centerline is valid? [False, False] Translation: X:94.91, Y:-5.05, Z:-1.99 [[ 9.59108733e-01 -2.31047433e-01 -1.63485540e-01 9.49123754e+01] [ 2.20415847e-01 9.72063567e-01 -8.06800869e-02 -5.05211720e+00] [ 1.77559264e-01 4.13461721e-02 9.83241172e-01 -1.99205323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.349072329 meters 0.36613741446296466 Centerline is valid? [False, False] Translation: X:94.90, Y:-5.06, Z:-2.00 [[ 9.61133374e-01 -2.23000556e-01 -1.62767903e-01 9.49029826e+01] [ 2.12126395e-01 9.73829055e-01 -8.16049275e-02 -5.06295487e+00] [ 1.76706057e-01 4.39058508e-02 9.83283909e-01 -1.99590518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379072329 meters 0.3638780607236704 Centerline is valid? [False, False] Translation: X:94.89, Y:-5.07, Z:-2.00 [[ 9.63005592e-01 -2.15747754e-01 -1.61471783e-01 9.48948371e+01] [ 2.04564175e-01 9.75315485e-01 -8.31456796e-02 -5.07081867e+00] [ 1.75424424e-01 4.70384124e-02 9.83368527e-01 -2.00055277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.409072329 meters 0.36710173320146805 Centerline is valid? [False, False] Translation: X:94.89, Y:-5.08, Z:-2.01 [[ 9.64626789e-01 -2.08935329e-01 -1.60751939e-01 9.48886512e+01] [ 1.97228794e-01 9.76595382e-01 -8.58036295e-02 -5.07727159e+00] [ 1.74917011e-01 5.10635687e-02 9.83258131e-01 -2.00532352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439072329 meters 0.36885311189023884 Centerline is valid? [False, False] Translation: X:94.88, Y:-5.09, Z:-2.01 [[ 9.66464814e-01 -2.00740693e-01 -1.60152854e-01 9.48799617e+01] [ 1.88811714e-01 9.78180972e-01 -8.66725000e-02 -5.08837245e+00] [ 1.74057172e-01 5.35271868e-02 9.83279686e-01 -2.00957026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.469072329 meters 0.3695616454778883 Centerline is valid? [False, False] Translation: X:94.87, Y:-5.09, Z:-2.02 [[ 9.68036736e-01 -1.94549722e-01 -1.58288606e-01 9.48724867e+01] [ 1.82287711e-01 9.79231688e-01 -8.87496064e-02 -5.09437964e+00] [ 1.72267430e-01 5.70588118e-02 9.83396270e-01 -2.01550500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.499072329 meters 0.3788594197811801 Centerline is valid? [False, False] Translation: X:94.87, Y:-5.10, Z:-2.02 [[ 9.69605757e-01 -1.87710905e-01 -1.56937223e-01 9.48655798e+01] [ 1.75111735e-01 9.80361304e-01 -9.07060834e-02 -5.10039429e+00] [ 1.70881701e-01 6.04675913e-02 9.83434347e-01 -2.02139064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.529072329 meters 0.37030664406848207 Centerline is valid? [False, False] Translation: X:94.86, Y:-5.11, Z:-2.03 [[ 9.71318141e-01 -1.77812858e-01 -1.57872278e-01 9.48610315e+01] [ 1.64904197e-01 9.82054871e-01 -9.15141345e-02 -5.11007615e+00] [ 1.71311630e-01 6.28555378e-02 9.83209798e-01 -2.02579393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.559072329 meters 0.3696138660835624 Centerline is valid? [False, False] Translation: X:94.86, Y:-5.11, Z:-2.03 [[ 9.73659257e-01 -1.66314651e-01 -1.55971435e-01 9.48601863e+01] [ 1.52505054e-01 9.83554750e-01 -9.67587878e-02 -5.11407126e+00] [ 1.69498850e-01 7.04236572e-02 9.83011011e-01 -2.02569115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.589072329 meters 0.37232972857595237 Centerline is valid? [False, False] Translation: X:94.86, Y:-5.12, Z:-2.03 [[ 9.75830063e-01 -1.55014506e-01 -1.54033082e-01 9.48595157e+01] [ 1.40286925e-01 9.84807937e-01 -1.02337215e-01 -5.11782225e+00] [ 1.67556754e-01 7.82549031e-02 9.82751700e-01 -2.02556612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.619072329 meters 0.36789642395820715 Centerline is valid? [False, False] Translation: X:94.86, Y:-5.12, Z:-2.03 [[ 9.77994252e-01 -1.44357926e-01 -1.50625468e-01 9.48582082e+01] [ 1.28852295e-01 9.85752933e-01 -1.08112165e-01 -5.12130839e+00] [ 1.64086345e-01 8.63246393e-02 9.82661553e-01 -2.02607621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.649072329 meters 0.37241334766877093 Centerline is valid? [False, False] Translation: X:94.85, Y:-5.13, Z:-2.03 [[ 9.79456086e-01 -1.36998587e-01 -1.47976903e-01 9.48476258e+01] [ 1.21606730e-01 9.86628363e-01 -1.08518555e-01 -5.12951641e+00] [ 1.60865098e-01 8.82941718e-02 9.83019104e-01 -2.03175169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.679072329 meters 0.3738187672165686 Centerline is valid? [False, False] Translation: X:94.84, Y:-5.13, Z:-2.03 [[ 9.80064082e-01 -1.33087850e-01 -1.47519553e-01 9.48446134e+01] [ 1.18382870e-01 9.87467320e-01 -1.04373308e-01 -5.13375204e+00] [ 1.59561557e-01 8.48287421e-02 9.83536575e-01 -2.03094217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.709072329 meters 0.3694664218261456 Centerline is valid? [False, False] Translation: X:94.84, Y:-5.14, Z:-2.03 [[ 9.80653762e-01 -1.29188926e-01 -1.47066039e-01 9.48414455e+01] [ 1.15160609e-01 9.88276414e-01 -1.00238537e-01 -5.13787807e+00] [ 1.58291606e-01 8.13630836e-02 9.84034459e-01 -2.02997999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.739072329 meters 0.3700315015118068 Centerline is valid? [False, False] Translation: X:94.82, Y:-5.15, Z:-2.04 [[ 9.83894722e-01 -1.24279049e-01 -1.28475268e-01 9.48228597e+01] [ 1.12677745e-01 9.89179306e-01 -9.39575787e-02 -5.14676628e+00] [ 1.38762035e-01 7.79680623e-02 9.87251781e-01 -2.03767849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.769072329 meters 0.37311471466597934 Centerline is valid? [False, False] Translation: X:94.82, Y:-5.15, Z:-2.04 [[ 9.84507483e-01 -1.18631486e-01 -1.29118500e-01 9.48237597e+01] [ 1.07717565e-01 9.90236401e-01 -8.84804836e-02 -5.15155880e+00] [ 1.38354410e-01 7.32013679e-02 9.87673841e-01 -2.03850393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.799072329 meters 0.3736383717100979 Centerline is valid? [False, False] Translation: X:94.81, Y:-5.16, Z:-2.04 [[ 9.87087908e-01 -1.14220523e-01 -1.12299307e-01 9.48108037e+01] [ 1.05171539e-01 9.90945503e-01 -8.34623078e-02 -5.15773533e+00] [ 1.20815602e-01 7.05739438e-02 9.90163072e-01 -2.04433322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.829072329 meters 0.4500116529429295 Centerline is valid? [False, False] Translation: X:94.80, Y:-5.17, Z:-2.05 [[ 9.88614038e-01 -1.03438052e-01 -1.09283362e-01 9.48024089e+01] [ 9.50406039e-02 9.92297613e-01 -7.94526912e-02 -5.16733703e+00] [ 1.16660050e-01 6.81616892e-02 9.90830165e-01 -2.05093623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.859072329 meters 0.4513069536073009 Centerline is valid? [False, False] Translation: X:94.79, Y:-5.17, Z:-2.06 [[ 9.90837953e-01 -9.87941153e-02 -9.20862246e-02 9.47899751e+01] [ 9.20338844e-02 9.92928700e-01 -7.49824073e-02 -5.17349777e+00] [ 9.88428758e-02 6.58203620e-02 9.92923847e-01 -2.05611156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88907232900002 meters 0.37211161954087985 Centerline is valid? [False, False] Translation: X:94.79, Y:-5.18, Z:-2.06 [[ 9.91326970e-01 -9.32587822e-02 -9.25939424e-02 9.47906281e+01] [ 8.70089721e-02 9.93787925e-01 -6.93901870e-02 -5.17866668e+00] [ 9.84899862e-02 6.07318601e-02 9.93283124e-01 -2.05681757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91907232900002 meters 0.45592611866983335 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.19, Z:-2.06 [[ 9.93507951e-01 -8.65471857e-02 -7.38345106e-02 9.47768471e+01] [ 8.18554956e-02 9.94563440e-01 -6.43680161e-02 -5.18846295e+00] [ 7.90039755e-02 5.79063753e-02 9.95191049e-01 -2.06422143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.949072329 meters 0.3729157938889877 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.19, Z:-2.06 [[ 9.93934305e-01 -8.10824806e-02 -7.42982357e-02 9.47774779e+01] [ 7.68052585e-02 9.95315130e-01 -5.87260035e-02 -5.19383139e+00] [ 7.87118082e-02 5.26632943e-02 9.95505414e-01 -2.06486868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979072329 meters 0.37281392101772615 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.20, Z:-2.07 [[ 9.94335702e-01 -7.55930379e-02 -7.47141448e-02 9.47780031e+01] [ 7.17341908e-02 9.96011918e-01 -5.30515296e-02 -5.19919122e+00] [ 7.84265049e-02 4.73914712e-02 9.95792816e-01 -2.06545570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.009072329 meters 0.4519678589103731 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.21, Z:-2.07 [[ 9.96044694e-01 -6.67359477e-02 -5.86624250e-02 9.47671239e+01] [ 6.37541545e-02 9.96645604e-01 -5.13122590e-02 -5.20777836e+00] [ 6.18900202e-02 4.73693301e-02 9.96958260e-01 -2.07108889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.039072329 meters 0.4526299108902341 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.21, Z:-2.07 [[ 9.96369592e-01 -6.13448854e-02 -5.90291480e-02 9.47676542e+01] [ 5.86939300e-02 9.97232061e-01 -4.56425251e-02 -5.21292263e+00] [ 6.16656944e-02 4.20121714e-02 9.97212274e-01 -2.07162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.069072329 meters 0.4545857340119227 Centerline is valid? [False, False] Translation: X:94.76, Y:-5.22, Z:-2.08 [[ 9.97517536e-01 -5.64681727e-02 -4.20726927e-02 9.47579893e+01] [ 5.46744859e-02 9.97593815e-01 -4.26295832e-02 -5.21891931e+00] [ 4.43786727e-02 4.02234539e-02 9.98204692e-01 -2.07574991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.099072329 meters 0.4533420972037498 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.23, Z:-2.08 [[ 9.98007041e-01 -5.00997063e-02 -3.83662031e-02 9.47467735e+01] [ 4.84629240e-02 9.97921841e-01 -4.24658067e-02 -5.22793660e+00] [ 4.04139965e-02 4.05218357e-02 9.98361002e-01 -2.08027003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.129072329 meters 0.4562863442794323 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.23, Z:-2.08 [[ 9.98253040e-01 -4.47462311e-02 -3.85829375e-02 9.47472544e+01] [ 4.33350653e-02 9.98387505e-01 -3.66669168e-02 -5.23366680e+00] [ 4.01614290e-02 3.49308670e-02 9.98582442e-01 -2.08102867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.159072329 meters 0.45251698438798055 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.24, Z:-2.08 [[ 9.98950370e-01 -4.05075308e-02 -2.13845243e-02 9.47376325e+01] [ 3.97891292e-02 9.98662556e-01 -3.30140082e-02 -5.24028302e+00] [ 2.26932397e-02 3.21284841e-02 9.99226089e-01 -2.08499125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.189072329 meters 0.452917447946229 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.25, Z:-2.09 [[ 9.99146248e-01 -3.52319619e-02 -2.15750668e-02 9.47383329e+01] [ 3.46409877e-02 9.99030192e-01 -2.71786320e-02 -5.24598978e+00] [ 2.25116997e-02 2.64080466e-02 9.99397738e-01 -2.08595835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.219072329 meters 0.452917447946229 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.25, Z:-2.09 [[ 9.99285340e-01 -3.07288500e-02 -2.20124365e-02 9.47392361e+01] [ 3.02339410e-02 9.99290166e-01 -2.24738221e-02 -5.24783525e+00] [ 2.26874061e-02 2.17922383e-02 9.99505067e-01 -2.08628750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.249072329 meters 0.44832079805777836 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.26, Z:-2.09 [[ 9.99536917e-01 -2.44403948e-02 -1.81278383e-02 9.47281384e+01] [ 2.40378775e-02 9.99466754e-01 -2.20994962e-02 -5.25704172e+00] [ 1.86582921e-02 2.16535075e-02 9.99591413e-01 -2.09100442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.279072329 meters 0.44534961289536135 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.26, Z:-2.10 [[ 9.99788439e-01 -2.05648289e-02 -4.05466904e-04 9.47177211e+01] [ 2.05539924e-02 9.99621812e-01 -1.82692471e-02 -5.26384419e+00] [ 7.81017504e-04 1.82570481e-02 9.99833021e-01 -2.09529002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.309072329 meters 0.44850720996895427 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.27, Z:-2.10 [[ 9.99880697e-01 -1.54367931e-02 -5.44761780e-04 9.47182912e+01] [ 1.54288791e-02 9.99804493e-01 -1.23663058e-02 -5.26981220e+00] [ 7.35551381e-04 1.23564254e-02 9.99923386e-01 -2.09595750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339072329 meters 0.42280362062447296 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.27, Z:-2.10 [[ 9.99886994e-01 -1.50279373e-02 -3.99970499e-04 9.47181777e+01] [ 1.50222970e-02 9.99820045e-01 -1.15848016e-02 -5.27244112e+00] [ 5.73994195e-04 1.15774840e-02 9.99932814e-01 -2.09638015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.369072329 meters 0.4370776189736742 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.28, Z:-2.10 [[ 9.99955818e-01 -9.39011382e-03 -4.33825753e-04 9.47184076e+01] [ 9.38784772e-03 9.99943634e-01 -4.95958867e-03 -5.28103737e+00] [ 4.80372402e-04 4.95529686e-03 9.99987607e-01 -2.09677980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.399072329 meters 0.4328374340588197 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.28, Z:-2.10 [[ 9.99959554e-01 -8.98829405e-03 -3.17578176e-04 9.47181329e+01] [ 8.98688744e-03 9.99950867e-01 -4.18314985e-03 -5.28361364e+00] [ 3.55161954e-04 4.18012662e-03 9.99991200e-01 -2.09677519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.429072329 meters 0.4328396679022052 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.29, Z:-2.10 [[ 9.99992442e-01 -3.86653555e-03 -4.08354293e-04 9.47184044e+01] [ 3.86724392e-03 9.99990994e-01 1.74840498e-03 -5.28955619e+00] [ 4.01590345e-04 -1.74997097e-03 9.99998388e-01 -2.09694377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.459072329 meters 0.4214747475788572 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.29, Z:-2.10 [[ 9.99995343e-01 -3.04403525e-03 -2.19975668e-04 9.47182818e+01] [ 3.04472347e-03 9.99990248e-01 3.19911386e-03 -5.29456169e+00] [ 2.10235307e-04 -3.19976872e-03 9.99994859e-01 -2.09745464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.489072329 meters 0.41963672699935667 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.30, Z:-2.10 [[ 9.99996484e-01 -2.64988452e-03 -1.03875438e-04 9.47183028e+01] [ 2.65027259e-03 9.99988753e-01 3.93317907e-03 -5.29704815e+00] [ 9.34517991e-05 -3.93344054e-03 9.99992260e-01 -2.09796139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.519072329 meters 0.4141037010248508 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.30, Z:-2.10 [[ 9.99997480e-01 -2.24491158e-03 1.93374919e-05 9.47183490e+01] [ 2.24479620e-03 9.99986483e-01 4.68994270e-03 -5.29962606e+00] [-2.98657372e-05 -4.68988748e-03 9.99989002e-01 -2.09852739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.549072329 meters 0.4158223551927922 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.30, Z:-2.10 [[ 9.99998284e-01 -1.84876118e-03 1.19067764e-04 9.47183910e+01] [ 1.84808648e-03 9.99983511e-01 5.43712394e-03 -5.30216023e+00] [-1.29117745e-04 -5.43689456e-03 9.99985212e-01 -2.09899795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.579072329 meters 0.3991150912060487 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.31, Z:-2.10 [[ 9.99999523e-01 -9.37297580e-04 2.76300870e-04 9.47183447e+01] [ 9.35324805e-04 9.99974671e-01 7.05564697e-03 -5.30766470e+00] [-2.82907113e-04 -7.05538517e-03 9.99975070e-01 -2.09947032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.609072329 meters 0.3907088456996812 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.31, Z:-2.10 [[ 9.99999797e-01 -5.15570284e-04 3.73934806e-04 9.47181874e+01] [ 5.12615351e-04 9.99968980e-01 7.85977501e-03 -5.31036636e+00] [-3.77975473e-04 -7.85958173e-03 9.99969042e-01 -2.09959581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63907232900002 meters 0.38261154572112993 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.31, Z:-2.10 [[ 9.99999905e-01 -6.24148371e-05 4.31792681e-04 9.47181006e+01] [ 5.86465361e-05 9.99961964e-01 8.72162203e-03 -5.31326850e+00] [-4.32320616e-04 -8.72159588e-03 9.99961873e-01 -2.09966771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66907232900002 meters 0.37748649813459245 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.31, Z:-2.10 [[ 9.99991460e-01 -4.03071983e-03 9.12676177e-04 9.47168365e+01] [ 4.02613540e-03 9.99979543e-01 4.97038487e-03 -5.31479008e+00] [-9.32691734e-04 -4.96666787e-03 9.99987231e-01 -2.09939017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699072329 meters 0.3636716192738721 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.32, Z:-2.10 [[ 9.99995581e-01 -2.83101031e-03 9.07518202e-04 9.47171332e+01] [ 2.82453654e-03 9.99971109e-01 7.05711344e-03 -5.32202007e+00] [-9.27470744e-04 -7.05451894e-03 9.99974686e-01 -2.09971427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.729072329 meters 0.355778129175018 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.33, Z:-2.10 [[ 9.99996914e-01 -2.31446797e-03 9.02410468e-04 9.47173005e+01] [ 2.30714131e-03 9.99965040e-01 8.03720888e-03 -5.32534118e+00] [-9.20980782e-04 -8.03510209e-03 9.99967294e-01 -2.09990864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.759072329 meters 0.3381644632430004 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.33, Z:-2.10 [[ 9.99998833e-01 -1.19637734e-03 9.49645231e-04 9.47175789e+01] [ 1.18676141e-03 9.99948667e-01 1.00625953e-02 -5.33221975e+00] [-9.61635144e-04 -1.00614566e-02 9.99948920e-01 -2.10040295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.789072329 meters 0.3227842044551701 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.33, Z:-2.10 [[ 9.99985522e-01 -5.21093141e-03 1.34208888e-03 9.47167239e+01] [ 5.20243433e-03 9.99966881e-01 6.25876357e-03 -5.33362381e+00] [-1.37465842e-03 -6.25169083e-03 9.99979513e-01 -2.10049495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.819072329 meters 0.3172852140673557 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.34, Z:-2.10 [[ 9.99988004e-01 -4.69410687e-03 1.39928514e-03 9.47167328e+01] [ 4.68381613e-03 9.99962611e-01 7.26900969e-03 -5.33702314e+00] [-1.43335433e-03 -7.26236849e-03 9.99972601e-01 -2.10072357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.849072329 meters 0.31175813803469 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.34, Z:-2.10 [[ 9.99990349e-01 -4.14760604e-03 1.44917146e-03 9.47167787e+01] [ 4.13538802e-03 9.99956715e-01 8.33469649e-03 -5.34061679e+00] [-1.48367777e-03 -8.32862317e-03 9.99964216e-01 -2.10098781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879072329 meters 0.30059928020689597 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.35, Z:-2.10 [[ 9.99969851e-01 -7.57534693e-03 1.70598173e-03 9.47162611e+01] [ 7.56520671e-03 9.99954131e-01 5.87394150e-03 -5.34658707e+00] [-1.75040063e-03 -5.86085831e-03 9.99981293e-01 -2.10095016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.909072329 meters 0.29687376268806615 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.35, Z:-2.10 [[ 9.99974658e-01 -6.91738716e-03 1.68320205e-03 9.47163580e+01] [ 6.90515011e-03 9.99950451e-01 7.17043694e-03 -5.35094350e+00] [-1.73271933e-03 -7.15863246e-03 9.99972875e-01 -2.10096858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939072329 meters 0.2974142680659523 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.36, Z:-2.10 [[ 9.99978922e-01 -6.27497014e-03 1.66712850e-03 9.47164283e+01] [ 6.26068493e-03 9.99944783e-01 8.44007068e-03 -5.35520648e+00] [-1.71999764e-03 -8.42945542e-03 9.99962992e-01 -2.10096859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.969072329 meters 0.287117467703431 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.36, Z:-2.10 [[ 9.99986390e-01 -4.98327546e-03 1.54512033e-03 9.47169879e+01] [ 4.96590104e-03 9.99926597e-01 1.10517121e-02 -5.36393842e+00] [-1.60008064e-03 -1.10438888e-02 9.99937734e-01 -2.10107730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999072329 meters 0.2833171499485474 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.37, Z:-2.10 [[ 9.99989498e-01 -4.32212414e-03 1.52388393e-03 9.47170925e+01] [ 4.30290662e-03 9.99913904e-01 1.23963450e-02 -5.36842972e+00] [-1.57733127e-03 -1.23896576e-02 9.99922001e-01 -2.10106168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.029072329 meters 0.2811201581947364 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.37, Z:-2.10 [[ 9.99964162e-01 -8.28147187e-03 1.75828731e-03 9.47165681e+01] [ 8.26569450e-03 9.99927131e-01 8.79840642e-03 -5.37070568e+00] [-1.83102294e-03 -8.78355764e-03 9.99959747e-01 -2.10099944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059072329 meters 0.2718189753116981 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.38, Z:-2.10 [[ 9.99975540e-01 -6.79721838e-03 1.64856137e-03 9.47170208e+01] [ 6.77706556e-03 9.99905790e-01 1.19366060e-02 -5.38096426e+00] [-1.72954178e-03 -1.19251416e-02 9.99927397e-01 -2.10097548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.089072329 meters 0.27082423193347355 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.39, Z:-2.10 [[ 9.99980231e-01 -6.07860984e-03 1.60888557e-03 9.47172343e+01] [ 6.05640628e-03 9.99891024e-01 1.34632718e-02 -5.38603662e+00] [-1.69054821e-03 -1.34532616e-02 9.99908072e-01 -2.10105068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119072329 meters 0.27062910164808124 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.39, Z:-2.10 [[ 9.99984248e-01 -5.39080473e-03 1.56274387e-03 9.47175332e+01] [ 5.36682300e-03 9.99873629e-01 1.49640834e-02 -5.39102552e+00] [-1.64321483e-03 -1.49554608e-02 9.99886811e-01 -2.10120419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.149072329 meters 0.26399437423880573 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.40, Z:-2.10 [[ 9.99961600e-01 -8.60075730e-03 1.68088487e-03 9.47173384e+01] [ 8.57853484e-03 9.99881167e-01 1.28086232e-02 -5.39824103e+00] [-1.79084898e-03 -1.27937118e-02 9.99916553e-01 -2.10116392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179072329 meters 0.26268805237877013 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.40, Z:-2.10 [[ 9.99967331e-01 -7.92124452e-03 1.60963799e-03 9.47175775e+01] [ 7.89742226e-03 9.99866516e-01 1.43031585e-02 -5.40318410e+00] [-1.72272194e-03 -1.42899792e-02 9.99896409e-01 -2.10110431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.209072329 meters 0.2603992829849929 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.41, Z:-2.10 [[ 9.99972634e-01 -7.23798276e-03 1.53092958e-03 9.47178315e+01] [ 7.21280868e-03 9.99848281e-01 1.58552856e-02 -5.40828483e+00] [-1.64545759e-03 -1.58438094e-02 9.99873125e-01 -2.10099935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239072329 meters 0.2568635994355777 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.42, Z:-2.10 [[ 9.99943846e-01 -1.04710803e-02 1.63126144e-03 9.47174859e+01] [ 1.04478026e-02 9.99851860e-01 1.36785058e-02 -5.41533154e+00] [-1.77424851e-03 -1.36606946e-02 9.99905114e-01 -2.10050300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.269072329 meters 0.25199960363996476 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.42, Z:-2.10 [[ 9.99950759e-01 -9.80238378e-03 1.54689392e-03 9.47176604e+01] [ 9.77777158e-03 9.99836845e-01 1.51880864e-02 -5.42028015e+00] [-1.69552099e-03 -1.51722134e-02 9.99883458e-01 -2.10025291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299072329 meters 0.2515999863639603 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.43, Z:-2.10 [[ 9.99957265e-01 -9.13016271e-03 1.45227274e-03 9.47178574e+01] [ 9.10461253e-03 9.99818731e-01 1.67215523e-02 -5.42532171e+00] [-1.60467998e-03 -1.67076153e-02 9.99859130e-01 -2.09996946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.329072329 meters 0.25361104898558395 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.43, Z:-2.10 [[ 9.99963320e-01 -8.45740166e-03 1.35307559e-03 9.47180896e+01] [ 8.43133657e-03 9.99798249e-01 1.82311063e-02 -5.43030066e+00] [-1.50699039e-03 -1.82190294e-02 9.99832884e-01 -2.09977139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359072329 meters 0.2443656441525419 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.44, Z:-2.10 [[ 9.99931046e-01 -1.16535021e-02 1.44909204e-03 9.47177641e+01] [ 1.16284386e-02 9.99800429e-01 1.62444262e-02 -5.43790598e+00] [-1.63810730e-03 -1.62264554e-02 9.99867001e-01 -2.09921340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38907232900002 meters 0.24734619589155651 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.44, Z:-2.10 [[ 9.99938743e-01 -1.09871261e-02 1.33905605e-03 9.47180542e+01] [ 1.09615835e-02 9.99781733e-01 1.77856898e-02 -5.44298002e+00] [-1.53417739e-03 -1.77699221e-02 9.99840925e-01 -2.09904308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41907232900002 meters 0.24624501682471717 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.45, Z:-2.10 [[ 9.99945825e-01 -1.03350770e-02 1.23804291e-03 9.47183240e+01] [ 1.03092396e-02 9.99760220e-01 1.93189796e-02 -5.44801826e+00] [-1.43740920e-03 -1.93051698e-02 9.99812605e-01 -2.09884043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.449072329 meters 0.2464146386430635 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.45, Z:-2.10 [[ 9.99897093e-01 -1.42777665e-02 1.39629633e-03 9.47179248e+01] [ 1.42540793e-02 9.99774930e-01 1.57133814e-02 -5.45036990e+00] [-1.62033405e-03 -1.56918614e-02 9.99875562e-01 -2.09866815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479072329 meters 0.2428861187295915 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.46, Z:-2.10 [[ 9.99912272e-01 -1.32008354e-02 1.08896470e-03 9.47187886e+01] [ 1.31780669e-02 9.99736802e-01 1.87793682e-02 -5.46046754e+00] [-1.33658144e-03 -1.87633703e-02 9.99823059e-01 -2.09831246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.509072329 meters 0.24249739104629345 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.46, Z:-2.10 [[ 9.99852964e-01 -1.71014739e-02 1.26081738e-03 9.47183233e+01] [ 1.70802614e-02 9.99737689e-01 1.52583597e-02 -5.46309444e+00] [-1.52142709e-03 -1.52345811e-02 9.99882790e-01 -2.09802461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.539072329 meters 0.24150803067907353 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.47, Z:-2.10 [[ 9.99863994e-01 -1.64506488e-02 1.16990272e-03 9.47185343e+01] [ 1.64285952e-02 9.99722828e-01 1.68632302e-02 -5.46835051e+00] [-1.44698954e-03 -1.68417169e-02 9.99857121e-01 -2.09778065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.569072329 meters 0.23881447336342757 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.48, Z:-2.10 [[ 9.99805587e-01 -1.96764757e-02 1.27490706e-03 9.47183978e+01] [ 1.96551812e-02 9.99694511e-01 1.49852578e-02 -5.47630961e+00] [-1.56937465e-03 -1.49572860e-02 9.99886902e-01 -2.09728237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.599072329 meters 0.23446844436511785 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.48, Z:-2.10 [[ 9.99818178e-01 -1.90347815e-02 1.13509144e-03 9.47187818e+01] [ 1.90133403e-02 9.99681512e-01 1.65942062e-02 -5.48160736e+00] [-1.45059702e-03 -1.65696071e-02 9.99861662e-01 -2.09709453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.629072329 meters 0.23592564322036677 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.49, Z:-2.10 [[ 9.99830289e-01 -1.83953126e-02 1.00315013e-03 9.47191131e+01] [ 1.83740430e-02 9.99665824e-01 1.81833533e-02 -5.48682308e+00] [-1.33730337e-03 -1.81618355e-02 9.99834166e-01 -2.09685540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.659072329 meters 0.23486392315336832 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.50, Z:-2.10 [[ 9.99766408e-01 -2.15847255e-02 1.10849152e-03 9.47189233e+01] [ 2.15636336e-02 9.99632652e-01 1.64185824e-02 -5.49509717e+00] [-1.46247491e-03 -1.63908440e-02 9.99864592e-01 -2.09618771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.689072329 meters 0.23420210868963096 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.50, Z:-2.10 [[ 9.99780482e-01 -2.09285421e-02 9.91816881e-04 9.47191295e+01] [ 2.09072178e-02 9.99618118e-01 1.80694680e-02 -5.50049211e+00] [-1.36960575e-03 -1.80447653e-02 9.99836242e-01 -2.09577797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719072329 meters 0.23711067563474528 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.51, Z:-2.10 [[ 9.99793997e-01 -2.02768951e-02 9.00772957e-04 9.47192345e+01] [ 2.02552282e-02 9.99600760e-01 1.96989123e-02 -5.50578825e+00] [-1.29984611e-03 -1.96766089e-02 9.99805552e-01 -2.09529007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.749072329 meters 0.23393420573316565 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.51, Z:-2.09 [[ 9.99723437e-01 -2.34958118e-02 9.98524196e-04 9.47190354e+01] [ 2.34741649e-02 9.99563860e-01 1.79179533e-02 -5.51397887e+00] [-1.41908556e-03 -1.78895583e-02 9.99838962e-01 -2.09453744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779072329 meters 0.22934413558983005 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.52, Z:-2.09 [[ 9.99737824e-01 -2.28799964e-02 8.87937453e-04 9.47192767e+01] [ 2.28583411e-02 9.99548468e-01 1.95027129e-02 -5.51915690e+00] [-1.33375852e-03 -1.94773029e-02 9.99809410e-01 -2.09420376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.809072329 meters 0.22788875907040806 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.53, Z:-2.09 [[ 9.99753568e-01 -2.21967465e-02 3.27276371e-04 9.47209176e+01] [ 2.21840176e-02 9.99507505e-01 2.21949920e-02 -5.52842538e+00] [-8.19771800e-04 -2.21822621e-02 9.99753607e-01 -2.09421973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839072329 meters 0.23176858422401608 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.53, Z:-2.09 [[ 9.99766408e-01 -2.16119187e-02 2.33232033e-04 9.47211301e+01] [ 2.16002972e-02 9.99484932e-01 2.37339059e-02 -5.53346406e+00] [-7.46047148e-04 -2.37233240e-02 9.99718284e-01 -2.09393767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.869072329 meters 0.22998972292464834 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.54, Z:-2.09 [[ 9.99673700e-01 -2.55402723e-02 4.34089782e-04 9.47206826e+01] [ 2.55263370e-02 9.99470878e-01 2.01586044e-02 -5.53596015e+00] [-9.48716341e-04 -2.01409460e-02 9.99796700e-01 -2.09367382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899072329 meters 0.23025170099582368 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.54, Z:-2.09 [[ 9.99687889e-01 -2.49801629e-02 3.40569755e-04 9.47208152e+01] [ 2.49669229e-02 9.99453439e-01 2.16673884e-02 -5.54086907e+00] [-8.81638505e-04 -2.16521228e-02 9.99765177e-01 -2.09321308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.929072329 meters 0.2308943665785989 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.55, Z:-2.09 [[ 9.99600221e-01 -2.82691193e-02 5.05597170e-04 9.47203578e+01] [ 2.82534993e-02 9.99403277e-01 1.98703382e-02 -5.54883645e+00] [-1.06701243e-03 -1.98481095e-02 9.99802438e-01 -2.09222543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959072329 meters 0.2317191611233729 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.55, Z:-2.09 [[ 9.99615320e-01 -2.77318879e-02 3.93085070e-04 9.47206129e+01] [ 2.77171569e-02 9.99387287e-01 2.13731290e-02 -5.55377534e+00] [-9.85561437e-04 -2.13540119e-02 9.99771491e-01 -2.09192353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.989072329 meters 0.22974949632246866 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.56, Z:-2.09 [[ 9.99628469e-01 -2.72555044e-02 2.45992315e-04 9.47210351e+01] [ 2.72428308e-02 9.99369251e-01 2.27799988e-02 -5.55846318e+00] [-8.66717512e-04 -2.27648338e-02 9.99740472e-01 -2.09179183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019072329 meters 0.23088942047652203 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.56, Z:-2.09 [[ 9.99641609e-01 -2.67702456e-02 8.82432575e-05 9.47214776e+01] [ 2.67602719e-02 9.99348941e-01 2.41988046e-02 -5.56318220e+00] [-7.35993748e-04 -2.41877705e-02 9.99707162e-01 -2.09162389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.049072329 meters 0.23234586846142707 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.57, Z:-2.09 [[ 9.99540560e-01 -3.03094533e-02 8.17705663e-05 9.47219320e+01] [ 3.03002647e-02 9.99297089e-01 2.20730942e-02 -5.57040939e+00] [-7.50736506e-04 -2.20604753e-02 9.99756356e-01 -2.09156196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079072329 meters 0.23204613177946617 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.57, Z:-2.09 [[ 9.99554077e-01 -2.98603404e-02 -7.92148701e-05 9.47223840e+01] [ 2.98539981e-02 9.99279617e-01 2.34304282e-02 -5.57495220e+00] [-6.20482756e-04 -2.34223449e-02 9.99725467e-01 -2.09143761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.109072329 meters 0.23284898932457154 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.58, Z:-2.09 [[ 9.99567273e-01 -2.94147478e-02 -1.98134632e-04 9.47226335e+01] [ 2.94106351e-02 9.99260747e-01 2.47583321e-02 -5.57931084e+00] [-5.30271933e-04 -2.47534457e-02 9.99693446e-01 -2.09111451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13907232900002 meters 0.23557243576626125 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.59, Z:-2.09 [[ 9.99583749e-01 -2.88461340e-02 -4.77998629e-04 9.47232322e+01] [ 2.88484522e-02 9.99212905e-01 2.72275225e-02 -5.58759913e+00] [-3.07786364e-04 -2.72299786e-02 9.99629148e-01 -2.09042759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16907232900002 meters 0.23557243576626125 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.59, Z:-2.09 [[ 9.99583749e-01 -2.88461340e-02 -4.77998629e-04 9.47232322e+01] [ 2.88484522e-02 9.99212905e-01 2.72275225e-02 -5.58759913e+00] [-3.07786364e-04 -2.72299786e-02 9.99629148e-01 -2.09042759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199072329 meters 0.23565189344269305 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.59, Z:-2.09 [[ 9.99597552e-01 -2.83626380e-02 -5.42639658e-04 9.47232046e+01] [ 2.83665577e-02 9.99188836e-01 2.85833508e-02 -5.59197697e+00] [-2.68499742e-04 -2.85872403e-02 9.99591265e-01 -2.08981961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.229072329 meters 0.23791849123953066 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.60, Z:-2.09 [[ 9.99610520e-01 -2.79010666e-02 -5.81380911e-04 9.47231044e+01] [ 2.79059763e-02 9.99163654e-01 2.98872588e-02 -5.59618724e+00] [-2.52991721e-04 -2.98918423e-02 9.99553107e-01 -2.08920248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259072329 meters 0.2460451836134609 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.60, Z:-2.09 [[ 9.99502966e-01 -3.15219548e-02 -4.32876547e-04 9.47228857e+01] [ 3.15219646e-02 9.99126590e-01 2.74303382e-02 -5.60221302e+00] [-4.32159413e-04 -2.74303496e-02 9.99623624e-01 -2.08863912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.289072329 meters 0.24329176332892571 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.61, Z:-2.09 [[ 9.99514029e-01 -3.11678074e-02 -5.22280573e-04 9.47231823e+01] [ 3.11700112e-02 9.99106329e-01 2.85477529e-02 -5.60600342e+00] [-3.67957038e-04 -2.85501590e-02 9.99592293e-01 -2.08865329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319072329 meters 0.24576324801522512 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.61, Z:-2.09 [[ 9.99524606e-01 -3.08243681e-02 -6.48111638e-04 9.47234963e+01] [ 3.08300273e-02 9.99084500e-01 2.96592645e-02 -5.60974744e+00] [-2.66709795e-04 -2.96651460e-02 9.99559857e-01 -2.08850506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.349072329 meters 0.24847241949092594 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.61, Z:-2.09 [[ 9.99535011e-01 -3.04829895e-02 -7.40601023e-04 9.47237052e+01] [ 3.04913501e-02 9.99062629e-01 3.07268623e-02 -5.61331257e+00] [-1.96739816e-04 -3.07351566e-02 9.99527544e-01 -2.08831185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379072329 meters 0.25144640435159865 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.62, Z:-2.09 [[ 9.99415832e-01 -3.41718280e-02 -5.30710953e-04 9.47232353e+01] [ 3.41732800e-02 9.99023220e-01 2.80141668e-02 -5.61842456e+00] [-4.27102724e-04 -2.80159379e-02 9.99607385e-01 -2.08763942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.409072329 meters 0.2549388519523854 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.62, Z:-2.09 [[ 9.99427259e-01 -3.38357681e-02 -5.42821879e-04 9.47231355e+01] [ 3.38372806e-02 9.99006899e-01 2.89871268e-02 -5.62158229e+00] [-4.38518898e-04 -2.89888923e-02 9.99579638e-01 -2.08724709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439072329 meters 0.25775255390012614 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.62, Z:-2.09 [[ 9.99439107e-01 -3.34836504e-02 -5.63151217e-04 9.47230575e+01] [ 3.34854694e-02 9.98988828e-01 3.00007508e-02 -5.62489487e+00] [-4.41952879e-04 -3.00027810e-02 9.99549718e-01 -2.08686183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.469072329 meters 0.26617819854979763 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.63, Z:-2.09 [[ 9.99448157e-01 -3.32073105e-02 -8.09912660e-04 9.47237216e+01] [ 3.32162970e-02 9.98945928e-01 3.16814066e-02 -5.63076404e+00] [-2.42995355e-04 -3.16908258e-02 9.99497690e-01 -2.08668537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499072329 meters 0.262502894513616 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.63, Z:-2.09 [[ 9.99458620e-01 -3.28906502e-02 -8.20047869e-04 9.47236884e+01] [ 3.28999002e-02 9.98927090e-01 3.25924234e-02 -5.63376136e+00] [-2.52817966e-04 -3.26017580e-02 9.99468389e-01 -2.08647534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.529072329 meters 0.2704760093705856 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.64, Z:-2.09 [[ 9.99466587e-01 -3.26429260e-02 -9.90199466e-04 9.47241425e+01] [ 3.26577192e-02 9.98888508e-01 3.39885564e-02 -5.63851667e+00] [-1.20387063e-04 -3.40027641e-02 9.99421732e-01 -2.08640076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559072329 meters 0.2700955289997621 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.64, Z:-2.09 [[ 9.99475054e-01 -3.23843073e-02 -9.34569986e-04 9.47239101e+01] [ 3.23972331e-02 9.98872855e-01 3.46906056e-02 -5.64079703e+00] [-1.89914644e-04 -3.47026724e-02 9.99397663e-01 -2.08613528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.589072329 meters 0.27316372152654017 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.64, Z:-2.09 [[ 9.99483043e-01 -3.21384498e-02 -8.75866305e-04 9.47236934e+01] [ 3.21493181e-02 9.98857317e-01 3.53621555e-02 -5.64297611e+00] [-2.61619392e-04 -3.53720333e-02 9.99374180e-01 -2.08593194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619072329 meters 0.2848310900435562 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99345621e-01 -3.61659777e-02 -5.93858040e-04 9.47232810e+01] [ 3.61665622e-02 9.98839507e-01 3.18059675e-02 -5.64545024e+00] [-5.57125040e-04 -3.18066322e-02 9.99493886e-01 -2.08585291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.649072329 meters 0.284706392905505 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99353201e-01 -3.59560754e-02 -5.83297082e-04 9.47232270e+01] [ 3.59560587e-02 9.98826246e-01 3.24544653e-02 -5.64760857e+00] [-5.84322766e-04 -3.24544469e-02 9.99473045e-01 -2.08573835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679072329 meters 0.2886938203579769 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99359068e-01 -3.57926020e-02 -5.84714921e-04 9.47232329e+01] [ 3.57923886e-02 9.98813785e-01 3.30140464e-02 -5.64950916e+00] [-5.97637303e-04 -3.30138150e-02 9.99454717e-01 -2.08570011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.709072329 meters 0.2907568355645493 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99364655e-01 -3.56363262e-02 -5.82101499e-04 9.47232791e+01] [ 3.56357864e-02 9.98801463e-01 3.35518804e-02 -5.65135500e+00] [-6.14261926e-04 -3.35513070e-02 9.99436808e-01 -2.08577328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739072329 meters 0.2986400660348947 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99366072e-01 -3.55952486e-02 -6.57592739e-04 9.47235559e+01] [ 3.55968383e-02 9.98776572e-01 3.43252751e-02 -5.65412044e+00] [-5.65028479e-04 -3.43269236e-02 9.99410498e-01 -2.08591094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.769072329 meters 0.30294871887317415 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99370741e-01 -3.54655683e-02 -5.62537522e-04 9.47232989e+01] [ 3.54637143e-02 9.98767889e-01 3.47135367e-02 -5.65539984e+00] [-6.69290894e-04 -3.47116426e-02 9.99397145e-01 -2.08584835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799072329 meters 0.3042605699785991 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99375501e-01 -3.53323601e-02 -4.82998795e-04 9.47230759e+01] [ 3.53275323e-02 9.98759066e-01 3.51040403e-02 -5.65668712e+00] [-7.57909170e-04 -3.50991810e-02 9.99383547e-01 -2.08577436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.829072329 meters 0.3118105865781053 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99379820e-01 -3.52115549e-02 -3.48059532e-04 9.47227740e+01] [ 3.52017414e-02 9.98750717e-01 3.54660813e-02 -5.65789565e+00] [-9.01191163e-04 -3.54563383e-02 9.99370820e-01 -2.08583621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859072329 meters 0.319698839398845 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99379717e-01 -3.52144657e-02 -3.50208294e-04 9.47228583e+01] [ 3.52042256e-02 9.98730914e-01 3.60169967e-02 -5.65986716e+00] [-9.18555448e-04 -3.60069848e-02 9.99351116e-01 -2.08602522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88907232900002 meters 0.32376773634892037 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99382203e-01 -3.51444870e-02 -2.76915011e-04 9.47227330e+01] [ 3.51313801e-02 9.98723536e-01 3.62916587e-02 -5.66082138e+00] [-9.98890189e-04 -3.62789663e-02 9.99341202e-01 -2.08614205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91907232900002 meters 0.3311970656696448 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99383774e-01 -3.51002853e-02 -2.05831605e-04 9.47226602e+01] [ 3.50843841e-02 9.98716877e-01 3.65196635e-02 -5.66165548e+00] [-1.07628311e-03 -3.65043806e-02 9.99332913e-01 -2.08636005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949072329 meters 0.33676079287667143 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99376110e-01 -3.53161519e-02 -3.99902175e-04 9.47234999e+01] [ 3.53070456e-02 9.98703041e-01 3.66830848e-02 -5.66266429e+00] [-8.96121874e-04 -3.66743179e-02 9.99326869e-01 -2.08715060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979072329 meters 0.34222623814532 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99376426e-01 -3.53079784e-02 -3.25730703e-04 9.47234326e+01] [ 3.52960426e-02 9.98699082e-01 3.68012700e-02 -5.66314007e+00] [-9.74071493e-04 -3.67898187e-02 9.99322551e-01 -2.08740221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.009072329 meters 0.3468455380658706 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99377459e-01 -3.52797221e-02 -1.90771142e-04 9.47231155e+01] [ 3.52627179e-02 9.98696180e-01 3.69117916e-02 -5.66351441e+00] [-1.11171534e-03 -3.68955396e-02 9.99318509e-01 -2.08744319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039072329 meters 0.35288666675164565 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99373223e-01 -3.53999037e-02 -9.23600556e-05 9.47227651e+01] [ 3.53792390e-02 9.98693647e-01 3.68688194e-02 -5.66333775e+00] [-1.21291326e-03 -3.68489785e-02 9.99320110e-01 -2.08732813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.069072329 meters 0.36344643080567857 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99371841e-01 -3.54388559e-02 1.01859593e-04 9.47222569e+01] [ 3.54111813e-02 9.98697038e-01 3.67460895e-02 -5.66288871e+00] [-1.40396625e-03 -3.67194002e-02 9.99324629e-01 -2.08728936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099072329 meters 0.3616933586286259 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99367898e-01 -3.55492816e-02 2.28143340e-04 9.47220777e+01] [ 3.55172477e-02 9.98701703e-01 3.65162011e-02 -5.66220633e+00] [-1.52597186e-03 -3.64850161e-02 9.99333035e-01 -2.08757295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.129072329 meters 0.3736053014790493 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99354944e-01 -3.59114693e-02 2.48186430e-04 9.47223404e+01] [ 3.58792786e-02 9.98707863e-01 3.59900143e-02 -5.66074204e+00] [-1.54032003e-03 -3.59578940e-02 9.99352119e-01 -2.08827823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159072329 meters 0.38026838010105507 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99348345e-01 -3.60936175e-02 3.68285283e-04 9.47223243e+01] [ 3.60576683e-02 9.98716061e-01 3.55819310e-02 -5.65953764e+00] [-1.65209303e-03 -3.55454643e-02 9.99366695e-01 -2.08885950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.189072329 meters 0.39406065959026987 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99329955e-01 -3.66000794e-02 2.73818182e-04 9.47229785e+01] [ 3.65685627e-02 9.98728936e-01 3.46879400e-02 -5.65685870e+00] [-1.54305150e-03 -3.46546843e-02 9.99398155e-01 -2.08970257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219072329 meters 0.3915040181278358 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.66, Z:-2.09 [[ 9.99321176e-01 -3.68378158e-02 4.02795468e-04 9.47228647e+01] [ 3.68026299e-02 9.98739783e-01 3.41234784e-02 -5.65505986e+00] [-1.65932227e-03 -3.40854907e-02 9.99417543e-01 -2.09011552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.249072329 meters 0.3894590835031723 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99311636e-01 -3.70940261e-02 5.35394908e-04 9.47226660e+01] [ 3.70552631e-02 9.98751083e-01 3.35139170e-02 -5.65307036e+00] [-1.77789236e-03 -3.34710081e-02 9.99438107e-01 -2.09033634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279072329 meters 0.3964367330724022 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99301610e-01 -3.73608779e-02 6.76510795e-04 9.47224708e+01] [ 3.73184710e-02 9.98762586e-01 3.28729181e-02 -5.65098609e+00] [-1.90383475e-03 -3.28247136e-02 9.99459311e-01 -2.09060125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.309072329 meters 0.40562086837087197 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.65, Z:-2.09 [[ 9.99280444e-01 -3.79216066e-02 7.38664145e-04 9.47224941e+01] [ 3.78795504e-02 9.98785760e-01 3.14983412e-02 -5.64646964e+00] [-1.93223493e-03 -3.14476961e-02 9.99503531e-01 -2.09085653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339072329 meters 0.40864861863638424 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.64, Z:-2.09 [[ 9.99265793e-01 -3.83041978e-02 8.14610178e-04 9.47226440e+01] [ 3.82612834e-02 9.98797890e-01 3.06406529e-02 -5.64373696e+00] [-1.98729655e-03 -3.05869883e-02 9.99530133e-01 -2.09145636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.369072329 meters 0.4116660654718328 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.64, Z:-2.09 [[ 9.99249902e-01 -3.87157433e-02 8.51557231e-04 9.47229436e+01] [ 3.86732990e-02 9.98808847e-01 2.97533847e-02 -5.64090305e+00] [-2.00246730e-03 -2.96981342e-02 9.99556907e-01 -2.09213216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399072329 meters 0.4234795882486466 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.64, Z:-2.09 [[ 9.99231066e-01 -3.91973026e-02 9.21152943e-04 9.47231854e+01] [ 3.91546866e-02 9.98819941e-01 2.87338731e-02 -5.63761520e+00] [-2.04635625e-03 -2.86757112e-02 9.99586673e-01 -2.09283509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.429072329 meters 0.4225631267705188 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.63, Z:-2.09 [[ 9.99362191e-01 -3.57004502e-02 8.29635995e-04 9.47235258e+01] [ 3.56571432e-02 9.98875795e-01 3.12364238e-02 -5.63197844e+00] [-1.94385771e-03 -3.11869185e-02 9.99511680e-01 -2.09361599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459072329 meters 0.4240919906668778 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.63, Z:-2.09 [[ 9.99340225e-01 -3.63095180e-02 8.57053985e-04 9.47237605e+01] [ 3.62675272e-02 9.98892236e-01 2.99827804e-02 -5.62783123e+00] [-1.94476488e-03 -2.99319152e-02 9.99550048e-01 -2.09406232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.489072329 meters 0.4291563290141179 Centerline is valid? [False, False] Translation: X:94.72, Y:-5.62, Z:-2.09 [[ 9.99317705e-01 -3.69241206e-02 8.56551520e-04 9.47240440e+01] [ 3.68843282e-02 9.98906888e-01 2.87154216e-02 -5.62363307e+00] [-1.91590690e-03 -2.86642359e-02 9.99587260e-01 -2.09445782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519072329 meters 0.42765136145203814 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.61, Z:-2.10 [[ 9.99268480e-01 -3.82355503e-02 7.39643895e-04 9.47251235e+01] [ 3.82033120e-02 9.98930086e-01 2.60612824e-02 -5.61490077e+00] [-1.73532001e-03 -2.60139612e-02 9.99660073e-01 -2.09532173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.549072329 meters 0.4285829602304622 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.61, Z:-2.10 [[ 9.99241524e-01 -3.89350690e-02 6.61894595e-04 9.47257113e+01] [ 3.89070161e-02 9.98939852e-01 2.46051962e-02 -5.61014176e+00] [-1.61919790e-03 -2.45607814e-02 9.99697027e-01 -2.09587172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579072329 meters 0.43535926290919313 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.61, Z:-2.10 [[ 9.99211437e-01 -3.97013506e-02 5.54624784e-04 9.47264346e+01] [ 3.96780440e-02 9.98946769e-01 2.30435731e-02 -5.60505261e+00] [-1.46890161e-03 -2.30033954e-02 9.99734308e-01 -2.09647321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.609072329 meters 0.4414096132450201 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.60, Z:-2.10 [[ 9.99328783e-01 -3.66315640e-02 3.35706921e-04 9.47273969e+01] [ 3.66123680e-02 9.99029508e-01 2.44862373e-02 -5.59593979e+00] [-1.23235029e-03 -2.44575106e-02 9.99700111e-01 -2.09742461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63907232900002 meters 0.4459941411120109 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.59, Z:-2.10 [[ 9.99296676e-01 -3.74980790e-02 2.17449479e-04 9.47280516e+01] [ 3.74834301e-02 9.99038227e-01 2.27511268e-02 -5.59013234e+00] [-1.07036389e-03 -2.27269746e-02 9.99741136e-01 -2.09788102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66907232900002 meters 0.43768355934662184 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.59, Z:-2.10 [[ 9.99431151e-01 -3.37239286e-02 2.66198049e-04 9.47278372e+01] [ 3.37058911e-02 9.99099891e-01 2.57550028e-02 -5.58592829e+00] [-1.13451832e-03 -2.57313796e-02 9.99668249e-01 -2.09824240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699072329 meters 0.4370632410745902 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.58, Z:-2.10 [[ 9.99399655e-01 -3.46456145e-02 1.01933194e-04 9.47286567e+01] [ 3.46332880e-02 9.99114385e-01 2.38952011e-02 -5.57972415e+00] [-9.29706847e-04 -2.38773255e-02 9.99714464e-01 -2.09878474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.729072329 meters 0.4386278875142278 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.57, Z:-2.10 [[ 9.99492545e-01 -3.18531955e-02 -1.61450154e-04 9.47297720e+01] [ 3.18473820e-02 9.99184276e-01 2.48299766e-02 -5.56887885e+00] [-6.29595643e-04 -2.48225183e-02 9.99691676e-01 -2.09941952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759072329 meters 0.4447956948851305 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.56, Z:-2.10 [[ 9.99462169e-01 -3.27901088e-02 -4.26433700e-04 9.47307109e+01] [ 3.27912974e-02 9.99201566e-01 2.28245910e-02 -5.56224561e+00] [-3.22327603e-04 -2.28262986e-02 9.99739394e-01 -2.09975382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.789072329 meters 0.44022299111528745 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.56, Z:-2.10 [[ 9.99576573e-01 -2.90953898e-02 -3.63814629e-04 9.47305594e+01] [ 2.90951396e-02 9.99247014e-01 2.56686269e-02 -5.55753982e+00] [-3.83298022e-04 -2.56683433e-02 9.99670440e-01 -2.10017908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819072329 meters 0.44644296098154207 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.54, Z:-2.10 [[ 9.99646377e-01 -2.65852448e-02 -5.87415818e-04 9.47316320e+01] [ 2.65915243e-02 9.99306932e-01 2.60489320e-02 -5.54489875e+00] [-1.05508535e-04 -2.60553408e-02 9.99660496e-01 -2.10064811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.849072329 meters 0.43826190319098596 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.54, Z:-2.10 [[ 9.99618848e-01 -2.75929781e-02 -8.86942637e-04 9.47326078e+01] [ 2.76062575e-02 9.99337221e-01 2.37278987e-02 -5.53712207e+00] [ 2.31631402e-04 -2.37433399e-02 9.99718060e-01 -2.10088521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879072329 meters 0.44380055221669845 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.53, Z:-2.10 [[ 9.99710183e-01 -2.40554260e-02 -9.41020332e-04 9.47327705e+01] [ 2.40718480e-02 9.99365032e-01 2.62693527e-02 -5.53138754e+00] [ 3.08502344e-04 -2.62843915e-02 9.99654458e-01 -2.10119448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.909072329 meters 0.4489696384297248 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.52, Z:-2.10 [[ 9.99763160e-01 -2.17443930e-02 -8.97909935e-04 9.47329751e+01] [ 2.17603554e-02 9.99427858e-01 2.58929394e-02 -5.51647297e+00] [ 3.34369952e-04 -2.59063458e-02 9.99664318e-01 -2.10136522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939072329 meters 0.44706637600994625 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.51, Z:-2.10 [[ 9.99739445e-01 -2.27896969e-02 -1.29282170e-03 9.47341710e+01] [ 2.28137861e-02 9.99463793e-01 2.34873921e-02 -5.50855612e+00] [ 7.56857934e-04 -2.35107665e-02 9.99723297e-01 -2.10168496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.969072329 meters 0.45126325312351157 Centerline is valid? [False, False] Translation: X:94.73, Y:-5.49, Z:-2.10 [[ 9.99786864e-01 -2.05991625e-02 -1.37868636e-03 9.47349932e+01] [ 2.06252807e-02 9.99526612e-01 2.28287045e-02 -5.49302048e+00] [ 9.07781511e-04 -2.28522747e-02 9.99738441e-01 -2.10230202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999072329 meters 0.46971821363269634 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.48, Z:-2.10 [[ 9.99762023e-01 -2.17395667e-02 -1.81320545e-03 9.47364087e+01] [ 2.17718296e-02 9.99558216e-01 2.02326460e-02 -5.48443171e+00] [ 1.37255545e-03 -2.02673079e-02 9.99793655e-01 -2.10272727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.029072329 meters 0.46971821363269634 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.48, Z:-2.10 [[ 9.99762023e-01 -2.17395667e-02 -1.81320545e-03 9.47364087e+01] [ 2.17718296e-02 9.99558216e-01 2.02326460e-02 -5.48443171e+00] [ 1.37255545e-03 -2.02673079e-02 9.99793655e-01 -2.10272727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059072329 meters 0.4552805032445805 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.48, Z:-2.10 [[ 9.99734932e-01 -2.29087610e-02 -2.29225657e-03 9.47379278e+01] [ 2.29455540e-02 9.99582268e-01 1.75724640e-02 -5.47563684e+00] [ 1.88873565e-03 -1.76204032e-02 9.99842965e-01 -2.10307053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.089072329 meters 0.45093446820291655 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.47, Z:-2.10 [[ 9.99806628e-01 -1.95180835e-02 -2.39824519e-03 9.47383547e+01] [ 1.95619590e-02 9.99610898e-01 1.98842440e-02 -5.46917281e+00] [ 2.00920969e-03 -1.99273133e-02 9.99799413e-01 -2.10345358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119072329 meters 0.45136138615725463 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.45, Z:-2.10 [[ 9.99843908e-01 -1.74833695e-02 -2.54790722e-03 9.47392120e+01] [ 1.75283156e-02 9.99668877e-01 1.88386546e-02 -5.45243390e+00] [ 2.21770038e-03 -1.88803746e-02 9.99819290e-01 -2.10369557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.149072329 meters 0.4525236698923862 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.44, Z:-2.10 [[ 9.99822262e-01 -1.86066511e-02 -3.03934191e-03 9.47404990e+01] [ 1.86536915e-02 9.99693762e-01 1.62610887e-02 -5.44392105e+00] [ 2.73584674e-03 -1.63148934e-02 9.99863160e-01 -2.10368330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179072329 meters 0.46263135987362375 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.44, Z:-2.10 [[ 9.99798661e-01 -1.97524828e-02 -3.53225181e-03 9.47418336e+01] [ 1.97989718e-02 9.99710798e-01 1.36499771e-02 -5.43528115e+00] [ 3.26160933e-03 -1.37171638e-02 9.99900596e-01 -2.10372835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.209072329 meters 0.4704514903780936 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.42, Z:-2.10 [[ 9.99833661e-01 -1.78290012e-02 -3.84407367e-03 9.47431574e+01] [ 1.78768951e-02 9.99758166e-01 1.28072329e-02 -5.41888500e+00] [ 3.61480387e-03 -1.28738227e-02 9.99910595e-01 -2.10382127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.239072329 meters 0.45922858411669865 Centerline is valid? [False, False] Translation: X:94.74, Y:-5.41, Z:-2.10 [[ 9.99887605e-01 -1.44518336e-02 -3.99012451e-03 9.47437478e+01] [ 1.45104536e-02 9.99781064e-01 1.50754957e-02 -5.41227793e+00] [ 3.77138238e-03 -1.51316998e-02 9.99878397e-01 -2.10417197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.269072329 meters 0.4629543096291333 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.40, Z:-2.10 [[ 9.99909433e-01 -1.26768288e-02 -4.51929956e-03 9.47456871e+01] [ 1.27389420e-02 9.99820971e-01 1.39908831e-02 -5.39517889e+00] [ 4.34113045e-03 -1.40471870e-02 9.99891910e-01 -2.10414492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.299072329 meters 0.47600962830017335 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.39, Z:-2.10 [[ 9.99889483e-01 -1.39311062e-02 -5.19099182e-03 9.47474414e+01] [ 1.39887309e-02 9.99839031e-01 1.12350601e-02 -5.38613457e+00] [ 5.03363942e-03 -1.13064338e-02 9.99923411e-01 -2.10402386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.329072329 meters 0.46155111947913846 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.38, Z:-2.10 [[ 9.99869154e-01 -1.51049490e-02 -5.78921600e-03 9.47488627e+01] [ 1.51542143e-02 9.99848504e-01 8.56261142e-03 -5.37736064e+00] [ 5.65900115e-03 -8.64922206e-03 9.99946582e-01 -2.10374024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.359072329 meters 0.47556873391655075 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.37, Z:-2.10 [[ 9.99914996e-01 -1.16814678e-02 -5.79179276e-03 9.47488747e+01] [ 1.17443596e-02 9.99871115e-01 1.09463582e-02 -5.37110005e+00] [ 5.66317675e-03 -1.10134486e-02 9.99923313e-01 -2.10375021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38907232900002 meters 0.47603485399682927 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.35, Z:-2.10 [[ 9.99935588e-01 -9.68103986e-03 -5.92429342e-03 9.47495651e+01] [ 9.73831835e-03 9.99905366e-01 9.71717206e-03 -5.35384160e+00] [ 5.82966045e-03 -9.77423882e-03 9.99935238e-01 -2.10333871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41907232900002 meters 0.47563907243227155 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.34, Z:-2.10 [[ 9.99917711e-01 -1.09851220e-02 -6.62550959e-03 9.47513120e+01] [ 1.10312868e-02 9.99914848e-01 6.97191022e-03 -5.34472266e+00] [ 6.54835813e-03 -7.04442441e-03 9.99953746e-01 -2.10298785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.449072329 meters 0.47539723517437593 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.34, Z:-2.10 [[ 9.99948145e-01 -7.61389580e-03 -6.76286365e-03 9.47517236e+01] [ 7.67621499e-03 9.99927872e-01 9.23725892e-03 -5.33802622e+00] [ 6.69204433e-03 -9.28869312e-03 9.99934466e-01 -2.10296108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479072329 meters 0.47349114897596006 Centerline is valid? [False, False] Translation: X:94.75, Y:-5.32, Z:-2.10 [[ 9.99957260e-01 -5.77489341e-03 -7.22007821e-03 9.47533112e+01] [ 5.83375576e-03 9.99949704e-01 8.15828763e-03 -5.32092769e+00] [ 7.17260182e-03 -8.20005911e-03 9.99940655e-01 -2.10246868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.509072329 meters 0.4705239229484673 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.32, Z:-2.11 [[ 9.99997612e-01 1.87562228e-03 -1.12205148e-03 9.47652581e+01] [-1.86998680e-03 9.99985738e-01 5.00261860e-03 -5.31567344e+00] [ 1.13141850e-03 -5.00050843e-03 9.99986857e-01 -2.10621649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.539072329 meters 0.47771453497856264 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.31, Z:-2.11 [[ 9.99998025e-01 5.83009093e-04 -1.89976373e-03 9.47671415e+01] [-5.78637262e-04 9.99997185e-01 2.30098749e-03 -5.30677018e+00] [ 1.90109988e-03 -2.29988368e-03 9.99995548e-01 -2.10573614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.569072329 meters 0.4736866646219104 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.29, Z:-2.10 [[ 9.99994264e-01 2.46946776e-03 -2.31806528e-03 9.47685243e+01] [-2.46699142e-03 9.99996384e-01 1.07053338e-03 -5.28980586e+00] [ 2.32070055e-03 -1.06480859e-03 9.99996740e-01 -2.10483398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.599072329 meters 0.4747323183704727 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.28, Z:-2.10 [[ 9.99994409e-01 1.15317129e-03 -3.13870664e-03 9.47705947e+01] [-1.15852017e-03 9.99997879e-01 -1.70288336e-03 -5.28072157e+00] [ 3.13673627e-03 1.70651009e-03 9.99993624e-01 -2.10443465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.629072329 meters 0.4789408241253892 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.26, Z:-2.10 [[ 9.99987824e-01 2.98126630e-03 -3.93245502e-03 9.47732358e+01] [-2.99285165e-03 9.99991189e-01 -2.94349922e-03 -5.26339120e+00] [ 3.92364502e-03 2.95523264e-03 9.99987936e-01 -2.10399664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.659072329 meters 0.4750644996661881 Centerline is valid? [False, False] Translation: X:94.77, Y:-5.26, Z:-2.10 [[ 9.99971576e-01 6.34283291e-03 -4.07619500e-03 9.47736981e+01] [-6.34553238e-03 9.99979656e-01 -6.49661497e-04 -5.25670345e+00] [ 4.07199138e-03 6.75508659e-04 9.99991481e-01 -2.10376201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.689072329 meters 0.47308252338621537 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.25, Z:-2.10 [[ 9.99974963e-01 5.03817742e-03 -4.96896679e-03 9.47761877e+01] [-5.05495880e-03 9.99981543e-01 -3.37048085e-03 -5.24759870e+00] [ 4.95189400e-03 3.39551438e-03 9.99981974e-01 -2.10352775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.719072329 meters 0.47313465115318715 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.23, Z:-2.10 [[ 9.99957974e-01 7.04151387e-03 -5.87093109e-03 9.47787550e+01] [-7.06922981e-03 9.99963903e-01 -4.71356600e-03 -5.23002034e+00] [ 5.83752853e-03 4.75487087e-03 9.99971657e-01 -2.10253305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.749072329 meters 0.4723295008506924 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.22, Z:-2.10 [[ 9.99960092e-01 5.80344369e-03 -6.79216477e-03 9.47807947e+01] [-5.85409603e-03 9.99955027e-01 -7.46149647e-03 -5.22091183e+00] [ 6.74855693e-03 7.50096069e-03 9.99949095e-01 -2.10158376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.779072329 meters 0.47840015112825374 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.21, Z:-2.10 [[ 9.99933581e-01 9.18367392e-03 -6.96375586e-03 9.47811344e+01] [-9.21934250e-03 9.99944458e-01 -5.10734732e-03 -5.21442795e+00] [ 6.91646486e-03 5.17120935e-03 9.99962710e-01 -2.10096605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.809072329 meters 0.4825937862675311 Centerline is valid? [False, False] Translation: X:94.78, Y:-5.20, Z:-2.10 [[ 9.99904541e-01 1.13702161e-02 -7.85026528e-03 9.47829712e+01] [-1.14248399e-02 9.99910590e-01 -6.94878442e-03 -5.19575437e+00] [ 7.77055420e-03 7.03780912e-03 9.99945042e-01 -2.09835835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.839072329 meters 0.48020464572556587 Centerline is valid? [False, False] Translation: X:94.79, Y:-5.19, Z:-2.10 [[ 9.99909336e-01 1.01663774e-02 -8.82971283e-03 9.47850978e+01] [-1.02517992e-02 9.99900559e-01 -9.68359367e-03 -5.18646964e+00] [ 8.73038773e-03 9.77323617e-03 9.99914128e-01 -2.09718802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.869072329 meters 0.47961892399459655 Centerline is valid? [False, False] Translation: X:94.79, Y:-5.18, Z:-2.10 [[ 9.99912235e-01 8.98125983e-03 -9.73957934e-03 9.47871541e+01] [-9.10159508e-03 9.99881915e-01 -1.23821575e-02 -5.17724192e+00] [ 9.62722186e-03 1.24697165e-02 9.99875904e-01 -2.09618415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.899072329 meters 0.47103250181301015 Centerline is valid? [False, False] Translation: X:94.79, Y:-5.17, Z:-2.10 [[ 9.99912585e-01 7.75921963e-03 -1.07059020e-02 9.47895141e+01] [-7.92037720e-03 9.99854712e-01 -1.50937807e-02 -5.16793157e+00] [ 1.05872306e-02 1.51772561e-02 9.99828766e-01 -2.09534209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.929072329 meters 0.4694645556252008 Centerline is valid? [False, False] Translation: X:94.79, Y:-5.15, Z:-2.09 [[ 9.99879734e-01 1.00277157e-02 -1.18305781e-02 9.47927219e+01] [-1.02217450e-02 9.99812344e-01 -1.64558066e-02 -5.14978028e+00] [ 1.16633438e-02 1.65747567e-02 9.99794601e-01 -2.09401368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.959072329 meters 0.4683260949781607 Centerline is valid? [False, False] Translation: X:94.80, Y:-5.14, Z:-2.09 [[ 9.99879575e-01 8.80289308e-03 -1.27806606e-02 9.47951426e+01] [-9.04625513e-03 9.99776459e-01 -1.91101596e-02 -5.14061220e+00] [ 1.26095789e-02 1.92234753e-02 9.99735693e-01 -2.09329398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.989072329 meters 0.4688994687358023 Centerline is valid? [False, False] Translation: X:94.80, Y:-5.12, Z:-2.09 [[ 9.99840376e-01 1.10543344e-02 -1.40365015e-02 9.47983359e+01] [-1.13424078e-02 9.99723206e-01 -2.06121655e-02 -5.12225742e+00] [ 1.38047625e-02 2.07680830e-02 9.99689009e-01 -2.09120731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.019072329 meters 0.4605536719293582 Centerline is valid? [False, False] Translation: X:94.80, Y:-5.11, Z:-2.09 [[ 9.99838938e-01 9.87485324e-03 -1.49861512e-02 9.48004633e+01] [-1.02212764e-02 9.99678163e-01 -2.32184351e-02 -5.11328210e+00] [ 1.47520495e-02 2.33678731e-02 9.99618087e-01 -2.09000602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.049072329 meters 0.46419782825605 Centerline is valid? [False, False] Translation: X:94.81, Y:-5.11, Z:-2.10 [[ 9.99954616e-01 4.26583141e-03 -8.51877099e-03 9.48149169e+01] [-4.42507962e-03 9.99814162e-01 -1.87632857e-02 -5.10721434e+00] [ 8.43714686e-03 1.88001304e-02 9.99787662e-01 -2.09510396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.079072329 meters 0.468207362681378 Centerline is valid? [False, False] Translation: X:94.83, Y:-5.10, Z:-2.10 [[ 9.99997014e-01 -8.64888826e-04 -2.28538378e-03 9.48277412e+01] [ 8.34017426e-04 9.99908863e-01 -1.34747899e-02 -5.10111568e+00] [ 2.29682970e-03 1.34728436e-02 9.99906599e-01 -2.09871307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.109072329 meters 0.46129026409180446 Centerline is valid? [False, False] Translation: X:94.83, Y:-5.08, Z:-2.10 [[ 9.99992716e-01 1.49933165e-03 -3.50985126e-03 9.48307297e+01] [-1.54939726e-03 9.99896473e-01 -1.43053198e-02 -5.08340104e+00] [ 3.48803948e-03 1.43106537e-02 9.99891514e-01 -2.09706736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13907232900002 meters 0.46268855579301665 Centerline is valid? [False, False] Translation: X:94.83, Y:-5.08, Z:-2.10 [[ 9.99980943e-01 4.74789742e-03 -3.94601930e-03 9.48315011e+01] [-4.79555968e-03 9.99914587e-01 -1.21581779e-02 -5.07611902e+00] [ 3.88795647e-03 1.21768696e-02 9.99918300e-01 -2.09614155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16907232900002 meters 0.45989081718800273 Centerline is valid? [False, False] Translation: X:94.83, Y:-5.07, Z:-2.10 [[ 9.99981708e-01 3.67312552e-03 -4.80542924e-03 9.48338652e+01] [-3.74266252e-03 9.99887249e-01 -1.45424447e-02 -5.06747964e+00] [ 4.75147120e-03 1.45601638e-02 9.99882706e-01 -2.09561116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199072329 meters 0.4572160093598184 Centerline is valid? [False, False] Translation: X:94.84, Y:-5.05, Z:-2.09 [[ 9.99963755e-01 5.83971397e-03 -6.19570214e-03 9.48376743e+01] [-5.93448808e-03 9.99863952e-01 -1.53902654e-02 -5.05029414e+00] [ 6.10498447e-03 1.54264759e-02 9.99862367e-01 -2.09491329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.229072329 meters 0.45262683616556687 Centerline is valid? [False, False] Translation: X:94.84, Y:-5.04, Z:-2.09 [[ 9.99937248e-01 9.08841531e-03 -6.54986791e-03 9.48383505e+01] [-9.17428918e-03 9.99870759e-01 -1.32022140e-02 -5.04313102e+00] [ 6.42903419e-03 1.32614759e-02 9.99891394e-01 -2.09410365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259072329 meters 0.4530403917425436 Centerline is valid? [False, False] Translation: X:94.84, Y:-5.03, Z:-2.09 [[ 9.99940476e-01 8.00742836e-03 -7.41118378e-03 9.48403277e+01] [-8.12248872e-03 9.99844890e-01 -1.56275854e-02 -5.03454598e+00] [ 7.28489746e-03 1.56868525e-02 9.99850415e-01 -2.09309453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.289072329 meters 0.455181889495475 Centerline is valid? [False, False] Translation: X:94.84, Y:-5.02, Z:-2.09 [[ 9.99909025e-01 1.02522464e-02 -8.76544582e-03 9.48431157e+01] [-1.03974225e-02 9.99806811e-01 -1.66803630e-02 -5.01707287e+00] [ 8.59274124e-03 1.67699835e-02 9.99822450e-01 -2.09078365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319072329 meters 0.45023647569178776 Centerline is valid? [False, False] Translation: X:94.85, Y:-5.01, Z:-2.09 [[ 9.99911887e-01 9.17602958e-03 -9.59263681e-03 9.48450350e+01] [-9.35763778e-03 9.99774516e-01 -1.90617790e-02 -5.00846890e+00] [ 9.41556238e-03 1.91498638e-02 9.99772289e-01 -2.08968486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.349072329 meters 0.4566564027507336 Centerline is valid? [False, False] Translation: X:94.85, Y:-5.00, Z:-2.09 [[ 9.99913063e-01 8.05977234e-03 -1.04358254e-02 9.48471114e+01] [-8.28236640e-03 9.99735288e-01 -2.14652442e-02 -4.99974428e+00] [ 1.02600579e-02 2.15498114e-02 9.99715128e-01 -2.08876504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379072329 meters 0.46171605771284063 Centerline is valid? [False, False] Translation: X:94.85, Y:-4.99, Z:-2.09 [[ 9.99876905e-01 1.13269191e-02 -1.08570922e-02 9.48477991e+01] [-1.15347767e-02 9.99747634e-01 -1.92773729e-02 -4.99248372e+00] [ 1.06359990e-02 1.94002341e-02 9.99755223e-01 -2.08774333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.409072329 meters 0.46365945617693194 Centerline is valid? [False, False] Translation: X:94.85, Y:-4.98, Z:-2.09 [[ 9.99833394e-01 1.35263467e-02 -1.22565541e-02 9.48511046e+01] [-1.37707251e-02 9.99703566e-01 -2.00785419e-02 -4.97551013e+00] [ 1.19813315e-02 2.02439783e-02 9.99723276e-01 -2.08603816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.439072329 meters 0.4512421604011132 Centerline is valid? [False, False] Translation: X:94.85, Y:-4.97, Z:-2.09 [[ 9.99779038e-01 1.68213524e-02 -1.26062440e-02 9.48517447e+01] [-1.70452091e-02 9.99695092e-01 -1.78656988e-02 -4.96834655e+00] [ 1.23018750e-02 1.80766273e-02 9.99760921e-01 -2.08512596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.469072329 meters 0.45086365515737503 Centerline is valid? [False, False] Translation: X:94.86, Y:-4.95, Z:-2.08 [[ 9.99783378e-01 1.23100383e-02 -1.67827307e-02 9.48632842e+01] [-1.26327612e-02 9.99734678e-01 -1.92610192e-02 -4.94961779e+00] [ 1.65411740e-02 1.94688591e-02 9.99673623e-01 -2.07824428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.499072329 meters 0.4492623093884745 Centerline is valid? [False, False] Translation: X:94.86, Y:-4.94, Z:-2.08 [[ 9.99782477e-01 1.12491441e-02 -1.75629153e-02 9.48649390e+01] [-1.16269919e-02 9.99699898e-01 -2.15621696e-02 -4.94146924e+00] [ 1.73150887e-02 2.17616832e-02 9.99613234e-01 -2.07713906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.529072329 meters 0.44024737635893946 Centerline is valid? [False, False] Translation: X:94.87, Y:-4.93, Z:-2.08 [[ 9.99734105e-01 1.45812203e-02 -1.78635939e-02 9.48651987e+01] [-1.49256017e-02 9.99702339e-01 -1.92991935e-02 -4.93454776e+00] [ 1.75768708e-02 1.95606868e-02 9.99654157e-01 -2.07599178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.559072329 meters 0.43776018461542066 Centerline is valid? [False, False] Translation: X:94.87, Y:-4.92, Z:-2.07 [[ 9.99671572e-01 1.67258665e-02 -1.94163148e-02 9.48686586e+01] [-1.71171708e-02 9.99650122e-01 -2.01652348e-02 -4.91765108e+00] [ 1.90722404e-02 2.04909643e-02 9.99608108e-01 -2.07393933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.589072329 meters 0.4376754810804311 Centerline is valid? [False, False] Translation: X:94.87, Y:-4.91, Z:-2.07 [[ 9.99672684e-01 1.56719281e-02 -2.02216481e-02 9.48704296e+01] [-1.61248886e-02 9.99618265e-01 -2.24346260e-02 -4.90949717e+00] [ 1.98623349e-02 2.27533547e-02 9.99543782e-01 -2.07273711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.619072329 meters 0.4325988495215743 Centerline is valid? [False, False] Translation: X:94.87, Y:-4.90, Z:-2.07 [[ 9.99673094e-01 1.45795287e-02 -2.10033806e-02 9.48724537e+01] [-1.50963635e-02 9.99581843e-01 -2.46625184e-02 -4.90114620e+00] [ 2.06350300e-02 2.49715307e-02 9.99475171e-01 -2.07187782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.649072329 meters 0.42564703040979 Centerline is valid? [False, False] Translation: X:94.88, Y:-4.88, Z:-2.07 [[ 9.99633471e-01 1.05824016e-02 -2.49185807e-02 9.48823070e+01] [-1.12461365e-02 9.99581606e-01 -2.66484083e-02 -4.88306625e+00] [ 2.46261508e-02 2.69188787e-02 9.99334242e-01 -2.06569565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679072329 meters 0.4193753349132423 Centerline is valid? [False, False] Translation: X:94.88, Y:-4.88, Z:-2.08 [[ 9.99870087e-01 1.37959032e-02 -8.33565089e-03 9.48803723e+01] [-1.39898346e-02 9.99621863e-01 -2.36731010e-02 -4.87579427e+00] [ 8.00590706e-03 2.37866399e-02 9.99685001e-01 -2.07504181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.709072329 meters 0.4107978929132367 Centerline is valid? [False, False] Translation: X:94.88, Y:-4.87, Z:-2.07 [[ 9.99877141e-01 1.28192481e-02 -9.02050727e-03 9.48817557e+01] [-1.30486577e-02 9.99580662e-01 -2.58502139e-02 -4.86805830e+00] [ 8.68534432e-03 2.59647435e-02 9.99625128e-01 -2.07385428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739072329 meters 0.4061378115141774 Centerline is valid? [False, False] Translation: X:94.88, Y:-4.86, Z:-2.07 [[ 9.99883144e-01 1.18215744e-02 -9.69273521e-03 9.48831108e+01] [-1.20890236e-02 9.99534403e-01 -2.80148623e-02 -4.86033211e+00] [ 9.35704252e-03 2.81287643e-02 9.99560513e-01 -2.07264691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.769072329 meters 0.40435969444881176 Centerline is valid? [False, False] Translation: X:94.89, Y:-4.84, Z:-2.07 [[ 9.99839481e-01 1.41537615e-02 -1.09856258e-02 9.48857950e+01] [-1.44637318e-02 9.99484310e-01 -2.86690564e-02 -4.84449999e+00] [ 1.05741857e-02 2.88233476e-02 9.99528590e-01 -2.07038833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799072329 meters 0.40746775907086336 Centerline is valid? [False, False] Translation: X:94.90, Y:-4.83, Z:-2.07 [[ 9.99921823e-01 5.70035928e-03 -1.11289420e-02 9.48972498e+01] [-5.98430752e-03 9.99653071e-01 -2.56500599e-02 -4.83489801e+00] [ 1.09788665e-02 2.57146536e-02 9.99609034e-01 -2.06834995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.829072329 meters 0.3943148770072488 Centerline is valid? [False, False] Translation: X:94.90, Y:-4.82, Z:-2.07 [[ 9.99892501e-01 8.06636961e-03 -1.22442243e-02 9.48994161e+01] [-8.38457333e-03 9.99622524e-01 -2.61631313e-02 -4.81938058e+00] [ 1.20285610e-02 2.62629814e-02 9.99582698e-01 -2.06630477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859072329 meters 0.3993073593149604 Centerline is valid? [False, False] Translation: X:94.90, Y:-4.81, Z:-2.06 [[ 9.99892640e-01 7.09430784e-03 -1.28210132e-02 9.49003457e+01] [-7.45429293e-03 9.99573050e-01 -2.82515668e-02 -4.81209060e+00] [ 1.26151139e-02 2.83441053e-02 9.99518619e-01 -2.06488216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88907232900002 meters 0.39609604142514915 Centerline is valid? [False, False] Translation: X:94.91, Y:-4.80, Z:-2.06 [[ 9.99904962e-01 -6.04858197e-04 -1.37732386e-02 9.49103911e+01] [ 2.61946341e-04 9.99690282e-01 -2.48851723e-02 -4.80346252e+00] [ 1.37840247e-02 2.48791994e-02 9.99595431e-01 -2.06162616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91907232900002 meters 0.38989717438457366 Centerline is valid? [False, False] Translation: X:94.91, Y:-4.79, Z:-2.06 [[ 9.99890910e-01 1.79901742e-03 -1.46605776e-02 9.49121023e+01] [-2.16773306e-03 9.99680755e-01 -2.51731889e-02 -4.78861237e+00] [ 1.46106103e-02 2.52022230e-02 9.99575599e-01 -2.06002975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949072329 meters 0.38989717438457366 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.79, Z:-2.06 [[ 9.99849948e-01 -6.31279667e-03 -1.61316526e-02 9.49205176e+01] [ 5.96671296e-03 9.99752921e-01 -2.14125158e-02 -4.78850709e+00] [ 1.62628397e-02 2.13130499e-02 9.99640572e-01 -2.05608244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979072329 meters 0.3941387597687834 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.78, Z:-2.06 [[ 9.99997987e-01 -1.97766318e-03 3.38272697e-04 9.49163105e+01] [ 1.98323552e-03 9.99847460e-01 -1.73529273e-02 -4.78147337e+00] [-3.03902852e-04 1.73535632e-02 9.99849369e-01 -2.06496414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.009072329 meters 0.3910327922604151 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.78, Z:-2.06 [[ 9.99998956e-01 1.43967835e-03 1.27373974e-04 9.49163695e+01] [-1.43762983e-03 9.99888871e-01 -1.48384420e-02 -4.77517899e+00] [-1.48722403e-04 1.48382434e-02 9.99889896e-01 -2.06420964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039072329 meters 0.38732417256224444 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.76, Z:-2.06 [[ 9.99992097e-01 3.90806620e-03 -7.30404986e-04 9.49182823e+01] [-3.91860238e-03 9.99879394e-01 -1.50280329e-02 -4.76049952e+00] [ 6.71586348e-04 1.50307763e-02 9.99886806e-01 -2.06292922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.069072329 meters 0.3878026358543379 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.75, Z:-2.06 [[ 9.99994822e-01 2.97611644e-03 -1.22383433e-03 9.49191436e+01] [-2.99652300e-03 9.99850574e-01 -1.70249791e-02 -4.75341723e+00] [ 1.17298314e-03 1.70285582e-02 9.99854316e-01 -2.06167571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099072329 meters 0.3838672049313951 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.75, Z:-2.06 [[ 9.99996500e-01 2.07368972e-03 -1.64303611e-03 9.49199283e+01] [-2.10447795e-03 9.99817954e-01 -1.89638986e-02 -4.74651794e+00] [ 1.60341177e-03 1.89672900e-02 9.99818819e-01 -2.06066338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.129072329 meters 0.38325829321433275 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.73, Z:-2.06 [[ 9.99986784e-01 4.58809505e-03 -2.31991062e-03 9.49217637e+01] [-4.63138255e-03 9.99808540e-01 -1.90113889e-02 -4.73223952e+00] [ 2.23224039e-03 1.90218820e-02 9.99816576e-01 -2.06003884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159072329 meters 0.3769657674158084 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.73, Z:-2.06 [[ 9.99989477e-01 3.66663477e-03 -2.75699407e-03 9.49225473e+01] [-3.72363611e-03 9.99773330e-01 -2.09624233e-02 -4.72533496e+00] [ 2.67950759e-03 2.09724688e-02 9.99776463e-01 -2.05883778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.189072329 meters 0.3802285566346818 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.71, Z:-2.06 [[ 9.99975003e-01 6.16962444e-03 -3.45371812e-03 9.49240101e+01] [-6.24075229e-03 9.99760475e-01 -2.09772860e-02 -4.71116143e+00] [ 3.32346889e-03 2.09983154e-02 9.99773987e-01 -2.05728259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219072329 meters 0.37257008868768665 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.71, Z:-2.06 [[ 9.99947576e-01 9.59997905e-03 -3.56179758e-03 9.49238724e+01] [-9.66403672e-03 9.99783524e-01 -1.84258646e-02 -4.70506411e+00] [ 3.38413862e-03 1.84593199e-02 9.99823885e-01 -2.05649701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.249072329 meters 0.3759534000312014 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.70, Z:-2.05 [[ 9.99954431e-01 8.67980300e-03 -3.97464321e-03 9.49244033e+01] [-8.75902480e-03 9.99754178e-01 -2.03682039e-02 -4.69833158e+00] [ 3.79687416e-03 2.04020897e-02 9.99784646e-01 -2.05497938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279072329 meters 0.37761839151150045 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.69, Z:-2.05 [[ 9.99918315e-01 1.21201451e-02 -4.05782727e-03 9.49242281e+01] [-1.21904923e-02 9.99767513e-01 -1.77851826e-02 -4.69233295e+00] [ 3.84132488e-03 1.78331968e-02 9.99833597e-01 -2.05419348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.309072329 meters 0.3737836368372568 Centerline is valid? [False, False] Translation: X:94.93, Y:-4.68, Z:-2.05 [[ 9.99881003e-01 1.47504694e-02 -4.51710833e-03 9.49251129e+01] [-1.48273061e-02 9.99737312e-01 -1.74773454e-02 -4.67911169e+00] [ 4.25812269e-03 1.75422422e-02 9.99837056e-01 -2.05257324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339072329 meters 0.37681287069589425 Centerline is valid? [False, False] Translation: X:94.93, Y:-4.67, Z:-2.05 [[ 9.99891196e-01 1.38711887e-02 -5.01869003e-03 9.49259811e+01] [-1.39658863e-02 9.99715158e-01 -1.93534862e-02 -4.67258166e+00] [ 4.74880463e-03 1.94214709e-02 9.99800108e-01 -2.05095230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.369072329 meters 0.38206249122625136 Centerline is valid? [False, False] Translation: X:94.93, Y:-4.67, Z:-2.05 [[ 9.99923502e-01 9.14104255e-03 -8.33256077e-03 9.49342621e+01] [-9.28417571e-03 9.99807171e-01 -1.73038747e-02 -4.66508501e+00] [ 8.17277856e-03 1.73799120e-02 9.99815555e-01 -2.04665263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399072329 meters 0.3834092961610509 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.65, Z:-2.05 [[ 9.99890173e-01 1.19702470e-02 -8.73810322e-03 9.49358170e+01] [-1.21150270e-02 9.99787006e-01 -1.67083197e-02 -4.65217917e+00] [ 8.53623934e-03 1.68123470e-02 9.99822223e-01 -2.04605096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.429072329 meters 0.3866027370747414 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.65, Z:-2.04 [[ 9.99895437e-01 1.11621432e-02 -9.19359298e-03 9.49368865e+01] [-1.13304330e-02 9.99765377e-01 -1.84611108e-02 -4.64589215e+00] [ 8.98537039e-03 1.85633479e-02 9.99787310e-01 -2.04489342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459072329 meters 0.38827855586150756 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.64, Z:-2.04 [[ 9.99899222e-01 1.04271581e-02 -9.63430238e-03 9.49380754e+01] [-1.06183639e-02 9.99743331e-01 -2.00130702e-02 -4.64015844e+00] [ 9.42315010e-03 2.01133539e-02 9.99753298e-01 -2.04397299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.489072329 meters 0.3892906072062441 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.63, Z:-2.04 [[ 9.99859299e-01 1.34775707e-02 -9.98685615e-03 9.49399276e+01] [-1.36665179e-02 9.99724184e-01 -1.90992758e-02 -4.62796686e+00] [ 9.72668977e-03 1.92330741e-02 9.99767713e-01 -2.04380167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519072329 meters 0.3908453453366093 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.62, Z:-2.04 [[ 9.99864232e-01 1.27403604e-02 -1.04499487e-02 9.49408331e+01] [-1.29539866e-02 9.99703122e-01 -2.06364483e-02 -4.62253190e+00] [ 1.01839306e-02 2.07690150e-02 9.99732432e-01 -2.04233000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.549072329 meters 0.3916905148252341 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.62, Z:-2.04 [[ 9.99862486e-01 1.04827144e-02 -1.28499684e-02 9.49459043e+01] [-1.07449171e-02 9.99731936e-01 -2.05086225e-02 -4.61614349e+00] [ 1.26315377e-02 2.06438742e-02 9.99707094e-01 -2.03942794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579072329 meters 0.3956656898517741 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.61, Z:-2.04 [[ 9.99854711e-01 4.87697427e-03 -1.63331875e-02 9.49551694e+01] [-5.16716351e-03 9.99828713e-01 -1.77720284e-02 -4.60863411e+00] [ 1.62437161e-02 1.78538425e-02 9.99708649e-01 -2.03593131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.609072329 meters 0.40175228920754397 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.60, Z:-2.05 [[ 9.99964382e-01 8.55486964e-04 -8.39661761e-03 9.49580689e+01] [-9.00674417e-04 9.99985126e-01 -5.37932049e-03 -4.59995463e+00] [ 8.39189078e-03 5.38669150e-03 9.99950279e-01 -2.04848666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63907232900002 meters 0.40454498993242366 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.60, Z:-2.05 [[ 9.99961801e-01 2.06462368e-04 -8.73804254e-03 9.49587300e+01] [-2.64925302e-04 9.99977587e-01 -6.68999285e-03 -4.59522659e+00] [ 8.73646546e-03 6.69205223e-03 9.99939443e-01 -2.04742090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66907232900002 meters 0.40303125532044765 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.59, Z:-2.05 [[ 9.99958173e-01 -4.36449242e-04 -9.13573442e-03 9.49593388e+01] [ 3.63229216e-04 9.99967815e-01 -8.01480958e-03 -4.59060279e+00] [ 9.13893844e-03 8.01115598e-03 9.99926148e-01 -2.04598492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699072329 meters 0.40574821620802615 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.59, Z:-2.05 [[ 9.99955105e-01 3.16966177e-03 -8.92980063e-03 9.49585541e+01] [-3.21367297e-03 9.99982740e-01 -4.91854602e-03 -4.58601158e+00] [ 8.91405638e-03 4.94702266e-03 9.99948032e-01 -2.04589058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.729072329 meters 0.4175371849801229 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.58, Z:-2.04 [[ 9.99939173e-01 6.05220009e-03 -9.22073727e-03 9.49590295e+01] [-6.08594012e-03 9.99974872e-01 -3.63549171e-03 -4.57503056e+00] [ 9.19850284e-03 3.69138743e-03 9.99950879e-01 -2.04473475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759072329 meters 0.41644599060429716 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.57, Z:-2.04 [[ 9.99940317e-01 5.37897451e-03 -9.50938231e-03 9.49592074e+01] [-5.42571932e-03 9.99973292e-01 -4.89670627e-03 -4.57063181e+00] [ 9.48278907e-03 4.94800927e-03 9.99942795e-01 -2.04331842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.789072329 meters 0.42875577322221803 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.56, Z:-2.05 [[ 9.99982039e-01 -3.03576518e-03 -5.16772003e-03 9.49662872e+01] [ 3.04933754e-03 9.99991917e-01 2.62052258e-03 -4.56431277e+00] [ 5.15972297e-03 -2.63623363e-03 9.99983214e-01 -2.05086907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819072329 meters 0.45324589052002207 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.56, Z:-2.05 [[ 9.99975997e-01 -4.22800654e-03 -5.48893653e-03 9.49657685e+01] [ 4.23029199e-03 9.99990970e-01 4.04830907e-04 -4.55569012e+00] [ 5.48717534e-03 -4.28040994e-04 9.99984854e-01 -2.04898510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.849072329 meters 0.4512308938557572 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.55, Z:-2.05 [[ 9.99971202e-01 -4.96823391e-03 -5.73682330e-03 9.49656105e+01] [ 4.96332963e-03 9.99987305e-01 -8.68799382e-04 -4.55126500e+00] [ 5.74106687e-03 8.40300618e-04 9.99983167e-01 -2.04749070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879072329 meters 0.4544012652254845 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.55, Z:-2.05 [[ 9.99965685e-01 -5.71245995e-03 -5.99979489e-03 9.49653563e+01] [ 5.69990515e-03 9.99981534e-01 -2.10755683e-03 -4.54702545e+00] [ 6.01172344e-03 2.07328625e-03 9.99979780e-01 -2.04586047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.909072329 meters 0.4602998939536231 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.54, Z:-2.05 [[ 9.99985457e-01 -4.22290604e-03 -3.35441844e-03 9.49559964e+01] [ 4.22724332e-03 9.99990237e-01 1.28697021e-03 -4.53922319e+00] [ 3.34895094e-03 -1.30113144e-03 9.99993546e-01 -2.04976224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939072329 meters 0.46302569335191984 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.54, Z:-2.05 [[ 9.99980851e-01 -5.14690352e-03 -3.43625047e-03 9.49547195e+01] [ 5.14698093e-03 9.99986754e-01 1.36857784e-05 -4.53501204e+00] [ 3.43613452e-03 -3.13718320e-05 9.99994096e-01 -2.04800101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.969072329 meters 0.47402054958850126 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.53, Z:-2.05 [[ 9.99975669e-01 -6.13696195e-03 -3.31653151e-03 9.49528920e+01] [ 6.13338047e-03 9.99980598e-01 -1.08897974e-03 -4.53111777e+00] [ 3.32315019e-03 1.06861169e-03 9.99993907e-01 -2.04677617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999072329 meters 0.49058226022279855 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.52, Z:-2.05 [[ 9.99984363e-01 -5.58132217e-03 3.50216095e-04 9.49401858e+01] [ 5.58025854e-03 9.99980026e-01 2.96791861e-03 -4.52216023e+00] [-3.66774010e-04 -2.96591791e-03 9.99995534e-01 -2.05318841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.029072329 meters 0.4885386015698271 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.52, Z:-2.05 [[ 9.99975399e-01 -6.93920560e-03 1.02402066e-03 9.49366202e+01] [ 6.93703618e-03 9.99973719e-01 2.10709196e-03 -4.51828523e+00] [-1.03861529e-03 -2.09993645e-03 9.99997256e-01 -2.05318523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059072329 meters 0.4990400217962005 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.51, Z:-2.06 [[ 9.99964351e-01 -6.62942057e-03 5.22951621e-03 9.49222437e+01] [ 6.59594056e-03 9.99957807e-01 6.39359973e-03 -4.50980665e+00] [-5.27168142e-03 -6.35887823e-03 9.99965886e-01 -2.06061217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.089072329 meters 0.5108187896947193 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.51, Z:-2.06 [[ 9.99954117e-01 -7.41907248e-03 6.05980863e-03 9.49191794e+01] [ 7.37993379e-03 9.99951929e-01 6.45575729e-03 -4.50874858e+00] [-6.10741306e-03 -6.41074010e-03 9.99960800e-01 -2.06194029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.119072329 meters 0.5169210447947017 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.51, Z:-2.06 [[ 9.99949287e-01 -7.52683796e-03 6.69110164e-03 9.49174441e+01] [ 7.47905544e-03 9.99946557e-01 7.13777015e-03 -4.50991045e+00] [-6.74446889e-03 -7.08736505e-03 9.99952140e-01 -2.06366244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.149072329 meters 0.5269377465689843 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.51, Z:-2.07 [[ 9.99952208e-01 -6.86814531e-03 6.95776725e-03 9.49175173e+01] [ 6.81097153e-03 9.99943119e-01 8.20789509e-03 -4.51277326e+00] [-7.01374450e-03 -8.16011366e-03 9.99942108e-01 -2.06541124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.179072329 meters 0.6166376734561532 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.52, Z:-2.08 [[ 9.99955890e-01 7.33373815e-04 9.36374921e-03 9.49176447e+01] [-8.91433366e-04 9.99857008e-01 1.68869427e-02 -4.52334874e+00] [-9.35002583e-03 -1.68945450e-02 9.99813558e-01 -2.07573030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.209072329 meters 0.6025132911212183 Centerline is valid? [False, False] Translation: X:94.92, Y:-4.53, Z:-2.08 [[ 9.99956438e-01 3.38371732e-03 8.69894774e-03 9.49228468e+01] [-3.55108356e-03 9.99807491e-01 1.92969249e-02 -4.53019030e+00] [-8.63197777e-03 -1.93269750e-02 9.99775953e-01 -2.07867750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.239072329 meters 0.6139395998262912 Centerline is valid? [False, False] Translation: X:94.93, Y:-4.54, Z:-2.08 [[ 9.99949943e-01 6.04761337e-03 7.97101322e-03 9.49284864e+01] [-6.21921708e-03 9.99745564e-01 2.16824541e-02 -4.53672406e+00] [-7.83785801e-03 -2.17309422e-02 9.99733131e-01 -2.08198657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.269072329 meters 0.5833036296438824 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.56, Z:-2.10 [[ 9.99813735e-01 1.67925959e-02 9.51332855e-03 9.49379126e+01] [-1.71090881e-02 9.99267662e-01 3.42260061e-02 -4.55942419e+00] [-8.93161809e-03 -3.43823954e-02 9.99368839e-01 -2.09933811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.299072329 meters 0.5683382153383313 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.57, Z:-2.10 [[ 9.99518467e-01 3.10224112e-02 -6.65902529e-04 9.49353285e+01] [-3.09743035e-02 9.98788984e-01 3.82250976e-02 -4.56716709e+00] [ 1.85093081e-03 -3.81860651e-02 9.99268932e-01 -2.09935932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.329072329 meters 0.42185044398044225 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.59, Z:-2.11 [[ 9.98787967e-01 4.87272664e-02 -6.94626156e-03 9.49389895e+01] [-4.83818245e-02 9.97887575e-01 4.33541961e-02 -4.58649002e+00] [ 9.04411957e-03 -4.29655766e-02 9.99035617e-01 -2.11162608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.359072329 meters 0.39936209843782544 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.59, Z:-2.12 [[ 9.98834945e-01 4.78854129e-02 -5.97831483e-03 9.49438495e+01] [-4.75850773e-02 9.97940561e-01 4.30150900e-02 -4.59349504e+00] [ 8.02579820e-03 -4.26804964e-02 9.99056536e-01 -2.12204119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38907232900002 meters 0.4099859288327504 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.60, Z:-2.12 [[ 9.99026271e-01 4.32985994e-02 -8.46997171e-03 9.49543425e+01] [-4.29752660e-02 9.98455226e-01 3.52177129e-02 -4.59617240e+00] [ 9.98176517e-03 -3.48194211e-02 9.99343771e-01 -2.12236677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41907232900002 meters 0.34669636604887394 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.60, Z:-2.12 [[ 9.99151587e-01 3.93189057e-02 -1.22527727e-02 9.49671798e+01] [-3.89830745e-02 9.98887418e-01 2.65376237e-02 -4.59728145e+00] [ 1.32825708e-02 -2.60374581e-02 9.99572721e-01 -2.11861173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.449072329 meters 0.3701519460914759 Centerline is valid? [False, False] Translation: X:94.98, Y:-4.61, Z:-2.13 [[ 9.98655923e-01 5.05755911e-02 -1.13338457e-02 9.49784032e+01] [-5.01683696e-02 9.98171400e-01 3.37192841e-02 -4.60558901e+00] [ 1.30184933e-02 -3.31053622e-02 9.99367077e-01 -2.12661102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.479072329 meters 0.36479408841574507 Centerline is valid? [False, False] Translation: X:94.99, Y:-4.61, Z:-2.13 [[ 9.98483481e-01 5.35705155e-02 -1.26861104e-02 9.49855625e+01] [-5.30842588e-02 9.97941519e-01 3.59831405e-02 -4.60907301e+00] [ 1.45876317e-02 -3.52551387e-02 9.99271873e-01 -2.13028222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.509072329 meters 0.32615772862220993 Centerline is valid? [False, False] Translation: X:94.99, Y:-4.62, Z:-2.14 [[ 9.97087445e-01 7.40303331e-02 -1.83340249e-02 9.49885668e+01] [-7.32322979e-02 9.96474793e-01 4.09269674e-02 -4.62124761e+00] [ 2.12992307e-02 -3.94651226e-02 9.98993917e-01 -2.13781684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.539072329 meters 0.31696681842161956 Centerline is valid? [False, False] Translation: X:95.00, Y:-4.62, Z:-2.14 [[ 9.97159550e-01 7.24899444e-02 -2.04460367e-02 9.49955810e+01] [-7.16980361e-02 9.96735489e-01 3.71181367e-02 -4.62273924e+00] [ 2.30699820e-02 -3.55467638e-02 9.99101698e-01 -2.13790596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.569072329 meters 0.3108891661834423 Centerline is valid? [False, False] Translation: X:95.01, Y:-4.62, Z:-2.13 [[ 9.97355001e-01 6.84453271e-02 -2.44589315e-02 9.50067385e+01] [-6.77418744e-02 9.97295244e-01 2.85172735e-02 -4.62323072e+00] [ 2.63446502e-02 -2.67849515e-02 9.99294014e-01 -2.13446719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.599072329 meters 0.28000428355935875 Centerline is valid? [False, False] Translation: X:95.01, Y:-4.63, Z:-2.14 [[ 9.97507498e-01 6.59807011e-02 -2.50067619e-02 9.50097492e+01] [-6.53203710e-02 9.97516041e-01 2.63627827e-02 -4.62782653e+00] [ 2.66840810e-02 -2.46636224e-02 9.99339615e-01 -2.13780118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.629072329 meters 0.2811647711061165 Centerline is valid? [False, False] Translation: X:95.01, Y:-4.64, Z:-2.14 [[ 9.97355308e-01 6.88074208e-02 -2.34078654e-02 9.50063836e+01] [-6.81408454e-02 9.97277834e-01 2.81735105e-02 -4.64211073e+00] [ 2.52826919e-02 -2.65039685e-02 9.99328937e-01 -2.13749854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.659072329 meters 0.28645937538773514 Centerline is valid? [False, False] Translation: X:95.01, Y:-4.65, Z:-2.13 [[ 9.97695770e-01 6.13978765e-02 -2.88695499e-02 9.50114537e+01] [-6.04720044e-02 9.97659398e-01 3.19196368e-02 -4.64922680e+00] [ 3.07617757e-02 -3.01002870e-02 9.99073414e-01 -2.12773446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.689072329 meters 0.27365908803760586 Centerline is valid? [False, False] Translation: X:94.99, Y:-4.65, Z:-2.12 [[ 9.97912205e-01 6.39514324e-02 -9.02470957e-03 9.49904000e+01] [-6.37548297e-02 9.97752759e-01 2.06095746e-02 -4.64959045e+00] [ 1.03224407e-02 -1.99911772e-02 9.99746868e-01 -2.12423900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.719072329 meters 0.24785666113218283 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.66, Z:-2.12 [[ 9.98116591e-01 6.12515792e-02 3.39324258e-03 9.49637090e+01] [-6.13038700e-02 9.97949625e-01 1.83951446e-02 -4.65769288e+00] [-2.25955350e-03 -1.85685179e-02 9.99825037e-01 -2.11504976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.749072329 meters 0.25832470875210845 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.66, Z:-2.11 [[ 9.98326755e-01 5.77411525e-02 3.10625314e-03 9.49634026e+01] [-5.77801483e-02 9.98225164e-01 1.44213980e-02 -4.65811751e+00] [-2.26803191e-03 -1.45767472e-02 9.99891181e-01 -2.11376786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.779072329 meters 0.21233769856638035 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.66, Z:-2.11 [[ 9.98290290e-01 5.83767300e-02 2.94171935e-03 9.49634396e+01] [-5.84153848e-02 9.98172818e-01 1.54489053e-02 -4.66130310e+00] [-2.03448772e-03 -1.55943338e-02 9.99876331e-01 -2.11359922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.809072329 meters 0.2081860921704088 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.67, Z:-2.11 [[ 9.97640215e-01 6.82685965e-02 -7.30759668e-03 9.49567892e+01] [-6.81446456e-02 9.97546413e-01 1.60455901e-02 -4.66757502e+00] [ 8.38507677e-03 -1.55097523e-02 9.99844557e-01 -2.10822906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.839072329 meters 0.2081860921704088 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.67, Z:-2.10 [[ 9.98110430e-01 6.07697770e-02 -9.08868478e-03 9.49636607e+01] [-6.05618257e-02 9.97930043e-01 2.16308850e-02 -4.66905316e+00] [ 1.03843756e-02 -2.10395846e-02 9.99724712e-01 -2.10370886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.869072329 meters 0.19222832779863333 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.68, Z:-2.10 [[ 9.98015561e-01 6.15324363e-02 -1.33678252e-02 9.49723516e+01] [-6.11800479e-02 9.97805044e-01 2.53396131e-02 -4.67707936e+00] [ 1.48976916e-02 -2.44714840e-02 9.99589518e-01 -2.10408734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.899072329 meters 0.21643548425408535 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.68, Z:-2.11 [[ 9.97599127e-01 6.88519891e-02 -7.44216342e-03 9.49608727e+01] [-6.86871527e-02 9.97427449e-01 2.05075201e-02 -4.67939072e+00] [ 8.83500162e-03 -1.99471031e-02 9.99762000e-01 -2.10918546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.929072329 meters 0.2041087524923883 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.68, Z:-2.11 [[ 9.97503315e-01 7.01596492e-02 -8.04731078e-03 9.49627311e+01] [-6.99670941e-02 9.97303824e-01 2.21288904e-02 -4.68282464e+00] [ 9.57816901e-03 -2.15105946e-02 9.99722738e-01 -2.11029772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959072329 meters 0.19794175910056622 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.68, Z:-2.10 [[ 9.97629569e-01 6.73746686e-02 -1.39962965e-02 9.49734786e+01] [-6.69151823e-02 9.97275511e-01 3.10469631e-02 -4.68440769e+00] [ 1.60499426e-02 -3.00368037e-02 9.99419927e-01 -2.10471178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.989072329 meters 0.19889339749027066 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.68, Z:-2.10 [[ 9.97692595e-01 6.63394632e-02 -1.44416391e-02 9.49728041e+01] [-6.59079226e-02 9.97417247e-01 2.85478908e-02 -4.67891555e+00] [ 1.62981916e-02 -2.75302009e-02 9.99488097e-01 -2.10132257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019072329 meters 0.18797115619755034 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.66, Z:-2.10 [[ 9.96667653e-01 8.14849585e-02 -3.71360552e-03 9.49525814e+01] [-8.14098487e-02 9.96532437e-01 1.71912332e-02 -4.66400547e+00] [ 5.10155528e-03 -1.68316219e-02 9.99845323e-01 -2.09778084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.049072329 meters 0.1779650592153945 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.66, Z:-2.09 [[ 9.96840073e-01 7.88666840e-02 -9.48240128e-03 9.49643746e+01] [-7.85981274e-02 9.96568064e-01 2.59697442e-02 -4.66311501e+00] [ 1.14980059e-02 -2.51423827e-02 9.99617755e-01 -2.09389552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.079072329 meters 0.16692078010076017 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.66, Z:-2.09 [[ 9.96848794e-01 7.86308184e-02 -1.04726706e-02 9.49663625e+01] [-7.83581349e-02 9.96628954e-01 2.43049694e-02 -4.65759630e+00] [ 1.23484864e-02 -2.34077605e-02 9.99649734e-01 -2.09313675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.109072329 meters 0.172388051766827 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.65, Z:-2.09 [[ 9.96858661e-01 7.83650958e-02 -1.14769768e-02 9.49683158e+01] [-7.80935092e-02 9.96693044e-01 2.24584244e-02 -4.65174979e+00] [ 1.31989796e-02 -2.14915975e-02 9.99681898e-01 -2.09216736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13907232900002 meters 0.16099760556476755 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.63, Z:-2.09 [[ 9.95703343e-01 9.26002752e-02 -2.05658333e-04 9.49492150e+01] [-9.25895095e-02 9.95616894e-01 1.31978809e-02 -4.63314613e+00] [ 1.42688431e-03 -1.31221323e-02 9.99912883e-01 -2.09292806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16907232900002 meters 0.15147017373311403 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.63, Z:-2.09 [[ 9.96023368e-01 8.89568470e-02 -4.91223795e-03 9.49587130e+01] [-8.88343930e-02 9.95821381e-01 2.11713920e-02 -4.62811249e+00] [ 6.77505186e-03 -2.06508255e-02 9.99763793e-01 -2.08688870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199072329 meters 0.14136300118897704 Centerline is valid? [False, False] Translation: X:94.97, Y:-4.62, Z:-2.08 [[ 9.96168794e-01 8.67143147e-02 -1.13297156e-02 9.49710589e+01] [-8.63563854e-02 9.95842835e-01 2.89762551e-02 -4.62349898e+00] [ 1.37952722e-02 -2.78868478e-02 9.99515890e-01 -2.08238723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.229072329 meters 0.13801940260593046 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.60, Z:-2.08 [[ 9.94760000e-01 1.02237364e-01 -2.50700859e-04 9.49504624e+01] [-1.02221143e-01 9.94640278e-01 1.55420478e-02 -4.60007314e+00] [ 1.83833517e-03 -1.54349806e-02 9.99879184e-01 -2.08278596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.259072329 meters 0.12918096685898234 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.59, Z:-2.08 [[ 9.94385436e-01 1.05817084e-01 -5.90373987e-04 9.49516593e+01] [-1.05791721e-01 9.94242193e-01 1.70462102e-02 -4.59235637e+00] [ 2.39075499e-03 -1.68880465e-02 9.99854529e-01 -2.08111563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.289072329 meters 0.12119704132395762 Centerline is valid? [False, False] Translation: X:94.96, Y:-4.59, Z:-2.08 [[ 9.94483779e-01 1.04600626e-01 -7.79247023e-03 9.49643803e+01] [-1.04387477e-01 9.94246621e-01 2.40189773e-02 -4.58508031e+00] [ 1.02600373e-02 -2.30730470e-02 9.99681132e-01 -2.07511013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.319072329 meters 0.11276508893867492 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.56, Z:-2.08 [[ 9.92127211e-01 1.25215471e-01 2.16397459e-03 9.49481256e+01] [-1.25233804e-01 9.92017856e-01 1.47331957e-02 -4.56188014e+00] [-3.01877392e-04 -1.48882072e-02 9.99889119e-01 -2.07531195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.349072329 meters 0.10456130460664127 Centerline is valid? [False, False] Translation: X:94.95, Y:-4.55, Z:-2.07 [[ 9.91596094e-01 1.29365080e-01 1.36478020e-03 9.49509925e+01] [-1.29370031e-01 9.91461507e-01 1.63546793e-02 -4.55392120e+00] [ 7.62597366e-04 -1.63937978e-02 9.99865322e-01 -2.07398021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.379072329 meters 0.09706401892576169 Centerline is valid? [False, True] Translation: X:94.95, Y:-4.54, Z:-2.07 [[ 9.91204215e-01 1.32329089e-01 1.79363189e-03 9.49503130e+01] [-1.32340611e-01 9.91066512e-01 1.65267041e-02 -4.54330630e+00] [ 4.09355188e-04 -1.66187091e-02 9.99861816e-01 -2.07093974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.409072329 meters 0.08626883969081114 Centerline is valid? [True, True] Translation: X:94.99, Y:-4.50, Z:-2.07 [[ 9.85956433e-01 1.66939333e-01 -4.60119142e-03 9.49899046e+01] [-1.66936734e-01 9.85967156e-01 9.45982736e-04 -4.49501186e+00] [ 4.69454534e-03 -1.64589896e-04 9.99988967e-01 -2.06931050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.439072329 meters 0.08198113702997004 Centerline is valid? [True, True] Translation: X:95.02, Y:-4.47, Z:-2.07 [[ 9.82958389e-01 1.83483662e-01 -1.12495348e-02 9.50249634e+01] [-1.83469184e-01 9.83022737e-01 2.31455551e-03 -4.47242762e+00] [ 1.14832316e-02 -2.11168776e-04 9.99934043e-01 -2.07162455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.469072329 meters 0.08245195268904042 Centerline is valid? [True, True] Translation: X:95.06, Y:-4.43, Z:-2.08 [[ 9.76213077e-01 2.16249030e-01 -1.56328500e-02 9.50624326e+01] [-2.16225269e-01 9.76338209e-01 3.21474397e-03 -4.43465525e+00] [ 1.59581341e-02 2.41942110e-04 9.99872632e-01 -2.07583755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.499072329 meters 0.08425647806266069 Centerline is valid? [True, True] Translation: X:95.09, Y:-4.43, Z:-2.07 [[ 9.72710745e-01 2.31646089e-01 -1.31869833e-02 9.50949291e+01] [-2.31630657e-01 9.72800037e-01 2.70685128e-03 -4.42512540e+00] [ 1.34553294e-02 4.21526286e-04 9.99909384e-01 -2.07167742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.529072329 meters 0.0907807065067137 Centerline is valid? [True, True] Translation: X:95.13, Y:-4.41, Z:-2.08 [[ 9.69391136e-01 2.45308272e-01 -1.02312252e-02 9.51266710e+01] [-2.45299735e-01 9.69445010e-01 2.10054364e-03 -4.41001937e+00] [ 1.04338910e-02 4.73468445e-04 9.99945453e-01 -2.07672695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.559072329 meters 0.09091118307469515 Centerline is valid? [True, True] Translation: X:95.16, Y:-4.41, Z:-2.07 [[ 9.65850114e-01 2.58990188e-01 -7.59208626e-03 9.51562015e+01] [-2.58985915e-01 9.65879842e-01 1.55774365e-03 -4.41219584e+00] [ 7.73648340e-03 4.61696522e-04 9.99969966e-01 -2.06883591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.589072329 meters 0.10754189148674438 Centerline is valid? [True, False] Translation: X:95.08, Y:-4.39, Z:-2.08 [[ 9.60456495e-01 2.77787653e-01 1.89034867e-02 9.50774012e+01] [-2.77699841e-01 9.60641102e-01 -7.17439100e-03 -4.39373778e+00] [-2.01524235e-02 1.64119517e-03 9.99795572e-01 -2.07583315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.619072329 meters 0.10994874071311767 Centerline is valid? [False, False] Translation: X:95.02, Y:-4.38, Z:-2.09 [[ 9.59501374e-01 2.77418581e-01 4.89494110e-02 9.50150324e+01] [-2.77327234e-01 9.60735366e-01 -8.78416889e-03 -4.37848171e+00] [-4.94643219e-02 -5.14658264e-03 9.98762631e-01 -2.08746640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.649072329 meters 0.14812326999419562 Centerline is valid? [False, False] Translation: X:94.98, Y:-4.37, Z:-2.09 [[ 9.57156036e-01 2.84541989e-01 5.37417776e-02 9.49770216e+01] [-2.84859186e-01 9.58567637e-01 -1.82449917e-03 -4.37167663e+00] [-5.20342754e-02 -1.35625086e-02 9.98553200e-01 -2.08662518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.679072329 meters 0.1462935532752357 Centerline is valid? [False, False] Translation: X:94.94, Y:-4.36, Z:-2.10 [[ 9.55330317e-01 2.83202934e-01 8.44990139e-02 9.49393931e+01] [-2.83426963e-01 9.58945923e-01 -9.58506513e-03 -4.36374801e+00] [-8.37445034e-02 -1.47923956e-02 9.96377460e-01 -2.09564948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.709072329 meters 0.14916116521987144 Centerline is valid? [False, False] Translation: X:94.91, Y:-4.36, Z:-2.11 [[ 9.53800804e-01 2.78384089e-01 1.12988164e-01 9.49059300e+01] [-2.78689038e-01 9.60287785e-01 -1.34085866e-02 -4.35837519e+00] [-1.12233891e-01 -1.86994420e-02 9.93505855e-01 -2.10589051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.739072329 meters 0.16895446343499768 Centerline is valid? [False, False] Translation: X:94.88, Y:-4.36, Z:-2.11 [[ 9.52841948e-01 2.76287090e-01 1.25529544e-01 9.48790004e+01] [-2.77183580e-01 9.60758297e-01 -1.06187939e-02 -4.36266715e+00] [-1.23537387e-01 -2.46766961e-02 9.92033051e-01 -2.10701968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.769072329 meters 0.16683719408619152 Centerline is valid? [False, False] Translation: X:94.85, Y:-4.36, Z:-2.11 [[ 9.53710242e-01 2.68278424e-01 1.35880319e-01 9.48508791e+01] [-2.69607799e-01 9.62929350e-01 -8.87140328e-03 -4.36145674e+00] [-1.33223154e-01 -2.81736457e-02 9.90685539e-01 -2.10916024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.799072329 meters 0.19197610590543263 Centerline is valid? [False, False] Translation: X:94.82, Y:-4.36, Z:-2.11 [[ 9.54115769e-01 2.60518081e-01 1.47625977e-01 9.48202424e+01] [-2.62465579e-01 9.64919605e-01 -6.47891633e-03 -4.36199847e+00] [-1.44135074e-01 -3.25651013e-02 9.89022039e-01 -2.11022193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.829072329 meters 0.18508191346521766 Centerline is valid? [False, False] Translation: X:94.79, Y:-4.37, Z:-2.11 [[ 9.54184262e-01 2.53369465e-01 1.59173829e-01 9.47905731e+01] [-2.56135165e-01 9.66635545e-01 -3.24040256e-03 -4.36502825e+00] [-1.54684100e-01 -3.76780740e-02 9.87245254e-01 -2.11144895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.859072329 meters 0.20175716409785924 Centerline is valid? [False, False] Translation: X:94.75, Y:-4.38, Z:-2.11 [[ 9.51192518e-01 2.59488579e-01 1.67028356e-01 9.47510287e+01] [-2.63056404e-01 9.64780132e-01 -7.91135482e-04 -4.38266595e+00] [-1.61350929e-01 -4.31853564e-02 9.85951775e-01 -2.10563629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88907232900002 meters 0.19414875221907313 Centerline is valid? [False, False] Translation: X:94.73, Y:-4.39, Z:-2.10 [[ 9.50229407e-01 2.63961898e-01 1.65493776e-01 9.47272719e+01] [-2.67382976e-01 9.63588902e-01 -1.66525431e-03 -4.39246691e+00] [-1.59907529e-01 -4.26678447e-02 9.86209429e-01 -2.10005487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91907232900002 meters 0.19553592389848184 Centerline is valid? [False, False] Translation: X:94.68, Y:-4.40, Z:-2.10 [[ 9.49909413e-01 2.60974404e-01 1.71943211e-01 9.46805822e+01] [-2.65267841e-01 9.64172539e-01 2.07082926e-03 -4.40150212e+00] [-1.65242489e-01 -4.75781044e-02 9.85104687e-01 -2.09626001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.949072329 meters 0.20297136656620088 Centerline is valid? [False, False] Translation: X:94.64, Y:-4.43, Z:-2.09 [[ 9.47260155e-01 2.66827119e-01 1.77486584e-01 9.46433987e+01] [-2.72622814e-01 9.62082113e-01 8.64927601e-03 -4.42646069e+00] [-1.68448807e-01 -5.65800066e-02 9.84085211e-01 -2.09116813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979072329 meters 0.1953927519554863 Centerline is valid? [False, False] Translation: X:94.61, Y:-4.44, Z:-2.09 [[ 9.46925453e-01 2.59378081e-01 1.89882061e-01 9.46124326e+01] [-2.66922521e-01 9.63603711e-01 1.48410448e-02 -4.43705410e+00] [-1.79121617e-01 -6.47371615e-02 9.81694732e-01 -2.09164451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.009072329 meters 0.1945298900554687 Centerline is valid? [False, False] Translation: X:94.59, Y:-4.45, Z:-2.09 [[ 9.45901498e-01 2.63628411e-01 1.89130686e-01 9.45869976e+01] [-2.71520306e-01 9.62289072e-01 1.66272610e-02 -4.44979216e+00] [-1.77614974e-01 -6.70805729e-02 9.81811142e-01 -2.08570891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039072329 meters 0.19391884097271667 Centerline is valid? [False, False] Translation: X:94.56, Y:-4.46, Z:-2.08 [[ 9.44869975e-01 2.67146357e-01 1.89350346e-01 9.45595217e+01] [-2.75492848e-01 9.61120794e-01 1.87219186e-02 -4.46305706e+00] [-1.76987062e-01 -6.98544448e-02 9.81731092e-01 -2.08113831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.069072329 meters 0.2095947003649357 Centerline is valid? [False, False] Translation: X:94.52, Y:-4.49, Z:-2.08 [[ 9.40104573e-01 2.81381295e-01 1.92426500e-01 9.45244633e+01] [-2.90749828e-01 9.56552580e-01 2.17186264e-02 -4.49255830e+00] [-1.77954850e-01 -7.63657519e-02 9.81071018e-01 -2.08067775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099072329 meters 0.19637212021869827 Centerline is valid? [False, False] Translation: X:94.49, Y:-4.51, Z:-2.08 [[ 9.39076689e-01 2.83646351e-01 1.94112649e-01 9.44935430e+01] [-2.93542026e-01 9.55653567e-01 2.36503231e-02 -4.50700712e+00] [-1.78796118e-01 -7.91896875e-02 9.80694112e-01 -2.07551191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.129072329 meters 0.19739249619756055 Centerline is valid? [False, False] Translation: X:94.47, Y:-4.52, Z:-2.07 [[ 9.38478453e-01 2.77669453e-01 2.05323814e-01 9.44673563e+01] [-2.89415182e-01 9.56765598e-01 2.89558802e-02 -4.52038823e+00] [-1.88406598e-01 -8.65982986e-02 9.78265653e-01 -2.07489006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.159072329 meters 0.20987710336727808 Centerline is valid? [False, False] Translation: X:94.44, Y:-4.54, Z:-2.07 [[ 9.38152039e-01 2.80598520e-01 2.02818199e-01 9.44426060e+01] [-2.92131313e-01 9.55946679e-01 2.87270266e-02 -4.53507773e+00] [-1.85822623e-01 -8.61998654e-02 9.78794941e-01 -2.06633299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.189072329 meters 0.20568834187022905 Centerline is valid? [False, False] Translation: X:94.41, Y:-4.57, Z:-2.06 [[ 9.34553986e-01 2.91353311e-01 2.04259872e-01 9.44055638e+01] [-3.03427604e-01 9.52388228e-01 2.98052354e-02 -4.56764502e+00] [-1.85850844e-01 -8.98326852e-02 9.78462852e-01 -2.05867697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219072329 meters 0.22307036353518542 Centerline is valid? [False, False] Translation: X:94.38, Y:-4.58, Z:-2.05 [[ 9.34288570e-01 2.92972944e-01 2.03154427e-01 9.43768947e+01] [-3.04907627e-01 9.51926470e-01 2.94505504e-02 -4.58433103e+00] [-1.84759862e-01 -8.94586468e-02 9.78703706e-01 -2.04994857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.249072329 meters 0.21058349853200842 Centerline is valid? [False, False] Translation: X:94.35, Y:-4.60, Z:-2.04 [[ 9.33917797e-01 2.93585591e-01 2.03973160e-01 9.43451297e+01] [-3.05716535e-01 9.51649144e-01 3.00217778e-02 -4.60148917e+00] [-1.85296922e-01 -9.03958403e-02 9.78516041e-01 -2.04186060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279072329 meters 0.22208284447377383 Centerline is valid? [False, False] Translation: X:94.30, Y:-4.64, Z:-2.04 [[ 9.31124181e-01 3.00752198e-01 2.06290754e-01 9.43040149e+01] [-3.13448626e-01 9.49095533e-01 3.11067125e-02 -4.63547726e+00] [-1.86434221e-01 -9.36257655e-02 9.77996164e-01 -2.03521664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.309072329 meters 0.19425405277634986 Centerline is valid? [False, False] Translation: X:94.26, Y:-4.65, Z:-2.03 [[ 9.28480069e-01 3.04546735e-01 2.12546579e-01 9.42579777e+01] [-3.17254512e-01 9.47937780e-01 2.76322244e-02 -4.65407814e+00] [-1.93065629e-01 -9.30873308e-02 9.76760161e-01 -2.02607191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339072329 meters 0.20415343767969427 Centerline is valid? [False, False] Translation: X:94.21, Y:-4.67, Z:-2.02 [[ 9.25751960e-01 3.07874664e-01 2.19537014e-01 9.42096291e+01] [-3.20559036e-01 9.46929781e-01 2.37885509e-02 -4.67341395e+00] [-2.00562244e-01 -9.23968710e-02 9.75314106e-01 -2.01592263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.369072329 meters 0.19788311837030836 Centerline is valid? [False, False] Translation: X:94.14, Y:-4.71, Z:-2.00 [[ 9.20752149e-01 3.20486800e-01 2.22494249e-01 9.41377907e+01] [-3.33665367e-01 9.42402316e-01 2.33516214e-02 -4.71313357e+00] [-2.02195209e-01 -9.57396809e-02 9.74654303e-01 -1.99920376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399072329 meters 0.2035960864066735 Centerline is valid? [False, False] Translation: X:94.06, Y:-4.74, Z:-1.98 [[ 9.20507663e-01 3.23443343e-01 2.19203208e-01 9.40631372e+01] [-3.36810459e-01 9.41225393e-01 2.55631327e-02 -4.73512016e+00] [-1.98051400e-01 -9.73609925e-02 9.75344288e-01 -1.97878852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.429072329 meters 0.1938933730231731 Centerline is valid? [False, False] Translation: X:93.99, Y:-4.76, Z:-1.96 [[ 9.18278933e-01 3.25335761e-01 2.25655586e-01 9.39888596e+01] [-3.39199609e-01 9.40394482e-01 2.45325187e-02 -4.75601396e+00] [-2.04223963e-01 -9.90699816e-02 9.73898204e-01 -1.96336469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459072329 meters 0.2158693833636333 Centerline is valid? [False, False] Translation: X:93.91, Y:-4.78, Z:-1.95 [[ 9.19086540e-01 3.24855533e-01 2.23044421e-01 9.39139794e+01] [-3.38963561e-01 9.40409752e-01 2.70777245e-02 -4.77929569e+00] [-2.00956800e-01 -1.00490704e-01 9.74432134e-01 -1.94565529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.489072329 meters 0.1945544946400373 Centerline is valid? [False, False] Translation: X:93.84, Y:-4.82, Z:-1.93 [[ 9.17340935e-01 3.27324344e-01 2.26592991e-01 9.38386491e+01] [-3.41803392e-01 9.39390245e-01 2.67658212e-02 -4.81873343e+00] [-2.04098140e-01 -1.02003636e-01 9.73621696e-01 -1.93122577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519072329 meters 0.19452880223577435 Centerline is valid? [False, False] Translation: X:93.76, Y:-4.84, Z:-1.91 [[ 9.17886196e-01 3.27394740e-01 2.24271299e-01 9.37580411e+01] [-3.41769334e-01 9.39382881e-01 2.74504138e-02 -4.84333744e+00] [-2.01689498e-01 -1.01845408e-01 9.74140061e-01 -1.91197575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.549072329 meters 0.2144915363111263 Centerline is valid? [False, False] Translation: X:93.68, Y:-4.88, Z:-1.90 [[ 9.16020403e-01 3.28771599e-01 2.29817006e-01 9.36751284e+01] [-3.43104676e-01 9.38983327e-01 2.42794646e-02 -4.88241750e+00] [-2.07811939e-01 -1.01091774e-01 9.72930959e-01 -1.89588473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579072329 meters 0.20320035153278895 Centerline is valid? [False, False] Translation: X:93.59, Y:-4.91, Z:-1.87 [[ 9.16390020e-01 3.29384914e-01 2.27453093e-01 9.35902980e+01] [-3.43084856e-01 9.39037298e-01 2.23994225e-02 -4.90577504e+00] [-2.06208906e-01 -9.85623187e-02 9.73531384e-01 -1.87393388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.609072329 meters 0.21280593667147277 Centerline is valid? [False, False] Translation: X:93.51, Y:-4.93, Z:-1.85 [[ 9.17154960e-01 3.29562422e-01 2.24087905e-01 9.35076868e+01] [-3.42746902e-01 9.39180122e-01 2.15698622e-02 -4.92913854e+00] [-2.03350290e-01 -9.65883412e-02 9.74330207e-01 -1.85219970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63907232900002 meters 0.22890267358929942 Centerline is valid? [False, False] Translation: X:93.43, Y:-4.97, Z:-1.83 [[ 9.17318948e-01 3.25892940e-01 2.28735087e-01 9.34288669e+01] [-3.39532821e-01 9.40339151e-01 2.19030649e-02 -4.96513970e+00] [-2.07950503e-01 -9.77551656e-02 9.73242270e-01 -1.83243391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66907232900002 meters 0.21663633774694355 Centerline is valid? [False, False] Translation: X:93.35, Y:-4.99, Z:-1.81 [[ 9.19344629e-01 3.22921147e-01 2.24782976e-01 9.33491208e+01] [-3.36196409e-01 9.41524733e-01 2.24310421e-02 -4.98735586e+00] [-2.04395273e-01 -9.61930874e-02 9.74150636e-01 -1.80957317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699072329 meters 0.21192068619235774 Centerline is valid? [False, False] Translation: X:93.27, Y:-5.01, Z:-1.79 [[ 9.22197183e-01 3.19495178e-01 2.17888014e-01 9.32744280e+01] [-3.31879640e-01 9.43069561e-01 2.18107068e-02 -5.00827977e+00] [-1.98515138e-01 -9.24263680e-02 9.75730038e-01 -1.78621917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.729072329 meters 0.2326768858875325 Centerline is valid? [False, False] Translation: X:93.20, Y:-5.03, Z:-1.77 [[ 9.26228145e-01 3.12397749e-01 2.10971727e-01 9.32033042e+01] [-3.24083645e-01 9.45763743e-01 2.23770725e-02 -5.02882841e+00] [-1.92538863e-01 -8.90987605e-02 9.77235999e-01 -1.76540161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759072329 meters 0.2326768858875325 Centerline is valid? [False, False] Translation: X:93.13, Y:-5.04, Z:-1.75 [[ 9.28658249e-01 3.09336405e-01 2.04706727e-01 9.31346667e+01] [-3.20389479e-01 9.47021166e-01 2.23940373e-02 -5.03624659e+00] [-1.86934313e-01 -8.63822893e-02 9.78567148e-01 -1.74791073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.789072329 meters 0.2443001453298551 Centerline is valid? [False, False] Translation: X:93.07, Y:-5.07, Z:-1.74 [[ 9.32422297e-01 2.97919006e-01 2.04530989e-01 9.30666901e+01] [-3.07656638e-01 9.51348697e-01 1.68241028e-02 -5.06984514e+00] [-1.89568070e-01 -7.86124850e-02 9.78715497e-01 -1.73729387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819072329 meters 0.23724530968343543 Centerline is valid? [False, False] Translation: X:93.00, Y:-5.09, Z:-1.73 [[ 9.34381256e-01 2.91731844e-01 2.04509656e-01 9.30030048e+01] [-3.00368433e-01 9.53749887e-01 1.18303483e-02 -5.08959627e+00] [-1.91599772e-01 -7.24823004e-02 9.78793055e-01 -1.72813453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.849072329 meters 0.22927177086441014 Centerline is valid? [False, False] Translation: X:92.94, Y:-5.11, Z:-1.72 [[ 9.36001767e-01 2.85933380e-01 2.05287102e-01 9.29390179e+01] [-2.93883493e-01 9.55801929e-01 8.66977583e-03 -5.10879407e+00] [-1.93734829e-01 -6.84454160e-02 9.78663395e-01 -1.71792292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879072329 meters 0.2538460075630768 Centerline is valid? [False, False] Translation: X:92.89, Y:-5.13, Z:-1.70 [[ 9.40397457e-01 2.72449858e-01 2.03528124e-01 9.28852672e+01] [-2.80744455e-01 9.59701359e-01 1.24841317e-02 -5.13430349e+00] [-1.91924918e-01 -6.88794380e-02 9.78989504e-01 -1.70430297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.909072329 meters 0.24599436349217432 Centerline is valid? [False, False] Translation: X:92.85, Y:-5.15, Z:-1.68 [[ 9.46007957e-01 2.68647585e-01 1.81376461e-01 9.28468132e+01] [-2.75828780e-01 9.61087869e-01 1.51193001e-02 -5.14900245e+00] [-1.70256953e-01 -6.43318262e-02 9.83297506e-01 -1.68443406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939072329 meters 0.2491459581977245 Centerline is valid? [False, False] Translation: X:92.80, Y:-5.16, Z:-1.68 [[ 9.49247769e-01 2.55759434e-01 1.83073169e-01 9.28020263e+01] [-2.64092386e-01 9.64240441e-01 2.22616900e-02 -5.16104125e+00] [-1.70832916e-01 -6.94800896e-02 9.82847207e-01 -1.67522451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.969072329 meters 0.23405380790929547 Centerline is valid? [False, False] Translation: X:92.77, Y:-5.19, Z:-1.67 [[ 9.55594260e-01 2.41983090e-01 1.68177862e-01 9.27696226e+01] [-2.48553622e-01 9.68434532e-01 1.88588083e-02 -5.18586449e+00] [-1.58305737e-01 -5.98225858e-02 9.85576254e-01 -1.66505042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999072329 meters 0.22239357990242106 Centerline is valid? [False, False] Translation: X:92.74, Y:-5.20, Z:-1.66 [[ 9.59830802e-01 2.33696655e-01 1.55276223e-01 9.27356411e+01] [-2.38942959e-01 9.70905677e-01 1.57616085e-02 -5.20339272e+00] [-1.47075131e-01 -5.22306375e-02 9.87745345e-01 -1.66081057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.029072329 meters 0.21972322174038536 Centerline is valid? [False, False] Translation: X:92.71, Y:-5.21, Z:-1.66 [[ 9.62886856e-01 2.24916179e-01 1.49203270e-01 9.27142722e+01] [-2.28831806e-01 9.73420683e-01 9.39039398e-03 -5.21443516e+00] [-1.43125498e-01 -4.31843407e-02 9.88761955e-01 -1.65924881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059072329 meters 0.2315338868113629 Centerline is valid? [False, False] Translation: X:92.69, Y:-5.23, Z:-1.65 [[ 9.67741478e-01 2.13744682e-01 1.33377816e-01 9.26942707e+01] [-2.17775620e-01 9.75863900e-01 1.62304435e-02 -5.23094665e+00] [-1.26689425e-01 -4.47533099e-02 9.90932354e-01 -1.65272069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.089072329 meters 0.23338381874779607 Centerline is valid? [False, False] Translation: X:92.68, Y:-5.23, Z:-1.65 [[ 9.70027584e-01 2.07297411e-01 1.26784342e-01 9.26815929e+01] [-2.11567815e-01 9.77136626e-01 2.10493202e-02 -5.23400043e+00] [-1.19522154e-01 -4.72419074e-02 9.91706941e-01 -1.64581712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119072329 meters 0.22349668583460897 Centerline is valid? [False, False] Translation: X:92.67, Y:-5.24, Z:-1.64 [[ 9.72405275e-01 2.01234870e-01 1.18036046e-01 9.26709884e+01] [-2.05452592e-01 9.78357893e-01 2.45980838e-02 -5.23717606e+00] [-1.10531505e-01 -4.81701181e-02 9.92704602e-01 -1.63922516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.149072329 meters 0.2015600297256438 Centerline is valid? [False, False] Translation: X:92.65, Y:-5.25, Z:-1.64 [[ 9.74899464e-01 1.93515721e-01 1.10103141e-01 9.26531466e+01] [-1.96700595e-01 9.80284581e-01 1.87354070e-02 -5.24737582e+00] [-1.04306815e-01 -3.99224916e-02 9.93743570e-01 -1.63613363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179072329 meters 0.2291290899476616 Centerline is valid? [False, False] Translation: X:92.64, Y:-5.26, Z:-1.64 [[ 9.76903555e-01 1.88765390e-01 1.00135269e-01 9.26412054e+01] [-1.90945044e-01 9.81520355e-01 1.25612018e-02 -5.25517778e+00] [-9.59136845e-02 -3.13914160e-02 9.94894539e-01 -1.63676261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.209072329 meters 0.2437661806742498 Centerline is valid? [False, False] Translation: X:92.62, Y:-5.26, Z:-1.64 [[ 9.78862116e-01 1.81701767e-01 9.38798438e-02 9.26226670e+01] [-1.83129042e-01 9.83065739e-01 6.74584898e-03 -5.26063778e+00] [-9.10643254e-02 -2.37953818e-02 9.95560680e-01 -1.63793261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239072329 meters 0.23059776299078408 Centerline is valid? [False, False] Translation: X:92.61, Y:-5.27, Z:-1.64 [[ 9.79547631e-01 1.80948064e-01 8.80013458e-02 9.26065368e+01] [-1.82328519e-01 9.83206388e-01 7.84279158e-03 -5.26527138e+00] [-8.51043474e-02 -2.37275429e-02 9.96089481e-01 -1.64055987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.269072329 meters 0.2314959895156632 Centerline is valid? [False, False] Translation: X:92.59, Y:-5.26, Z:-1.64 [[ 9.79856873e-01 1.81388093e-01 8.35396245e-02 9.25890569e+01] [-1.82883650e-01 9.83077980e-01 1.05478182e-02 -5.26496381e+00] [-8.02127166e-02 -2.56133836e-02 9.96448631e-01 -1.64301181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299072329 meters 0.2196738797862598 Centerline is valid? [False, False] Translation: X:92.56, Y:-5.27, Z:-1.64 [[ 9.80699732e-01 1.76465356e-01 8.41903398e-02 9.25558653e+01] [-1.78669683e-01 9.83718838e-01 1.93491963e-02 -5.26649269e+00] [-7.94051605e-02 -3.40180129e-02 9.96261811e-01 -1.64466110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.329072329 meters 0.21395559890491508 Centerline is valid? [False, False] Translation: X:92.54, Y:-5.27, Z:-1.65 [[ 9.80591204e-01 1.78783184e-01 8.04826909e-02 9.25369075e+01] [-1.81213426e-01 9.83152867e-01 2.39193172e-02 -5.26773147e+00] [-7.48504167e-02 -3.80396162e-02 9.96468967e-01 -1.64620222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359072329 meters 0.23766936801745392 Centerline is valid? [False, False] Translation: X:92.53, Y:-5.27, Z:-1.65 [[ 9.80056261e-01 1.80275901e-01 8.36081594e-02 9.25263015e+01] [-1.82277423e-01 9.83101984e-01 1.68946887e-02 -5.26787193e+00] [-7.91496422e-02 -3.17976253e-02 9.96355481e-01 -1.65112260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38907232900002 meters 0.24098617571003095 Centerline is valid? [False, False] Translation: X:92.51, Y:-5.27, Z:-1.65 [[ 9.80639443e-01 1.79209060e-01 7.89328581e-02 9.25075424e+01] [-1.81111801e-01 9.83305255e-01 1.75866616e-02 -5.27211795e+00] [-7.44634051e-02 -3.15418461e-02 9.96724793e-01 -1.65343646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419072329 meters 0.27547463956187246 Centerline is valid? [False, False] Translation: X:92.49, Y:-5.27, Z:-1.66 [[ 9.79699487e-01 1.82799571e-01 8.22996429e-02 9.24945776e+01] [-1.84359162e-01 9.82789270e-01 1.17025937e-02 -5.27167343e+00] [-7.87439768e-02 -2.66377183e-02 9.96538919e-01 -1.65663780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.449072329 meters 0.2447962004501442 Centerline is valid? [False, False] Translation: X:92.48, Y:-5.27, Z:-1.66 [[ 9.76426970e-01 1.96677084e-01 8.89297322e-02 9.24771194e+01] [-1.98788227e-01 9.79920628e-01 1.54532555e-02 -5.26698753e+00] [-8.41047779e-02 -3.27671592e-02 9.95918019e-01 -1.65614618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479072329 meters 0.2408881313431781 Centerline is valid? [False, False] Translation: X:92.46, Y:-5.26, Z:-1.66 [[ 9.75061038e-01 1.99291350e-01 9.76674419e-02 9.24610057e+01] [-2.02599897e-01 9.78939438e-01 2.51169012e-02 -5.26358945e+00] [-9.06049295e-02 -4.42779255e-02 9.94902112e-01 -1.65521698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.509072329 meters 0.24394876053037007 Centerline is valid? [False, False] Translation: X:92.43, Y:-5.26, Z:-1.65 [[ 9.74217973e-01 2.02747246e-01 9.89590550e-02 9.24324310e+01] [-2.06603462e-01 9.77955290e-01 3.03061188e-02 -5.26338585e+00] [-9.06330491e-02 -4.99700490e-02 9.94629903e-01 -1.64984297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539072329 meters 0.24400787105403704 Centerline is valid? [False, False] Translation: X:92.41, Y:-5.26, Z:-1.65 [[ 9.72317612e-01 2.09303305e-01 1.03877756e-01 9.24147466e+01] [-2.13145512e-01 9.76640262e-01 2.72541568e-02 -5.26193330e+00] [-9.57468134e-02 -4.86407741e-02 9.94216587e-01 -1.64758551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.569072329 meters 0.23942868933863226 Centerline is valid? [False, False] Translation: X:92.36, Y:-5.27, Z:-1.65 [[ 9.68233468e-01 2.25383166e-01 1.08288415e-01 9.23637613e+01] [-2.28634342e-01 9.73337595e-01 1.84462347e-02 -5.26729335e+00] [-1.01243715e-01 -4.26187124e-02 9.93948367e-01 -1.65322159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599072329 meters 0.26589404226130636 Centerline is valid? [False, False] Translation: X:92.33, Y:-5.27, Z:-1.66 [[ 9.67213452e-01 2.30129819e-01 1.07416968e-01 9.23348523e+01] [-2.33129914e-01 9.72312485e-01 1.60895745e-02 -5.26998440e+00] [-1.00740168e-01 -4.06041613e-02 9.94083860e-01 -1.66004287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.629072329 meters 0.27028195671941996 Centerline is valid? [False, False] Translation: X:92.28, Y:-5.28, Z:-1.67 [[ 9.64622940e-01 2.35389336e-01 1.18720029e-01 9.22822593e+01] [-2.38838283e-01 9.70935529e-01 1.55072164e-02 -5.27561475e+00] [-1.11619261e-01 -4.33135045e-02 9.92806668e-01 -1.66642668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659072329 meters 0.24658910709510495 Centerline is valid? [False, False] Translation: X:92.23, Y:-5.28, Z:-1.67 [[ 9.61409958e-01 2.49215672e-01 1.16543736e-01 9.22318604e+01] [-2.53527590e-01 9.67042006e-01 2.35270198e-02 -5.27863756e+00] [-1.06839386e-01 -5.21661635e-02 9.92906862e-01 -1.66858406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.689072329 meters 0.23215823443968545 Centerline is valid? [False, False] Translation: X:92.15, Y:-5.29, Z:-1.67 [[ 9.59651735e-01 2.51485608e-01 1.25791639e-01 9.21529680e+01] [-2.56690403e-01 9.66122884e-01 2.67695816e-02 -5.29240765e+00] [-1.14798016e-01 -5.79789819e-02 9.91695444e-01 -1.66857220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719072329 meters 0.229433671068406 Centerline is valid? [False, False] Translation: X:92.09, Y:-5.31, Z:-1.67 [[ 9.59258924e-01 2.51370338e-01 1.28977787e-01 9.20891859e+01] [-2.57087846e-01 9.65937450e-01 2.95073102e-02 -5.30563805e+00] [-1.17167212e-01 -6.14637721e-02 9.91208378e-01 -1.66832454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.749072329 meters 0.24214831447773186 Centerline is valid? [False, False] Translation: X:92.02, Y:-5.32, Z:-1.67 [[ 9.56842131e-01 2.57712765e-01 1.34302891e-01 9.20158586e+01] [-2.62796787e-01 9.64615980e-01 2.13039835e-02 -5.31626631e+00] [-1.24060406e-01 -5.56789173e-02 9.90711297e-01 -1.67308183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779072329 meters 0.26229918823723264 Centerline is valid? [False, False] Translation: X:91.92, Y:-5.32, Z:-1.66 [[ 9.48023761e-01 2.82531176e-01 1.46379929e-01 9.19206303e+01] [-2.88155340e-01 9.57408593e-01 1.83108026e-02 -5.31965599e+00] [-1.34972029e-01 -5.95392341e-02 9.89058962e-01 -1.66434416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.809072329 meters 0.22521350274074892 Centerline is valid? [False, False] Translation: X:91.80, Y:-5.32, Z:-1.66 [[ 9.36134009e-01 3.14671854e-01 1.56954582e-01 9.17955292e+01] [-3.20545106e-01 9.47144652e-01 1.29554186e-02 -5.32385083e+00] [-1.44581988e-01 -6.24390312e-02 9.87520843e-01 -1.65697796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839072329 meters 0.2900140934593095 Centerline is valid? [False, False] Translation: X:91.64, Y:-5.30, Z:-1.65 [[ 9.09680220e-01 3.82227306e-01 1.62432091e-01 9.16354174e+01] [-3.90333153e-01 9.20455560e-01 2.00397564e-02 -5.29878344e+00] [-1.41851779e-01 -8.16324002e-02 9.86516206e-01 -1.65036094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.869072329 meters 0.21630663187195687 Centerline is valid? [False, False] Translation: X:91.44, Y:-5.32, Z:-1.62 [[ 8.98362207e-01 4.01572277e-01 1.78002951e-01 9.14407760e+01] [-4.14517879e-01 9.09113487e-01 4.10803482e-02 -5.31866871e+00] [-1.45328155e-01 -1.10690438e-01 9.83172088e-01 -1.62199443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899072329 meters 0.23880147789849177 Centerline is valid? [False, False] Translation: X:91.22, Y:-5.33, Z:-1.58 [[ 8.79904324e-01 4.33564250e-01 1.94397588e-01 9.12156789e+01] [-4.53257491e-01 8.88656930e-01 6.96168644e-02 -5.32694287e+00] [-1.42569380e-01 -1.49368343e-01 9.78449319e-01 -1.57546270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.929072329 meters 0.20575672746584042 Centerline is valid? [False, False] Translation: X:91.00, Y:-5.37, Z:-1.53 [[ 8.74442571e-01 4.37337750e-01 2.09966386e-01 9.10005708e+01] [-4.62534872e-01 8.82130254e-01 8.89252925e-02 -5.36928423e+00] [-1.46327314e-01 -1.74876837e-01 9.73656207e-01 -1.52613333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959072329 meters 0.18239990225420236 Centerline is valid? [False, False] Translation: X:90.79, Y:-5.42, Z:-1.47 [[ 0.86994866 0.43984225 0.22299804 90.78982492] [-0.46944838 0.87712462 0.10134407 -5.41700371] [-0.15102167 -0.19285021 0.96953662 -1.46982352] [ 0. 0. 0. 1. ]] SLAMing on 230.989072329 meters 0.18912015453247952 Centerline is valid? [False, False] Translation: X:90.59, Y:-5.47, Z:-1.41 [[ 0.86814882 0.43906154 0.23139273 90.58917468] [-0.47153848 0.87513345 0.10859513 -5.47003579] [-0.15481957 -0.20338731 0.96678048 -1.40940951] [ 0. 0. 0. 1. ]] SLAMing on 231.019072329 meters 0.2036181457131343 Centerline is valid? [False, False] Translation: X:90.39, Y:-5.53, Z:-1.35 [[ 0.86399337 0.44039794 0.24405967 90.38951775] [-0.47488625 0.87384237 0.10431952 -5.52983027] [-0.16732758 -0.20603195 0.96413294 -1.35452269] [ 0. 0. 0. 1. ]] SLAMing on 231.049072329 meters 0.18289257260433558 Centerline is valid? [False, False] Translation: X:90.19, Y:-5.60, Z:-1.29 [[ 0.86080682 0.4421747 0.25197847 90.19215625] [-0.47728411 0.87325693 0.09809289 -5.5972115 ] [-0.17666775 -0.20470435 0.96274848 -1.29373178] [ 0. 0. 0. 1. ]] SLAMing on 231.079072329 meters 0.20946796465513287 Centerline is valid? [False, False] Translation: X:89.99, Y:-5.67, Z:-1.23 [[ 0.85348249 0.44821137 0.26584619 89.98822979] [-0.48560527 0.8691487 0.09363785 -5.66803167] [-0.18909032 -0.20901458 0.95945701 -1.22610147] [ 0. 0. 0. 1. ]] SLAMing on 231.109072329 meters 0.20043301696660065 Centerline is valid? [False, False] Translation: X:89.77, Y:-5.74, Z:-1.14 [[ 0.84273641 0.45698913 0.28452815 89.76717021] [-0.49899858 0.861449 0.09437182 -5.74436217] [-0.2019796 -0.22150971 0.95401137 -1.14229025] [ 0. 0. 0. 1. ]] SLAMing on 231.13907232900002 meters 0.19616126185910757 Centerline is valid? [False, False] Translation: X:89.55, Y:-5.82, Z:-1.06 [[ 0.82797676 0.4798605 0.29015235 89.54929526] [-0.52276736 0.84773673 0.08975927 -5.82085829] [-0.20290088 -0.22600077 0.95276172 -1.05660453] [ 0. 0. 0. 1. ]] SLAMing on 231.169072329 meters 0.19802662734055998 Centerline is valid? [False, False] Translation: X:89.31, Y:-5.90, Z:-0.96 [[ 0.82051331 0.48951951 0.29517547 89.30854083] [-0.53490314 0.83961458 0.09447744 -5.90387484] [-0.20158508 -0.23541028 0.95076046 -0.9578838 ] [ 0. 0. 0. 1. ]] SLAMing on 231.199072329 meters 0.2065620310241105 Centerline is valid? [False, False] Translation: X:89.05, Y:-5.99, Z:-0.85 [[ 0.80983971 0.49658188 0.31235568 89.0533689 ] [-0.54948541 0.82857459 0.10737752 -5.98813864] [-0.20548825 -0.25859347 0.94387711 -0.84569811] [ 0. 0. 0. 1. ]] SLAMing on 231.229072329 meters 0.2362575595324621 Centerline is valid? [False, False] Translation: X:88.78, Y:-6.07, Z:-0.70 [[ 0.7834476 0.51641091 0.34573058 88.7780134 ] [-0.58369998 0.80242412 0.12413648 -6.07120797] [-0.21331712 -0.29905736 0.93008629 -0.70027983] [ 0. 0. 0. 1. ]] SLAMing on 231.259072329 meters 0.2510885225310684 Centerline is valid? [False, False] Translation: X:88.50, Y:-6.16, Z:-0.58 [[ 0.77271118 0.52596214 0.35536075 88.49678709] [-0.59665668 0.7928787 0.12387161 -6.16141193] [-0.2166062 -0.30774534 0.92648506 -0.57934183] [ 0. 0. 0. 1. ]] SLAMing on 231.289072329 meters 0.26543376518910394 Centerline is valid? [False, False] Translation: X:88.21, Y:-6.25, Z:-0.46 [[ 0.76323447 0.5371148 0.35913903 88.21121521] [-0.60833141 0.78466656 0.11929498 -6.2544719 ] [-0.21772929 -0.30952559 0.92562836 -0.4615331 ] [ 0. 0. 0. 1. ]] SLAMing on 231.319072329 meters 0.26849246603705057 Centerline is valid? [False, False] Translation: X:87.91, Y:-6.35, Z:-0.34 [[ 0.75530579 0.54696476 0.36103008 87.90856162] [-0.61812419 0.77761137 0.11507841 -6.35435287] [-0.21779726 -0.31008081 0.92542652 -0.34423319] [ 0. 0. 0. 1. ]] SLAMing on 231.349072329 meters 0.3044874181128547 Centerline is valid? [False, False] Translation: X:87.59, Y:-6.46, Z:-0.23 [[ 0.7447129 0.5651913 0.35491055 87.59455641] [-0.63290667 0.76681358 0.10689284 -6.45581449] [-0.21173533 -0.30422973 0.92876931 -0.23183074] [ 0. 0. 0. 1. ]] SLAMing on 231.379072329 meters 0.3148824552892367 Centerline is valid? [False, False] Translation: X:87.27, Y:-6.57, Z:-0.10 [[ 0.74041817 0.56545321 0.36337804 87.26912247] [-0.63721344 0.76253467 0.11180295 -6.56686391] [-0.21386902 -0.31433031 0.92490891 -0.10213615] [ 0. 0. 0. 1. ]] SLAMing on 231.409072329 meters 0.33092172546204346 Centerline is valid? [False, False] Translation: X:86.94, Y:-6.68, Z:0.05 [[ 7.33151249e-01 5.63617870e-01 3.80557673e-01 8.69410435e+01] [-6.44152989e-01 7.54968277e-01 1.22840659e-01 -6.67728783e+00] [-2.18073780e-01 -3.35198145e-01 9.16562071e-01 4.75496066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.439072329 meters 0.32680426935456247 Centerline is valid? [False, False] Translation: X:86.63, Y:-6.79, Z:0.19 [[ 0.7323427 0.5572323 0.3913647 86.62808745] [-0.64345578 0.75436556 0.12998946 -6.78840964] [-0.22279772 -0.34702271 0.91100846 0.19357472] [ 0. 0. 0. 1. ]] SLAMing on 231.469072329 meters 0.3194480403504925 Centerline is valid? [False, False] Translation: X:86.32, Y:-6.90, Z:0.34 [[ 0.73383883 0.55173821 0.39631493 86.32368023] [-0.64041958 0.75647556 0.13269318 -6.89824861] [-0.22659066 -0.35118325 0.90847509 0.33776272] [ 0. 0. 0. 1. ]] SLAMing on 231.499072329 meters 0.2918529686957177 Centerline is valid? [False, False] Translation: X:86.04, Y:-7.00, Z:0.47 [[ 0.74454495 0.54387857 0.38710324 86.03796091] [-0.62734814 0.7682812 0.12719401 -7.00002464] [-0.22822605 -0.33755016 0.91322109 0.47456044] [ 0. 0. 0. 1. ]] SLAMing on 231.529072329 meters 0.29300358584962977 Centerline is valid? [False, False] Translation: X:85.75, Y:-7.10, Z:0.61 [[ 0.75192527 0.53618578 0.38355339 85.75315409] [-0.6179493 0.77593828 0.12672193 -7.10411069] [-0.22966726 -0.33230196 0.91478323 0.60928531] [ 0. 0. 0. 1. ]] SLAMing on 231.559072329 meters 0.2663398423761879 Centerline is valid? [False, False] Translation: X:85.47, Y:-7.21, Z:0.74 [[ 0.7588807 0.52569655 0.3843738 85.47437149] [-0.60760085 0.78395644 0.12741076 -7.20537147] [-0.23435293 -0.33023541 0.91434309 0.74254582] [ 0. 0. 0. 1. ]] SLAMing on 231.589072329 meters 0.2627811903675838 Centerline is valid? [False, False] Translation: X:85.21, Y:-7.30, Z:0.88 [[ 0.76403238 0.51484431 0.3888314 85.20524132] [-0.59752687 0.79197094 0.12547377 -7.30291721] [-0.24334372 -0.32820324 0.91272475 0.87673072] [ 0. 0. 0. 1. ]] SLAMing on 231.619072329 meters 0.23341073019300326 Centerline is valid? [False, False] Translation: X:84.95, Y:-7.39, Z:1.01 [[ 0.77276636 0.49337797 0.39926225 84.9490807 ] [-0.57676963 0.80843807 0.11732298 -7.39459856] [-0.26489423 -0.32094559 0.90929917 1.01035629] [ 0. 0. 0. 1. ]] SLAMing on 231.649072329 meters 0.23668338071154635 Centerline is valid? [False, False] Translation: X:84.71, Y:-7.48, Z:1.13 [[ 0.77551164 0.48459748 0.40465662 84.71054527] [-0.56664244 0.81689819 0.10767404 -7.48319107] [-0.27838469 -0.31279808 0.90810755 1.13388643] [ 0. 0. 0. 1. ]] SLAMing on 231.679072329 meters 0.23668338071154635 Centerline is valid? [False, False] Translation: X:84.47, Y:-7.57, Z:1.26 [[ 0.77421326 0.4860583 0.40539014 84.47481624] [-0.56729708 0.81692811 0.10393502 -7.57183979] [-0.28065612 -0.31044451 0.90821603 1.25520017] [ 0. 0. 0. 1. ]] SLAMing on 231.709072329 meters 0.20403083011999748 Centerline is valid? [False, False] Translation: X:84.25, Y:-7.66, Z:1.37 [[ 0.78608024 0.46688058 0.40509306 84.24826356] [-0.54367498 0.83404471 0.09373868 -7.65666025] [-0.29410095 -0.29392508 0.90945735 1.36659731] [ 0. 0. 0. 1. ]] SLAMing on 231.739072329 meters 0.19546618494892332 Centerline is valid? [False, False] Translation: X:84.04, Y:-7.74, Z:1.47 [[ 0.79412335 0.45810361 0.39938601 84.0362421 ] [-0.53156584 0.84211167 0.09102585 -7.73730422] [-0.29462835 -0.28458572 0.91225276 1.47481312] [ 0. 0. 0. 1. ]] SLAMing on 231.769072329 meters 0.18737506893443942 Centerline is valid? [False, False] Translation: X:83.83, Y:-7.81, Z:1.58 [[ 0.80257887 0.44838282 0.39347174 83.83334845] [-0.51953258 0.84952318 0.09163117 -7.81452672] [-0.29317752 -0.27796263 0.91475883 1.579693 ] [ 0. 0. 0. 1. ]] SLAMing on 231.799072329 meters 0.17315612444063588 Centerline is valid? [False, False] Translation: X:83.65, Y:-7.89, Z:1.68 [[ 0.81858282 0.42617866 0.38508949 83.64774202] [-0.49510904 0.86340851 0.09691637 -7.88556917] [-0.29118585 -0.26999536 0.91777628 1.68193919] [ 0. 0. 0. 1. ]] SLAMing on 231.829072329 meters 0.1659599631310948 Centerline is valid? [False, False] Translation: X:83.48, Y:-7.95, Z:1.77 [[ 0.82539335 0.41935716 0.37797538 83.47658879] [-0.4844311 0.86990179 0.09272209 -7.95061753] [-0.28991779 -0.25963523 0.9211608 1.77476618] [ 0. 0. 0. 1. ]] SLAMing on 231.859072329 meters 0.16223648465951113 Centerline is valid? [False, False] Translation: X:83.31, Y:-8.01, Z:1.86 [[ 0.82918582 0.41189946 0.37787525 83.30917563] [-0.47401717 0.87642081 0.08481915 -8.0115947 ] [-0.29624077 -0.24945019 0.92196313 1.8592269 ] [ 0. 0. 0. 1. ]] SLAMing on 231.88907232900002 meters 0.15667826210996158 Centerline is valid? [False, False] Translation: X:83.15, Y:-8.07, Z:1.94 [[ 8.37161858e-01 3.95568446e-01 3.77737512e-01 8.31471713e+01] [-4.53521280e-01 8.88073751e-01 7.51229710e-02 -8.07277499e+00] [-3.05742492e-01 -2.34202086e-01 9.22860180e-01 1.93768049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919072329 meters 0.15644266038365034 Centerline is valid? [False, False] Translation: X:83.00, Y:-8.13, Z:2.01 [[ 8.40519888e-01 3.90871250e-01 3.75161276e-01 8.29961081e+01] [-4.44767433e-01 8.93222803e-01 6.58403759e-02 -8.12819667e+00] [-3.09367497e-01 -2.22199663e-01 9.24618333e-01 2.01004502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.949072329 meters 0.18091640817040194 Centerline is valid? [False, False] Translation: X:82.85, Y:-8.18, Z:2.08 [[ 8.44262074e-01 3.84845857e-01 3.72981523e-01 8.28488088e+01] [-4.35837242e-01 8.98026904e-01 5.99464568e-02 -8.18223605e+00] [-3.11877297e-01 -2.13169758e-01 9.25900214e-01 2.07722856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979072329 meters 0.16412735746951235 Centerline is valid? [False, False] Translation: X:82.71, Y:-8.23, Z:2.14 [[ 8.51785925e-01 3.71779462e-01 3.69108074e-01 8.27083948e+01] [-4.20003170e-01 9.05734195e-01 5.69465105e-02 -8.23469950e+00] [-3.13142261e-01 -2.03532797e-01 9.27640191e-01 2.14432486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.009072329 meters 0.18722930679654853 Centerline is valid? [False, False] Translation: X:82.58, Y:-8.28, Z:2.21 [[ 8.55828119e-01 3.67662242e-01 3.63844345e-01 8.25760752e+01] [-4.14125004e-01 9.08491211e-01 5.60731750e-02 -8.28249879e+00] [-3.09933400e-01 -1.98666041e-01 9.29770451e-01 2.20909805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039072329 meters 0.17814469792965637 Centerline is valid? [False, False] Translation: X:82.45, Y:-8.33, Z:2.27 [[ 8.60012755e-01 3.64587511e-01 3.57007014e-01 8.24506279e+01] [-4.09390266e-01 9.10624236e-01 5.62415476e-02 -8.32750206e+00] [-3.04594274e-01 -1.94523645e-01 9.32407036e-01 2.26991704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.069072329 meters 0.1657908412371404 Centerline is valid? [False, False] Translation: X:82.33, Y:-8.37, Z:2.32 [[ 8.65394349e-01 3.60241156e-01 3.48308670e-01 8.23275749e+01] [-4.02652286e-01 9.13672498e-01 5.54409870e-02 -8.36960077e+00] [-2.98267927e-01 -1.88225599e-01 9.35738942e-01 2.32482906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099072329 meters 0.1861494713330728 Centerline is valid? [False, False] Translation: X:82.20, Y:-8.41, Z:2.38 [[ 8.67826466e-01 3.59351158e-01 3.43138412e-01 8.21968856e+01] [-4.00105002e-01 9.14889820e-01 5.37829427e-02 -8.41448924e+00] [-2.94606877e-01 -1.83965656e-01 9.37743795e-01 2.37619656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.129072329 meters 0.18932992805486168 Centerline is valid? [False, False] Translation: X:82.07, Y:-8.46, Z:2.43 [[ 8.69676561e-01 3.58438462e-01 3.39388492e-01 8.20656285e+01] [-3.98115527e-01 9.15805636e-01 5.29534122e-02 -8.45952507e+00] [-2.91833355e-01 -1.81168170e-01 9.39154613e-01 2.42575590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159072329 meters 0.1758298913018007 Centerline is valid? [False, False] Translation: X:81.94, Y:-8.50, Z:2.47 [[ 8.69068620e-01 3.57322035e-01 3.42112112e-01 8.19364278e+01] [-3.96473460e-01 9.16699463e-01 4.97080477e-02 -8.50243509e+00] [-2.95852208e-01 -1.78838077e-01 9.38343441e-01 2.47218557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.189072329 meters 0.1671020439002191 Centerline is valid? [False, False] Translation: X:81.80, Y:-8.55, Z:2.52 [[ 8.66815981e-01 3.58406589e-01 3.46662332e-01 8.18029456e+01] [-3.96894354e-01 9.16781082e-01 4.45793711e-02 -8.54745654e+00] [-3.01835927e-01 -1.76230433e-01 9.36930044e-01 2.51914185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219072329 meters 0.15831592218662838 Centerline is valid? [False, False] Translation: X:81.67, Y:-8.59, Z:2.57 [[ 8.65332636e-01 3.58081259e-01 3.50681111e-01 8.16731580e+01] [-3.97273991e-01 9.16628600e-01 4.43326601e-02 -8.59309229e+00] [-3.05569641e-01 -1.77678982e-01 9.35445014e-01 2.56895672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.249072329 meters 0.1681437212739164 Centerline is valid? [False, False] Translation: X:81.54, Y:-8.64, Z:2.62 [[ 8.64923560e-01 3.60304603e-01 3.49410686e-01 8.15421817e+01] [-4.00887290e-01 9.14815499e-01 4.90100275e-02 -8.64156877e+00] [-3.01987773e-01 -1.82464231e-01 9.35687015e-01 2.62457059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279072329 meters 0.1685711698703556 Centerline is valid? [False, False] Translation: X:81.41, Y:-8.69, Z:2.68 [[ 8.65316081e-01 3.61809424e-01 3.46874646e-01 8.14112202e+01] [-4.02854350e-01 9.13795734e-01 5.18240226e-02 -8.69089593e+00] [-2.98222152e-01 -1.84584120e-01 9.36478644e-01 2.68021951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.309072329 meters 0.15882101075313532 Centerline is valid? [False, False] Translation: X:81.28, Y:-8.74, Z:2.74 [[ 8.65342947e-01 3.64668936e-01 3.43799580e-01 8.12784153e+01] [-4.05676197e-01 9.12465422e-01 5.32322964e-02 -8.74171657e+00] [-2.94293064e-01 -1.85535498e-01 9.37533024e-01 2.73704059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339072329 meters 0.16301067613269016 Centerline is valid? [False, False] Translation: X:81.15, Y:-8.79, Z:2.79 [[ 8.63441773e-01 3.73267181e-01 3.39322732e-01 8.11452934e+01] [-4.14583754e-01 9.08299439e-01 5.57892509e-02 -8.79498744e+00] [-2.87382351e-01 -1.88848462e-01 9.39014187e-01 2.79043457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.369072329 meters 0.15819205388084323 Centerline is valid? [False, False] Translation: X:81.00, Y:-8.85, Z:2.85 [[ 8.62229306e-01 3.77657463e-01 3.37543278e-01 8.09997977e+01] [-4.19076997e-01 9.06183206e-01 5.66256813e-02 -8.85045277e+00] [-2.84490939e-01 -1.90280945e-01 9.39605272e-01 2.84511220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399072329 meters 0.15561189453381863 Centerline is valid? [False, False] Translation: X:80.85, Y:-8.91, Z:2.90 [[ 8.61002066e-01 3.81174915e-01 3.36721140e-01 8.08513818e+01] [-4.23054782e-01 9.04236572e-01 5.81452742e-02 -8.90731610e+00] [-2.82312050e-01 -1.92514690e-01 9.39807428e-01 2.89894726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.429072329 meters 0.1617033045388458 Centerline is valid? [False, False] Translation: X:80.70, Y:-8.97, Z:2.96 [[ 8.59160064e-01 3.84147840e-01 3.38044999e-01 8.06964090e+01] [-4.27099918e-01 9.02194072e-01 6.02620624e-02 -8.96734859e+00] [-2.81832653e-01 -1.96153749e-01 9.39198628e-01 2.95608980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459072329 meters 0.16457117003124436 Centerline is valid? [False, False] Translation: X:80.54, Y:-9.03, Z:3.02 [[ 8.52903535e-01 3.94157899e-01 3.42337715e-01 8.05351393e+01] [-4.39375861e-01 8.96096694e-01 6.29250973e-02 -9.03473706e+00] [-2.81965270e-01 -2.04083966e-01 9.37467504e-01 3.01592789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.489072329 meters 0.16711678870606098 Centerline is valid? [False, False] Translation: X:80.36, Y:-9.10, Z:3.08 [[ 8.48387204e-01 3.98654405e-01 3.48301330e-01 8.03636164e+01] [-4.45813316e-01 8.92835446e-01 6.39949576e-02 -9.10243341e+00] [-2.85463902e-01 -2.09569874e-01 9.35195610e-01 3.08271357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519072329 meters 0.16852155992981432 Centerline is valid? [False, False] Translation: X:80.19, Y:-9.18, Z:3.15 [[ 8.39103996e-01 4.12378560e-01 3.54751191e-01 8.01885699e+01] [-4.62526322e-01 8.84124461e-01 6.62822666e-02 -9.17549214e+00] [-2.86310820e-01 -2.19699478e-01 9.32608307e-01 3.15237807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.549072329 meters 0.1714692162279129 Centerline is valid? [False, False] Translation: X:80.00, Y:-9.25, Z:3.23 [[ 8.36039335e-01 4.18299048e-01 3.55055118e-01 7.99986296e+01] [-4.69974502e-01 8.79899484e-01 7.00061846e-02 -9.25284163e+00] [-2.83129295e-01 -2.25394776e-01 9.32220466e-01 3.22987608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579072329 meters 0.1761711226167037 Centerline is valid? [False, False] Translation: X:79.80, Y:-9.33, Z:3.31 [[ 8.33079313e-01 4.23445727e-01 3.55910907e-01 7.98048881e+01] [-4.76865244e-01 8.75842221e-01 7.41616029e-02 -9.33193438e+00] [-2.80318386e-01 -2.31504039e-01 9.31572586e-01 3.30785512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.609072329 meters 0.18874728046520048 Centerline is valid? [False, False] Translation: X:79.61, Y:-9.41, Z:3.39 [[ 8.30200436e-01 4.28388206e-01 3.56722274e-01 7.96069484e+01] [-4.83256883e-01 8.72046673e-01 7.74427815e-02 -9.41313282e+00] [-2.77902898e-01 -2.36681525e-01 9.30995078e-01 3.38925730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63907232900002 meters 0.1849249837152085 Centerline is valid? [False, False] Translation: X:79.40, Y:-9.50, Z:3.47 [[ 0.82729016 0.43235195 0.35869595 79.40320135] [-0.48908219 0.8684467 0.08123387 -9.4974745 ] [-0.27638669 -0.24263578 0.92991305 3.47400168] [ 0. 0. 0. 1. ]] SLAMing on 232.669072329 meters 0.19471218012866898 Centerline is valid? [False, False] Translation: X:79.19, Y:-9.59, Z:3.56 [[ 0.82030297 0.44233113 0.36255512 79.19239094] [-0.50171594 0.86085766 0.08488345 -9.58893839] [-0.27456176 -0.25152983 0.92808867 3.56477986] [ 0. 0. 0. 1. ]] SLAMing on 232.699072329 meters 0.20383161123996554 Centerline is valid? [False, False] Translation: X:78.97, Y:-9.69, Z:3.66 [[ 0.81294658 0.45254119 0.36650284 78.97313197] [-0.51348204 0.85392182 0.08457962 -9.68546733] [-0.27468901 -0.25695134 0.9265646 3.65745295] [ 0. 0. 0. 1. ]] SLAMing on 232.729072329 meters 0.2080090978778366 Centerline is valid? [False, False] Translation: X:78.75, Y:-9.78, Z:3.75 [[ 0.80972381 0.45638383 0.36886469 78.74775623] [-0.51789376 0.85135883 0.08351166 -9.7812931 ] [-0.27592284 -0.2586541 0.92572385 3.75460321] [ 0. 0. 0. 1. ]] SLAMing on 232.759072329 meters 0.2150586754351517 Centerline is valid? [False, False] Translation: X:78.52, Y:-9.88, Z:3.85 [[ 0.80699341 0.46017661 0.37013392 78.52120249] [-0.52223573 0.84870919 0.08344189 -9.87846757] [-0.27573805 -0.26063422 0.92522339 3.85350403] [ 0. 0. 0. 1. ]] SLAMing on 232.789072329 meters 0.22275645358766785 Centerline is valid? [False, False] Translation: X:78.29, Y:-9.98, Z:3.96 [[ 0.80565865 0.46270369 0.36989112 78.28978243] [-0.52601228 0.84596697 0.08746981 -9.98006604] [-0.27244307 -0.26503808 0.92494843 3.95582891] [ 0. 0. 0. 1. ]] SLAMing on 232.819072329 meters 0.23562047759293078 Centerline is valid? [False, False] Translation: X:78.05, Y:-10.09, Z:4.07 [[ 0.79983993 0.46918827 0.374324 78.05371121] [ -0.53560659 0.83940526 0.09232761 -10.08836928] [ -0.27089051 -0.27433771 0.92269017 4.06503737] [ 0. 0. 0. 1. ]] SLAMing on 232.849072329 meters 0.23157492216282533 Centerline is valid? [False, False] Translation: X:77.81, Y:-10.20, Z:4.18 [[ 0.79858377 0.47032706 0.37557478 77.80946373] [ -0.53881629 0.83671854 0.09787286 -10.19755414] [ -0.26821813 -0.28052549 0.92160973 4.17723566] [ 0. 0. 0. 1. ]] SLAMing on 232.879072329 meters 0.2487121783120815 Centerline is valid? [False, False] Translation: X:77.57, Y:-10.31, Z:4.29 [[ 0.79725507 0.47282419 0.37526209 77.5665042 ] [ -0.54210012 0.83427893 0.10052923 -10.30732999] [ -0.2655406 -0.28357706 0.92145116 4.28967382] [ 0. 0. 0. 1. ]] SLAMing on 232.909072329 meters 0.2639581737715427 Centerline is valid? [False, False] Translation: X:77.32, Y:-10.43, Z:4.40 [[ 0.79402302 0.47987458 0.37315925 77.31670236] [ -0.54930784 0.82932958 0.10233937 -10.42873208] [ -0.26036194 -0.28623911 0.92210565 4.3985201 ] [ 0. 0. 0. 1. ]] SLAMing on 232.939072329 meters 0.24775144349668674 Centerline is valid? [False, False] Translation: X:77.06, Y:-10.55, Z:4.51 [[ 0.79344762 0.48194835 0.37170777 77.05788506] [ -0.55153892 0.8276083 0.10425606 -10.54807556] [ -0.2573824 -0.28773302 0.92247711 4.51337445] [ 0. 0. 0. 1. ]] SLAMing on 232.969072329 meters 0.27219193952012616 Centerline is valid? [False, False] Translation: X:76.80, Y:-10.67, Z:4.63 [[ 0.79277836 0.48306632 0.37168455 76.79601098] [ -0.55357395 0.82584389 0.10741389 -10.66876972] [ -0.25506539 -0.29091029 0.9221241 4.63029037] [ 0. 0. 0. 1. ]] SLAMing on 232.999072329 meters 0.26142320913748435 Centerline is valid? [False, False] Translation: X:76.53, Y:-10.80, Z:4.75 [[ 0.79057744 0.48522858 0.37355124 76.52873573] [ -0.55865117 0.82132896 0.1154453 -10.79886626] [ -0.25079109 -0.29995329 0.92039766 4.753524 ] [ 0. 0. 0. 1. ]] SLAMing on 233.029072329 meters 0.2710962637059282 Centerline is valid? [False, False] Translation: X:76.26, Y:-10.92, Z:4.88 [[ 0.79035277 0.48350586 0.3762507 76.26140647] [ -0.55932094 0.82006069 0.12108073 -10.92348104] [ -0.25000516 -0.30614138 0.91857219 4.88078038] [ 0. 0. 0. 1. ]] SLAMing on 233.059072329 meters 0.28533401016745513 Centerline is valid? [False, False] Translation: X:75.99, Y:-11.05, Z:5.01 [[ 0.78638258 0.48336634 0.38465495 75.99464507] [ -0.56262851 0.81752171 0.12291219 -11.05467274] [ -0.25505215 -0.31307385 0.91484051 5.01286614] [ 0. 0. 0. 1. ]] SLAMing on 233.089072329 meters 0.2903812474116577 Centerline is valid? [False, False] Translation: X:75.73, Y:-11.18, Z:5.14 [[ 0.78608716 0.48335116 0.38527734 75.72800807] [ -0.56255548 0.81772125 0.1219151 -11.18194582] [ -0.25612166 -0.31257578 0.91471202 5.1401081 ] [ 0. 0. 0. 1. ]] SLAMing on 233.119072329 meters 0.2883015107295037 Centerline is valid? [False, False] Translation: X:75.46, Y:-11.31, Z:5.27 [[ 0.78592469 0.48435563 0.38434619 75.46343857] [ -0.56261991 0.8180201 0.11959072 -11.30946636] [ -0.25647847 -0.31023012 0.91541033 5.26569197] [ 0. 0. 0. 1. ]] SLAMing on 233.149072329 meters 0.300078172709519 Centerline is valid? [False, False] Translation: X:75.19, Y:-11.44, Z:5.39 [[ 0.78691422 0.48513074 0.3813321 75.19321948] [ -0.56225264 0.8183329 0.11917735 -11.44097829] [ -0.25424001 -0.30818733 0.91672383 5.39299969] [ 0. 0. 0. 1. ]] SLAMing on 233.179072329 meters 0.2928455108940256 Centerline is valid? [False, False] Translation: X:74.92, Y:-11.58, Z:5.52 [[ 0.78761883 0.48805648 0.3761083 74.92444826] [ -0.56427087 0.81650882 0.12211363 -11.57781506] [ -0.24749739 -0.30840595 0.91849377 5.52023019] [ 0. 0. 0. 1. ]] SLAMing on 233.209072329 meters 0.2955473010128606 Centerline is valid? [False, False] Translation: X:74.65, Y:-11.71, Z:5.65 [[ 0.78877473 0.48647172 0.37573886 74.64751934] [ -0.56374628 0.81616303 0.1267598 -11.71252433] [ -0.24499911 -0.31180631 0.91801539 5.65340244] [ 0. 0. 0. 1. ]] SLAMing on 233.239072329 meters 0.3062109452164613 Centerline is valid? [False, False] Translation: X:74.37, Y:-11.85, Z:5.79 [[ 0.78974144 0.48402182 0.37687046 74.37286227] [ -0.56294578 0.81592344 0.13176109 -11.84678877] [ -0.2437222 -0.31621483 0.91684659 5.7859127 ] [ 0. 0. 0. 1. ]] SLAMing on 233.269072329 meters 0.3090775363786683 Centerline is valid? [False, False] Translation: X:74.10, Y:-11.98, Z:5.92 [[ 0.78734745 0.48435801 0.38142014 74.10250898] [ -0.56560946 0.8136633 0.13430553 -11.98486325] [ -0.24529561 -0.32147996 0.91459319 5.91977322] [ 0. 0. 0. 1. ]] SLAMing on 233.299072329 meters 0.31710800588547744 Centerline is valid? [False, False] Translation: X:73.83, Y:-12.12, Z:6.05 [[ 0.78575957 0.48562816 0.38307597 73.83069667] [ -0.56630405 0.81391275 0.12979116 -12.11943471] [ -0.24876017 -0.31892212 0.91455293 6.05207448] [ 0. 0. 0. 1. ]] SLAMing on 233.329072329 meters 0.3118319239199439 Centerline is valid? [False, False] Translation: X:73.56, Y:-12.26, Z:6.18 [[ 0.78463619 0.48777677 0.38264849 73.56013216] [ -0.56708901 0.81410586 0.12506683 -12.25610317] [ -0.25051169 -0.31512772 0.91538976 6.1823602 ] [ 0. 0. 0. 1. ]] SLAMing on 233.359072329 meters 0.32397860910377646 Centerline is valid? [False, False] Translation: X:73.29, Y:-12.40, Z:6.31 [[ 0.78291176 0.49275175 0.37979586 73.2867575 ] [ -0.57012817 0.81259809 0.12098846 -12.40116446] [ -0.24900412 -0.3112556 0.91712425 6.31136894] [ 0. 0. 0. 1. ]] SLAMing on 233.38907232900002 meters 0.323098208289011 Centerline is valid? [False, False] Translation: X:73.00, Y:-12.55, Z:6.45 [[ 0.78460995 0.48955768 0.38042149 72.99978178] [ -0.56883755 0.81248483 0.12764109 -12.54698633] [ -0.24659901 -0.3165465 0.91596247 6.44643865] [ 0. 0. 0. 1. ]] SLAMing on 233.419072329 meters 0.330714553733266 Centerline is valid? [False, False] Translation: X:72.72, Y:-12.69, Z:6.58 [[ 0.78629657 0.48542797 0.38222688 72.71760171] [ -0.56712258 0.81253916 0.13472968 -12.69096799] [ -0.24517276 -0.32270698 0.91419392 6.58330361] [ 0. 0. 0. 1. ]] SLAMing on 233.449072329 meters 0.3137588095791111 Centerline is valid? [False, False] Translation: X:72.44, Y:-12.83, Z:6.72 [[ 0.78621174 0.48192797 0.38680297 72.43907659] [ -0.56594826 0.8128863 0.13754425 -12.83280643] [ -0.24814042 -0.32704937 0.91184705 6.72248022] [ 0. 0. 0. 1. ]] SLAMing on 233.479072329 meters 0.3163993408643624 Centerline is valid? [False, False] Translation: X:72.17, Y:-12.98, Z:6.86 [[ 0.785974 0.47802604 0.39209179 72.16507186] [ -0.56439208 0.81365555 0.13937798 -12.97916401] [ -0.25240136 -0.33084097 0.90930622 6.8641999 ] [ 0. 0. 0. 1. ]] SLAMing on 233.509072329 meters 0.30865631713459063 Centerline is valid? [False, False] Translation: X:71.89, Y:-13.12, Z:7.00 [[ 0.78573807 0.4772231 0.39354009 71.89415934] [ -0.56289688 0.81541664 0.13506593 -13.12184143] [ -0.25644256 -0.32764893 0.90933129 6.99964935] [ 0. 0. 0. 1. ]] SLAMing on 233.539072329 meters 0.3164217181073884 Centerline is valid? [False, False] Translation: X:71.62, Y:-13.27, Z:7.13 [[ 0.78525995 0.47727985 0.39442458 71.62182663] [ -0.5617214 0.81711824 0.12956405 -13.26681008] [ -0.26045321 -0.32329819 0.90974854 7.13393036] [ 0. 0. 0. 1. ]] SLAMing on 233.569072329 meters 0.3164217181073884 Centerline is valid? [False, False] Translation: X:71.35, Y:-13.41, Z:7.27 [[ 0.78558501 0.47466624 0.39692337 71.34710602] [ -0.559878 0.81840884 0.12939707 -13.40868682] [ -0.26342517 -0.32388106 0.9086849 7.27085342] [ 0. 0. 0. 1. ]] SLAMing on 233.599072329 meters 0.31749185720176976 Centerline is valid? [False, False] Translation: X:71.08, Y:-13.56, Z:7.40 [[ 0.78567427 0.47655086 0.39448095 71.0820217 ] [ -0.55995115 0.8188923 0.12597662 -13.55885907] [ -0.26300315 -0.31986665 0.91022781 7.40089955] [ 0. 0. 0. 1. ]] SLAMing on 233.629072329 meters 0.3178532350572109 Centerline is valid? [False, False] Translation: X:70.81, Y:-13.71, Z:7.54 [[ 0.78634699 0.47439419 0.39573799 70.80988348] [ -0.55908127 0.81899372 0.12914104 -13.70777272] [ -0.26284317 -0.32279937 0.90923816 7.5397612 ] [ 0. 0. 0. 1. ]] SLAMing on 233.659072329 meters 0.3228798322316971 Centerline is valid? [False, False] Translation: X:70.54, Y:-13.86, Z:7.68 [[ 0.78652208 0.46919533 0.40154547 70.53764266] [ -0.55791046 0.81864224 0.13623806 -13.86020985] [ -0.26479982 -0.33118065 0.90564918 7.68273532] [ 0. 0. 0. 1. ]] SLAMing on 233.689072329 meters 0.32719976323925537 Centerline is valid? [False, False] Translation: X:70.27, Y:-14.01, Z:7.82 [[ 0.78647279 0.46461487 0.4069319 70.26696573] [ -0.55598487 0.81950957 0.13887 -14.00866342] [ -0.26896352 -0.33546546 0.90284082 7.82360677] [ 0. 0. 0. 1. ]] SLAMing on 233.719072329 meters 0.3147665843347324 Centerline is valid? [False, False] Translation: X:70.00, Y:-14.16, Z:7.96 [[ 0.78687997 0.46097304 0.4102728 70.00183817] [ -0.55378656 0.82082712 0.13986885 -14.15615364] [ -0.27228727 -0.33726356 0.90117309 7.96281628] [ 0. 0. 0. 1. ]] SLAMing on 233.749072329 meters 0.3095365812776761 Centerline is valid? [False, False] Translation: X:69.74, Y:-14.31, Z:8.10 [[ 0.78957889 0.45790604 0.40851835 69.74467262] [ -0.54943102 0.82401367 0.13830052 -14.30930104] [ -0.27329606 -0.33365182 0.90221157 8.09852501] [ 0. 0. 0. 1. ]] SLAMing on 233.779072329 meters 0.31485989911151196 Centerline is valid? [False, False] Translation: X:69.49, Y:-14.46, Z:8.23 [[ 0.79114646 0.45577525 0.40786786 69.48652523] [ -0.54645078 0.82627015 0.13663523 -14.45631209] [ -0.27473409 -0.33097819 0.90275945 8.2339802 ] [ 0. 0. 0. 1. ]] SLAMing on 233.809072329 meters 0.3100914321627028 Centerline is valid? [False, False] Translation: X:69.23, Y:-14.60, Z:8.37 [[ 0.79297781 0.45287925 0.4075372 69.22839373] [ -0.54342924 0.82819029 0.1370602 -14.60382851] [ -0.27544663 -0.33015333 0.90284435 8.37070257] [ 0. 0. 0. 1. ]] SLAMing on 233.839072329 meters 0.3201230170942527 Centerline is valid? [False, False] Translation: X:68.97, Y:-14.75, Z:8.51 [[ 0.79420631 0.44906145 0.40936553 68.97157685] [ -0.54066569 0.82971272 0.13877109 -14.74946 ] [ -0.27733904 -0.33154278 0.9017552 8.50848671] [ 0. 0. 0. 1. ]] SLAMing on 233.869072329 meters 0.3026120603654307 Centerline is valid? [False, False] Translation: X:68.71, Y:-14.90, Z:8.65 [[ 0.79586033 0.44123254 0.41463257 68.71313068] [ -0.53620393 0.83168563 0.14416781 -14.89991775] [ -0.28123242 -0.33706506 0.89849623 8.65207757] [ 0. 0. 0. 1. ]] SLAMing on 233.899072329 meters 0.302077059504618 Centerline is valid? [False, False] Translation: X:68.46, Y:-15.04, Z:8.79 [[ 0.79548479 0.43731257 0.41947785 68.45819187] [ -0.53412128 0.83296518 0.14451113 -15.04483911] [ -0.28621391 -0.33900845 0.89618908 8.7935612 ] [ 0. 0. 0. 1. ]] SLAMing on 233.929072329 meters 0.3014876370980179 Centerline is valid? [False, False] Translation: X:68.21, Y:-15.19, Z:8.93 [[ 0.7950403 0.43392334 0.42381771 68.20696412] [ -0.53198982 0.83449011 0.14357259 -15.18876108] [ -0.29137219 -0.33961271 0.89429607 8.93357785] [ 0. 0. 0. 1. ]] SLAMing on 233.959072329 meters 0.3019485491175779 Centerline is valid? [False, False] Translation: X:67.96, Y:-15.34, Z:9.07 [[ 0.79674186 0.42942114 0.4252057 67.96020093] [ -0.5269815 0.83809069 0.14104787 -15.33636441] [ -0.295792 -0.33645428 0.89403893 9.07000818] [ 0. 0. 0. 1. ]] SLAMing on 233.989072329 meters 0.2969967183441645 Centerline is valid? [False, False] Translation: X:67.72, Y:-15.48, Z:9.20 [[ 0.79845815 0.42778863 0.42362893 67.71538217] [ -0.52372518 0.84059006 0.13827612 -15.47806457] [ -0.29694531 -0.33227283 0.89521966 9.20444623] [ 0. 0. 0. 1. ]] SLAMing on 234.019072329 meters 0.29992183346392065 Centerline is valid? [False, False] Translation: X:67.47, Y:-15.62, Z:9.34 [[ 0.80019245 0.42562155 0.42253798 67.46876071] [ -0.5206233 0.84270939 0.13708485 -15.62098698] [ -0.29773045 -0.32967738 0.89591819 9.34005211] [ 0. 0. 0. 1. ]] SLAMing on 234.049072329 meters 0.2984489210516599 Centerline is valid? [False, False] Translation: X:67.23, Y:-15.76, Z:9.48 [[ 0.80324732 0.42008962 0.42227771 67.22788079] [ -0.51555503 0.84539824 0.13965969 -15.76424308] [ -0.29832324 -0.32988867 0.89564318 9.47512502] [ 0. 0. 0. 1. ]] SLAMing on 234.079072329 meters 0.2902464484918676 Centerline is valid? [False, False] Translation: X:66.99, Y:-15.91, Z:9.61 [[ 0.80431075 0.41546281 0.42482334 66.98519684] [ -0.51275306 0.84656415 0.14287558 -15.90555707] [ -0.30028072 -0.33274583 0.89393048 9.61281878] [ 0. 0. 0. 1. ]] SLAMing on 234.109072329 meters 0.2933318490034725 Centerline is valid? [False, False] Translation: X:66.75, Y:-16.04, Z:9.75 [[ 0.80525067 0.41216209 0.42625552 66.74881049] [ -0.51042321 0.84767806 0.14460311 -16.04376916] [ -0.30172753 -0.33401246 0.89297042 9.74818151] [ 0. 0. 0. 1. ]] SLAMing on 234.13907232900002 meters 0.28702437482240656 Centerline is valid? [False, False] Translation: X:66.52, Y:-16.18, Z:9.88 [[ 0.80749393 0.4086491 0.42539331 66.51725102] [ -0.50617913 0.85032304 0.14399105 -16.18361696] [ -0.30287992 -0.33159712 0.89348033 9.88090285] [ 0. 0. 0. 1. ]] SLAMing on 234.169072329 meters 0.28517865231076817 Centerline is valid? [False, False] Translation: X:66.29, Y:-16.32, Z:10.01 [[ 0.80862822 0.40828487 0.42358455 66.29074088] [ -0.50392619 0.85223496 0.14054879 -16.31764458] [ -0.30360962 -0.32710706 0.89488668 10.01042497] [ 0. 0. 0. 1. ]] SLAMing on 234.199072329 meters 0.2825103820903649 Centerline is valid? [False, False] Translation: X:66.06, Y:-16.45, Z:10.14 [[ 0.80991639 0.40740936 0.42196333 66.06187527] [ -0.50135033 0.85424788 0.13750783 -16.45351936] [ -0.3044393 -0.3229213 0.89612418 10.14105839] [ 0. 0. 0. 1. ]] SLAMing on 234.229072329 meters 0.2784359419582141 Centerline is valid? [False, False] Translation: X:65.84, Y:-16.59, Z:10.27 [[ 0.81097051 0.40352972 0.42366332 65.8356318 ] [ -0.49699573 0.85720762 0.13487156 -16.59242725] [ -0.30874274 -0.31993572 0.89572264 10.27402732] [ 0. 0. 0. 1. ]] SLAMing on 234.259072329 meters 0.2783747329053386 Centerline is valid? [False, False] Translation: X:65.61, Y:-16.73, Z:10.41 [[ 0.81123891 0.40177367 0.42481685 65.60886948] [ -0.4955126 0.85809397 0.13469223 -16.72821632] [ -0.31041698 -0.31976967 0.89520313 10.40823444] [ 0. 0. 0. 1. ]] SLAMing on 234.289072329 meters 0.2785093904209683 Centerline is valid? [False, False] Translation: X:65.38, Y:-16.86, Z:10.54 [[ 0.81186505 0.40076713 0.42457138 65.382312 ] [ -0.49399322 0.8591324 0.13364962 -16.86315584] [ -0.31120066 -0.31824083 0.89547581 10.54113001] [ 0. 0. 0. 1. ]] SLAMing on 234.319072329 meters 0.2785649291970244 Centerline is valid? [False, False] Translation: X:65.16, Y:-17.00, Z:10.67 [[ 0.81474339 0.39865939 0.4210272 65.15955989] [ -0.4902208 0.86138853 0.13301643 -17.00006458] [ -0.30963976 -0.31477055 0.89724173 10.66944852] [ 0. 0. 0. 1. ]] SLAMing on 234.349072329 meters 0.2739026637765129 Centerline is valid? [False, False] Translation: X:64.94, Y:-17.13, Z:10.79 [[ 0.81658183 0.39861655 0.41749128 64.93593968] [ -0.48835588 0.86267799 0.13151128 -17.13341994] [ -0.30773796 -0.31127405 0.89911391 10.7939205 ] [ 0. 0. 0. 1. ]] SLAMing on 234.379072329 meters 0.27335581610725607 Centerline is valid? [False, False] Translation: X:64.71, Y:-17.27, Z:10.92 [[ 0.81838891 0.39747234 0.41503655 64.71197232] [ -0.48622647 0.863892 0.13143222 -17.26738211] [ -0.30630608 -0.30936443 0.9002612 10.91635772] [ 0. 0. 0. 1. ]] SLAMing on 234.409072329 meters 0.27210844616676955 Centerline is valid? [False, False] Translation: X:64.49, Y:-17.40, Z:11.04 [[ 0.82004353 0.39667504 0.41252578 64.48725111] [ -0.48456028 0.86479062 0.13167583 -17.40322261] [ -0.3045159 -0.30787352 0.90137892 11.04023356] [ 0. 0. 0. 1. ]] SLAMing on 234.439072329 meters 0.272399323636513 Centerline is valid? [False, False] Translation: X:64.27, Y:-17.54, Z:11.16 [[ 0.82112027 0.39673795 0.41031756 64.26740441] [ -0.48427488 0.864749 0.13299253 -17.54244756] [ -0.30205852 -0.30790935 0.90219315 11.16390697] [ 0. 0. 0. 1. ]] SLAMing on 234.469072329 meters 0.2751077105998677 Centerline is valid? [False, False] Translation: X:64.05, Y:-17.67, Z:11.29 [[ 0.82080175 0.39833708 0.40940451 64.0494305 ] [ -0.48474803 0.8648863 0.13034969 -17.67348769] [ -0.30216523 -0.30544928 0.9029933 11.2861515 ] [ 0. 0. 0. 1. ]] SLAMing on 234.499072329 meters 0.2773376794312207 Centerline is valid? [False, False] Translation: X:63.84, Y:-17.81, Z:11.41 [[ 0.8206247 0.39897681 0.40913642 63.83528085] [ -0.48507143 0.86481964 0.12958664 -17.80538891] [ -0.30212715 -0.30480239 0.90322461 11.40504431] [ 0. 0. 0. 1. ]] SLAMing on 234.529072329 meters 0.27844739987219336 Centerline is valid? [False, False] Translation: X:63.62, Y:-17.93, Z:11.52 [[ 0.82090987 0.3988109 0.40872588 63.61796813] [ -0.48415046 0.86560228 0.1277929 -17.93488256] [ -0.30282886 -0.30279128 0.90366594 11.52380852] [ 0. 0. 0. 1. ]] SLAMing on 234.559072329 meters 0.2750173917395584 Centerline is valid? [False, False] Translation: X:63.40, Y:-18.07, Z:11.64 [[ 0.82227682 0.39748025 0.40727175 63.39534294] [ -0.48247019 0.86643594 0.1284962 -18.06810398] [ -0.30180018 -0.30215592 0.90422257 11.6436906 ] [ 0. 0. 0. 1. ]] SLAMing on 234.589072329 meters 0.273205664191408 Centerline is valid? [False, False] Translation: X:63.18, Y:-18.20, Z:11.76 [[ 0.8224773 0.39739798 0.40694709 63.17685998] [ -0.48159193 0.86722256 0.12646837 -18.20139004] [ -0.30265542 -0.2999998 0.90465453 11.76396855] [ 0. 0. 0. 1. ]] SLAMing on 234.619072329 meters 0.2745805405936356 Centerline is valid? [False, False] Translation: X:62.95, Y:-18.33, Z:11.89 [[ 0.82214094 0.39787685 0.40715881 62.95436082] [ -0.48154392 0.86752003 0.12459716 -18.33464313] [ -0.3036441 -0.29850127 0.90481891 11.88576538] [ 0. 0. 0. 1. ]] SLAMing on 234.649072329 meters 0.2747355534278485 Centerline is valid? [False, False] Translation: X:62.73, Y:-18.47, Z:12.01 [[ 0.8218809 0.39853423 0.40704085 62.73254725] [ -0.48175608 0.86758974 0.12328471 -18.46814553] [ -0.30401129 -0.29741975 0.90505173 12.00644071] [ 0. 0. 0. 1. ]] SLAMing on 234.679072329 meters 0.27275925328682227 Centerline is valid? [False, False] Translation: X:62.51, Y:-18.60, Z:12.13 [[ 0.82502341 0.39150769 0.40750227 62.50923844] [ -0.47514886 0.87095061 0.1252142 -18.60216713] [ -0.30589203 -0.29692889 0.90457908 12.12575156] [ 0. 0. 0. 1. ]] SLAMing on 234.709072329 meters 0.267355667772959 Centerline is valid? [False, False] Translation: X:62.29, Y:-18.73, Z:12.24 [[ 0.82778353 0.38697833 0.40622925 62.2943719 ] [ -0.46927043 0.87440767 0.12327401 -18.72887698] [ -0.3075056 -0.29267557 0.90541776 12.24285362] [ 0. 0. 0. 1. ]] SLAMing on 234.739072329 meters 0.2626790895894128 Centerline is valid? [False, False] Translation: X:62.08, Y:-18.85, Z:12.36 [[ 0.82990696 0.38341249 0.40527682 62.08130811] [ -0.46428988 0.87742555 0.12066194 -18.85495125] [ -0.30933694 -0.28830411 0.90619611 12.35796 ] [ 0. 0. 0. 1. ]] SLAMing on 234.769072329 meters 0.2556107923105133 Centerline is valid? [False, False] Translation: X:61.87, Y:-18.98, Z:12.47 [[ 0.83365375 0.37600799 0.40452369 61.87350205] [ -0.4559982 0.88184667 0.12005036 -18.97822883] [ -0.31158798 -0.28454251 0.90661375 12.47107499] [ 0. 0. 0. 1. ]] SLAMing on 234.799072329 meters 0.25348748762048817 Centerline is valid? [False, False] Translation: X:61.67, Y:-19.10, Z:12.58 [[ 0.83543872 0.374304 0.40241603 61.67017443] [ -0.4525025 0.88403571 0.11714246 -19.09855847] [ -0.31190325 -0.27995961 0.90793115 12.5801455 ] [ 0. 0. 0. 1. ]] SLAMing on 234.829072329 meters 0.2507358166498418 Centerline is valid? [False, False] Translation: X:61.47, Y:-19.22, Z:12.68 [[ 0.83797449 0.37230487 0.3989835 61.47161507] [ -0.44805505 0.88676295 0.11356996 -19.21617687] [ -0.31152114 -0.2739353 0.90989781 12.68453049] [ 0. 0. 0. 1. ]] SLAMing on 234.859072329 meters 0.2497341182891783 Centerline is valid? [False, False] Translation: X:61.27, Y:-19.34, Z:12.79 [[ 0.83886766 0.37227447 0.39713067 61.27145798] [ -0.4467485 0.88767698 0.11155874 -19.33531245] [ -0.31099328 -0.27100055 0.91095658 12.78833289] [ 0. 0. 0. 1. ]] SLAMing on 234.88907232900002 meters 0.2495449201328707 Centerline is valid? [False, False] Translation: X:61.07, Y:-19.46, Z:12.89 [[ 0.83923815 0.37220339 0.39641388 61.06945037] [ -0.44602228 0.88819802 0.11031045 -19.45535412] [ -0.3110361 -0.26938616 0.91142067 12.89191794] [ 0. 0. 0. 1. ]] SLAMing on 234.919072329 meters 0.2510298718189254 Centerline is valid? [False, False] Translation: X:60.86, Y:-19.58, Z:13.00 [[ 0.83864292 0.37343677 0.39651358 60.86435441] [ -0.44720662 0.88765764 0.10986424 -19.57733602] [ -0.31094096 -0.26946036 0.9114312 12.99768133] [ 0. 0. 0. 1. ]] SLAMing on 234.949072329 meters 0.2644590738244476 Centerline is valid? [False, False] Translation: X:60.66, Y:-19.70, Z:13.10 [[ 0.83829021 0.37384527 0.39687434 60.66160466] [ -0.44761896 0.88749793 0.10947466 -19.69840319] [ -0.31129857 -0.26942002 0.91132105 13.10247318] [ 0. 0. 0. 1. ]] SLAMing on 234.979072329 meters 0.25922910066610166 Centerline is valid? [False, False] Translation: X:60.46, Y:-19.82, Z:13.21 [[ 0.83802161 0.37330692 0.39794689 60.45748522] [ -0.4472855 0.88770174 0.1091847 -19.82029802] [ -0.31249874 -0.26949501 0.91088802 13.20687688] [ 0. 0. 0. 1. ]] SLAMing on 235.009072329 meters 0.25468708378934196 Centerline is valid? [False, False] Translation: X:60.25, Y:-19.94, Z:13.31 [[ 0.83805792 0.37319212 0.39797808 60.25330753] [ -0.44685955 0.88802825 0.10826988 -19.94265332] [ -0.31301032 -0.26857674 0.91098358 13.31171734] [ 0. 0. 0. 1. ]] SLAMing on 235.039072329 meters 0.25608273671134274 Centerline is valid? [False, False] Translation: X:60.05, Y:-20.06, Z:13.41 [[ 0.83865626 0.37234377 0.397512 60.05006571] [ -0.44531516 0.88897972 0.1068151 -20.06348927] [ -0.31360817 -0.26659927 0.91135874 13.41487267] [ 0. 0. 0. 1. ]] SLAMing on 235.069072329 meters 0.25801210699875105 Centerline is valid? [False, False] Translation: X:59.85, Y:-20.18, Z:13.52 [[ 0.83913563 0.37200166 0.39682005 59.84740481] [ -0.44458365 0.88939971 0.10636514 -20.18471141] [ -0.31336363 -0.26567448 0.91171284 13.51805522] [ 0. 0. 0. 1. ]] SLAMing on 235.099072329 meters 0.260768656287743 Centerline is valid? [False, False] Translation: X:59.65, Y:-20.30, Z:13.62 [[ 0.84127411 0.36980074 0.39434159 59.64782439] [ -0.44183627 0.89064615 0.10737849 -20.3047348 ] [ -0.31151017 -0.26456916 0.91266893 13.62133886] [ 0. 0. 0. 1. ]] SLAMing on 235.129072329 meters 0.25842790787890796 Centerline is valid? [False, False] Translation: X:59.45, Y:-20.42, Z:13.72 [[ 0.84316218 0.36781757 0.39215785 59.44818941] [ -0.43934144 0.89178289 0.10817753 -20.42354133] [ -0.30993006 -0.2635024 0.9135151 13.72286163] [ 0. 0. 0. 1. ]] SLAMing on 235.159072329 meters 0.26091908404737296 Centerline is valid? [False, False] Translation: X:59.25, Y:-20.54, Z:13.82 [[ 0.84468513 0.36574814 0.39081367 59.25106609] [ -0.43682077 0.89299291 0.10840335 -20.54009173] [ -0.30934551 -0.26228223 0.91406421 13.82105448] [ 0. 0. 0. 1. ]] SLAMing on 235.189072329 meters 0.25045407127100777 Centerline is valid? [False, False] Translation: X:59.05, Y:-20.66, Z:13.92 [[ 0.8454277 0.36395927 0.39087805 59.05037125] [ -0.43510678 0.89377271 0.10886891 -20.65869101] [ -0.30973228 -0.26211448 0.91398135 13.92153166] [ 0. 0. 0. 1. ]] SLAMing on 235.219072329 meters 0.24822539474731717 Centerline is valid? [False, False] Translation: X:58.85, Y:-20.78, Z:14.02 [[ 0.84473223 0.36356837 0.392741 58.84944747] [ -0.43530392 0.89366083 0.10899918 -20.77737039] [ -0.3113486 -0.26303682 0.91316684 14.02173733] [ 0. 0. 0. 1. ]] SLAMing on 235.249072329 meters 0.2629457118634482 Centerline is valid? [False, False] Translation: X:58.65, Y:-20.90, Z:14.12 [[ 0.84364905 0.36385349 0.39479985 58.64597469] [ -0.43620377 0.89323305 0.10890819 -20.89742391] [ -0.31302165 -0.26409347 0.91228947 14.12303552] [ 0. 0. 0. 1. ]] SLAMing on 235.279072329 meters 0.25687827785433737 Centerline is valid? [False, False] Translation: X:58.44, Y:-21.02, Z:14.22 [[ 0.8425489 0.36406735 0.39694623 58.44332798] [ -0.43712023 0.89277432 0.10899508 -21.01689535] [ -0.31470185 -0.26534691 0.91134722 14.22386971] [ 0. 0. 0. 1. ]] SLAMing on 235.309072329 meters 0.25338061443936216 Centerline is valid? [False, False] Translation: X:58.24, Y:-21.13, Z:14.32 [[ 0.84163564 0.36712637 0.39606525 58.24255407] [ -0.43960557 0.89172389 0.10758925 -21.13382818] [ -0.31368199 -0.26466343 0.9118974 14.32449658] [ 0. 0. 0. 1. ]] SLAMing on 235.339072329 meters 0.2561786023026702 Centerline is valid? [False, False] Translation: X:58.04, Y:-21.25, Z:14.43 [[ 0.84167707 0.36742622 0.39569899 58.04024504] [ -0.43976371 0.89166239 0.10745262 -21.25422661] [ -0.31334899 -0.26445446 0.9120725 14.42606454] [ 0. 0. 0. 1. ]] SLAMing on 235.369072329 meters 0.2544116208575102 Centerline is valid? [False, False] Translation: X:57.84, Y:-21.37, Z:14.53 [[ 0.84097444 0.36791901 0.39673366 57.83633145] [ -0.44057835 0.89126921 0.10737743 -21.37498409] [ -0.3140903 -0.26509394 0.91163177 14.53026004] [ 0. 0. 0. 1. ]] SLAMing on 235.399072329 meters 0.25634213520499266 Centerline is valid? [False, False] Translation: X:57.63, Y:-21.50, Z:14.63 [[ 0.84013621 0.3657158 0.40052853 57.63110573] [ -0.44083526 0.89064168 0.11145257 -21.4983721 ] [ -0.31596744 -0.27020244 0.90948074 14.63473365] [ 0. 0. 0. 1. ]] SLAMing on 235.429072329 meters 0.25689611406233825 Centerline is valid? [False, False] Translation: X:57.43, Y:-21.62, Z:14.74 [[ 0.83853294 0.36467716 0.4048124 57.42549026] [ -0.44188269 0.88983735 0.11370658 -21.62165003] [ -0.318751 -0.2742263 0.90730245 14.73980613] [ 0. 0. 0. 1. ]] SLAMing on 235.459072329 meters 0.2621503809884569 Centerline is valid? [False, False] Translation: X:57.22, Y:-21.75, Z:14.85 [[ 0.83571103 0.3687581 0.40694536 57.21981594] [ -0.44730165 0.88697958 0.114841 -21.74629465] [ -0.31860368 -0.27800122 0.90620473 14.84693742] [ 0. 0. 0. 1. ]] SLAMing on 235.489072329 meters 0.2621503809884569 Centerline is valid? [False, False] Translation: X:57.01, Y:-21.87, Z:14.95 [[ 0.83573292 0.36757891 0.40796597 57.0146244 ] [ -0.44654633 0.88729983 0.11530561 -21.87292536] [ -0.31960422 -0.2785404 0.90568669 14.95449674] [ 0. 0. 0. 1. ]] SLAMing on 235.519072329 meters 0.26996942736649465 Centerline is valid? [False, False] Translation: X:56.81, Y:-22.00, Z:15.06 [[ 0.83513161 0.37034528 0.40669345 56.81197842] [ -0.44901183 0.88607514 0.11514869 -21.99812003] [ -0.31771619 -0.27877448 0.90627877 15.06048921] [ 0. 0. 0. 1. ]] SLAMing on 235.549072329 meters 0.2843890999930264 Centerline is valid? [False, False] Translation: X:56.61, Y:-22.12, Z:15.16 [[ 0.83679743 0.3742786 0.3996068 56.60794688] [ -0.4518559 0.88425179 0.11800434 -22.12496795] [ -0.30918653 -0.27931042 0.90905961 15.16149817] [ 0. 0. 0. 1. ]] SLAMing on 235.579072329 meters 0.27760131310836084 Centerline is valid? [False, False] Translation: X:56.40, Y:-22.25, Z:15.27 [[ 0.83735156 0.37442949 0.39830256 56.40348679] [ -0.45249221 0.88356695 0.12066589 -22.25402112] [ -0.30674611 -0.28126858 0.90928258 15.27002947] [ 0. 0. 0. 1. ]] SLAMing on 235.609072329 meters 0.27378981532692986 Centerline is valid? [False, False] Translation: X:56.20, Y:-22.38, Z:15.38 [[ 0.8374739 0.37289623 0.39948201 56.19915192] [ -0.45238453 0.88316147 0.12399219 -22.3831417 ] [ -0.30657089 -0.2845597 0.90831716 15.37933085] [ 0. 0. 0. 1. ]] SLAMing on 235.63907232900002 meters 0.2696925804027711 Centerline is valid? [False, False] Translation: X:56.00, Y:-22.51, Z:15.49 [[ 0.83842926 0.36827838 0.40175542 55.99527996] [ -0.44897073 0.88460866 0.12606664 -22.50946902] [ -0.30896871 -0.28607438 0.90702799 15.4902782 ] [ 0. 0. 0. 1. ]] SLAMing on 235.669072329 meters 0.26910051952627023 Centerline is valid? [False, False] Translation: X:55.80, Y:-22.63, Z:15.60 [[ 0.83859397 0.3630548 0.40614204 55.79592066] [ -0.44579692 0.88584774 0.12860362 -22.63272463] [ -0.31308985 -0.28890309 0.90471529 15.60269376] [ 0. 0. 0. 1. ]] SLAMing on 235.699072329 meters 0.26751169834942956 Centerline is valid? [False, False] Translation: X:55.60, Y:-22.75, Z:15.71 [[ 0.83851155 0.36243709 0.40686329 55.6021334 ] [ -0.44473301 0.88665364 0.1267197 -22.75391553] [ -0.31481889 -0.28720147 0.90465705 15.70814355] [ 0. 0. 0. 1. ]] SLAMing on 235.729072329 meters 0.2669651962360493 Centerline is valid? [False, False] Translation: X:55.41, Y:-22.88, Z:15.81 [[ 0.83864771 0.36303231 0.40605119 55.40753194] [ -0.44391622 0.88753846 0.12334451 -22.87609492] [ -0.31560801 -0.2836953 0.90548802 15.81202816] [ 0. 0. 0. 1. ]] SLAMing on 235.759072329 meters 0.2675336554297519 Centerline is valid? [False, False] Translation: X:55.21, Y:-23.00, Z:15.91 [[ 0.84002571 0.36496184 0.40144696 55.2115035 ] [ -0.44279227 0.88875069 0.11856311 -22.99945666] [ -0.31351525 -0.27735368 0.90817571 15.91423423] [ 0. 0. 0. 1. ]] SLAMing on 235.789072329 meters 0.26686623984815483 Centerline is valid? [False, False] Translation: X:55.01, Y:-23.13, Z:16.02 [[ 0.8412379 0.36431444 0.3994919 55.01287995] [ -0.44194971 0.88898544 0.11993889 -23.1257629 ] [ -0.31144702 -0.27745247 0.90885691 16.02109186] [ 0. 0. 0. 1. ]] SLAMing on 235.819072329 meters 0.2703885571556781 Centerline is valid? [False, False] Translation: X:54.82, Y:-23.25, Z:16.13 [[ 0.84100841 0.36409107 0.40017815 54.81596747] [ -0.44381437 0.88729695 0.12543095 -23.24943994] [ -0.30940856 -0.2830933 0.90781305 16.12925982] [ 0. 0. 0. 1. ]] SLAMing on 235.849072329 meters 0.27253494447109616 Centerline is valid? [False, False] Translation: X:54.62, Y:-23.37, Z:16.24 [[ 0.84063256 0.363882 0.40115682 54.61953874] [ -0.44495775 0.88628694 0.12848368 -23.37403922] [ -0.30878715 -0.2865054 0.90695378 16.23613002] [ 0. 0. 0. 1. ]] SLAMing on 235.879072329 meters 0.27539454387996276 Centerline is valid? [False, False] Translation: X:54.43, Y:-23.50, Z:16.34 [[ 0.84044398 0.36391261 0.401524 54.42612849] [ -0.44557776 0.88577612 0.1298504 -23.49719743] [ -0.30840617 -0.28804215 0.90659658 16.33913796] [ 0. 0. 0. 1. ]] SLAMing on 235.909072329 meters 0.2714359851558156 Centerline is valid? [False, False] Translation: X:54.23, Y:-23.62, Z:16.44 [[ 0.84052914 0.36410555 0.40117068 54.23348197] [ -0.44552503 0.88586199 0.12944491 -23.62040778] [ -0.30825025 -0.28753379 0.90681095 16.44036143] [ 0. 0. 0. 1. ]] SLAMing on 235.939072329 meters 0.27475844685688416 Centerline is valid? [False, False] Translation: X:54.04, Y:-23.74, Z:16.54 [[ 0.84072511 0.36788959 0.39728899 54.04165469] [ -0.44772553 0.8849651 0.12797901 -23.74401134] [ -0.30450474 -0.28547159 0.90872594 16.54037655] [ 0. 0. 0. 1. ]] SLAMing on 235.969072329 meters 0.2780999394587897 Centerline is valid? [False, False] Translation: X:53.85, Y:-23.87, Z:16.64 [[ 0.84131613 0.36833152 0.3956249 53.84651566] [ -0.44823215 0.88444994 0.12975458 -23.86956447] [ -0.30211772 -0.28649642 0.90920002 16.64441469] [ 0. 0. 0. 1. ]] SLAMing on 235.999072329 meters 0.2774320279832856 Centerline is valid? [False, False] Translation: X:53.65, Y:-24.00, Z:16.75 [[ 0.84146838 0.36892014 0.39475168 53.64575975] [ -0.45002632 0.88287535 0.13419174 -23.99734491] [ -0.29901049 -0.29056675 0.90893547 16.75258782] [ 0. 0. 0. 1. ]] SLAMing on 236.029072329 meters 0.2796140548954588 Centerline is valid? [False, False] Translation: X:53.45, Y:-24.12, Z:16.86 [[ 0.84098594 0.36798952 0.39664387 53.44814883] [ -0.45015644 0.88259152 0.13561488 -24.12332492] [ -0.30016966 -0.292602 0.90789991 16.85842067] [ 0. 0. 0. 1. ]] SLAMing on 236.059072329 meters 0.28027653207496683 Centerline is valid? [False, False] Translation: X:53.25, Y:-24.25, Z:16.96 [[ 0.84024154 0.36709812 0.39904026 53.24925497] [ -0.45048729 0.88221213 0.13697796 -24.25083731] [ -0.30175381 -0.29485713 0.90664431 16.96433465] [ 0. 0. 0. 1. ]] SLAMing on 236.089072329 meters 0.295656391783926 Centerline is valid? [False, False] Translation: X:53.04, Y:-24.38, Z:17.07 [[ 0.83837568 0.36926753 0.4009585 53.04286443] [ -0.45377306 0.88036283 0.13802648 -24.38303711] [ -0.30202026 -0.29766221 0.90563844 17.07316677] [ 0. 0. 0. 1. ]] SLAMing on 236.119072329 meters 0.29182219428025097 Centerline is valid? [False, False] Translation: X:52.84, Y:-24.52, Z:17.18 [[ 0.83822638 0.37003103 0.40056657 52.83852914] [ -0.45470493 0.87975629 0.1388247 -24.51543766] [ -0.30103151 -0.29850612 0.90568986 17.18361639] [ 0. 0. 0. 1. ]] SLAMing on 236.149072329 meters 0.291977108321258 Centerline is valid? [False, False] Translation: X:52.63, Y:-24.65, Z:17.30 [[ 0.83896315 0.36950017 0.39951277 52.63334889] [ -0.45456314 0.87945477 0.14117956 -24.64917046] [ -0.29918753 -0.30004823 0.9057913 17.29522662] [ 0. 0. 0. 1. ]] SLAMing on 236.179072329 meters 0.2884837990731898 Centerline is valid? [False, False] Translation: X:52.43, Y:-24.78, Z:17.40 [[ 0.83987557 0.36970702 0.39739873 52.43397313] [ -0.45413577 0.8796324 0.14144801 -24.77802341] [ -0.29727047 -0.29927171 0.90667895 17.40409513] [ 0. 0. 0. 1. ]] SLAMing on 236.209072329 meters 0.2875833877523599 Centerline is valid? [False, False] Translation: X:52.24, Y:-24.91, Z:17.51 [[ 0.84047736 0.36845716 0.39728721 52.23599243] [ -0.45345993 0.87964908 0.14349768 -24.90843483] [ -0.29660058 -0.30076038 0.9064057 17.51385509] [ 0. 0. 0. 1. ]] SLAMing on 236.239072329 meters 0.2870395962232804 Centerline is valid? [False, False] Translation: X:52.04, Y:-25.04, Z:17.62 [[ 0.84064669 0.36721671 0.39807668 52.036181 ] [ -0.45318732 0.87941269 0.14578946 -25.0401989 ] [ -0.29653736 -0.30296073 0.90569332 17.62471882] [ 0. 0. 0. 1. ]] SLAMing on 236.269072329 meters 0.2927752127063055 Centerline is valid? [False, False] Translation: X:51.84, Y:-25.17, Z:17.73 [[ 0.83936299 0.37001116 0.39819783 51.84107665] [ -0.45653842 0.87748044 0.14697191 -25.16871314] [ -0.29502956 -0.30515539 0.90544892 17.73295281] [ 0. 0. 0. 1. ]] SLAMing on 236.299072329 meters 0.2936432198616789 Centerline is valid? [False, False] Translation: X:51.64, Y:-25.30, Z:17.84 [[ 0.84000244 0.37150055 0.3954532 51.64023784] [ -0.45721491 0.87708408 0.14723467 -25.30273934] [ -0.29214794 -0.30448458 0.90660836 17.84301255] [ 0. 0. 0. 1. ]] SLAMing on 236.329072329 meters 0.300637978998445 Centerline is valid? [False, False] Translation: X:51.44, Y:-25.43, Z:17.95 [[ 0.84029933 0.3761058 0.39043753 51.44157456] [ -0.45970193 0.87608188 0.14544645 -25.43344773] [ -0.28735199 -0.30170344 0.90906758 17.94867381] [ 0. 0. 0. 1. ]] SLAMing on 236.359072329 meters 0.30167091832105425 Centerline is valid? [False, False] Translation: X:51.24, Y:-25.57, Z:18.06 [[ 0.84139249 0.37626993 0.38791703 51.23654048] [ -0.45943997 0.87598678 0.14684031 -25.57082903] [ -0.2845586 -0.30177492 0.90992214 18.06032671] [ 0. 0. 0. 1. ]] SLAMing on 236.38907232900002 meters 0.30345216791193264 Centerline is valid? [False, False] Translation: X:51.03, Y:-25.71, Z:18.17 [[ 0.84192393 0.37618656 0.38684335 51.02902742] [ -0.45948678 0.87568935 0.14845894 -25.71042349] [ -0.28290634 -0.30274054 0.91011657 18.17427173] [ 0. 0. 0. 1. ]] SLAMing on 236.419072329 meters 0.307916107979391 Centerline is valid? [False, False] Translation: X:50.82, Y:-25.85, Z:18.29 [[ 0.84039447 0.37665815 0.3896996 50.81900301] [ -0.46213243 0.87365636 0.15217812 -25.85132132] [ -0.2831444 -0.30798247 0.90828192 18.29224469] [ 0. 0. 0. 1. ]] SLAMing on 236.449072329 meters 0.3083649083222649 Centerline is valid? [False, False] Translation: X:50.61, Y:-25.99, Z:18.41 [[ 0.84021391 0.37707141 0.38968928 50.612537 ] [ -0.46256692 0.87342164 0.15220544 -25.99144756] [ -0.28297073 -0.30814249 0.90828177 18.40850779] [ 0. 0. 0. 1. ]] SLAMing on 236.479072329 meters 0.3095822347892902 Centerline is valid? [False, False] Translation: X:50.41, Y:-26.13, Z:18.52 [[ 0.84059848 0.37735211 0.38858665 50.40909292] [ -0.46247208 0.87347084 0.15221124 -26.1302429 ] [ -0.28198188 -0.30765901 0.90875308 18.52081901] [ 0. 0. 0. 1. ]] SLAMing on 236.509072329 meters 0.3112755719603423 Centerline is valid? [False, False] Translation: X:50.21, Y:-26.27, Z:18.63 [[ 0.84128658 0.37864802 0.38582712 50.20928904] [ -0.46226917 0.8739053 0.15032209 -26.26698801] [ -0.28025721 -0.30481994 0.91024211 18.63083048] [ 0. 0. 0. 1. ]] SLAMing on 236.539072329 meters 0.31778272737234015 Centerline is valid? [False, False] Translation: X:50.01, Y:-26.40, Z:18.74 [[ 0.84190096 0.38202795 0.38112651 50.00899037] [ -0.46331517 0.87382106 0.14756628 -26.40207343] [ -0.27666193 -0.30081789 0.91267014 18.73776425] [ 0. 0. 0. 1. ]] SLAMing on 236.569072329 meters 0.31522322439582745 Centerline is valid? [False, False] Translation: X:49.80, Y:-26.54, Z:18.85 [[ 0.84290897 0.38254591 0.378369 49.80367091] [ -0.4630249 0.87391142 0.14794182 -26.54356042] [ -0.27406645 -0.29989575 0.91375605 18.84794901] [ 0. 0. 0. 1. ]] SLAMing on 236.599072329 meters 0.32567130341352657 Centerline is valid? [False, False] Translation: X:49.60, Y:-26.69, Z:18.96 [[ 0.84357221 0.38284848 0.37658063 49.59767911] [ -0.46312338 0.87363519 0.14925915 -26.6867444 ] [ -0.27185045 -0.30031417 0.91428045 18.95854352] [ 0. 0. 0. 1. ]] SLAMing on 236.629072329 meters 0.3276911690361772 Centerline is valid? [False, False] Translation: X:49.39, Y:-26.83, Z:19.07 [[ 0.84397297 0.38347618 0.37504085 49.39354948] [ -0.46357677 0.87320502 0.15036479 -26.8291975 ] [ -0.26982624 -0.30076404 0.91473209 19.06853558] [ 0. 0. 0. 1. ]] SLAMing on 236.659072329 meters 0.3264104243459586 Centerline is valid? [False, False] Translation: X:49.19, Y:-26.97, Z:19.18 [[ 0.84335734 0.38606485 0.37376774 49.18914606] [ -0.46602402 0.87178159 0.15105784 -26.96957378] [ -0.26752571 -0.30158048 0.9151389 19.17664353] [ 0. 0. 0. 1. ]] SLAMing on 236.689072329 meters 0.32827595460842224 Centerline is valid? [False, False] Translation: X:48.99, Y:-27.11, Z:19.28 [[ 0.84400292 0.38647405 0.37188288 48.98540042] [ -0.46580918 0.87189462 0.15106816 -27.11168205] [ -0.26585876 -0.30072843 0.91590476 19.28441736] [ 0. 0. 0. 1. ]] SLAMing on 236.719072329 meters 0.33413693965146524 Centerline is valid? [False, False] Translation: X:48.78, Y:-27.25, Z:19.39 [[ 0.8447884 0.38630241 0.37027422 48.78379354] [ -0.46528275 0.87205812 0.15174515 -27.25250872] [ -0.26428112 -0.30047475 0.91644444 19.3902895 ] [ 0. 0. 0. 1. ]] SLAMing on 236.749072329 meters 0.328460703854248 Centerline is valid? [False, False] Translation: X:48.58, Y:-27.39, Z:19.50 [[ 0.84431261 0.38781654 0.36977634 48.58255011] [ -0.46692989 0.8710234 0.15262609 -27.39118594] [ -0.26289292 -0.30152376 0.91649917 19.49680875] [ 0. 0. 0. 1. ]] SLAMing on 236.779072329 meters 0.3327625202031216 Centerline is valid? [False, False] Translation: X:48.38, Y:-27.53, Z:19.60 [[ 0.84449946 0.3884982 0.36863235 48.38440534] [ -0.46733436 0.87075158 0.15293881 -27.5317604 ] [ -0.26157075 -0.3014313 0.9169078 19.6033772 ] [ 0. 0. 0. 1. ]] SLAMing on 236.809072329 meters 0.33156989515384294 Centerline is valid? [False, False] Translation: X:48.19, Y:-27.67, Z:19.71 [[ 0.84397459 0.38951303 0.36876347 48.18576772] [ -0.46812499 0.87051105 0.15188652 -27.67316219] [ -0.2618509 -0.30081576 0.91702998 19.71062347] [ 0. 0. 0. 1. ]] SLAMing on 236.839072329 meters 0.33099337062383977 Centerline is valid? [False, False] Translation: X:47.99, Y:-27.81, Z:19.82 [[ 0.84255064 0.39280548 0.36852718 47.98854203] [ -0.47062134 0.86966166 0.14901058 -27.81160059] [ -0.26196179 -0.29898571 0.91759662 19.81617444] [ 0. 0. 0. 1. ]] SLAMing on 236.869072329 meters 0.33228675942427877 Centerline is valid? [False, False] Translation: X:47.79, Y:-27.96, Z:19.92 [[ 0.84305074 0.39443956 0.36562669 47.78637406] [ -0.47095312 0.86971243 0.14765988 -27.95538163] [ -0.25974719 -0.2966778 0.91897426 19.92093121] [ 0. 0. 0. 1. ]] SLAMing on 236.899072329 meters 0.34042118148260075 Centerline is valid? [False, False] Translation: X:47.58, Y:-28.10, Z:20.02 [[ 0.84327214 0.39702811 0.36229928 47.58262048] [ -0.47229437 0.86912023 0.14686069 -28.09709935] [ -0.25657381 -0.29495544 0.92041902 20.02300865] [ 0. 0. 0. 1. ]] SLAMing on 236.929072329 meters 0.3408330350465796 Centerline is valid? [False, False] Translation: X:47.37, Y:-28.25, Z:20.13 [[ 0.84349462 0.39695479 0.36186147 47.37478691] [ -0.47277154 0.86843265 0.14937139 -28.24571514] [ -0.25495863 -0.29707177 0.92018719 20.13053382] [ 0. 0. 0. 1. ]] SLAMing on 236.959072329 meters 0.34400182517996963 Centerline is valid? [False, False] Translation: X:47.17, Y:-28.39, Z:20.24 [[ 0.84295356 0.39658421 0.36352477 47.16736982] [ -0.47349174 0.86769917 0.15133976 -28.39411129] [ -0.25541119 -0.29969836 0.91920945 20.23792349] [ 0. 0. 0. 1. ]] SLAMing on 236.989072329 meters 0.35008801754473 Centerline is valid? [False, False] Translation: X:46.96, Y:-28.54, Z:20.35 [[ 0.84233502 0.39647522 0.36507413 46.95866897] [ -0.47426907 0.86704304 0.15266042 -28.54491099] [ -0.25600891 -0.30173459 0.91837665 20.34648081] [ 0. 0. 0. 1. ]] SLAMing on 237.019072329 meters 0.3571466457227477 Centerline is valid? [False, False] Translation: X:46.76, Y:-28.69, Z:20.45 [[ 0.84157273 0.39772582 0.36547162 46.75564782] [ -0.47588448 0.86603469 0.15335539 -28.69247526] [ -0.2555177 -0.30298199 0.91810273 20.45188479] [ 0. 0. 0. 1. ]] SLAMing on 237.049072329 meters 0.3546880858499443 Centerline is valid? [False, False] Translation: X:46.55, Y:-28.84, Z:20.56 [[ 0.84195819 0.3988174 0.36338833 46.55013438] [ -0.47602003 0.86614004 0.15233634 -28.84190343] [ -0.2539908 -0.30124096 0.91909877 20.55702076] [ 0. 0. 0. 1. ]] SLAMing on 237.079072329 meters 0.3752906453423718 Centerline is valid? [False, False] Translation: X:46.35, Y:-28.99, Z:20.66 [[ 0.84261059 0.39987838 0.36070024 46.34534147] [ -0.47605303 0.86622092 0.15177231 -28.99055326] [ -0.25175563 -0.2995974 0.92025024 20.66066374] [ 0. 0. 0. 1. ]] SLAMing on 237.109072329 meters 0.3747116112646443 Centerline is valid? [False, False] Translation: X:46.14, Y:-29.14, Z:20.76 [[ 0.84357576 0.4004554 0.35779241 46.14016481] [ -0.47596003 0.86608722 0.15282336 -29.14032311] [ -0.2486805 -0.29921297 0.92121095 20.76428893] [ 0. 0. 0. 1. ]] SLAMing on 237.13907232900002 meters 0.35974001147479456 Centerline is valid? [False, False] Translation: X:45.93, Y:-29.29, Z:20.87 [[ 0.84292966 0.40226116 0.35728915 45.93046425] [ -0.47819992 0.86448494 0.15488905 -29.29183339] [ -0.24656524 -0.30141622 0.92106126 20.8709055 ] [ 0. 0. 0. 1. ]] SLAMing on 237.169072329 meters 0.39422388157771965 Centerline is valid? [False, False] Translation: X:45.72, Y:-29.44, Z:20.98 [[ 0.84296859 0.40100695 0.35860478 45.72151238] [ -0.47816989 0.86395293 0.15792055 -29.44452399] [ -0.24649041 -0.30459607 0.92003463 20.9775628 ] [ 0. 0. 0. 1. ]] SLAMing on 237.199072329 meters 0.36435050053733437 Centerline is valid? [False, False] Translation: X:45.51, Y:-29.60, Z:21.09 [[ 0.8413123 0.40086586 0.36262953 45.51013751] [ -0.47953492 0.86310339 0.158426 -29.60011129] [ -0.2494792 -0.30717927 0.91836868 21.08928345] [ 0. 0. 0. 1. ]] SLAMing on 237.229072329 meters 0.36543074281900306 Centerline is valid? [False, False] Translation: X:45.30, Y:-29.75, Z:21.19 [[ 0.84158621 0.40056873 0.36232216 45.30359986] [ -0.4792681 0.86315442 0.15895453 -29.75285317] [ -0.24906775 -0.30742339 0.91839867 21.19471696] [ 0. 0. 0. 1. ]] SLAMing on 237.259072329 meters 0.3628665507750783 Centerline is valid? [False, False] Translation: X:45.09, Y:-29.91, Z:21.30 [[ 0.84116125 0.4042064 0.35925609 45.09403744] [ -0.48147515 0.86224861 0.15719102 -29.90653725] [ -0.24623045 -0.30519588 0.91990545 21.30144922] [ 0. 0. 0. 1. ]] SLAMing on 237.289072329 meters 0.3725215961523957 Centerline is valid? [False, False] Translation: X:44.88, Y:-30.06, Z:21.41 [[ 0.84181265 0.40494909 0.35688611 44.88421574] [ -0.48163186 0.86202336 0.15794454 -30.06194404] [ -0.24368467 -0.30484743 0.92069856 21.40897277] [ 0. 0. 0. 1. ]] SLAMing on 237.319072329 meters 0.3787285711873469 Centerline is valid? [False, False] Translation: X:44.67, Y:-30.22, Z:21.52 [[ 0.84227526 0.40476622 0.35600097 44.67442657] [ -0.48154038 0.8617981 0.1594456 -30.21787604] [ -0.24226277 -0.30572593 0.9207825 21.51758646] [ 0. 0. 0. 1. ]] SLAMing on 237.349072329 meters 0.3803288842277981 Centerline is valid? [False, False] Translation: X:44.47, Y:-30.37, Z:21.63 [[ 0.84092824 0.40509331 0.35880232 44.46549128] [ -0.48319623 0.8606142 0.16082477 -30.37194132] [ -0.24364134 -0.30861402 0.91945434 21.62871119] [ 0. 0. 0. 1. ]] SLAMing on 237.379072329 meters 0.3803288842277981 Centerline is valid? [False, False] Translation: X:44.26, Y:-30.53, Z:21.73 [[ 0.84162188 0.4040994 0.35829637 44.26240025] [ -0.48201774 0.86126615 0.16087113 -30.52521301] [ -0.24358061 -0.30809787 0.91964351 21.73317731] [ 0. 0. 0. 1. ]] SLAMing on 237.409072329 meters 0.3720315172446949 Centerline is valid? [False, False] Translation: X:44.06, Y:-30.68, Z:21.84 [[ 0.84066504 0.40463084 0.35993911 44.0581273 ] [ -0.48297144 0.86084005 0.16029036 -30.67838252] [ -0.24499158 -0.30859082 0.91910328 21.83974279] [ 0. 0. 0. 1. ]] SLAMing on 237.439072329 meters 0.371099311764566 Centerline is valid? [False, False] Translation: X:43.85, Y:-30.83, Z:21.94 [[ 0.84058694 0.40484094 0.35988527 43.85323352] [ -0.48318897 0.86070335 0.16036884 -30.83269942] [ -0.24483059 -0.30869654 0.91911067 21.94370148] [ 0. 0. 0. 1. ]] SLAMing on 237.469072329 meters 0.3867980018899281 Centerline is valid? [False, False] Translation: X:43.65, Y:-30.98, Z:22.04 [[ 0.84056722 0.40693747 0.35755929 43.6523044 ] [ -0.48428157 0.86026881 0.15940181 -30.98314995] [ -0.24273053 -0.30714731 0.92018608 22.0441363 ] [ 0. 0. 0. 1. ]] SLAMing on 237.499072329 meters 0.37535953116912196 Centerline is valid? [False, False] Translation: X:43.45, Y:-31.14, Z:22.15 [[ 0.84173262 0.4056131 0.35632039 43.45111544] [ -0.48303541 0.86059196 0.16142575 -31.13577713] [ -0.24117006 -0.30799268 0.92031381 22.14644076] [ 0. 0. 0. 1. ]] SLAMing on 237.529072329 meters 0.37061336471466 Centerline is valid? [False, False] Translation: X:43.25, Y:-31.29, Z:22.25 [[ 0.84243433 0.40442746 0.35600958 43.25130429] [ -0.48198187 0.86099226 0.16243709 -31.28854 ] [ -0.24082748 -0.30843274 0.92025614 22.25224857] [ 0. 0. 0. 1. ]] SLAMing on 237.559072329 meters 0.3697190913273186 Centerline is valid? [False, False] Translation: X:43.05, Y:-31.44, Z:22.36 [[ 0.84357444 0.40162844 0.35647827 43.05069614] [ -0.47927115 0.86251121 0.16239942 -31.44078898] [ -0.24224228 -0.30784575 0.92008134 22.36066298] [ 0. 0. 0. 1. ]] SLAMing on 237.589072329 meters 0.37743225667619396 Centerline is valid? [False, False] Translation: X:42.86, Y:-31.59, Z:22.46 [[ 0.84368495 0.40089818 0.3570383 42.85588368] [ -0.47796624 0.86376285 0.15956823 -31.58947645] [ -0.24442581 -0.30527757 0.92035951 22.46294073] [ 0. 0. 0. 1. ]] SLAMing on 237.619072329 meters 0.37912007437122763 Centerline is valid? [False, False] Translation: X:42.66, Y:-31.74, Z:22.57 [[ 0.84387856 0.40126009 0.35617315 42.65892303] [ -0.47718755 0.8647823 0.15634453 -31.74155292] [ -0.24527741 -0.30189719 0.92124757 22.56648836] [ 0. 0. 0. 1. ]] SLAMing on 237.649072329 meters 0.389451610604152 Centerline is valid? [False, False] Translation: X:42.47, Y:-31.89, Z:22.66 [[ 0.84383006 0.40290595 0.35442576 42.46771041] [ -0.47737687 0.86529271 0.1529047 -31.8882954 ] [ -0.24507582 -0.29822024 0.92249798 22.66477089] [ 0. 0. 0. 1. ]] SLAMing on 237.679072329 meters 0.3765944772461768 Centerline is valid? [False, False] Translation: X:42.27, Y:-32.04, Z:22.77 [[ 0.84401744 0.40282315 0.35407354 42.26792395] [ -0.47749716 0.86501082 0.15411924 -32.04235918] [ -0.24419464 -0.29914843 0.92243113 22.77006464] [ 0. 0. 0. 1. ]] SLAMing on 237.709072329 meters 0.3833170045280009 Centerline is valid? [False, False] Translation: X:42.07, Y:-32.19, Z:22.88 [[ 0.84399002 0.40190989 0.35517501 42.07038251] [ -0.47735157 0.86480533 0.15571519 -32.19456294] [ -0.24457377 -0.30096542 0.92173938 22.87551342] [ 0. 0. 0. 1. ]] SLAMing on 237.739072329 meters 0.38925261271785483 Centerline is valid? [False, False] Translation: X:41.88, Y:-32.34, Z:22.98 [[ 0.84382559 0.40026512 0.35741602 41.87738767] [ -0.47676304 0.86489631 0.1570076 -32.34266584] [ -0.24628313 -0.30288977 0.92065325 22.9789891 ] [ 0. 0. 0. 1. ]] SLAMing on 237.769072329 meters 0.37357568589463225 Centerline is valid? [False, False] Translation: X:41.69, Y:-32.49, Z:23.08 [[ 0.84388092 0.40036452 0.35717398 41.68622585] [ -0.47602086 0.86581647 0.15416218 -32.48976003] [ -0.24752605 -0.30011678 0.92122786 23.07715014] [ 0. 0. 0. 1. ]] SLAMing on 237.799072329 meters 0.4022966098164936 Centerline is valid? [False, False] Translation: X:41.50, Y:-32.64, Z:23.17 [[ 0.84440003 0.40081103 0.35544212 41.49576402] [ -0.47535291 0.86654582 0.15211166 -32.63757182] [ -0.24703885 -0.29740353 0.92223801 23.17417822] [ 0. 0. 0. 1. ]] SLAMing on 237.829072329 meters 0.3748775624295115 Centerline is valid? [False, False] Translation: X:41.30, Y:-32.79, Z:23.27 [[ 0.84459653 0.4024529 0.35311241 41.30446977] [ -0.47547789 0.86699387 0.14913886 -32.78684163] [ -0.24612493 -0.29385931 0.92361747 23.27245226] [ 0. 0. 0. 1. ]] SLAMing on 237.859072329 meters 0.3744790238112107 Centerline is valid? [False, False] Translation: X:41.11, Y:-32.94, Z:23.37 [[ 0.84466749 0.40126067 0.35429749 41.10956177] [ -0.47523287 0.86674491 0.15135053 -32.93742378] [ -0.24635453 -0.29621469 0.9228035 23.37315974] [ 0. 0. 0. 1. ]] SLAMing on 237.88907232900002 meters 0.36371368290806927 Centerline is valid? [False, False] Translation: X:40.91, Y:-33.09, Z:23.48 [[ 0.84554909 0.39926707 0.35444681 40.91286983] [ -0.47433503 0.86650771 0.15546917 -33.09005665] [ -0.24505717 -0.29958335 0.92206117 23.47536795] [ 0. 0. 0. 1. ]] SLAMing on 237.919072329 meters 0.3661273160346998 Centerline is valid? [False, False] Translation: X:40.72, Y:-33.24, Z:23.58 [[ 0.84683506 0.39626847 0.35474172 40.71749312] [ -0.47201265 0.86733256 0.15791862 -33.23911528] [ -0.24510087 -0.3011736 0.92153135 23.57705489] [ 0. 0. 0. 1. ]] SLAMing on 237.949072329 meters 0.3673520937957061 Centerline is valid? [False, False] Translation: X:40.53, Y:-33.38, Z:23.67 [[ 0.84734137 0.39631656 0.35347671 40.52958861] [ -0.47094265 0.86838744 0.15529415 -33.38496519] [ -0.24540909 -0.29805441 0.92246298 23.67360917] [ 0. 0. 0. 1. ]] SLAMing on 237.979072329 meters 0.3722064606917461 Centerline is valid? [False, False] Translation: X:40.34, Y:-33.53, Z:23.77 [[ 0.84797737 0.39657255 0.35165978 40.34186449] [ -0.46968143 0.86968543 0.15181111 -33.53129954] [ -0.24562927 -0.29390045 0.92373632 23.76880934] [ 0. 0. 0. 1. ]] SLAMing on 238.009072329 meters 0.36940560412348494 Centerline is valid? [False, False] Translation: X:40.15, Y:-33.68, Z:23.86 [[ 0.84900196 0.39526968 0.35065302 40.15307643] [ -0.46723472 0.87150983 0.1488702 -33.67879642] [ -0.24675367 -0.29022836 0.92459728 23.8638055 ] [ 0. 0. 0. 1. ]] SLAMing on 238.039072329 meters 0.3787673534800717 Centerline is valid? [False, False] Translation: X:39.96, Y:-33.83, Z:23.96 [[ 0.84903324 0.39368958 0.35235078 39.96004164] [ -0.46644158 0.87175516 0.14991731 -33.82782651] [ -0.24814272 -0.29163584 0.92378229 23.96434568] [ 0. 0. 0. 1. ]] SLAMing on 238.069072329 meters 0.3674861969833225 Centerline is valid? [False, False] Translation: X:39.77, Y:-33.98, Z:24.06 [[ 0.84876626 0.39193617 0.35493926 39.76744725] [ -0.46603058 0.8716246 0.15194097 -33.97572607] [ -0.24982263 -0.29437492 0.92245979 24.0646991 ] [ 0. 0. 0. 1. ]] SLAMing on 238.099072329 meters 0.36673778258899886 Centerline is valid? [False, False] Translation: X:39.57, Y:-34.12, Z:24.17 [[ 0.84899408 0.38950641 0.35706276 39.57293707] [ -0.46495338 0.8717351 0.15458417 -34.12456069] [ -0.25105261 -0.29725858 0.92120026 24.16677847] [ 0. 0. 0. 1. ]] SLAMing on 238.129072329 meters 0.3688164747195656 Centerline is valid? [False, False] Translation: X:39.39, Y:-34.27, Z:24.26 [[ 0.8493925 0.38939145 0.35623962 39.38579746] [ -0.46365225 0.8730132 0.15124331 -34.26934747] [ -0.25210904 -0.29363624 0.92207309 24.26227464] [ 0. 0. 0. 1. ]] SLAMing on 238.159072329 meters 0.3645084792114289 Centerline is valid? [False, False] Translation: X:39.19, Y:-34.42, Z:24.36 [[ 0.85106906 0.38798638 0.35376268 39.19225126] [ -0.46095041 0.87472769 0.14958673 -34.4203229 ] [ -0.2514084 -0.29037569 0.92329615 24.35742538] [ 0. 0. 0. 1. ]] SLAMing on 238.189072329 meters 0.3620624547687137 Centerline is valid? [False, False] Translation: X:39.00, Y:-34.57, Z:24.45 [[ 0.85341394 0.38520025 0.35114872 39.00205422] [ -0.45728544 0.87662464 0.14973068 -34.57127799] [ -0.25014932 -0.28835744 0.92427015 24.45124825] [ 0. 0. 0. 1. ]] SLAMing on 238.219072329 meters 0.3698066693552961 Centerline is valid? [False, False] Translation: X:38.81, Y:-34.72, Z:24.55 [[ 0.85368924 0.38339026 0.35245792 38.81292895] [ -0.45644749 0.8766807 0.15194288 -34.71976385] [ -0.25073964 -0.29059053 0.9234104 24.54996675] [ 0. 0. 0. 1. ]] SLAMing on 238.249072329 meters 0.3682330142925171 Centerline is valid? [False, False] Translation: X:38.63, Y:-34.87, Z:24.65 [[ 0.85365898 0.38177919 0.35427531 38.62649469] [ -0.45594625 0.8765806 0.15401123 -34.86558217] [ -0.25175259 -0.29300357 0.9223717 24.64825498] [ 0. 0. 0. 1. ]] SLAMing on 238.279072329 meters 0.37476020890759404 Centerline is valid? [False, False] Translation: X:38.44, Y:-35.01, Z:24.75 [[ 0.8546377 0.37840133 0.3555374 38.44108313] [ -0.4532145 0.87778728 0.15519697 -35.01147578] [ -0.25335947 -0.29377188 0.92168707 24.74717484] [ 0. 0. 0. 1. ]] SLAMing on 238.309072329 meters 0.3592140076889075 Centerline is valid? [False, False] Translation: X:38.26, Y:-35.15, Z:24.84 [[ 0.85551852 0.37630547 0.35564343 38.25992352] [ -0.4499497 0.88018631 0.15105404 -35.15358263] [ -0.25619002 -0.28925118 0.92233423 24.8396894 ] [ 0. 0. 0. 1. ]] SLAMing on 238.339072329 meters 0.35903267039402725 Centerline is valid? [False, False] Translation: X:38.08, Y:-35.30, Z:24.93 [[ 0.85820199 0.37240213 0.35327893 38.08184069] [ -0.44354794 0.88440996 0.14520417 -35.2978166 ] [ -0.25836906 -0.28131064 0.92418058 24.92948501] [ 0. 0. 0. 1. ]] SLAMing on 238.369072329 meters 0.343961639436988 Centerline is valid? [False, False] Translation: X:37.90, Y:-35.44, Z:25.02 [[ 0.85960579 0.36985783 0.35253803 37.90204986] [ -0.44045145 0.88609776 0.14433739 -35.44159897] [ -0.25899885 -0.27934914 0.92459919 25.02112434] [ 0. 0. 0. 1. ]] SLAMing on 238.399072329 meters 0.34304263088931625 Centerline is valid? [False, False] Translation: X:37.72, Y:-35.58, Z:25.11 [[ 0.86068211 0.36732752 0.35255751 37.72493403] [ -0.43804866 0.88717209 0.14504845 -35.58266631] [ -0.2594989 -0.27927795 0.92448047 25.11232298] [ 0. 0. 0. 1. ]] SLAMing on 238.429072329 meters 0.3417620694101652 Centerline is valid? [False, False] Translation: X:37.55, Y:-35.73, Z:25.21 [[ 0.86175374 0.36435257 0.35302648 37.5462834 ] [ -0.43572834 0.88796311 0.14718126 -35.72539384] [ -0.25984862 -0.28065764 0.92396428 25.2062185 ] [ 0. 0. 0. 1. ]] SLAMing on 238.459072329 meters 0.3329744560358588 Centerline is valid? [False, False] Translation: X:37.38, Y:-35.86, Z:25.30 [[ 0.86386187 0.35923821 0.35311554 37.3773899 ] [ -0.43110266 0.88985402 0.14936638 -35.86176806] [ -0.26056317 -0.28126097 0.9235795 25.29721573] [ 0. 0. 0. 1. ]] SLAMing on 238.489072329 meters 0.3446621566244456 Centerline is valid? [False, False] Translation: X:37.21, Y:-35.99, Z:25.38 [[ 0.86539643 0.35801795 0.35058831 37.21171831] [ -0.42827491 0.89168063 0.14658193 -35.99484862] [ -0.26013385 -0.27699965 0.92498734 25.38275845] [ 0. 0. 0. 1. ]] SLAMing on 238.519072329 meters 0.3322796665848694 Centerline is valid? [False, False] Translation: X:37.05, Y:-36.13, Z:25.47 [[ 0.86725203 0.35677695 0.34725223 37.04583417] [ -0.42499762 0.89381348 0.14308908 -36.12848728] [ -0.25932784 -0.27167567 0.92679092 25.46554585] [ 0. 0. 0. 1. ]] SLAMing on 238.549072329 meters 0.32558223046767015 Centerline is valid? [False, False] Translation: X:36.88, Y:-36.26, Z:25.55 [[ 0.870578 0.3537805 0.34195512 36.87939361] [ -0.41907446 0.89731564 0.13856856 -36.26455272] [ -0.25781882 -0.2639394 0.92944362 25.5465156 ] [ 0. 0. 0. 1. ]] SLAMing on 238.579072329 meters 0.326475727578383 Centerline is valid? [False, False] Translation: X:36.71, Y:-36.40, Z:25.63 [[ 0.87207901 0.35087385 0.34112424 36.71366517] [ -0.41615527 0.89849491 0.13972008 -36.39781697] [ -0.25747427 -0.2638076 0.92957654 25.62980747] [ 0. 0. 0. 1. ]] SLAMing on 238.609072329 meters 0.31905936626246095 Centerline is valid? [False, False] Translation: X:36.55, Y:-36.53, Z:25.72 [[ 0.87271834 0.34838769 0.34203612 36.5455338 ] [ -0.41435357 0.89904981 0.14149405 -36.53269668] [ -0.25821272 -0.26520834 0.92897294 25.71663518] [ 0. 0. 0. 1. ]] SLAMing on 238.63907232900002 meters 0.3188510133727923 Centerline is valid? [False, False] Translation: X:36.38, Y:-36.66, Z:25.80 [[ 0.87311985 0.34450201 0.34493492 36.38141149] [ -0.41225776 0.89941501 0.14524525 -36.66378616] [ -0.26020236 -0.26901861 0.92732072 25.80219647] [ 0. 0. 0. 1. ]] SLAMing on 238.669072329 meters 0.31927977045778666 Centerline is valid? [False, False] Translation: X:36.22, Y:-36.79, Z:25.88 [[ 0.8739669 0.34551681 0.34176012 36.22420066] [ -0.41126441 0.90049555 0.14131296 -36.78998592] [ -0.25892747 -0.26405662 0.92910208 25.88111845] [ 0. 0. 0. 1. ]] SLAMing on 238.699072329 meters 0.3219571900425746 Centerline is valid? [False, False] Translation: X:36.07, Y:-36.91, Z:25.95 [[ 0.87612423 0.34613224 0.33555746 36.06997855] [ -0.40776701 0.90337476 0.13281608 -36.91370763] [ -0.25716221 -0.25319265 0.93260982 25.95228546] [ 0. 0. 0. 1. ]] SLAMing on 238.729072329 meters 0.3158805608068138 Centerline is valid? [False, False] Translation: X:35.91, Y:-37.04, Z:26.03 [[ 0.87697794 0.34572074 0.33374671 35.90828332] [ -0.40638425 0.90423864 0.13116525 -37.04193688] [ -0.25644012 -0.25065844 0.9334928 26.02892227] [ 0. 0. 0. 1. ]] SLAMing on 238.759072329 meters 0.3203149835297353 Centerline is valid? [False, False] Translation: X:35.75, Y:-37.17, Z:26.11 [[ 0.87738835 0.34468177 0.33374265 35.74511387] [ -0.40586798 0.90417445 0.13319062 -37.17182334] [ -0.2558532 -0.25231536 0.93320743 26.1078693 ] [ 0. 0. 0. 1. ]] SLAMing on 238.789072329 meters 0.3201810563429808 Centerline is valid? [False, False] Translation: X:35.58, Y:-37.30, Z:26.19 [[ 0.87608971 0.34294976 0.33889864 35.57890456] [ -0.40748518 0.90238177 0.1402247 -37.30468715] [ -0.25772593 -0.26094559 0.93031433 26.19301571] [ 0. 0. 0. 1. ]] SLAMing on 238.819072329 meters 0.3272189877873446 Centerline is valid? [False, False] Translation: X:35.42, Y:-37.43, Z:26.27 [[ 0.87543882 0.34381071 0.33970732 35.41825482] [ -0.40837315 0.90211021 0.13938633 -37.43384705] [ -0.25853092 -0.26075155 0.93014536 26.27344622] [ 0. 0. 0. 1. ]] SLAMing on 238.849072329 meters 0.32188622655709015 Centerline is valid? [False, False] Translation: X:35.26, Y:-37.56, Z:26.35 [[ 0.87609607 0.34617108 0.33559092 35.26025371] [ -0.40800987 0.90316162 0.13351794 -37.56206054] [ -0.25687279 -0.25389895 0.93249756 26.34528978] [ 0. 0. 0. 1. ]] SLAMing on 238.879072329 meters 0.328048751740713 Centerline is valid? [False, False] Translation: X:35.10, Y:-37.69, Z:26.42 [[ 0.87714224 0.34709867 0.3318795 35.1015345 ] [ -0.40727885 0.90384115 0.13113018 -37.68968474] [ -0.25445123 -0.25018732 0.9341632 26.41694165] [ 0. 0. 0. 1. ]] SLAMing on 238.909072329 meters 0.32469069746526447 Centerline is valid? [False, False] Translation: X:34.94, Y:-37.82, Z:26.49 [[ 0.87798545 0.34712051 0.32961933 34.93824875] [ -0.40683671 0.90395549 0.1317132 -37.82116446] [ -0.25224085 -0.24974352 0.93488113 26.49296975] [ 0. 0. 0. 1. ]] SLAMing on 238.939072329 meters 0.32025717744455534 Centerline is valid? [False, False] Translation: X:34.77, Y:-37.95, Z:26.57 [[ 0.87814286 0.3457715 0.33061636 34.77415416] [ -0.40660477 0.9035784 0.13497642 -37.95273384] [ -0.25206681 -0.25295877 0.93406327 26.57060071] [ 0. 0. 0. 1. ]] SLAMing on 238.969072329 meters 0.3485284224045628 Centerline is valid? [False, False] Translation: X:34.61, Y:-38.09, Z:26.65 [[ 0.8778695 0.34292767 0.33428393 34.61028852] [ -0.40684681 0.90225989 0.14283823 -38.08639934] [ -0.25262781 -0.26139568 0.93158547 26.65311726] [ 0. 0. 0. 1. ]] SLAMing on 238.999072329 meters 0.3258044649887064 Centerline is valid? [False, False] Translation: X:34.45, Y:-38.21, Z:26.73 [[ 0.87769642 0.34333476 0.33432057 34.45098592] [ -0.40707498 0.90227386 0.14209798 -38.21499092] [ -0.25286154 -0.26081242 0.93168553 26.7307136 ] [ 0. 0. 0. 1. ]] SLAMing on 239.029072329 meters 0.33504025414071154 Centerline is valid? [False, False] Translation: X:34.29, Y:-38.35, Z:26.80 [[ 0.87815783 0.34501246 0.33136872 34.29257095] [ -0.40638179 0.90348546 0.13626394 -38.34538262] [ -0.25237406 -0.25432346 0.93360961 26.80327194] [ 0. 0. 0. 1. ]] SLAMing on 239.059072329 meters 0.32050886251571836 Centerline is valid? [False, False] Translation: X:34.13, Y:-38.48, Z:26.88 [[ 0.87861158 0.34435688 0.33084743 34.12691799] [ -0.40529326 0.90412332 0.1352716 -38.4786525 ] [ -0.25254517 -0.25294143 0.93393874 26.87922494] [ 0. 0. 0. 1. ]] SLAMing on 239.089072329 meters 0.32041851264952026 Centerline is valid? [False, False] Translation: X:33.96, Y:-38.61, Z:26.96 [[ 0.87884928 0.34396017 0.33062873 33.960873 ] [ -0.40493364 0.9042237 0.13567697 -38.61247794] [ -0.25229486 -0.2531223 0.93395739 26.95771158] [ 0. 0. 0. 1. ]] SLAMing on 239.119072329 meters 0.3256340954605961 Centerline is valid? [False, False] Translation: X:33.79, Y:-38.75, Z:27.04 [[ 0.87888897 0.34248839 0.33204802 33.79450755] [ -0.40475712 0.903775 0.13914892 -38.74635327] [ -0.25243981 -0.25669525 0.93294249 27.03894108] [ 0. 0. 0. 1. ]] SLAMing on 239.149072329 meters 0.328954373090054 Centerline is valid? [False, False] Translation: X:33.63, Y:-38.88, Z:27.12 [[ 0.87900399 0.34117753 0.33309139 33.62989353] [ -0.40383309 0.90411524 0.13962262 -38.87855921] [ -0.2535169 -0.25724217 0.93249968 27.11715954] [ 0. 0. 0. 1. ]] SLAMing on 239.179072329 meters 0.33598376351298553 Centerline is valid? [False, False] Translation: X:33.47, Y:-39.01, Z:27.19 [[ 0.87947349 0.34034719 0.33270132 33.46736916] [ -0.40261243 0.90480429 0.13868105 -39.00978546] [ -0.25382988 -0.25591599 0.9327794 27.19317264] [ 0. 0. 0. 1. ]] SLAMing on 239.209072329 meters 0.3348369338767777 Centerline is valid? [False, False] Translation: X:33.30, Y:-39.14, Z:27.27 [[ 0.8794236 0.34134882 0.33180583 33.30463779] [ -0.40310649 0.90474406 0.13763484 -39.14325647] [ -0.25321787 -0.25479241 0.9332532 27.26752296] [ 0. 0. 0. 1. ]] SLAMing on 239.239072329 meters 0.3308938304575781 Centerline is valid? [False, False] Translation: X:33.14, Y:-39.28, Z:27.35 [[ 0.87935313 0.34135229 0.33198899 33.13715244] [ -0.40335383 0.9045257 0.13834357 -39.27861564] [ -0.25306868 -0.25556188 0.93308326 27.34585906] [ 0. 0. 0. 1. ]] SLAMing on 239.269072329 meters 0.3492535697412405 Centerline is valid? [False, False] Translation: X:32.97, Y:-39.41, Z:27.42 [[ 0.87966122 0.34063738 0.33190709 32.97194054] [ -0.40297419 0.90448009 0.13974105 -39.41227073] [ -0.25260233 -0.25667477 0.93290413 27.42372734] [ 0. 0. 0. 1. ]] SLAMing on 239.299072329 meters 0.3492535697412405 Centerline is valid? [False, False] Translation: X:32.81, Y:-39.55, Z:27.50 [[ 0.88009296 0.3389899 0.33244884 32.80639491] [ -0.40144478 0.90515339 0.13978351 -39.54584865] [ -0.253532 -0.25648234 0.93270485 27.50149555] [ 0. 0. 0. 1. ]] SLAMing on 239.329072329 meters 0.32460886771016234 Centerline is valid? [False, False] Translation: X:32.64, Y:-39.68, Z:27.58 [[ 0.88096824 0.33933024 0.32977257 32.64383971] [ -0.40114664 0.90522426 0.14017989 -39.67882894] [ -0.25095086 -0.25578119 0.93359501 27.57907711] [ 0. 0. 0. 1. ]] SLAMing on 239.359072329 meters 0.3256029269532935 Centerline is valid? [False, False] Translation: X:32.48, Y:-39.81, Z:27.66 [[ 0.88162164 0.33818633 0.32920099 32.48013253] [ -0.39992054 0.90570313 0.14058946 -39.81272789] [ -0.25061294 -0.25560095 0.93373514 27.65530323] [ 0. 0. 0. 1. ]] SLAMing on 239.38907232900002 meters 0.3377380579172765 Centerline is valid? [False, False] Translation: X:32.32, Y:-39.95, Z:27.73 [[ 0.88195439 0.33709161 0.32943239 32.31698828] [ -0.39894311 0.90608661 0.14089516 -39.9467748 ] [ -0.2509997 -0.25568789 0.93360744 27.73171709] [ 0. 0. 0. 1. ]] SLAMing on 239.419072329 meters 0.3341028210377245 Centerline is valid? [False, False] Translation: X:32.15, Y:-40.08, Z:27.81 [[ 0.88165393 0.3364326 0.33090702 32.15495304] [ -0.39944607 0.90541994 0.14372744 -40.0797538 ] [ -0.25125521 -0.25889737 0.93265373 27.80837077] [ 0. 0. 0. 1. ]] SLAMing on 239.449072329 meters 0.339641084813802 Centerline is valid? [False, False] Translation: X:32.00, Y:-40.21, Z:27.89 [[ 0.88209371 0.3359201 0.33025501 31.99511572] [ -0.39894239 0.90551865 0.14450243 -40.21147437] [ -0.2505108 -0.25921741 0.93276507 27.8854926 ] [ 0. 0. 0. 1. ]] SLAMing on 239.479072329 meters 0.33153292295968967 Centerline is valid? [False, False] Translation: X:31.84, Y:-40.34, Z:27.96 [[ 0.8827006 0.33520014 0.32936381 31.83695712] [ -0.39795324 0.90595156 0.14451641 -40.34204301] [ -0.24994573 -0.25863612 0.93307796 27.96136245] [ 0. 0. 0. 1. ]] SLAMing on 239.509072329 meters 0.3332307568493553 Centerline is valid? [False, False] Translation: X:31.68, Y:-40.47, Z:28.04 [[ 0.8833687 0.33534463 0.32741978 31.67959207] [ -0.39712313 0.90656983 0.14291385 -40.47296378] [ -0.2489035 -0.25627159 0.93400852 28.0364982 ] [ 0. 0. 0. 1. ]] SLAMing on 239.539072329 meters 0.3409125500711224 Centerline is valid? [False, False] Translation: X:31.52, Y:-40.60, Z:28.11 [[ 0.884042 0.33451811 0.32644658 31.52194647] [ -0.39600295 0.90705877 0.14291974 -40.60497543] [ -0.24829699 -0.25562087 0.93434821 28.11088037] [ 0. 0. 0. 1. ]] SLAMing on 239.569072329 meters 0.32862745041714275 Centerline is valid? [False, False] Translation: X:31.36, Y:-40.74, Z:28.19 [[ 0.88471087 0.33374094 0.32542842 31.36025118] [ -0.39508233 0.90736356 0.14353162 -40.74143335] [ -0.24737952 -0.255555 0.93460955 28.18782062] [ 0. 0. 0. 1. ]] SLAMing on 239.599072329 meters 0.3300741918093087 Centerline is valid? [False, False] Translation: X:31.20, Y:-40.87, Z:28.26 [[ 0.88465023 0.33554211 0.32373673 31.20373145] [ -0.3966087 0.90660456 0.14411699 -40.8733489 ] [ -0.24514388 -0.25588993 0.93510685 28.26288635] [ 0. 0. 0. 1. ]] SLAMing on 239.629072329 meters 0.3346375453490524 Centerline is valid? [False, False] Translation: X:31.05, Y:-41.00, Z:28.34 [[ 0.88529396 0.33597508 0.32152038 31.05045878] [ -0.39656045 0.90654701 0.14461096 -41.00290484] [ -0.24288766 -0.25552547 0.93579502 28.33554412] [ 0. 0. 0. 1. ]] SLAMing on 239.659072329 meters 0.3407714481256329 Centerline is valid? [False, False] Translation: X:30.90, Y:-41.13, Z:28.41 [[ 0.88607126 0.33633455 0.3189934 30.89672371] [ -0.39610537 0.90681934 0.14415004 -41.13303465] [ -0.24078674 -0.2540822 0.93673047 28.40770857] [ 0. 0. 0. 1. ]] SLAMing on 239.689072329 meters 0.3334976497967649 Centerline is valid? [False, False] Translation: X:30.74, Y:-41.26, Z:28.48 [[ 0.8866955 0.33664952 0.31691987 30.74204875] [ -0.39617316 0.90658911 0.14540639 -41.26434825] [ -0.2383651 -0.25448634 0.93723998 28.48026234] [ 0. 0. 0. 1. ]] SLAMing on 239.719072329 meters 0.3370588229730121 Centerline is valid? [False, False] Translation: X:30.59, Y:-41.39, Z:28.55 [[ 0.88718131 0.3362178 0.31601729 30.59042659] [ -0.39581536 0.90653304 0.14672439 -41.39411157] [ -0.23714876 -0.25525564 0.93733933 28.55312804] [ 0. 0. 0. 1. ]] SLAMing on 239.749072329 meters 0.3428164043602367 Centerline is valid? [False, False] Translation: X:30.44, Y:-41.52, Z:28.63 [[ 0.88646948 0.33766792 0.31646837 30.44001205] [ -0.39724818 0.90601754 0.1460346 -41.52382518] [ -0.23741469 -0.2551717 0.93729487 28.6261338 ] [ 0. 0. 0. 1. ]] SLAMing on 239.779072329 meters 0.34828277535551116 Centerline is valid? [False, False] Translation: X:30.29, Y:-41.65, Z:28.70 [[ 0.88685457 0.33884826 0.31411913 30.2882314 ] [ -0.39738966 0.9062188 0.14439163 -41.6535771 ] [ -0.23573381 -0.25288207 0.93833908 28.69633914] [ 0. 0. 0. 1. ]] SLAMing on 239.809072329 meters 0.3478256907684943 Centerline is valid? [False, False] Translation: X:30.14, Y:-41.78, Z:28.77 [[ 0.88788184 0.33926393 0.31075042 30.13665686] [ -0.39686924 0.90646017 0.14430791 -41.78327808] [ -0.23272441 -0.25145566 0.93947294 28.76539477] [ 0. 0. 0. 1. ]] SLAMing on 239.839072329 meters 0.34180566815835706 Centerline is valid? [False, False] Translation: X:29.98, Y:-41.91, Z:28.84 [[ 0.88870469 0.34005301 0.30751899 29.98369443] [ -0.39677993 0.9065087 0.14424858 -41.91188182] [ -0.22971648 -0.25021175 0.94054475 28.83530677] [ 0. 0. 0. 1. ]] SLAMing on 239.869072329 meters 0.34211924500723456 Centerline is valid? [False, False] Translation: X:29.83, Y:-42.04, Z:28.91 [[ 0.88968362 0.33847594 0.30642633 29.8283965 ] [ -0.39563429 0.90650713 0.14737144 -42.04472307] [ -0.22789597 -0.25234672 0.94041723 28.90685114] [ 0. 0. 0. 1. ]] SLAMing on 239.899072329 meters 0.34026177693997917 Centerline is valid? [False, False] Translation: X:29.68, Y:-42.18, Z:28.98 [[ 0.88959375 0.33856952 0.30658382 29.67587921] [ -0.39580611 0.90640971 0.14750921 -42.17530044] [ -0.22794843 -0.25257102 0.9403443 28.97882926] [ 0. 0. 0. 1. ]] SLAMing on 239.929072329 meters 0.3460319792389711 Centerline is valid? [False, False] Translation: X:29.53, Y:-42.30, Z:29.05 [[ 0.88888065 0.33951993 0.30759942 29.5268563 ] [ -0.39686244 0.90607486 0.14672613 -42.30286305] [ -0.22889166 -0.25249667 0.94013512 29.04846802] [ 0. 0. 0. 1. ]] SLAMing on 239.959072329 meters 0.3455887377665282 Centerline is valid? [False, False] Translation: X:29.37, Y:-42.44, Z:29.12 [[ 0.88855072 0.34198698 0.30581452 29.36964592] [ -0.39834077 0.90579052 0.1444582 -42.43587387] [ -0.22760107 -0.25017682 0.94106818 29.11805604] [ 0. 0. 0. 1. ]] SLAMing on 239.989072329 meters 0.3474714249598797 Centerline is valid? [False, False] Translation: X:29.22, Y:-42.57, Z:29.19 [[ 0.88930946 0.34288626 0.30258502 29.21557761] [ -0.39816017 0.90601959 0.1435165 -42.56596331] [ -0.22493812 -0.24810789 0.94225544 29.1859943 ] [ 0. 0. 0. 1. ]] SLAMing on 240.019072329 meters 0.3581485383997666 Centerline is valid? [False, False] Translation: X:29.06, Y:-42.70, Z:29.26 [[ 0.88998352 0.34097109 0.30276732 29.05640267] [ -0.39692925 0.90611007 0.14632739 -42.70113339] [ -0.2244471 -0.25040617 0.94176443 29.25665422] [ 0. 0. 0. 1. ]] SLAMing on 240.049072329 meters 0.3542083105457471 Centerline is valid? [False, False] Translation: X:28.90, Y:-42.83, Z:29.33 [[ 0.89054881 0.33982645 0.30239179 28.90118155] [ -0.39615275 0.9061146 0.14838911 -42.83447435] [ -0.22357507 -0.25194109 0.94156246 29.32724042] [ 0. 0. 0. 1. ]] SLAMing on 240.079072329 meters 0.3611161758937177 Centerline is valid? [False, False] Translation: X:28.75, Y:-42.97, Z:29.40 [[ 0.89078692 0.34003869 0.30145041 28.74823791] [ -0.39610234 0.90614376 0.14834564 -42.96609414] [ -0.22271415 -0.25154956 0.94187113 29.398081 ] [ 0. 0. 0. 1. ]] SLAMing on 240.109072329 meters 0.3674220987656901 Centerline is valid? [False, False] Translation: X:28.60, Y:-43.09, Z:29.46 [[ 0.89143395 0.34028592 0.29925075 28.60012856] [ -0.39560984 0.90646188 0.147715 -43.09167952] [ -0.22099406 -0.25006471 0.94267135 29.46323934] [ 0. 0. 0. 1. ]] SLAMing on 240.13907232900002 meters 0.35044043078721165 Centerline is valid? [False, False] Translation: X:28.45, Y:-43.22, Z:29.53 [[ 0.89218147 0.34040362 0.29687977 28.44962936] [ -0.39493555 0.90686512 0.14704275 -43.22267935] [ -0.21917602 -0.24843719 0.94352575 29.53133017] [ 0. 0. 0. 1. ]] SLAMing on 240.169072329 meters 0.3519565524010494 Centerline is valid? [False, False] Translation: X:28.30, Y:-43.35, Z:29.60 [[ 0.89279225 0.34006446 0.29542878 28.29734461] [ -0.39417642 0.90721414 0.14692667 -43.35380064] [ -0.21805263 -0.24762605 0.94399915 29.60051615] [ 0. 0. 0. 1. ]] SLAMing on 240.199072329 meters 0.35796637812170606 Centerline is valid? [False, False] Translation: X:28.15, Y:-43.49, Z:29.67 [[ 0.89297606 0.3398405 0.29513081 28.14603124] [ -0.39368874 0.90755225 0.14614406 -43.48575239] [ -0.21818096 -0.24669282 0.94421381 29.67161213] [ 0. 0. 0. 1. ]] SLAMing on 240.229072329 meters 0.354883568530472 Centerline is valid? [False, False] Translation: X:27.99, Y:-43.62, Z:29.74 [[ 0.89369543 0.33872911 0.29422962 27.99216141] [ -0.39260537 0.90782135 0.14738186 -43.61983149] [ -0.2171854 -0.24723062 0.94430266 29.74159689] [ 0. 0. 0. 1. ]] SLAMing on 240.259072329 meters 0.352023762595061 Centerline is valid? [False, False] Translation: X:27.84, Y:-43.75, Z:29.81 [[ 0.89431352 0.3387309 0.29234347 27.8383211 ] [ -0.39184001 0.9083407 0.14621416 -43.75214798] [ -0.21602022 -0.24531316 0.94506969 29.81108393] [ 0. 0. 0. 1. ]] SLAMing on 240.289072329 meters 0.3612277088845091 Centerline is valid? [False, False] Translation: X:27.69, Y:-43.88, Z:29.88 [[ 0.89519052 0.33870302 0.28967947 27.6889911 ] [ -0.39072894 0.9090896 0.14452334 -43.88260851] [ -0.2143941 -0.24256207 0.94614947 29.87741148] [ 0. 0. 0. 1. ]] SLAMing on 240.319072329 meters 0.35739036621455933 Centerline is valid? [False, False] Translation: X:27.54, Y:-44.01, Z:29.94 [[ 0.89634092 0.33788546 0.28706511 27.54371127] [ -0.3890799 0.90989597 0.14389634 -44.01010942] [ -0.21257891 -0.24067144 0.94704143 29.941362 ] [ 0. 0. 0. 1. ]] SLAMing on 240.349072329 meters 0.36637365367121694 Centerline is valid? [False, False] Translation: X:27.40, Y:-44.14, Z:30.01 [[ 0.8972171 0.3376019 0.28465141 27.39522014] [ -0.38818824 0.91026465 0.14397277 -44.13865718] [ -0.21050264 -0.23967316 0.9477581 30.00632836] [ 0. 0. 0. 1. ]] SLAMing on 240.379072329 meters 0.35211992171023304 Centerline is valid? [False, False] Translation: X:27.25, Y:-44.27, Z:30.07 [[ 0.89734933 0.33798149 0.28378284 27.24701579] [ -0.3883124 0.91023903 0.14379983 -44.26827304] [ -0.20970853 -0.23923507 0.94804478 30.07203519] [ 0. 0. 0. 1. ]] SLAMing on 240.409072329 meters 0.3489590349533533 Centerline is valid? [False, False] Translation: X:27.10, Y:-44.40, Z:30.14 [[ 0.89759813 0.33904663 0.28171791 27.09834851] [ -0.38868488 0.91020959 0.14297751 -44.39648073] [ -0.2079463 -0.23783583 0.94878472 30.13643707] [ 0. 0. 0. 1. ]] SLAMing on 240.439072329 meters 0.34866728743411324 Centerline is valid? [False, False] Translation: X:26.95, Y:-44.52, Z:30.20 [[ 0.89837115 0.3391364 0.27913397 26.9528365 ] [ -0.38787167 0.91073623 0.14182766 -44.52364333] [ -0.2061185 -0.23568204 0.94972056 30.19764067] [ 0. 0. 0. 1. ]] SLAMing on 240.469072329 meters 0.3556599373353599 Centerline is valid? [False, False] Translation: X:26.81, Y:-44.65, Z:30.26 [[ 0.89918979 0.33887503 0.27680578 26.80754961] [ -0.38687425 0.91126762 0.14113697 -44.65101672] [ -0.20441635 -0.23399795 0.95050456 30.25919525] [ 0. 0. 0. 1. ]] SLAMing on 240.499072329 meters 0.3548458396704754 Centerline is valid? [False, False] Translation: X:26.66, Y:-44.77, Z:30.32 [[ 0.89875313 0.33893915 0.27814216 26.66313136] [ -0.38702671 0.9113784 0.13999905 -44.77448278] [ -0.2060416 -0.23347303 0.9502827 30.32229218] [ 0. 0. 0. 1. ]] SLAMing on 240.529072329 meters 0.36050493163129604 Centerline is valid? [False, False] Translation: X:26.52, Y:-44.90, Z:30.39 [[ 0.8988913 0.33891162 0.27772891 26.5173525 ] [ -0.38721208 0.9110737 0.14146205 -44.90233856] [ -0.20508838 -0.23469899 0.9501869 30.38523425] [ 0. 0. 0. 1. ]] SLAMing on 240.559072329 meters 0.3557113745314158 Centerline is valid? [False, False] Translation: X:26.38, Y:-45.03, Z:30.45 [[ 0.89807405 0.3399437 0.27910802 26.37567638] [ -0.3882632 0.91086875 0.13989212 -45.02544143] [ -0.20667532 -0.23400086 0.95001522 30.44776527] [ 0. 0. 0. 1. ]] SLAMing on 240.589072329 meters 0.36361115997462096 Centerline is valid? [False, False] Translation: X:26.23, Y:-45.15, Z:30.51 [[ 0.89846843 0.33966152 0.27818075 26.23006537] [ -0.38798685 0.91081472 0.14100624 -45.15303991] [ -0.20547673 -0.23462013 0.95012247 30.50898131] [ 0. 0. 0. 1. ]] SLAMing on 240.619072329 meters 0.35846100785184687 Centerline is valid? [False, False] Translation: X:26.09, Y:-45.27, Z:30.57 [[ 0.89766082 0.34200481 0.27791682 26.0897212 ] [ -0.3893406 0.91091033 0.13658794 -45.27349199] [ -0.20644357 -0.23081394 0.95084487 30.56894113] [ 0. 0. 0. 1. ]] SLAMing on 240.649072329 meters 0.3624996341964192 Centerline is valid? [False, False] Translation: X:25.95, Y:-45.40, Z:30.63 [[ 0.89864418 0.34144256 0.27541899 25.94899211] [ -0.38824749 0.91131341 0.13701004 -45.39775253] [ -0.20421196 -0.230054 0.95151071 30.6254617 ] [ 0. 0. 0. 1. ]] SLAMing on 240.679072329 meters 0.3515786498945948 Centerline is valid? [False, False] Translation: X:25.80, Y:-45.52, Z:30.68 [[ 0.89879021 0.34299046 0.27300861 25.80344631] [ -0.38931813 0.91079168 0.13744059 -45.52282536] [ -0.20151316 -0.22981746 0.95214305 30.68476155] [ 0. 0. 0. 1. ]] SLAMing on 240.709072329 meters 0.35255675714205975 Centerline is valid? [False, False] Translation: X:25.66, Y:-45.65, Z:30.74 [[ 0.89911494 0.3432418 0.27161993 25.66009888] [ -0.38952178 0.91049639 0.13881318 -45.64746864] [ -0.19966248 -0.23061089 0.95234107 30.7431179 ] [ 0. 0. 0. 1. ]] SLAMing on 240.739072329 meters 0.35876446574092485 Centerline is valid? [False, False] Translation: X:25.52, Y:-45.77, Z:30.80 [[ 0.89821568 0.34391869 0.27373074 25.52041416] [ -0.39037015 0.91038783 0.13713184 -45.76847736] [ -0.20203893 -0.23003028 0.95198022 30.80179998] [ 0. 0. 0. 1. ]] SLAMing on 240.769072329 meters 0.3651795760008355 Centerline is valid? [False, False] Translation: X:25.37, Y:-45.90, Z:30.86 [[ 0.89808665 0.34360564 0.27454605 25.37410168] [ -0.39041038 0.91025872 0.13787237 -45.89684494] [ -0.20253421 -0.23100697 0.95163842 30.86277441] [ 0. 0. 0. 1. ]] SLAMing on 240.799072329 meters 0.36523971193411486 Centerline is valid? [False, False] Translation: X:25.23, Y:-46.03, Z:30.92 [[ 0.89828184 0.34360854 0.27390309 25.22976928] [ -0.39020597 0.9103815 0.13764018 -46.02531382] [ -0.20206196 -0.2305183 0.95185728 30.922767 ] [ 0. 0. 0. 1. ]] SLAMing on 240.829072329 meters 0.36799029471741546 Centerline is valid? [False, False] Translation: X:25.09, Y:-46.15, Z:30.98 [[ 0.89832731 0.34445817 0.27268408 25.08776348] [ -0.39057328 0.91036304 0.13671741 -46.14960452] [ -0.20114808 -0.2293201 0.95234014 30.98066392] [ 0. 0. 0. 1. ]] SLAMing on 240.859072329 meters 0.3860055566030221 Centerline is valid? [False, False] Translation: X:24.94, Y:-46.28, Z:31.04 [[ 0.89775494 0.34442544 0.27460369 24.94475117] [ -0.39075859 0.91045942 0.13554101 -46.27541935] [ -0.20333174 -0.22898636 0.95195664 31.0396291 ] [ 0. 0. 0. 1. ]] SLAMing on 240.88907232900002 meters 0.36009013499327236 Centerline is valid? [False, False] Translation: X:24.80, Y:-46.41, Z:31.10 [[ 0.89872824 0.34290066 0.27332526 24.79685719] [ -0.38967923 0.9103683 0.13921083 -46.40744171] [ -0.20109117 -0.23162188 0.95179496 31.09849881] [ 0. 0. 0. 1. ]] SLAMing on 240.919072329 meters 0.37100544408630814 Centerline is valid? [False, False] Translation: X:24.65, Y:-46.54, Z:31.16 [[ 0.89906626 0.34283012 0.27230014 24.65109067] [ -0.38947037 0.91037387 0.13975785 -46.53599574] [ -0.19998173 -0.2317044 0.9520086 31.15878617] [ 0. 0. 0. 1. ]] SLAMing on 240.949072329 meters 0.388424646053168 Centerline is valid? [False, False] Translation: X:24.51, Y:-46.66, Z:31.22 [[ 0.89867067 0.34317252 0.2731733 24.51253803] [ -0.38936596 0.91089684 0.1366056 -46.65864916] [ -0.20195341 -0.22912783 0.95221597 31.21641707] [ 0. 0. 0. 1. ]] SLAMing on 240.979072329 meters 0.3660672748943792 Centerline is valid? [False, False] Translation: X:24.37, Y:-46.79, Z:31.28 [[ 0.89853953 0.34381197 0.27280037 24.36821598] [ -0.38965045 0.91096735 0.13531821 -46.78828272] [ -0.20198821 -0.22788555 0.95250666 31.27678473] [ 0. 0. 0. 1. ]] SLAMing on 241.009072329 meters 0.37032194121122003 Centerline is valid? [False, False] Translation: X:24.23, Y:-46.92, Z:31.34 [[ 0.89845103 0.34399557 0.2728604 24.22577606] [ -0.38978613 0.91095479 0.13501165 -46.91702449] [ -0.20212008 -0.22765856 0.95253297 31.33653693] [ 0. 0. 0. 1. ]] SLAMing on 241.039072329 meters 0.36790519092776025 Centerline is valid? [False, False] Translation: X:24.09, Y:-47.04, Z:31.40 [[ 0.89814873 0.343972 0.27388342 24.08534484] [ -0.3898854 0.91099898 0.13442554 -47.04383691] [ -0.20326889 -0.22751728 0.95232224 31.39560822] [ 0. 0. 0. 1. ]] SLAMing on 241.069072329 meters 0.3734627798219405 Centerline is valid? [False, False] Translation: X:23.94, Y:-47.17, Z:31.45 [[ 0.89878724 0.3436939 0.27213232 23.94494672] [ -0.38939675 0.91105622 0.13545013 -47.17162361] [ -0.20137446 -0.22770829 0.95267899 31.45416671] [ 0. 0. 0. 1. ]] SLAMing on 241.099072329 meters 0.368358713098247 Centerline is valid? [False, False] Translation: X:23.80, Y:-47.30, Z:31.51 [[ 0.89970754 0.34269387 0.27034653 23.80234509] [ -0.38837717 0.91118717 0.13748135 -47.30034885] [ -0.19922227 -0.22868943 0.95289644 31.5118156 ] [ 0. 0. 0. 1. ]] SLAMing on 241.129072329 meters 0.3681720821256636 Centerline is valid? [False, False] Translation: X:23.66, Y:-47.43, Z:31.57 [[ 0.89996901 0.34362476 0.26828681 23.6551815 ] [ -0.38885973 0.91095235 0.13767326 -47.43178026] [ -0.19708855 -0.2282276 0.95345071 31.57202445] [ 0. 0. 0. 1. ]] SLAMing on 241.159072329 meters 0.3727980108840512 Centerline is valid? [False, False] Translation: X:23.51, Y:-47.56, Z:31.63 [[ 0.89958024 0.34340448 0.26986802 23.51228322] [ -0.38865766 0.91129964 0.13593448 -47.55922293] [ -0.19925012 -0.22717024 0.95325394 31.62981144] [ 0. 0. 0. 1. ]] SLAMing on 241.189072329 meters 0.3727980108840512 Centerline is valid? [False, False] Translation: X:23.37, Y:-47.69, Z:31.69 [[ 0.90054991 0.34156916 0.26896165 23.36682554] [ -0.38699599 0.91170661 0.13793173 -47.69175247] [ -0.19810089 -0.22830149 0.9532232 31.68713245] [ 0. 0. 0. 1. ]] SLAMing on 241.219072329 meters 0.3829178867285343 Centerline is valid? [False, False] Translation: X:23.23, Y:-47.82, Z:31.74 [[ 0.90011434 0.34303981 0.26854768 23.22746756] [ -0.38768484 0.91191726 0.13456366 -47.81664711] [ -0.19873258 -0.22523454 0.95382114 31.74360661] [ 0. 0. 0. 1. ]] SLAMing on 241.249072329 meters 0.37023545840163535 Centerline is valid? [False, False] Translation: X:23.08, Y:-47.95, Z:31.80 [[ 0.90118607 0.34101702 0.26752766 23.07924611] [ -0.3861559 0.91201447 0.13825058 -47.95136197] [ -0.1968433 -0.22789688 0.95358048 31.80084059] [ 0. 0. 0. 1. ]] SLAMing on 241.279072329 meters 0.36825460339748123 Centerline is valid? [False, False] Translation: X:22.94, Y:-48.08, Z:31.86 [[ 0.90063118 0.34082191 0.26963662 22.93804751] [ -0.38630018 0.9120761 0.13743856 -48.07886353] [ -0.19908704 -0.22794213 0.95310374 31.85989193] [ 0. 0. 0. 1. ]] SLAMing on 241.309072329 meters 0.3742207971331358 Centerline is valid? [False, False] Translation: X:22.79, Y:-48.21, Z:31.92 [[ 0.89937922 0.3397049 0.2751683 22.79421138] [ -0.3867326 0.91174 0.13844878 -48.20646084] [ -0.20385022 -0.23093451 0.95137497 31.92168082] [ 0. 0. 0. 1. ]] SLAMing on 241.339072329 meters 0.37260200443884334 Centerline is valid? [False, False] Translation: X:22.65, Y:-48.33, Z:31.98 [[ 0.8986256 0.33871685 0.2788242 22.65444588] [ -0.38623667 0.91222407 0.13663268 -48.33116857] [ -0.20807035 -0.23047375 0.95057276 31.97932928] [ 0. 0. 0. 1. ]] SLAMing on 241.369072329 meters 0.3845427039304579 Centerline is valid? [False, False] Translation: X:22.52, Y:-48.46, Z:32.04 [[ 0.89910327 0.33802804 0.27811931 22.51580781] [ -0.38517622 0.91280069 0.13577253 -48.45740025] [ -0.20797258 -0.22919847 0.95090245 32.03591176] [ 0. 0. 0. 1. ]] SLAMing on 241.399072329 meters 0.3854319872998894 Centerline is valid? [False, False] Translation: X:22.38, Y:-48.58, Z:32.09 [[ 0.90031318 0.33863641 0.27342561 22.37955608] [ -0.38411929 0.91361121 0.13329267 -48.58147319] [ -0.20466695 -0.2250332 0.95261298 32.08834737] [ 0. 0. 0. 1. ]] SLAMing on 241.429072329 meters 0.3836787299269575 Centerline is valid? [False, False] Translation: X:22.24, Y:-48.71, Z:32.14 [[ 0.90126426 0.33735911 0.27186683 22.24137491] [ -0.38272935 0.91400289 0.1345993 -48.70922181] [ -0.20307876 -0.22536095 0.95287536 32.14366393] [ 0. 0. 0. 1. ]] SLAMing on 241.459072329 meters 0.3710823575372186 Centerline is valid? [False, False] Translation: X:22.10, Y:-48.84, Z:32.20 [[ 0.90103445 0.33700894 0.27306022 22.09949334] [ -0.38323113 0.91339583 0.13726601 -48.83880839] [ -0.2031522 -0.22832658 0.95215343 32.20382135] [ 0. 0. 0. 1. ]] SLAMing on 241.489072329 meters 0.37234860485822563 Centerline is valid? [False, False] Translation: X:21.96, Y:-48.96, Z:32.26 [[ 0.90016595 0.33627128 0.27680842 21.9627076 ] [ -0.38347459 0.91324045 0.1376195 -48.96357504] [ -0.20651516 -0.23002938 0.95101944 32.26078495] [ 0. 0. 0. 1. ]] SLAMing on 241.519072329 meters 0.37273370021710395 Centerline is valid? [False, False] Translation: X:21.82, Y:-49.10, Z:32.32 [[ 0.90057393 0.33501793 0.27700106 21.8195846 ] [ -0.38282077 0.91311506 0.14024671 -49.097021 ] [ -0.20594867 -0.23234428 0.95057944 32.31918065] [ 0. 0. 0. 1. ]] SLAMing on 241.549072329 meters 0.3678952589688044 Centerline is valid? [False, False] Translation: X:21.69, Y:-49.22, Z:32.38 [[ 0.90073209 0.33544775 0.27596469 21.68551848] [ -0.38247273 0.91363241 0.13780576 -49.2224925 ] [ -0.20590365 -0.22967503 0.95123765 32.37510475] [ 0. 0. 0. 1. ]] SLAMing on 241.579072329 meters 0.37664442306154083 Centerline is valid? [False, False] Translation: X:21.55, Y:-49.35, Z:32.43 [[ 0.9011411 0.33561062 0.27442709 21.55141071] [ -0.38200655 0.91400569 0.13661838 -49.34889723] [ -0.20497734 -0.22794539 0.95185355 32.43086883] [ 0. 0. 0. 1. ]] SLAMing on 241.609072329 meters 0.3748565806550109 Centerline is valid? [False, False] Translation: X:21.42, Y:-49.48, Z:32.48 [[ 0.90236315 0.33416278 0.27216903 21.41660856] [ -0.38047221 0.91430572 0.13887383 -49.47547991] [ -0.20243924 -0.22886738 0.95217545 32.48453477] [ 0. 0. 0. 1. ]] SLAMing on 241.63907232900002 meters 0.3753298350423385 Centerline is valid? [False, False] Translation: X:21.29, Y:-49.60, Z:32.54 [[ 0.90157708 0.33448806 0.27436564 21.28563406] [ -0.38159808 0.91365149 0.14008522 -49.59656715] [ -0.20381775 -0.23099502 0.95136724 32.54095929] [ 0. 0. 0. 1. ]] SLAMing on 241.669072329 meters 0.3794269876176701 Centerline is valid? [False, False] Translation: X:21.15, Y:-49.72, Z:32.60 [[ 0.90090959 0.33333678 0.27793613 21.15478862] [ -0.38165054 0.91339029 0.14163704 -49.71880796] [ -0.20665133 -0.23367664 0.95010023 32.59620837] [ 0. 0. 0. 1. ]] SLAMing on 241.699072329 meters 0.3819179210637738 Centerline is valid? [False, False] Translation: X:21.02, Y:-49.84, Z:32.65 [[ 0.90000687 0.33400589 0.28004945 21.02269725] [ -0.38282515 0.91292144 0.14148978 -49.8427124 ] [ -0.20840473 -0.23455175 0.94950142 32.65422451] [ 0. 0. 0. 1. ]] SLAMing on 241.729072329 meters 0.3855598156295541 Centerline is valid? [False, False] Translation: X:20.89, Y:-49.97, Z:32.71 [[ 0.90002548 0.33452521 0.27936899 20.8935608 ] [ -0.38294398 0.9130391 0.1404048 -49.96525877] [ -0.20810586 -0.23335057 0.94986286 32.70895629] [ 0. 0. 0. 1. ]] SLAMing on 241.759072329 meters 0.38953316135310406 Centerline is valid? [False, False] Translation: X:20.76, Y:-50.09, Z:32.76 [[ 0.9003903 0.33499909 0.27762008 20.76232711] [ -0.38284404 0.91318369 0.13973541 -50.08986742] [ -0.2067069 -0.2321016 0.95047415 32.76387456] [ 0. 0. 0. 1. ]] SLAMing on 241.789072329 meters 0.3858064070800917 Centerline is valid? [False, False] Translation: X:20.63, Y:-50.21, Z:32.82 [[ 0.90076345 0.33654893 0.27451779 20.62848876] [ -0.38369667 0.91279172 0.13995764 -50.21462631] [ -0.20347497 -0.23140029 0.95134213 32.81771724] [ 0. 0. 0. 1. ]] SLAMing on 241.819072329 meters 0.3932452123165554 Centerline is valid? [False, False] Translation: X:20.50, Y:-50.34, Z:32.87 [[ 0.90086457 0.33669034 0.2740121 20.49579208] [ -0.38415545 0.9122794 0.14202428 -50.34117613] [ -0.20215739 -0.23320789 0.95118162 32.87401269] [ 0. 0. 0. 1. ]] SLAMing on 241.849072329 meters 0.3912509293301182 Centerline is valid? [False, False] Translation: X:20.37, Y:-50.46, Z:32.93 [[ 0.90023065 0.33674592 0.27601986 20.36527879] [ -0.38478331 0.91196246 0.14235966 -50.46452306] [ -0.20378071 -0.23436436 0.95055077 32.92987482] [ 0. 0. 0. 1. ]] SLAMing on 241.879072329 meters 0.38910148369604286 Centerline is valid? [False, False] Translation: X:20.23, Y:-50.59, Z:32.99 [[ 0.89937586 0.33686257 0.27865153 20.22853569] [ -0.38599154 0.91113889 0.14434835 -50.59201851] [ -0.20526469 -0.23738055 0.94948243 32.98980821] [ 0. 0. 0. 1. ]] SLAMing on 241.909072329 meters 0.39661497578524235 Centerline is valid? [False, False] Translation: X:20.10, Y:-50.72, Z:33.05 [[ 0.89896205 0.33694581 0.27988347 20.09771017] [ -0.38627294 0.91110356 0.14381766 -50.71608046] [ -0.20654406 -0.23739803 0.94920057 33.04523122] [ 0. 0. 0. 1. ]] SLAMing on 241.939072329 meters 0.40377573001896516 Centerline is valid? [False, False] Translation: X:19.96, Y:-50.84, Z:33.10 [[ 0.89945733 0.33689054 0.2783546 19.96389225] [ -0.38602957 0.91106039 0.14474162 -50.84433473] [ -0.20483577 -0.23764201 0.94950965 33.10048555] [ 0. 0. 0. 1. ]] SLAMing on 241.969072329 meters 0.3890291952101322 Centerline is valid? [False, False] Translation: X:19.83, Y:-50.97, Z:33.16 [[ 0.89886273 0.33958185 0.27700172 19.83322765] [ -0.38801212 0.91051307 0.14287249 -50.96886166] [ -0.20369678 -0.23590278 0.95018814 33.15615578] [ 0. 0. 0. 1. ]] SLAMing on 241.999072329 meters 0.39508562867579905 Centerline is valid? [False, False] Translation: X:19.70, Y:-51.10, Z:33.21 [[ 0.89912375 0.34000808 0.27562836 19.70061884] [ -0.38842608 0.91009367 0.14441153 -51.09775538] [ -0.20174654 -0.23690508 0.95035484 33.21475895] [ 0. 0. 0. 1. ]] SLAMing on 242.029072329 meters 0.40134428131253197 Centerline is valid? [False, False] Translation: X:19.57, Y:-51.22, Z:33.27 [[ 0.89805635 0.34175281 0.27694729 19.56867606] [ -0.3908442 0.9088189 0.14590757 -51.22313704] [ -0.20183061 -0.23927646 0.94974269 33.273784 ] [ 0. 0. 0. 1. ]] SLAMing on 242.059072329 meters 0.39664569630238794 Centerline is valid? [False, False] Translation: X:19.43, Y:-51.36, Z:33.34 [[ 0.89780026 0.34207218 0.27738298 19.43089189] [ -0.39168621 0.9081461 0.14782614 -51.35752763] [ -0.20133706 -0.24136544 0.94931876 33.33546572] [ 0. 0. 0. 1. ]] SLAMing on 242.089072329 meters 0.40420987016079973 Centerline is valid? [False, False] Translation: X:19.29, Y:-51.49, Z:33.40 [[ 0.89762293 0.34284559 0.27700178 19.29257181] [ -0.39267882 0.90747834 0.1492863 -51.49396785] [ -0.20019097 -0.24277553 0.94920157 33.3972329 ] [ 0. 0. 0. 1. ]] SLAMing on 242.119072329 meters 0.39531611745268064 Centerline is valid? [False, False] Translation: X:19.16, Y:-51.63, Z:33.46 [[ 0.89757345 0.34407992 0.27562822 19.15746536] [ -0.39348997 0.90719108 0.14889588 -51.62823328] [ -0.19881538 -0.24210193 0.94966263 33.45756265] [ 0. 0. 0. 1. ]] SLAMing on 242.149072329 meters 0.40625666334532196 Centerline is valid? [False, False] Translation: X:19.02, Y:-51.76, Z:33.51 [[ 0.89770182 0.34694344 0.27159102 19.02081349] [ -0.3949498 0.90687178 0.14696338 -51.7632656 ] [ -0.19531025 -0.23919412 0.95112569 33.5145921 ] [ 0. 0. 0. 1. ]] SLAMing on 242.179072329 meters 0.41955152574553845 Centerline is valid? [False, False] Translation: X:18.89, Y:-51.90, Z:33.57 [[ 0.89818461 0.3479205 0.26872984 18.88644464] [ -0.39527386 0.90668067 0.14727096 -51.89720824] [ -0.19241357 -0.23849839 0.95189051 33.57435427] [ 0. 0. 0. 1. ]] SLAMing on 242.209072329 meters 0.42564239719495356 Centerline is valid? [False, False] Translation: X:18.75, Y:-52.03, Z:33.63 [[ 0.89809459 0.34855784 0.26820428 18.75289827] [ -0.39607579 0.90609398 0.1487201 -52.02974735] [ -0.19118073 -0.23979395 0.95181342 33.63383144] [ 0. 0. 0. 1. ]] SLAMing on 242.239072329 meters 0.4262324713533585 Centerline is valid? [False, False] Translation: X:18.62, Y:-52.16, Z:33.70 [[ 0.89608719 0.35201521 0.27039424 18.617077 ] [ -0.40064533 0.90365276 0.15131101 -52.16372475] [ -0.19107872 -0.24392004 0.9507849 33.69595148] [ 0. 0. 0. 1. ]] SLAMing on 242.269072329 meters 0.4210244777449242 Centerline is valid? [False, False] Translation: X:18.48, Y:-52.30, Z:33.76 [[ 0.89520706 0.35371454 0.27109101 18.48377006] [ -0.40243078 0.90294947 0.15077045 -52.29685033] [ -0.19145179 -0.24406614 0.95067236 33.75540506] [ 0. 0. 0. 1. ]] SLAMing on 242.299072329 meters 0.4232205136521078 Centerline is valid? [False, False] Translation: X:18.35, Y:-52.43, Z:33.81 [[ 0.89479129 0.35557242 0.27003113 18.34993214] [ -0.40371415 0.90263871 0.14919196 -52.43156736] [ -0.190692 -0.24251106 0.95122287 33.81417455] [ 0. 0. 0. 1. ]] SLAMing on 242.329072329 meters 0.42514730839526965 Centerline is valid? [False, False] Translation: X:18.21, Y:-52.57, Z:33.87 [[ 0.89493221 0.35904896 0.26491542 18.21126995] [ -0.40580027 0.9017951 0.14863289 -52.57158453] [ -0.18553294 -0.24051911 0.95274765 33.87083019] [ 0. 0. 0. 1. ]] SLAMing on 242.359072329 meters 0.4266870484101719 Centerline is valid? [False, False] Translation: X:18.08, Y:-52.71, Z:33.93 [[ 0.89511626 0.35903764 0.26430827 18.0751085 ] [ -0.40586135 0.90157402 0.14980267 -52.70894196] [ -0.18450867 -0.24136332 0.95273307 33.92958656] [ 0. 0. 0. 1. ]] SLAMing on 242.38907232900002 meters 0.43044312832377857 Centerline is valid? [False, False] Translation: X:17.94, Y:-52.85, Z:33.99 [[ 0.89475867 0.3593628 0.26507602 17.94033342] [ -0.40681565 0.90077169 0.15202428 -52.84563871] [ -0.1841411 -0.24386211 0.9521677 33.98929511] [ 0. 0. 0. 1. ]] SLAMing on 242.419072329 meters 0.439070206958694 Centerline is valid? [False, False] Translation: X:17.81, Y:-52.98, Z:34.05 [[ 0.89274734 0.36198832 0.26826598 17.80569448] [ -0.41104316 0.89818461 0.15591001 -52.98079085] [ -0.18451477 -0.24945714 0.95064475 34.04900349] [ 0. 0. 0. 1. ]] SLAMing on 242.449072329 meters 0.43833068436362005 Centerline is valid? [False, False] Translation: X:17.67, Y:-53.12, Z:34.11 [[ 0.89223388 0.36295091 0.2686733 17.67008596] [ -0.4121798 0.89760933 0.15622195 -53.11930634] [ -0.18446277 -0.25012822 0.95047849 34.10939129] [ 0. 0. 0. 1. ]] SLAMing on 242.479072329 meters 0.4665392244575605 Centerline is valid? [False, False] Translation: X:17.54, Y:-53.25, Z:34.17 [[ 0.89126512 0.36711621 0.26621829 17.53809954] [ -0.41538057 0.89644037 0.15444628 -53.25286612] [ -0.18194909 -0.24823448 0.95145897 34.16826046] [ 0. 0. 0. 1. ]] SLAMing on 242.509072329 meters 0.45463325244886355 Centerline is valid? [False, False] Translation: X:17.40, Y:-53.40, Z:34.23 [[ 0.89136464 0.36756987 0.26525737 17.39935264] [ -0.41575858 0.89610708 0.15536059 -53.39522073] [ -0.18059313 -0.24876596 0.95157849 34.22950484] [ 0. 0. 0. 1. ]] SLAMing on 242.539072329 meters 0.4612380827947341 Centerline is valid? [False, False] Translation: X:17.26, Y:-53.54, Z:34.29 [[ 0.89129687 0.36759538 0.26544967 17.26330927] [ -0.41611902 0.89567856 0.15685942 -53.53580706] [ -0.18009678 -0.25026696 0.95127893 34.29003512] [ 0. 0. 0. 1. ]] SLAMing on 242.569072329 meters 0.4455637395190338 Centerline is valid? [False, False] Translation: X:17.13, Y:-53.68, Z:34.35 [[ 0.89100739 0.36792476 0.26596465 17.12614478] [ -0.4169121 0.89500651 0.15858013 -53.6789566 ] [ -0.17969453 -0.25217995 0.9508497 34.35130731] [ 0. 0. 0. 1. ]] SLAMing on 242.599072329 meters 0.4565058778575677 Centerline is valid? [False, False] Translation: X:16.99, Y:-53.82, Z:34.41 [[ 0.88920916 0.37052694 0.26835958 16.9886475 ] [ -0.4204947 0.89302099 0.16030507 -53.82190746] [ -0.18025339 -0.25538852 0.94988706 34.41311841] [ 0. 0. 0. 1. ]] SLAMing on 242.629072329 meters 0.4424696799835708 Centerline is valid? [False, False] Translation: X:16.86, Y:-53.96, Z:34.47 [[ 0.88872324 0.37201765 0.26790645 16.85640838] [ -0.42193457 0.89227942 0.16065072 -53.96015648] [ -0.17928251 -0.25581302 0.94995657 34.47348841] [ 0. 0. 0. 1. ]] SLAMing on 242.659072329 meters 0.4463329703077966 Centerline is valid? [False, False] Translation: X:16.73, Y:-54.09, Z:34.53 [[ 0.88801696 0.37567053 0.26513683 16.72624891] [ -0.42470416 0.89110925 0.15984581 -54.09394727] [ -0.17621652 -0.25455051 0.95086896 34.53273521] [ 0. 0. 0. 1. ]] SLAMing on 242.689072329 meters 0.44905661229791616 Centerline is valid? [False, False] Translation: X:16.59, Y:-54.23, Z:34.59 [[ 0.88852864 0.37539142 0.26381457 16.59252254] [ -0.42437868 0.8909609 0.16152836 -54.2340555 ] [ -0.1744121 -0.25547986 0.9509524 34.59235558] [ 0. 0. 0. 1. ]] SLAMing on 242.719072329 meters 0.45414087026646743 Centerline is valid? [False, False] Translation: X:16.45, Y:-54.38, Z:34.65 [[ 0.88886122 0.37491221 0.26337533 16.45376897] [ -0.42417322 0.89066573 0.16368149 -54.38055804] [ -0.17321319 -0.2572069 0.95070595 34.6547573 ] [ 0. 0. 0. 1. ]] SLAMing on 242.749072329 meters 0.4524033179189591 Centerline is valid? [False, False] Translation: X:16.32, Y:-54.53, Z:34.72 [[ 0.88750614 0.37643129 0.26576744 16.31544796] [ -0.42684959 0.88887669 0.16642611 -54.52733162] [ -0.17358649 -0.26114692 0.94956307 34.71751234] [ 0. 0. 0. 1. ]] SLAMing on 242.779072329 meters 0.458614672212096 Centerline is valid? [False, False] Translation: X:16.18, Y:-54.67, Z:34.78 [[ 0.88684441 0.37744418 0.26653871 16.17970679] [ -0.42829472 0.88795726 0.16761721 -54.6713897 ] [ -0.17340884 -0.2628075 0.94913729 34.77892554] [ 0. 0. 0. 1. ]] SLAMing on 242.809072329 meters 0.4609853406262961 Centerline is valid? [False, False] Translation: X:16.04, Y:-54.82, Z:34.84 [[ 0.88593804 0.37907301 0.26724042 16.04201271] [ -0.43021761 0.88692654 0.16814907 -54.81737067] [ -0.17328185 -0.26394119 0.94884585 34.84206086] [ 0. 0. 0. 1. ]] SLAMing on 242.839072329 meters 0.4646965385216153 Centerline is valid? [False, False] Translation: X:15.91, Y:-54.96, Z:34.90 [[ 0.88438447 0.38354517 0.26600229 15.90855748] [ -0.4345904 0.88453555 0.1694935 -54.95817568] [ -0.17028007 -0.26549945 0.94895455 34.90290664] [ 0. 0. 0. 1. ]] SLAMing on 242.869072329 meters 0.4687275224439234 Centerline is valid? [False, False] Translation: X:15.78, Y:-55.10, Z:34.96 [[ 0.88441043 0.384295 0.26483117 15.77624249] [ -0.43539773 0.88372028 0.17166035 -55.09936483] [ -0.16806846 -0.26712509 0.94889261 34.96381255] [ 0. 0. 0. 1. ]] SLAMing on 242.899072329 meters 0.47389164071260004 Centerline is valid? [False, False] Translation: X:15.64, Y:-55.25, Z:35.03 [[ 0.88425062 0.38521965 0.26402019 15.63988875] [ -0.43640058 0.88288403 0.17340798 -55.24540086] [ -0.16629905 -0.26855467 0.94880083 35.02740254] [ 0. 0. 0. 1. ]] SLAMing on 242.929072329 meters 0.48256139842491763 Centerline is valid? [False, False] Translation: X:15.50, Y:-55.40, Z:35.09 [[ 0.88300947 0.38779396 0.26440522 15.498979 ] [ -0.43936183 0.88109443 0.1750251 -55.39567746] [ -0.16509229 -0.27071838 0.94839659 35.09257926] [ 0. 0. 0. 1. ]] SLAMing on 242.959072329 meters 0.4881013200552551 Centerline is valid? [False, False] Translation: X:15.36, Y:-55.55, Z:35.16 [[ 0.88220622 0.38845253 0.2661143 15.35554136] [ -0.44076152 0.88010475 0.17647919 -55.5495834 ] [ -0.16565467 -0.27298399 0.94764881 35.15985437] [ 0. 0. 0. 1. ]] SLAMing on 242.989072329 meters 0.5015112299848035 Centerline is valid? [False, False] Translation: X:15.21, Y:-55.70, Z:35.23 [[ 0.88119072 0.3897711 0.26754703 15.21395216] [ -0.44255295 0.87913283 0.17683988 -55.70190794] [ -0.1662823 -0.27423339 0.94717804 35.22692192] [ 0. 0. 0. 1. ]] SLAMing on 243.019072329 meters 0.507947385393234 Centerline is valid? [False, False] Translation: X:15.07, Y:-55.85, Z:35.29 [[ 0.8795736 0.39385006 0.266894 15.07393719] [ -0.4463695 0.87727464 0.17647514 -55.85194637] [ -0.16463459 -0.27435622 0.94743027 35.29356722] [ 0. 0. 0. 1. ]] SLAMing on 243.049072329 meters 0.5217541410667158 Centerline is valid? [False, False] Translation: X:14.93, Y:-56.00, Z:35.36 [[ 0.87937462 0.39445005 0.26666351 14.93118418] [ -0.44710893 0.87665577 0.17767462 -56.00377693] [ -0.16368834 -0.27547019 0.94727098 35.3600627 ] [ 0. 0. 0. 1. ]] SLAMing on 243.079072329 meters 0.5173147631705765 Centerline is valid? [False, False] Translation: X:14.79, Y:-56.15, Z:35.43 [[ 0.87902713 0.39525413 0.26661859 14.79187292] [ -0.44803903 0.87601378 0.17849618 -56.15314854] [ -0.16301021 -0.27635852 0.94712916 35.42687365] [ 0. 0. 0. 1. ]] SLAMing on 243.109072329 meters 0.5173147631705765 Centerline is valid? [False, False] Translation: X:14.65, Y:-56.30, Z:35.49 [[ 0.87959457 0.39357965 0.26722359 14.65324573] [ -0.44678958 0.87636374 0.1799046 -56.30275683] [ -0.16337827 -0.27763582 0.94669208 35.49262497] [ 0. 0. 0. 1. ]] SLAMing on 243.13907232900002 meters 0.5015209602673577 Centerline is valid? [False, False] Translation: X:14.52, Y:-56.45, Z:35.56 [[ 0.87856267 0.39534311 0.26801392 14.51590882] [ -0.44901496 0.87494177 0.18128009 -56.44916225] [ -0.16282874 -0.27960818 0.94620614 35.55893142] [ 0. 0. 0. 1. ]] SLAMing on 243.169072329 meters 0.5054511270166028 Centerline is valid? [False, False] Translation: X:14.38, Y:-56.60, Z:35.63 [[ 0.87813133 0.39519682 0.26963835 14.37785558] [ -0.44948873 0.87453009 0.18209066 -56.59741856] [ -0.16384521 -0.28109891 0.94558879 35.62519203] [ 0. 0. 0. 1. ]] SLAMing on 243.199072329 meters 0.517648174667162 Centerline is valid? [False, False] Translation: X:14.24, Y:-56.75, Z:35.69 [[ 0.87741009 0.39644838 0.2701485 14.24055258] [ -0.45093877 0.87372014 0.18239336 -56.74506453] [ -0.16372464 -0.28185421 0.94538482 35.69089188] [ 0. 0. 0. 1. ]] SLAMing on 243.229072329 meters 0.5222127644713415 Centerline is valid? [False, False] Translation: X:14.10, Y:-56.89, Z:35.76 [[ 0.87763078 0.39601684 0.27006457 14.10393046] [ -0.45045486 0.87400495 0.18222449 -56.89334828] [ -0.16387381 -0.28157772 0.94544136 35.75735363] [ 0. 0. 0. 1. ]] SLAMing on 243.259072329 meters 0.526989567890645 Centerline is valid? [False, False] Translation: X:13.96, Y:-57.05, Z:35.83 [[ 0.878162 0.3949 0.26997313 13.96367366] [ -0.44945006 0.87436007 0.18300032 -57.04541027] [ -0.1637869 -0.28204337 0.94531761 35.82530626] [ 0. 0. 0. 1. ]] SLAMing on 243.289072329 meters 0.514512837307815 Centerline is valid? [False, False] Translation: X:13.83, Y:-57.19, Z:35.89 [[ 0.87833298 0.39468029 0.26973808 13.82558671] [ -0.44922457 0.87439959 0.18336479 -57.19375085] [ -0.1634884 -0.28222832 0.94531409 35.89315189] [ 0. 0. 0. 1. ]] SLAMing on 243.319072329 meters 0.5148754388853446 Centerline is valid? [False, False] Translation: X:13.69, Y:-57.34, Z:35.96 [[ 0.87885187 0.39347773 0.26980488 13.69015057] [ -0.44817303 0.87478645 0.18409127 -57.34188526] [ -0.16358584 -0.28270823 0.94515381 35.96063006] [ 0. 0. 0. 1. ]] SLAMing on 243.349072329 meters 0.5150571953456208 Centerline is valid? [False, False] Translation: X:13.55, Y:-57.49, Z:36.03 [[ 0.87930978 0.39204833 0.27039309 13.55398911] [ -0.44684272 0.87556622 0.18361748 -57.49105562] [ -0.16476013 -0.28227983 0.94507788 36.02935292] [ 0. 0. 0. 1. ]] SLAMing on 243.379072329 meters 0.5291275659135426 Centerline is valid? [False, False] Translation: X:13.42, Y:-57.64, Z:36.10 [[ 0.88114279 0.38881432 0.26909258 13.41872411] [ -0.44315945 0.8775287 0.18317498 -57.63808466] [ -0.16491541 -0.28065423 0.94553483 36.09576768] [ 0. 0. 0. 1. ]] SLAMing on 243.409072329 meters 0.5112967492268395 Centerline is valid? [False, False] Translation: X:13.28, Y:-57.79, Z:36.16 [[ 0.88250491 0.38571879 0.26908382 13.28332858] [ -0.44009133 0.87905045 0.18327557 -57.78722488] [ -0.16584542 -0.28016305 0.94551783 36.16124719] [ 0. 0. 0. 1. ]] SLAMing on 243.439072329 meters 0.5062333312865712 Centerline is valid? [False, False] Translation: X:13.15, Y:-57.93, Z:36.23 [[ 0.88430636 0.38110242 0.26974656 13.15233629] [ -0.43560122 0.88138491 0.1827901 -57.93256688] [ -0.1680888 -0.27914438 0.94542296 36.22673122] [ 0. 0. 0. 1. ]] SLAMing on 243.469072329 meters 0.5022637016368596 Centerline is valid? [False, False] Translation: X:13.02, Y:-58.08, Z:36.29 [[ 0.88549869 0.37872548 0.26918224 13.02428372] [ -0.43306888 0.88262881 0.18280518 -58.07615207] [ -0.16835502 -0.2784482 0.94558087 36.29220771] [ 0. 0. 0. 1. ]] SLAMing on 243.499072329 meters 0.4943348488345914 Centerline is valid? [False, False] Translation: X:12.90, Y:-58.22, Z:36.36 [[ 0.88634011 0.37688143 0.26900112 12.89718335] [ -0.43091027 0.88399261 0.18131025 -58.21851406] [ -0.16946253 -0.27661789 0.94592018 36.35848478] [ 0. 0. 0. 1. ]] SLAMing on 243.529072329 meters 0.4956794895218914 Centerline is valid? [False, False] Translation: X:12.77, Y:-58.36, Z:36.42 [[ 0.88869599 0.37213046 0.26784019 12.76954786] [ -0.42599056 0.88619483 0.18218332 -58.35990091] [ -0.16956263 -0.27600298 0.94608185 36.42368687] [ 0. 0. 0. 1. ]] SLAMing on 243.559072329 meters 0.4921986416684491 Centerline is valid? [False, False] Translation: X:12.65, Y:-58.49, Z:36.49 [[ 0.88952209 0.37065301 0.26714566 12.64937817] [ -0.42387318 0.88771171 0.17972046 -58.49499946] [ -0.1705344 -0.2731012 0.94674905 36.48571857] [ 0. 0. 0. 1. ]] SLAMing on 243.589072329 meters 0.4958206412707334 Centerline is valid? [False, False] Translation: X:12.53, Y:-58.63, Z:36.54 [[ 0.89060671 0.36882302 0.26606251 12.53022803] [ -0.42142655 0.88922125 0.17800344 -58.6288499 ] [ -0.17093667 -0.27065687 0.94737823 36.54476945] [ 0. 0. 0. 1. ]] SLAMing on 243.619072329 meters 0.5021185310112032 Centerline is valid? [False, False] Translation: X:12.41, Y:-58.76, Z:36.60 [[ 0.89195251 0.36734001 0.26359444 12.41221064] [ -0.41885396 0.890869 0.17582317 -58.76285907] [ -0.17024123 -0.2672335 0.94847466 36.60273874] [ 0. 0. 0. 1. ]] SLAMing on 243.649072329 meters 0.48520173493675334 Centerline is valid? [False, False] Translation: X:12.29, Y:-58.90, Z:36.66 [[ 0.89426549 0.36304633 0.26169943 12.28968666] [ -0.41383342 0.89343196 0.17470328 -58.90100415] [ -0.17038525 -0.26453108 0.94920608 36.66032081] [ 0. 0. 0. 1. ]] SLAMing on 243.679072329 meters 0.48194476031724987 Centerline is valid? [False, False] Translation: X:12.17, Y:-59.04, Z:36.72 [[ 0.89556738 0.36088985 0.26022602 12.17019317] [ -0.41109928 0.89487882 0.17375062 -59.03701471] [ -0.17016592 -0.26258412 0.94978584 36.72015081] [ 0. 0. 0. 1. ]] SLAMing on 243.709072329 meters 0.4682186527958338 Centerline is valid? [False, False] Translation: X:12.05, Y:-59.18, Z:36.78 [[ 0.89820265 0.3550832 0.25912915 12.04603606] [ -0.40547638 0.89691626 0.17643733 -59.176603 ] [ -0.16976722 -0.26354723 0.94959041 36.78139509] [ 0. 0. 0. 1. ]] SLAMing on 243.739072329 meters 0.47109332819698985 Centerline is valid? [False, False] Translation: X:11.93, Y:-59.31, Z:36.84 [[ 0.89885777 0.35425455 0.2579892 11.93166152] [ -0.403842 0.89819015 0.17368391 -59.30583429] [ -0.17019504 -0.26030401 0.95040805 36.84002932] [ 0. 0. 0. 1. ]] SLAMing on 243.769072329 meters 0.4695399309815304 Centerline is valid? [False, False] Translation: X:11.82, Y:-59.43, Z:36.90 [[ 0.89970531 0.35346301 0.25611375 11.81882136] [ -0.40200648 0.89958563 0.17069415 -59.43374256] [ -0.17006218 -0.25653382 0.95145639 36.89542476] [ 0. 0. 0. 1. ]] SLAMing on 243.799072329 meters 0.46941243516932174 Centerline is valid? [False, False] Translation: X:11.70, Y:-59.57, Z:36.95 [[ 0.90178012 0.35005634 0.25348211 11.69949452] [ -0.39722919 0.90240448 0.16695843 -59.56850473] [ -0.17029853 -0.25125029 0.95282302 36.94987162] [ 0. 0. 0. 1. ]] SLAMing on 243.829072329 meters 0.4683135783913348 Centerline is valid? [False, False] Translation: X:11.58, Y:-59.70, Z:37.00 [[ 0.9031465 0.34801834 0.25141527 11.58319573] [ -0.39449352 0.90376231 0.16609803 -59.70165523] [ -0.16941448 -0.24919255 0.95352074 37.00365851] [ 0. 0. 0. 1. ]] SLAMing on 243.859072329 meters 0.46154763532178644 Centerline is valid? [False, False] Translation: X:11.47, Y:-59.83, Z:37.06 [[ 0.90338624 0.34800484 0.25057122 11.47052816] [ -0.39377337 0.90457541 0.16335807 -59.8303827 ] [ -0.16981116 -0.24624371 0.95421602 37.05865885] [ 0. 0. 0. 1. ]] SLAMing on 243.88907232900002 meters 0.45663445719036955 Centerline is valid? [False, False] Translation: X:11.36, Y:-59.96, Z:37.11 [[ 0.90379981 0.34799668 0.24908678 11.35671454] [ -0.39320167 0.90500794 0.16233633 -59.96030706] [ -0.16893301 -0.24466087 0.95477887 37.11385757] [ 0. 0. 0. 1. ]] SLAMing on 243.919072329 meters 0.457784150226431 Centerline is valid? [False, False] Translation: X:11.25, Y:-60.08, Z:37.17 [[ 0.90443262 0.34725938 0.2478156 11.24639052] [ -0.39202415 0.90563413 0.16169074 -60.08491227] [ -0.16828164 -0.24338808 0.9552191 37.16697468] [ 0. 0. 0. 1. ]] SLAMing on 243.949072329 meters 0.4572932680171898 Centerline is valid? [False, False] Translation: X:11.14, Y:-60.21, Z:37.22 [[ 0.90452039 0.3492466 0.2446828 11.13759087] [ -0.39273581 0.90581686 0.15891631 -60.20990272] [ -0.16613683 -0.23983875 0.95649147 37.21698576] [ 0. 0. 0. 1. ]] SLAMing on 243.979072329 meters 0.4608126216405096 Centerline is valid? [False, False] Translation: X:11.03, Y:-60.33, Z:37.26 [[ 0.90451976 0.35113503 0.24196734 11.03071764] [ -0.39345075 0.90600974 0.15602196 -60.3346978 ] [ -0.16443999 -0.23632718 0.95765806 37.26478854] [ 0. 0. 0. 1. ]] SLAMing on 244.009072329 meters 0.4634254039397567 Centerline is valid? [False, False] Translation: X:10.92, Y:-60.47, Z:37.31 [[ 0.9053646 0.35069019 0.23943962 10.91657226] [ -0.39248792 0.90631962 0.15664604 -60.46717072] [ -0.1620746 -0.23579894 0.95819136 37.31421689] [ 0. 0. 0. 1. ]] SLAMing on 244.039072329 meters 0.46217278519941046 Centerline is valid? [False, False] Translation: X:10.81, Y:-60.60, Z:37.36 [[ 0.90554664 0.35062969 0.23883909 10.8060131 ] [ -0.392279 0.9064106 0.15664294 -60.59501178] [ -0.16156261 -0.23553905 0.95834173 37.36441816] [ 0. 0. 0. 1. ]] SLAMing on 244.069072329 meters 0.45846660849358223 Centerline is valid? [False, False] Translation: X:10.70, Y:-60.72, Z:37.41 [[ 0.90523781 0.35108277 0.23934366 10.69560875] [ -0.39325019 0.90558282 0.15897814 -60.72320321] [ -0.16093102 -0.23803496 0.95783118 37.41486931] [ 0. 0. 0. 1. ]] SLAMing on 244.099072329 meters 0.4643232938334213 Centerline is valid? [False, False] Translation: X:10.58, Y:-60.85, Z:37.46 [[ 0.90520624 0.35191328 0.23824086 10.5840454 ] [ -0.39371656 0.90547517 0.15843605 -60.85194949] [ -0.15996544 -0.23721667 0.95819586 37.46490474] [ 0. 0. 0. 1. ]] SLAMing on 244.129072329 meters 0.48247548788490263 Centerline is valid? [False, False] Translation: X:10.47, Y:-60.98, Z:37.51 [[ 0.90582803 0.35221509 0.23541475 10.47099392] [ -0.39325555 0.90574469 0.15803999 -60.9833377 ] [ -0.15756159 -0.23573521 0.95895946 37.51225773] [ 0. 0. 0. 1. ]] SLAMing on 244.159072329 meters 0.4699271076278272 Centerline is valid? [False, False] Translation: X:10.36, Y:-61.11, Z:37.56 [[ 0.90606575 0.35252506 0.23403194 10.3588176 ] [ -0.39309379 0.90595601 0.15722907 -61.1127459 ] [ -0.15659546 -0.23445638 0.95943112 37.56066076] [ 0. 0. 0. 1. ]] SLAMing on 244.189072329 meters 0.4655045708358526 Centerline is valid? [False, False] Translation: X:10.24, Y:-61.24, Z:37.61 [[ 0.90662526 0.35160464 0.23324838 10.24389272] [ -0.39215452 0.90617849 0.1582889 -61.24442997] [ -0.15570955 -0.23497813 0.95944766 37.60868505] [ 0. 0. 0. 1. ]] SLAMing on 244.219072329 meters 0.46987882753454435 Centerline is valid? [False, False] Translation: X:10.13, Y:-61.37, Z:37.66 [[ 0.90732219 0.35071381 0.23187552 10.1315126 ] [ -0.39105558 0.90651543 0.1590764 -61.37461659] [ -0.15440845 -0.23500976 0.95965017 37.65716853] [ 0. 0. 0. 1. ]] SLAMing on 244.249072329 meters 0.46796012581976315 Centerline is valid? [False, False] Translation: X:10.02, Y:-61.50, Z:37.71 [[ 0.90812199 0.35018552 0.22953117 10.02076131] [ -0.38996857 0.90696946 0.1591569 -61.50301191] [ -0.15244332 -0.23404382 0.96020025 37.70505994] [ 0. 0. 0. 1. ]] SLAMing on 244.279072329 meters 0.47213935462673934 Centerline is valid? [False, False] Translation: X:9.91, Y:-61.63, Z:37.75 [[ 0.90897074 0.34935823 0.22742256 9.90821098] [ -0.3888117 0.90726243 0.16031328 -61.63343282] [ -0.15032518 -0.23414463 0.96050957 37.7528967 ] [ 0. 0. 0. 1. ]] SLAMing on 244.309072329 meters 0.4638957061120435 Centerline is valid? [False, False] Translation: X:9.79, Y:-61.77, Z:37.80 [[ 0.90961123 0.348769 0.22576005 9.7929383 ] [ -0.38803814 0.90734342 0.16172298 -61.76719555] [ -0.14843793 -0.23470854 0.96066544 37.80085184] [ 0. 0. 0. 1. ]] SLAMing on 244.339072329 meters 0.4859649826082379 Centerline is valid? [False, False] Translation: X:9.68, Y:-61.90, Z:37.85 [[ 0.90850802 0.35117382 0.22647322 9.68298077] [ -0.39048882 0.90643204 0.16093303 -61.89565931] [ -0.14876712 -0.23464421 0.96063023 37.84864708] [ 0. 0. 0. 1. ]] SLAMing on 244.369072329 meters 0.4868065934841721 Centerline is valid? [False, False] Translation: X:9.57, Y:-62.03, Z:37.90 [[ 0.90829142 0.35231148 0.2255733 9.56942613] [ -0.39142386 0.90600636 0.16105848 -62.02764133] [ -0.14762809 -0.23458281 0.96082093 37.89743862] [ 0. 0. 0. 1. ]] SLAMing on 244.399072329 meters 0.4930406241493273 Centerline is valid? [False, False] Translation: X:9.46, Y:-62.15, Z:37.94 [[ 0.90797649 0.35437239 0.22360435 9.46108473] [ -0.39311061 0.90514561 0.16178834 -62.15325814] [ -0.14506117 -0.23480125 0.96115848 37.94403651] [ 0. 0. 0. 1. ]] SLAMing on 244.429072329 meters 0.49826095961293176 Centerline is valid? [False, False] Translation: X:9.35, Y:-62.28, Z:37.99 [[ 0.90785989 0.35418577 0.22437215 9.35287647] [ -0.39309765 0.90516778 0.16169582 -62.27813807] [ -0.14582408 -0.23499731 0.96099511 37.99122375] [ 0. 0. 0. 1. ]] SLAMing on 244.459072329 meters 0.5081242679372379 Centerline is valid? [False, False] Translation: X:9.24, Y:-62.41, Z:38.04 [[ 0.90782774 0.35366462 0.22532227 9.24305368] [ -0.392901 0.9051463 0.16229287 -62.40593088] [ -0.14655238 -0.23586332 0.96067211 38.03931023] [ 0. 0. 0. 1. ]] SLAMing on 244.489072329 meters 0.515891640703065 Centerline is valid? [False, False] Translation: X:9.13, Y:-62.53, Z:38.09 [[ 0.90751149 0.353631 0.2266451 9.13304499] [ -0.39322718 0.9049633 0.16252328 -62.53354597] [ -0.14763223 -0.23661476 0.96032192 38.08711986] [ 0. 0. 0. 1. ]] SLAMing on 244.519072329 meters 0.5166524126188056 Centerline is valid? [False, False] Translation: X:9.03, Y:-62.66, Z:38.13 [[ 0.90676752 0.3545421 0.22819414 9.02597491] [ -0.39430616 0.90473685 0.16116414 -62.65666712] [ -0.14931617 -0.23611676 0.96018413 38.13356075] [ 0. 0. 0. 1. ]] SLAMing on 244.549072329 meters 0.5057704265913271 Centerline is valid? [False, False] Translation: X:8.92, Y:-62.78, Z:38.18 [[ 0.90666083 0.35500503 0.22789814 8.92042099] [ -0.39449473 0.90488383 0.15987234 -62.77832373] [ -0.14946586 -0.23485461 0.96047034 38.17882591] [ 0. 0. 0. 1. ]] SLAMing on 244.579072329 meters 0.5188177570096637 Centerline is valid? [False, False] Translation: X:8.81, Y:-62.90, Z:38.22 [[ 0.90682018 0.35562276 0.2262954 8.81458362] [ -0.39453717 0.90507478 0.1586823 -62.89853241] [ -0.14838323 -0.23317826 0.96104647 38.22291089] [ 0. 0. 0. 1. ]] SLAMing on 244.609072329 meters 0.4754295140214155 Centerline is valid? [False, False] Translation: X:8.70, Y:-63.03, Z:38.27 [[ 0.90711237 0.35512392 0.22590741 8.70420894] [ -0.39411642 0.90506262 0.15979329 -63.02612277] [ -0.14771394 -0.23398429 0.96095366 38.26951129] [ 0. 0. 0. 1. ]] SLAMing on 244.63907232900002 meters 0.48512886768656444 Centerline is valid? [False, False] Translation: X:8.59, Y:-63.16, Z:38.32 [[ 0.9072627 0.35432442 0.22655816 8.59325204] [ -0.39362434 0.90510755 0.16074888 -63.15505275] [ -0.14810225 -0.23502027 0.96064104 38.31743377] [ 0. 0. 0. 1. ]] SLAMing on 244.669072329 meters 0.48645809678295343 Centerline is valid? [False, False] Translation: X:8.48, Y:-63.28, Z:38.36 [[ 0.90725329 0.35346851 0.22792866 8.4837522 ] [ -0.39315163 0.90526002 0.16104689 -63.28216482] [ -0.1494097 -0.23572085 0.96026685 38.36453733] [ 0. 0. 0. 1. ]] SLAMing on 244.699072329 meters 0.48821111054530203 Centerline is valid? [False, False] Translation: X:8.38, Y:-63.41, Z:38.41 [[ 0.90739162 0.35188823 0.22981541 8.37559482] [ -0.3919933 0.90581175 0.16076792 -63.40698696] [ -0.15159716 -0.23596556 0.95986382 38.41203282] [ 0. 0. 0. 1. ]] SLAMing on 244.729072329 meters 0.4804594344322601 Centerline is valid? [False, False] Translation: X:8.26, Y:-63.54, Z:38.46 [[ 0.9082931 0.35056112 0.22827733 8.26293851] [ -0.39040722 0.9063657 0.1615036 -63.53795187] [ -0.15028586 -0.23581372 0.96010731 38.45977432] [ 0. 0. 0. 1. ]] SLAMing on 244.759072329 meters 0.4816541764786593 Centerline is valid? [False, False] Translation: X:8.15, Y:-63.67, Z:38.51 [[ 0.90939187 0.34949195 0.22552563 8.14939246] [ -0.38872501 0.90702287 0.16187148 -63.66988432] [ -0.14798413 -0.23487206 0.96069548 38.50712792] [ 0. 0. 0. 1. ]] SLAMing on 244.789072329 meters 0.48852042710866733 Centerline is valid? [False, False] Translation: X:8.04, Y:-63.80, Z:38.55 [[ 0.91109857 0.34792402 0.22101645 8.03683447] [ -0.3858093 0.90857151 0.16015302 -63.79977063] [ -0.14508817 -0.23118539 0.96203053 38.55343183] [ 0. 0. 0. 1. ]] SLAMing on 244.819072329 meters 0.49364585852124787 Centerline is valid? [False, False] Translation: X:7.93, Y:-63.93, Z:38.60 [[ 0.9118612 0.34737154 0.21872851 7.9256549 ] [ -0.38452178 0.90934061 0.15887936 -63.92953084] [ -0.14370854 -0.2289818 0.96276435 38.59895142] [ 0. 0. 0. 1. ]] SLAMing on 244.849072329 meters 0.49193891094273484 Centerline is valid? [False, False] Translation: X:7.82, Y:-64.06, Z:38.64 [[ 0.91196781 0.34715051 0.21863495 7.81805508] [ -0.384113 0.90970689 0.15776745 -64.05518237] [ -0.14412467 -0.22785937 0.96296842 38.64365839] [ 0. 0. 0. 1. ]] SLAMing on 244.879072329 meters 0.4931594223927983 Centerline is valid? [False, False] Translation: X:7.71, Y:-64.18, Z:38.69 [[ 0.91106884 0.34772385 0.22145359 7.71005806] [ -0.38520721 0.90940896 0.15681435 -64.18186381] [ -0.14686379 -0.22817418 0.96247991 38.68857526] [ 0. 0. 0. 1. ]] SLAMing on 244.909072329 meters 0.48578727884544165 Centerline is valid? [False, False] Translation: X:7.60, Y:-64.31, Z:38.74 [[ 0.91099098 0.34800193 0.22133706 7.59831801] [ -0.38562654 0.90903863 0.15792699 -64.31343505] [ -0.14624504 -0.2292235 0.96232478 38.73540678] [ 0. 0. 0. 1. ]] SLAMing on 244.939072329 meters 0.503042822602418 Centerline is valid? [False, False] Translation: X:7.49, Y:-64.44, Z:38.78 [[ 0.91038543 0.34894634 0.22233945 7.48935753] [ -0.3867631 0.9086062 0.1576359 -64.44111235] [ -0.14701254 -0.22950213 0.96214141 38.78254468] [ 0. 0. 0. 1. ]] SLAMing on 244.969072329 meters 0.4867863568719014 Centerline is valid? [False, False] Translation: X:7.38, Y:-64.57, Z:38.83 [[ 0.90979256 0.35078083 0.22187903 7.38197334] [ -0.38871892 0.90750096 0.15918422 -64.56792843] [ -0.14551666 -0.23107319 0.96199277 38.83021651] [ 0. 0. 0. 1. ]] SLAMing on 244.999072329 meters 0.4867863568719014 Centerline is valid? [False, False] Translation: X:7.27, Y:-64.70, Z:38.88 [[ 0.9099693 0.34978737 0.22272104 7.27292569] [ -0.38783331 0.90799046 0.15855174 -64.69601801] [ -0.14676918 -0.23065586 0.96190264 38.87659809] [ 0. 0. 0. 1. ]] SLAMing on 245.029072329 meters 0.4819577437768831 Centerline is valid? [False, False] Translation: X:7.17, Y:-64.82, Z:38.92 [[ 0.90992155 0.34941105 0.22350547 7.1651278 ] [ -0.38771181 0.90796685 0.15898351 -64.82320412] [ -0.14738497 -0.23131823 0.96164939 38.92268814] [ 0. 0. 0. 1. ]] SLAMing on 245.059072329 meters 0.49195423292899876 Centerline is valid? [False, False] Translation: X:7.06, Y:-64.95, Z:38.97 [[ 0.90970969 0.34893042 0.22511294 7.05909203] [ -0.38752903 0.90814582 0.15840587 -64.94899164] [ -0.14916275 -0.23134116 0.96136972 38.96821018] [ 0. 0. 0. 1. ]] SLAMing on 245.089072329 meters 0.48677892467473727 Centerline is valid? [False, False] Translation: X:6.95, Y:-65.08, Z:39.01 [[ 0.90911659 0.3503051 0.22537381 6.95146542] [ -0.38897851 0.90750963 0.15849919 -65.07959828] [ -0.14900583 -0.23175981 0.96129322 39.01489801] [ 0. 0. 0. 1. ]] SLAMing on 245.119072329 meters 0.49441606743568073 Centerline is valid? [False, False] Translation: X:6.84, Y:-65.21, Z:39.06 [[ 0.90901163 0.34987809 0.22645789 6.84253993] [ -0.38893507 0.90739166 0.15927924 -65.21085231] [ -0.14975769 -0.2328641 0.96090944 39.06174655] [ 0. 0. 0. 1. ]] SLAMing on 245.149072329 meters 0.4863775122775272 Centerline is valid? [False, False] Translation: X:6.73, Y:-65.34, Z:39.11 [[ 0.90892283 0.34923883 0.22779713 6.73472898] [ -0.388694 0.90741359 0.15974211 -65.34104427] [ -0.15091807 -0.23373663 0.96051597 39.10888419] [ 0. 0. 0. 1. ]] SLAMing on 245.179072329 meters 0.48642061912916107 Centerline is valid? [False, False] Translation: X:6.63, Y:-65.47, Z:39.16 [[ 0.90883064 0.3483725 0.22948522 6.63023186] [ -0.38846832 0.90725546 0.16118276 -65.46980206] [ -0.15205008 -0.23563557 0.95987325 39.15535938] [ 0. 0. 0. 1. ]] SLAMing on 245.209072329 meters 0.5071469120830712 Centerline is valid? [False, False] Translation: X:6.53, Y:-65.60, Z:39.20 [[ 0.90933496 0.34695675 0.2296322 6.52701047] [ -0.38687889 0.90816988 0.15985055 -65.59553757] [ -0.15308382 -0.23419754 0.96006086 39.20136686] [ 0. 0. 0. 1. ]] SLAMing on 245.239072329 meters 0.49395277957984907 Centerline is valid? [False, False] Translation: X:6.42, Y:-65.72, Z:39.25 [[ 0.91045803 0.34448969 0.22889522 6.42191843] [ -0.38396505 0.9097019 0.15815593 -65.72400754] [ -0.15374333 -0.2318821 0.9605174 39.24706772] [ 0. 0. 0. 1. ]] SLAMing on 245.269072329 meters 0.4741751283470118 Centerline is valid? [False, False] Translation: X:6.32, Y:-65.85, Z:39.29 [[ 0.91331207 0.33836952 0.22664317 6.32224268] [ -0.37680654 0.91322897 0.15501512 -65.84823879] [ -0.15452472 -0.22697781 0.96156289 39.29108934] [ 0. 0. 0. 1. ]] SLAMing on 245.299072329 meters 0.47743177866243186 Centerline is valid? [False, False] Translation: X:6.22, Y:-65.97, Z:39.33 [[ 0.91515864 0.33421877 0.22534968 6.22271938] [ -0.37212917 0.91537836 0.15363056 -65.9709604 ] [ -0.154934 -0.22445552 0.96208896 39.33457762] [ 0. 0. 0. 1. ]] SLAMing on 245.329072329 meters 0.4817586402289951 Centerline is valid? [False, False] Translation: X:6.12, Y:-66.09, Z:39.38 [[ 0.91711931 0.328885 0.22522617 6.12427897] [ -0.36659683 0.91778046 0.15259685 -66.09202911] [ -0.15652137 -0.22251672 0.96228238 39.37760306] [ 0. 0. 0. 1. ]] SLAMing on 245.359072329 meters 0.46228127435958966 Centerline is valid? [False, False] Translation: X:6.03, Y:-66.21, Z:39.42 [[ 0.92096777 0.31750938 0.22584542 6.03047623] [ -0.35527714 0.92229618 0.15214436 -66.21039634] [ -0.15998911 -0.22035777 0.96220889 39.42106876] [ 0. 0. 0. 1. ]] SLAMing on 245.38907232900002 meters 0.4837428529092635 Centerline is valid? [False, False] Translation: X:5.94, Y:-66.33, Z:39.46 [[ 0.92282053 0.31184622 0.22617295 5.93593725] [ -0.3493863 0.92482925 0.15039972 -66.32773088] [ -0.16226978 -0.21781368 0.96240621 39.46423339] [ 0. 0. 0. 1. ]] SLAMing on 245.419072329 meters 0.46288498208712325 Centerline is valid? [False, False] Translation: X:5.85, Y:-66.44, Z:39.50 [[ 0.9246766 0.30647583 0.22593306 5.84566823] [ -0.34352968 0.92741761 0.14793218 -66.43996319] [ -0.16419666 -0.21440414 0.96284491 39.50479851] [ 0. 0. 0. 1. ]] SLAMing on 245.449072329 meters 0.4683545763851744 Centerline is valid? [False, False] Translation: X:5.76, Y:-66.55, Z:39.54 [[ 0.92845769 0.29568585 0.22480257 5.75710916] [ -0.33164017 0.93247216 0.14321474 -66.55229583] [ -0.16727557 -0.20752239 0.96382226 39.5434151 ] [ 0. 0. 0. 1. ]] SLAMing on 245.479072329 meters 0.48785935516109663 Centerline is valid? [False, False] Translation: X:5.67, Y:-66.66, Z:39.58 [[ 0.93064865 0.28988461 0.22329353 5.67058531] [ -0.32486817 0.93539271 0.13964654 -66.66067953] [ -0.16838575 -0.20250283 0.96469624 39.58091148] [ 0. 0. 0. 1. ]] SLAMing on 245.509072329 meters 0.430923891475698 Centerline is valid? [False, False] Translation: X:5.59, Y:-66.77, Z:39.62 [[ 0.93290005 0.28358156 0.22198872 5.58689219] [ -0.31780371 0.9381998 0.13704718 -66.7653365 ] [ -0.16940572 -0.19840016 0.96536992 39.6170608 ] [ 0. 0. 0. 1. ]] SLAMing on 245.539072329 meters 0.4253735346335449 Centerline is valid? [False, False] Translation: X:5.51, Y:-66.87, Z:39.65 [[ 0.93505603 0.27723534 0.22093162 5.50598737] [ -0.31083427 0.94083502 0.13495011 -66.86654812] [ -0.17044727 -0.19485903 0.9659077 39.65253093] [ 0. 0. 0. 1. ]] SLAMing on 245.569072329 meters 0.4169246207393931 Centerline is valid? [False, False] Translation: X:5.42, Y:-66.97, Z:39.69 [[ 0.93924642 0.26298694 0.22057659 5.42426794] [ -0.29616092 0.94576394 0.13348889 -66.97082521] [ -0.17350754 -0.19070513 0.96619185 39.69032761] [ 0. 0. 0. 1. ]] SLAMing on 245.599072329 meters 0.40515910133519645 Centerline is valid? [False, False] Translation: X:5.35, Y:-67.06, Z:39.72 [[ 0.94151777 0.25635101 0.21869717 5.35196199] [ -0.28839808 0.94870769 0.12953868 -67.06146216] [ -0.17427231 -0.18503481 0.96715629 39.72107906] [ 0. 0. 0. 1. ]] SLAMing on 245.629072329 meters 0.39625329863514763 Centerline is valid? [False, False] Translation: X:5.28, Y:-67.15, Z:39.75 [[ 0.94383066 0.24989455 0.21618605 5.28238417] [ -0.28052931 0.95172035 0.12462617 -67.14877787] [ -0.17460526 -0.17827252 0.96836559 39.7499871 ] [ 0. 0. 0. 1. ]] SLAMing on 245.659072329 meters 0.3710797733376164 Centerline is valid? [False, False] Translation: X:5.21, Y:-67.24, Z:39.78 [[ 0.94815487 0.23581321 0.21305978 5.21370542] [ -0.26489885 0.95679637 0.11987203 -67.23700528] [ -0.17558742 -0.17009654 0.96965779 39.77900743] [ 0. 0. 0. 1. ]] SLAMing on 245.689072329 meters 0.37099626792516616 Centerline is valid? [False, False] Translation: X:5.15, Y:-67.32, Z:39.81 [[ 0.95008321 0.22963661 0.21120823 5.14637416] [ -0.25776912 0.95913168 0.11671121 -67.32063074] [ -0.17577534 -0.16532832 0.97044813 39.80717257] [ 0. 0. 0. 1. ]] SLAMing on 245.719072329 meters 0.3542854156002157 Centerline is valid? [False, False] Translation: X:5.08, Y:-67.41, Z:39.84 [[ 0.95404622 0.21436108 0.20939232 5.07821321] [ -0.24175695 0.96347814 0.11516703 -67.40865371] [ -0.17705759 -0.16049672 0.97102596 39.83708426] [ 0. 0. 0. 1. ]] SLAMing on 245.749072329 meters 0.34856568069109395 Centerline is valid? [False, False] Translation: X:5.02, Y:-67.49, Z:39.86 [[ 0.95606454 0.20821513 0.20636633 5.01721319] [ -0.23451576 0.96561427 0.1122116 -67.48521633] [ -0.17590612 -0.15567769 0.97201929 39.86172213] [ 0. 0. 0. 1. ]] SLAMing on 245.779072329 meters 0.3512106361194818 Centerline is valid? [False, False] Translation: X:4.96, Y:-67.56, Z:39.89 [[ 0.95784753 0.20277023 0.20350022 4.95572026] [ -0.2278818 0.96763047 0.10844888 -67.56208758] [ -0.17492281 -0.15025149 0.9730501 39.88600281] [ 0. 0. 0. 1. ]] SLAMing on 245.809072329 meters 0.3362178174810266 Centerline is valid? [False, False] Translation: X:4.90, Y:-67.64, Z:39.91 [[ 0.96138054 0.18986634 0.19924412 4.89801143] [ -0.21361273 0.97123927 0.10518494 -67.6374263 ] [ -0.17354264 -0.14368383 0.97428841 39.90823332] [ 0. 0. 0. 1. ]] SLAMing on 245.839072329 meters 0.34535761090192674 Centerline is valid? [False, False] Translation: X:4.84, Y:-67.71, Z:39.93 [[ 0.96332725 0.18542476 0.19395428 4.8442875 ] [ -0.20750482 0.97307338 0.10034913 -67.7055777 ] [ -0.17012453 -0.1369155 0.97586464 39.92893452] [ 0. 0. 0. 1. ]] SLAMing on 245.869072329 meters 0.3145058679461808 Centerline is valid? [False, False] Translation: X:4.79, Y:-67.77, Z:39.95 [[ 0.96530183 0.18039184 0.18881517 4.79076992] [ -0.20118291 0.97470873 0.09730538 -67.77313544] [ -0.1664867 -0.13191545 0.97717987 39.94836616] [ 0. 0. 0. 1. ]] SLAMing on 245.899072329 meters 0.3058857436577095 Centerline is valid? [False, False] Translation: X:4.74, Y:-67.84, Z:39.97 [[ 0.96727229 0.17516016 0.18358443 4.73884489] [ -0.19483002 0.97621538 0.09510412 -67.83858735] [ -0.1625595 -0.12775933 0.97839254 39.96674247] [ 0. 0. 0. 1. ]] SLAMing on 245.929072329 meters 0.3026415409167207 Centerline is valid? [False, False] Translation: X:4.68, Y:-67.91, Z:39.99 [[ 0.97002432 0.16382569 0.17948247 4.68443581] [ -0.18270813 0.97864574 0.094182 -67.90957565] [ -0.16022032 -0.12415173 0.97924246 39.98647672] [ 0. 0. 0. 1. ]] SLAMing on 245.959072329 meters 0.30193180589565044 Centerline is valid? [False, False] Translation: X:4.64, Y:-67.96, Z:40.00 [[ 0.97016529 0.16127248 0.18102624 4.64050347] [ -0.17925135 0.97988726 0.08769216 -67.96273028] [ -0.16324297 -0.11752508 0.97956092 40.00473002] [ 0. 0. 0. 1. ]] SLAMing on 245.989072329 meters 0.30549635497237865 Centerline is valid? [False, False] Translation: X:4.59, Y:-68.03, Z:40.02 [[ 0.97154878 0.15847827 0.17600456 4.59127742] [ -0.17569226 0.98060509 0.08686711 -68.02523809] [ -0.15882442 -0.11531827 0.98054908 40.02117402] [ 0. 0. 0. 1. ]] SLAMing on 246.019072329 meters 0.2803600515815222 Centerline is valid? [False, False] Translation: X:4.54, Y:-68.09, Z:40.04 [[ 0.97348111 0.15265261 0.17038696 4.54259939] [ -0.16913567 0.98176761 0.08674955 -68.09048901] [ -0.15403785 -0.11326756 0.98155122 40.03675574] [ 0. 0. 0. 1. ]] SLAMing on 246.049072329 meters 0.28029350497408817 Centerline is valid? [False, False] Translation: X:4.50, Y:-68.14, Z:40.05 [[ 0.97359655 0.15191469 0.17038686 4.50149774] [ -0.1672015 0.98273647 0.07920031 -68.14010737] [ -0.1554137 -0.10559809 0.9821892 40.05238144] [ 0. 0. 0. 1. ]] SLAMing on 246.079072329 meters 0.28003098763344064 Centerline is valid? [False, False] Translation: X:4.46, Y:-68.20, Z:40.06 [[ 0.97549859 0.14807761 0.16271302 4.4583979 ] [ -0.16212402 0.9837875 0.07666778 -68.1980865 ] [ -0.14872225 -0.101169 0.98369026 40.06433302] [ 0. 0. 0. 1. ]] SLAMing on 246.109072329 meters 0.27769548804023786 Centerline is valid? [False, False] Translation: X:4.41, Y:-68.26, Z:40.08 [[ 0.97655795 0.14739745 0.15687118 4.41256591] [ -0.16083682 0.98399844 0.0766719 -68.25601075] [ -0.14305976 -0.10010522 0.98463844 40.07735443] [ 0. 0. 0. 1. ]] SLAMing on 246.13907232900002 meters 0.27466495193677154 Centerline is valid? [False, False] Translation: X:4.37, Y:-68.31, Z:40.09 [[ 0.97740616 0.14793213 0.15097445 4.36679539] [ -0.16095936 0.98387397 0.07800058 -68.31324494] [ -0.13700104 -0.100539 0.98545554 40.09026321] [ 0. 0. 0. 1. ]] SLAMing on 246.169072329 meters 0.2792921195219573 Centerline is valid? [False, False] Translation: X:4.32, Y:-68.36, Z:40.11 [[ 0.97676429 0.14998685 0.15308648 4.32360439] [ -0.16276054 0.98384396 0.07456582 -68.36456667] [ -0.13942931 -0.09774966 0.98539559 40.10507813] [ 0. 0. 0. 1. ]] SLAMing on 246.199072329 meters 0.27903476211314765 Centerline is valid? [False, False] Translation: X:4.28, Y:-68.42, Z:40.12 [[ 0.97739433 0.15220573 0.14674381 4.27859493] [ -0.16439274 0.98355622 0.07478091 -68.42016604] [ -0.1329487 -0.09721405 0.98634379 40.11610831] [ 0. 0. 0. 1. ]] SLAMing on 246.229072329 meters 0.2831760005332334 Centerline is valid? [False, False] Translation: X:4.24, Y:-68.47, Z:40.13 [[ 0.97812914 0.15490221 0.13881173 4.23619171] [ -0.16604927 0.98343981 0.07262086 -68.47308715] [ -0.12526385 -0.09408217 0.98765253 40.12517867] [ 0. 0. 0. 1. ]] SLAMing on 246.259072329 meters 0.2959946954942405 Centerline is valid? [False, False] Translation: X:4.19, Y:-68.53, Z:40.13 [[ 0.97852533 0.15808081 0.13228241 4.19081473] [ -0.16844916 0.98313647 0.07118681 -68.52954597] [ -0.11879839 -0.09194096 0.98865252 40.1338144 ] [ 0. 0. 0. 1. ]] SLAMing on 246.289072329 meters 0.2993612130757171 Centerline is valid? [False, False] Translation: X:4.15, Y:-68.58, Z:40.14 [[ 9.77971140e-01 1.59913395e-01 1.34164657e-01 4.14885851e+00] [-1.70030092e-01 9.83116749e-01 6.76108425e-02 -6.85756232e+01] [-1.21087642e-01 -8.89334817e-02 9.88649897e-01 4.01445230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.319072329 meters 0.28917452853015985 Centerline is valid? [False, False] Translation: X:4.11, Y:-68.62, Z:40.16 [[ 9.77287795e-01 1.61780318e-01 1.36878391e-01 4.10564698e+00] [-1.71961458e-01 9.82885158e-01 6.60758868e-02 -6.86232332e+01] [-1.23845961e-01 -8.81129655e-02 9.88381649e-01 4.01555090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.349072329 meters 0.2921166963186281 Centerline is valid? [False, False] Translation: X:4.06, Y:-68.68, Z:40.17 [[ 9.77425994e-01 1.64003293e-01 1.33196646e-01 4.05637160e+00] [-1.74162919e-01 9.82330390e-01 6.85148294e-02 -6.86809880e+01] [-1.19606455e-01 -9.01660918e-02 9.88718550e-01 4.01657456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.379072329 meters 0.30123745081965636 Centerline is valid? [False, False] Translation: X:4.00, Y:-68.74, Z:40.18 [[ 0.97693036 0.16904381 0.13050385 4.00261613] [ -0.17918289 0.98130574 0.07023198 -68.74350075] [ -0.11619189 -0.09199581 0.98895713 40.17509196] [ 0. 0. 0. 1. ]] SLAMing on 246.409072329 meters 0.31349836615332716 Centerline is valid? [False, False] Translation: X:3.95, Y:-68.80, Z:40.18 [[ 0.97695284 0.17201958 0.126382 3.95357513] [ -0.18177184 0.98083915 0.07009678 -68.80066228] [ -0.11190239 -0.09145393 0.98950191 40.18322847] [ 0. 0. 0. 1. ]] SLAMing on 246.439072329 meters 0.2928379373912739 Centerline is valid? [False, False] Translation: X:3.90, Y:-68.86, Z:40.19 [[ 0.97627369 0.17824903 0.12295107 3.90184676] [ -0.18777714 0.9796605 0.07074639 -68.8610543 ] [ -0.10783983 -0.09215524 0.98988786 40.19065959] [ 0. 0. 0. 1. ]] SLAMing on 246.469072329 meters 0.3206948865756635 Centerline is valid? [False, False] Translation: X:3.85, Y:-68.92, Z:40.20 [[ 0.97614644 0.18062577 0.12046768 3.84764452] [ -0.19020335 0.97900267 0.07332433 -68.92356714] [ -0.10469392 -0.09448864 0.9900056 40.20127127] [ 0. 0. 0. 1. ]] SLAMing on 246.499072329 meters 0.3017046347837913 Centerline is valid? [False, False] Translation: X:3.80, Y:-68.98, Z:40.21 [[ 0.97505632 0.18368044 0.12460606 3.79931352] [ -0.1936108 0.97837231 0.07281809 -68.97653536] [ -0.10853586 -0.09512681 0.98953062 40.21312985] [ 0. 0. 0. 1. ]] SLAMing on 246.529072329 meters 0.30231005629358565 Centerline is valid? [False, False] Translation: X:3.74, Y:-69.05, Z:40.22 [[ 0.97368599 0.19103867 0.1242571 3.73859415] [ -0.20146288 0.97642778 0.07746932 -69.0456847 ] [ -0.10652845 -0.10046398 0.98922125 40.22415073] [ 0. 0. 0. 1. ]] SLAMing on 246.559072329 meters 0.308676985658315 Centerline is valid? [False, False] Translation: X:3.68, Y:-69.11, Z:40.23 [[ 0.97331971 0.1945121 0.12171191 3.68291503] [ -0.20484251 0.97560493 0.07895925 -69.10931574] [ -0.10338421 -0.10178436 0.98941985 40.23342326] [ 0. 0. 0. 1. ]] SLAMing on 246.589072329 meters 0.31769771131061775 Centerline is valid? [False, False] Translation: X:3.63, Y:-69.17, Z:40.24 [[ 0.97301714 0.19778474 0.11882272 3.62715412] [ -0.20788099 0.97491693 0.07951403 -69.17367314] [ -0.10011562 -0.1020695 0.98972657 40.24300117] [ 0. 0. 0. 1. ]] SLAMing on 246.619072329 meters 0.3309533094918277 Centerline is valid? [False, False] Translation: X:3.57, Y:-69.24, Z:40.25 [[ 0.97196238 0.20393115 0.1170522 3.56736427] [ -0.2140749 0.97339115 0.0817411 -69.24307366] [ -0.09726802 -0.10450721 0.98975612 40.25334819] [ 0. 0. 0. 1. ]] SLAMing on 246.649072329 meters 0.3218847323964997 Centerline is valid? [False, False] Translation: X:3.51, Y:-69.30, Z:40.27 [[ 0.97069449 0.20707001 0.12195992 3.51190797] [ -0.21756375 0.97276104 0.0800123 -69.30319728] [ -0.10206971 -0.10420155 0.98930471 40.26787958] [ 0. 0. 0. 1. ]] SLAMing on 246.679072329 meters 0.32730952606482716 Centerline is valid? [False, False] Translation: X:3.45, Y:-69.37, Z:40.28 [[ 0.97014206 0.21050131 0.12047236 3.45265431] [ -0.2212216 0.97162132 0.08374378 -69.37140422] [ -0.09942534 -0.10789445 0.98917814 40.28026902] [ 0. 0. 0. 1. ]] SLAMing on 246.709072329 meters 0.33366287971767594 Centerline is valid? [False, False] Translation: X:3.40, Y:-69.43, Z:40.30 [[ 0.96870035 0.21407524 0.12566395 3.39517275] [ -0.22524416 0.97080169 0.0825176 -69.43462916] [ -0.1043298 -0.10823989 0.98863513 40.29546241] [ 0. 0. 0. 1. ]] SLAMing on 246.739072329 meters 0.3419623808812279 Centerline is valid? [False, False] Translation: X:3.33, Y:-69.51, Z:40.31 [[ 0.96713273 0.22099672 0.12575668 3.33002418] [ -0.23253808 0.96879143 0.08584408 -69.50920003] [ -0.10286073 -0.11226583 0.98834005 40.3057882 ] [ 0. 0. 0. 1. ]] SLAMing on 246.769072329 meters 0.3555168626939664 Centerline is valid? [False, False] Translation: X:3.27, Y:-69.58, Z:40.32 [[ 0.96671394 0.22397136 0.12369719 3.26861922] [ -0.23546143 0.96792787 0.08759885 -69.58021808] [ -0.10011033 -0.11380895 0.98844598 40.31763856] [ 0. 0. 0. 1. ]] SLAMing on 246.799072329 meters 0.3674788654279513 Centerline is valid? [False, False] Translation: X:3.20, Y:-69.66, Z:40.33 [[ 0.96532037 0.2302932 0.12296999 3.20171247] [ -0.24204171 0.96599199 0.09096859 -69.65525782] [ -0.09783857 -0.1175777 0.98823231 40.33045023] [ 0. 0. 0. 1. ]] SLAMing on 246.829072329 meters 0.3625718320448125 Centerline is valid? [False, False] Translation: X:3.13, Y:-69.74, Z:40.35 [[ 0.96467575 0.23295449 0.12301584 3.1310413 ] [ -0.24503075 0.96492541 0.09422784 -69.73607146] [ -0.09675031 -0.12104198 0.98792116 40.34651935] [ 0. 0. 0. 1. ]] SLAMing on 246.859072329 meters 0.3582984728185519 Centerline is valid? [False, False] Translation: X:3.06, Y:-69.82, Z:40.36 [[ 0.96387221 0.23604886 0.12341516 3.06139945] [ -0.24848632 0.96372395 0.09742015 -69.81552126] [ -0.09594223 -0.12456755 0.98756165 40.36203917] [ 0. 0. 0. 1. ]] SLAMing on 246.88907232900002 meters 0.3954777742774767 Centerline is valid? [False, False] Translation: X:2.99, Y:-69.90, Z:40.38 [[ 0.9616722 0.24445197 0.1242168 2.99045176] [ -0.25715533 0.96127163 0.09913622 -69.89553528] [ -0.09517204 -0.12727955 0.98729033 40.3782771 ] [ 0. 0. 0. 1. ]] SLAMing on 246.919072329 meters 0.3954777742774767 Centerline is valid? [False, False] Translation: X:2.92, Y:-69.98, Z:40.39 [[ 0.96202318 0.24331102 0.12373819 2.92141837] [ -0.25606661 0.96143965 0.10031789 -69.97589408] [ -0.09455835 -0.12819336 0.98723107 40.3941345 ] [ 0. 0. 0. 1. ]] SLAMing on 246.949072329 meters 0.37971518815149335 Centerline is valid? [False, False] Translation: X:2.86, Y:-70.04, Z:40.41 [[ 0.96041353 0.24731575 0.12822158 2.85971542] [ -0.26019582 0.96079827 0.09573307 -70.04390211] [ -0.09951877 -0.12530606 0.98711418 40.41152529] [ 0. 0. 0. 1. ]] SLAMing on 246.979072329 meters 0.40468185081354824 Centerline is valid? [False, False] Translation: X:2.78, Y:-70.13, Z:40.43 [[ 0.95993215 0.24900627 0.12855404 2.78411468] [ -0.262128 0.96007409 0.09770698 -70.12961772] [ -0.09909176 -0.12748968 0.9868775 40.42749927] [ 0. 0. 0. 1. ]] SLAMing on 247.009072329 meters 0.40483334683565847 Centerline is valid? [False, False] Translation: X:2.71, Y:-70.22, Z:40.44 [[ 0.95815947 0.25528186 0.12946661 2.70740591] [ -0.26878781 0.95795733 0.10035368 -70.21593286] [ -0.09840502 -0.13095387 0.98649254 40.4444001 ] [ 0. 0. 0. 1. ]] SLAMing on 247.039072329 meters 0.382648319760877 Centerline is valid? [False, False] Translation: X:2.63, Y:-70.31, Z:40.46 [[ 0.9574365 0.25713168 0.1311436 2.62845334] [ -0.27121246 0.95690077 0.10384955 -70.30637026] [ -0.0987884 -0.13499713 0.98590904 40.46236882] [ 0. 0. 0. 1. ]] SLAMing on 247.069072329 meters 0.3959029398477524 Centerline is valid? [False, False] Translation: X:2.56, Y:-70.39, Z:40.48 [[ 0.95671475 0.25946639 0.13181076 2.55528642] [ -0.27394469 0.95578369 0.1069198 -70.3908835 ] [ -0.09824048 -0.1384006 0.9854918 40.47967845] [ 0. 0. 0. 1. ]] SLAMing on 247.099072329 meters 0.39946850596045874 Centerline is valid? [False, False] Translation: X:2.48, Y:-70.48, Z:40.50 [[ 0.9549811 0.26513583 0.13309431 2.47661554] [ -0.28003588 0.9537367 0.10939014 -70.47979 ] [ -0.09793368 -0.14173669 0.98504807 40.49899564] [ 0. 0. 0. 1. ]] SLAMing on 247.129072329 meters 0.4096960468238835 Centerline is valid? [False, False] Translation: X:2.40, Y:-70.57, Z:40.52 [[ 0.95459946 0.26613108 0.13384363 2.39866885] [ -0.28132597 0.95313845 0.11127804 -70.56931103] [ -0.09795696 -0.14387965 0.98473503 40.5179878 ] [ 0. 0. 0. 1. ]] SLAMing on 247.159072329 meters 0.41265999146221777 Centerline is valid? [False, False] Translation: X:2.32, Y:-70.66, Z:40.54 [[ 0.95330209 0.27057653 0.134177 2.32282649] [ -0.28598384 0.95154794 0.11300338 -70.65641144] [ -0.09709979 -0.14609881 0.98449315 40.53771603] [ 0. 0. 0. 1. ]] SLAMing on 247.189072329 meters 0.4123142282255076 Centerline is valid? [False, False] Translation: X:2.25, Y:-70.74, Z:40.56 [[ 0.95291584 0.27168659 0.13467661 2.24922496] [ -0.28739988 0.95083635 0.11537569 -70.74308234] [ -0.09670939 -0.14864937 0.98414971 40.556846 ] [ 0. 0. 0. 1. ]] SLAMing on 247.219072329 meters 0.40462216212400787 Centerline is valid? [False, False] Translation: X:2.17, Y:-70.83, Z:40.58 [[ 0.95235245 0.27310888 0.13578053 2.17133553] [ -0.28913618 0.95012392 0.11689655 -70.83433791] [ -0.09708285 -0.15058578 0.9838185 40.5771261 ] [ 0. 0. 0. 1. ]] SLAMing on 247.249072329 meters 0.41364810517244305 Centerline is valid? [False, False] Translation: X:2.09, Y:-70.93, Z:40.60 [[ 0.95178071 0.27455863 0.1368614 2.09161205] [ -0.29085693 0.94946286 0.11799372 -70.92799988] [ -0.09754862 -0.15211123 0.98353772 40.5977478 ] [ 0. 0. 0. 1. ]] SLAMing on 247.279072329 meters 0.42103465064029266 Centerline is valid? [False, False] Translation: X:2.01, Y:-71.02, Z:40.62 [[ 0.95023829 0.27937843 0.13782192 2.00808715] [ -0.29583261 0.94790047 0.11818528 -71.02431619] [ -0.09762305 -0.15307639 0.98338058 40.61958246] [ 0. 0. 0. 1. ]] SLAMing on 247.309072329 meters 0.41187592644015103 Centerline is valid? [False, False] Translation: X:1.93, Y:-71.11, Z:40.64 [[ 0.94994125 0.28028504 0.13802868 1.93187902] [ -0.29698354 0.94726785 0.12035112 -71.11497622] [ -0.09701751 -0.15531874 0.98308885 40.64004956] [ 0. 0. 0. 1. ]] SLAMing on 247.339072329 meters 0.42462966087709875 Centerline is valid? [False, False] Translation: X:1.86, Y:-71.21, Z:40.66 [[ 0.94967684 0.28129567 0.13779201 1.85665806] [ -0.298137 0.94666629 0.12221807 -71.20540314] [ -0.09606363 -0.15714857 0.98289171 40.66105951] [ 0. 0. 0. 1. ]] SLAMing on 247.369072329 meters 0.432102853538491 Centerline is valid? [False, False] Translation: X:1.78, Y:-71.30, Z:40.69 [[ 0.94848072 0.28450249 0.13943691 1.77501511] [ -0.30171262 0.94538011 0.12339347 -71.3017599 ] [ -0.09671513 -0.1591062 0.9825128 40.68511917] [ 0. 0. 0. 1. ]] SLAMing on 247.399072329 meters 0.42456304319629595 Centerline is valid? [False, False] Translation: X:1.70, Y:-71.39, Z:40.71 [[ 0.94835306 0.28509808 0.13908834 1.70113881] [ -0.30224596 0.9452151 0.12335231 -71.39164993] [ -0.0963009 -0.15902043 0.98256737 40.70689676] [ 0. 0. 0. 1. ]] SLAMing on 247.429072329 meters 0.43143059385754995 Centerline is valid? [False, False] Translation: X:1.62, Y:-71.49, Z:40.73 [[ 0.94793667 0.28637027 0.13931307 1.62102721] [ -0.30347499 0.94492099 0.12258573 -71.48772441] [ -0.09653493 -0.15848154 0.98263147 40.72868842] [ 0. 0. 0. 1. ]] SLAMing on 247.459072329 meters 0.4404083390351078 Centerline is valid? [False, False] Translation: X:1.55, Y:-71.58, Z:40.75 [[ 0.94807239 0.28593469 0.13928426 1.54546664] [ -0.3031273 0.94491166 0.12351436 -71.58010299] [ -0.09629428 -0.15932142 0.98251926 40.75047951] [ 0. 0. 0. 1. ]] SLAMing on 247.489072329 meters 0.430024148603422 Centerline is valid? [False, False] Translation: X:1.47, Y:-71.67, Z:40.77 [[ 0.94814889 0.28564515 0.1393576 1.47007429] [ -0.3029621 0.94481514 0.1246528 -71.67236418] [ -0.0960607 -0.16040948 0.98236507 40.7740573 ] [ 0. 0. 0. 1. ]] SLAMing on 247.519072329 meters 0.4428670578507851 Centerline is valid? [False, False] Translation: X:1.39, Y:-71.77, Z:40.80 [[ 0.94811569 0.2854912 0.13989787 1.39040106] [ -0.30318616 0.94434831 0.12761039 -71.768784 ] [ -0.09568068 -0.16340452 0.98190843 40.79951206] [ 0. 0. 0. 1. ]] SLAMing on 247.549072329 meters 0.4391304653725076 Centerline is valid? [False, False] Translation: X:1.32, Y:-71.86, Z:40.82 [[ 0.94726773 0.28559308 0.14532874 1.31694195] [ -0.30368695 0.94483588 0.12271669 -71.85584918] [ -0.10226478 -0.16038 0.98174343 40.8242335 ] [ 0. 0. 0. 1. ]] SLAMing on 247.579072329 meters 0.4405035470172741 Centerline is valid? [False, False] Translation: X:1.24, Y:-71.95, Z:40.85 [[ 0.9475919 0.2847454 0.14487804 1.24085484] [ -0.30277288 0.9451232 0.12276288 -71.94995576] [ -0.10197143 -0.16019426 0.98180427 40.84506923] [ 0. 0. 0. 1. ]] SLAMing on 247.609072329 meters 0.4364104894470554 Centerline is valid? [False, False] Translation: X:1.17, Y:-72.04, Z:40.86 [[ 0.9478761 0.28431063 0.14386922 1.16848818] [ -0.30218431 0.94530017 0.12285042 -72.04005688] [ -0.10107192 -0.159922 0.98194166 40.86453208] [ 0. 0. 0. 1. ]] SLAMing on 247.63907232900002 meters 0.44973794891194535 Centerline is valid? [False, False] Translation: X:1.09, Y:-72.13, Z:40.89 [[ 0.94795913 0.28438309 0.14317732 1.09220654] [ -0.30211797 0.94535475 0.12259334 -72.13474681] [ -0.10048988 -0.15946992 0.98207491 40.88639878] [ 0. 0. 0. 1. ]] SLAMing on 247.669072329 meters 0.44480464270137704 Centerline is valid? [False, False] Translation: X:1.02, Y:-72.22, Z:40.91 [[ 0.94780213 0.28365546 0.14563892 1.0212675 ] [ -0.30173638 0.94554501 0.12206473 -72.22221669] [ -0.10308383 -0.15963777 0.98177875 40.910327 ] [ 0. 0. 0. 1. ]] SLAMing on 247.699072329 meters 0.452759752870703 Centerline is valid? [False, False] Translation: X:0.95, Y:-72.31, Z:40.94 [[ 0.94727133 0.28234539 0.15151936 0.94791388] [ -0.30149717 0.94549428 0.12304481 -72.31182022] [ -0.10851955 -0.16223948 0.98076596 40.93714974] [ 0. 0. 0. 1. ]] SLAMing on 247.729072329 meters 0.4504621538710869 Centerline is valid? [False, False] Translation: X:0.88, Y:-72.40, Z:40.96 [[ 0.94769485 0.2811294 0.15113153 0.8763288 ] [ -0.30039257 0.94564024 0.12461479 -72.40229696] [ -0.10788317 -0.16349558 0.98062756 40.95881042] [ 0. 0. 0. 1. ]] SLAMing on 247.759072329 meters 0.43426704289337165 Centerline is valid? [False, False] Translation: X:0.80, Y:-72.50, Z:40.98 [[ 0.9484757 0.27917033 0.14985919 0.79933228] [ -0.29802885 0.94662413 0.12280701 -72.50004976] [ -0.10757625 -0.16114182 0.9810508 40.98015562] [ 0. 0. 0. 1. ]] SLAMing on 247.789072329 meters 0.4258088670576225 Centerline is valid? [False, False] Translation: X:0.72, Y:-72.60, Z:41.00 [[ 0.94926709 0.27708545 0.14871328 0.72361524] [ -0.29575513 0.94734353 0.12275644 -72.59565392] [ -0.10686854 -0.16051136 0.98123148 41.00146459] [ 0. 0. 0. 1. ]] SLAMing on 247.819072329 meters 0.42682485578484997 Centerline is valid? [False, False] Translation: X:0.65, Y:-72.69, Z:41.02 [[ 0.95016586 0.27453245 0.147705 0.65016828] [ -0.29310992 0.9480852 0.12337351 -72.68852111] [ -0.10616689 -0.16051909 0.98130638 41.02314655] [ 0. 0. 0. 1. ]] SLAMing on 247.849072329 meters 0.43033448015233283 Centerline is valid? [False, False] Translation: X:0.58, Y:-72.78, Z:41.05 [[ 0.95095909 0.27191512 0.14744146 0.57536877] [ -0.29060857 0.94866963 0.12479018 -72.78363324] [ -0.1059409 -0.1615181 0.98116687 41.04694393] [ 0. 0. 0. 1. ]] SLAMing on 247.879072329 meters 0.43085251629833976 Centerline is valid? [False, False] Translation: X:0.50, Y:-72.87, Z:41.07 [[ 0.95074687 0.26844458 0.1549771 0.50394676] [ -0.28828024 0.94950426 0.1238393 -72.87212464] [ -0.11390743 -0.16241667 0.98012546 41.07408925] [ 0. 0. 0. 1. ]] SLAMing on 247.909072329 meters 0.4267395945646429 Centerline is valid? [False, False] Translation: X:0.43, Y:-72.96, Z:41.10 [[ 0.95079779 0.26711162 0.15695521 0.43497827] [ -0.28704123 0.95013616 0.12185489 -72.95980931] [ -0.11657996 -0.16091197 0.98005941 41.09786698] [ 0. 0. 0. 1. ]] SLAMing on 247.939072329 meters 0.42637792271563485 Centerline is valid? [False, False] Translation: X:0.37, Y:-73.05, Z:41.12 [[ 0.95224377 0.26345745 0.15434368 0.36608788] [ -0.28271187 0.95170537 0.11971171 -73.0495169 ] [ -0.11535077 -0.15762952 0.98073806 41.1183316 ] [ 0. 0. 0. 1. ]] SLAMing on 247.969072329 meters 0.4112774561917139 Centerline is valid? [False, False] Translation: X:0.30, Y:-73.14, Z:41.14 [[ 0.95337083 0.26041298 0.15254223 0.29721144] [ -0.27914549 0.95300889 0.11769388 -73.13806224] [ -0.11472509 -0.15478739 0.98126399 41.13911711] [ 0. 0. 0. 1. ]] SLAMing on 247.999072329 meters 0.4084561101779625 Centerline is valid? [False, False] Translation: X:0.22, Y:-73.23, Z:41.16 [[ 0.95442489 0.25671301 0.1522221 0.22227459] [ -0.27534092 0.95417335 0.11722029 -73.23358114] [ -0.1151543 -0.15379094 0.98137039 41.16165938] [ 0. 0. 0. 1. ]] SLAMing on 248.029072329 meters 0.41984014884625304 Centerline is valid? [False, False] Translation: X:0.15, Y:-73.32, Z:41.19 [[ 0.95514309 0.25177176 0.15592518 0.15481985] [ -0.27065699 0.95583411 0.11456852 -73.31975525] [ -0.12019349 -0.15163157 0.98110213 41.18723742] [ 0. 0. 0. 1. ]] SLAMing on 248.059072329 meters 0.40241176555413655 Centerline is valid? [False, False] Translation: X:0.08, Y:-73.41, Z:41.21 [[ 0.95614854 0.24788067 0.15599724 0.08200806] [ -0.26683574 0.95684779 0.11506957 -73.4130883 ] [ -0.1207421 -0.15164924 0.98103204 41.20916474] [ 0. 0. 0. 1. ]] SLAMing on 248.089072329 meters 0.39929122833458447 Centerline is valid? [False, False] Translation: X:0.02, Y:-73.50, Z:41.23 [[ 9.57342493e-01 2.44410772e-01 1.54138654e-01 1.68998027e-02] [-2.63035468e-01 9.57940356e-01 1.14728446e-01 -7.34987478e+01] [-1.19614769e-01 -1.50378350e-01 9.81365711e-01 4.12296467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.119072329 meters 0.40396747656238663 Centerline is valid? [False, False] Translation: X:-0.05, Y:-73.58, Z:41.25 [[ 9.59438814e-01 2.37912998e-01 1.51243403e-01 -4.64831057e-02] [-2.55806734e-01 9.60177215e-01 1.12350481e-01 -7.35834792e+01] [-1.18490829e-01 -1.46482493e-01 9.82091036e-01 4.12491448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.149072329 meters 0.39045652698390226 Centerline is valid? [False, False] Translation: X:-0.11, Y:-73.66, Z:41.27 [[ 0.9606881 0.23469128 0.14831847 -0.1078661 ] [ -0.25194805 0.96139301 0.11066008 -73.6636461 ] [ -0.11662139 -0.14367837 0.98272884 41.26774996] [ 0. 0. 0. 1. ]] SLAMing on 248.179072329 meters 0.387861530555345 Centerline is valid? [False, False] Translation: X:-0.16, Y:-73.74, Z:41.29 [[ 0.96109322 0.23178528 0.15025116 -0.16473004] [ -0.24880511 0.96269117 0.1064036 -73.73707156] [ -0.11998268 -0.13964704 0.98290532 41.28893146] [ 0. 0. 0. 1. ]] SLAMing on 248.209072329 meters 0.38151292370621304 Centerline is valid? [False, False] Translation: X:-0.22, Y:-73.82, Z:41.31 [[ 0.96246884 0.22777238 0.14755837 -0.2249097 ] [ -0.24431515 0.96392237 0.10565871 -73.8163436 ] [ -0.11816868 -0.13774396 0.98339349 41.30778438] [ 0. 0. 0. 1. ]] SLAMing on 248.239072329 meters 0.3796951132630693 Centerline is valid? [False, False] Translation: X:-0.28, Y:-73.89, Z:41.33 [[ 0.96354296 0.22077899 0.15113437 -0.28161606] [ -0.2373735 0.9660315 0.10216144 -73.8895396 ] [ -0.12344546 -0.13431223 0.98321994 41.32783719] [ 0. 0. 0. 1. ]] SLAMing on 248.269072329 meters 0.38168541707405385 Centerline is valid? [False, False] Translation: X:-0.34, Y:-73.97, Z:41.34 [[ 0.96461996 0.21796619 0.14832085 -0.34189869] [ -0.23402104 0.96697615 0.10095185 -73.96859182] [ -0.12141863 -0.13209037 0.98377317 41.34490274] [ 0. 0. 0. 1. ]] SLAMing on 248.299072329 meters 0.38707644561702087 Centerline is valid? [False, False] Translation: X:-0.40, Y:-74.05, Z:41.36 [[ 0.96620936 0.21299445 0.14516485 -0.40244139] [ -0.22834659 0.96856058 0.09873318 -74.05014148] [ -0.11957134 -0.12854482 0.98446885 41.36184669] [ 0. 0. 0. 1. ]] SLAMing on 248.329072329 meters 0.38063568776271545 Centerline is valid? [False, False] Translation: X:-0.46, Y:-74.13, Z:41.38 [[ 0.96731871 0.21067664 0.14110232 -0.45898685] [ -0.22539403 0.96933862 0.09787835 -74.12537181] [ -0.11615525 -0.12648318 0.98514464 41.3776693 ] [ 0. 0. 0. 1. ]] SLAMing on 248.359072329 meters 0.3697223101273705 Centerline is valid? [False, False] Translation: X:-0.51, Y:-74.19, Z:41.39 [[ 0.96735307 0.20873858 0.14372281 -0.51104378] [ -0.22320515 0.97031895 0.09306234 -74.19075535] [ -0.12003127 -0.12210382 0.98523254 41.39478682] [ 0. 0. 0. 1. ]] SLAMing on 248.38907232900002 meters 0.3692708682523538 Centerline is valid? [False, False] Translation: X:-0.57, Y:-74.26, Z:41.41 [[ 0.96761013 0.20509051 0.14720229 -0.56545515] [ -0.21979928 0.97123134 0.09164039 -74.26133647] [ -0.1241729 -0.12102713 0.98485203 41.41292317] [ 0. 0. 0. 1. ]] SLAMing on 248.419072329 meters 0.3678397657360687 Centerline is valid? [False, False] Translation: X:-0.61, Y:-74.32, Z:41.43 [[ 0.96757148 0.20300885 0.15030914 -0.61406723] [ -0.2178179 0.97187566 0.0895157 -74.32354288] [ -0.12790932 -0.11935286 0.98457813 41.4281868 ] [ 0. 0. 0. 1. ]] SLAMing on 248.449072329 meters 0.3646634022878532 Centerline is valid? [False, False] Translation: X:-0.67, Y:-74.39, Z:41.44 [[ 0.96866989 0.20142507 0.14528106 -0.66518951] [ -0.21567278 0.97231436 0.08994457 -74.39357384] [ -0.12314177 -0.11845977 0.98529355 41.44145642] [ 0. 0. 0. 1. ]] SLAMing on 248.479072329 meters 0.37452333343975275 Centerline is valid? [False, False] Translation: X:-0.71, Y:-74.46, Z:41.46 [[ 0.96875337 0.19993864 0.14677008 -0.7123662 ] [ -0.21390192 0.97303248 0.08633514 -74.45503964] [ -0.12555033 -0.11503186 0.98539575 41.45639519] [ 0. 0. 0. 1. ]] SLAMing on 248.509072329 meters 0.3647111697265258 Centerline is valid? [False, False] Translation: X:-0.77, Y:-74.53, Z:41.47 [[ 0.97022307 0.19613941 0.14211446 -0.76689748] [ -0.20958531 0.97394227 0.08666285 -74.52966748] [ -0.12141328 -0.1138674 0.9860492 41.46870555] [ 0. 0. 0. 1. ]] SLAMing on 248.539072329 meters 0.3748955733915214 Centerline is valid? [False, False] Translation: X:-0.81, Y:-74.59, Z:41.48 [[ 0.97020955 0.19442091 0.14454733 -0.81384967] [ -0.20780639 0.97455684 0.08399684 -74.58991422] [ -0.12453885 -0.11153239 0.98592627 41.48264773] [ 0. 0. 0. 1. ]] SLAMing on 248.569072329 meters 0.3589961468732124 Centerline is valid? [False, False] Translation: X:-0.87, Y:-74.66, Z:41.50 [[ 0.97027716 0.19081307 0.14883754 -0.86616125] [ -0.20474518 0.97515499 0.08457044 -74.66059219] [ -0.12900252 -0.11253053 0.98523867 41.49864497] [ 0. 0. 0. 1. ]] SLAMing on 248.599072329 meters 0.3587896083459848 Centerline is valid? [False, False] Translation: X:-0.92, Y:-74.73, Z:41.51 [[ 0.97122696 0.18968888 0.14400113 -0.91572083] [ -0.20322923 0.97535736 0.0858831 -74.72969845] [ -0.12416149 -0.11267722 0.98584368 41.51099522] [ 0. 0. 0. 1. ]] SLAMing on 248.629072329 meters 0.3476193054478144 Centerline is valid? [False, False] Translation: X:-0.96, Y:-74.79, Z:41.52 [[ 0.97169023 0.18698455 0.14441219 -0.96029227] [ -0.19994184 0.97645241 0.08101825 -74.79156865] [ -0.12586247 -0.10759868 0.9861953 41.5231362 ] [ 0. 0. 0. 1. ]] SLAMing on 248.659072329 meters 0.36392545958985645 Centerline is valid? [False, False] Translation: X:-1.01, Y:-74.86, Z:41.53 [[ 0.97287218 0.18543559 0.13832337 -1.00768326] [ -0.19782473 0.97681399 0.08185237 -74.85741474] [ -0.11993786 -0.10699568 0.9869989 41.53331703] [ 0. 0. 0. 1. ]] SLAMing on 248.689072329 meters 0.3517394040284891 Centerline is valid? [False, False] Translation: X:-1.05, Y:-74.91, Z:41.55 [[ 0.9729221 0.18407383 0.13978344 -1.05128704] [ -0.19631904 0.97731661 0.07944233 -74.91497219] [ -0.12198943 -0.10473335 0.98699012 41.54551421] [ 0. 0. 0. 1. ]] SLAMing on 248.719072329 meters 0.34650464969879435 Centerline is valid? [False, False] Translation: X:-1.09, Y:-74.97, Z:41.56 [[ 0.97289552 0.18259173 0.1418963 -1.09495845] [ -0.19498727 0.97762711 0.07889997 -74.9725411 ] [ -0.12431519 -0.1044294 0.9867321 41.55780653] [ 0. 0. 0. 1. ]] SLAMing on 248.749072329 meters 0.3423201895755062 Centerline is valid? [False, False] Translation: X:-1.14, Y:-75.04, Z:41.57 [[ 0.97288555 0.18000235 0.14523381 -1.14059259] [ -0.19289599 0.97794421 0.0801016 -75.03601808] [ -0.12761209 -0.10594471 0.98614952 41.57109782] [ 0. 0. 0. 1. ]] SLAMing on 248.779072329 meters 0.3409745281471009 Centerline is valid? [False, False] Translation: X:-1.19, Y:-75.10, Z:41.58 [[ 0.97393849 0.17884773 0.13948947 -1.18810126] [ -0.19143653 0.97801748 0.08266718 -75.10347492] [ -0.1216383 -0.10721613 0.98676686 41.58143365] [ 0. 0. 0. 1. ]] SLAMing on 248.809072329 meters 0.3409745281471009 Centerline is valid? [False, False] Translation: X:-1.23, Y:-75.16, Z:41.59 [[ 0.97364284 0.17922547 0.14105975 -1.23289568] [ -0.19154353 0.97828997 0.079119 -75.159362 ] [ -0.12381719 -0.10405273 0.9868345 41.59353991] [ 0. 0. 0. 1. ]] SLAMing on 248.839072329 meters 0.34530868203922715 Centerline is valid? [False, False] Translation: X:-1.27, Y:-75.21, Z:41.60 [[ 0.97368153 0.17819819 0.14209041 -1.27460776] [ -0.19020917 0.97880693 0.07587795 -75.21489515] [ -0.12555776 -0.10090786 0.98694116 41.60388358] [ 0. 0. 0. 1. ]] SLAMing on 248.869072329 meters 0.35561178983279285 Centerline is valid? [False, False] Translation: X:-1.32, Y:-75.28, Z:41.61 [[ 0.97497478 0.17659791 0.13504578 -1.31955922] [ -0.18816913 0.97901386 0.07825754 -75.28146487] [ -0.11839157 -0.10171057 0.98774409 41.60989756] [ 0. 0. 0. 1. ]] SLAMing on 248.899072329 meters 0.3466230375658905 Centerline is valid? [False, False] Translation: X:-1.36, Y:-75.34, Z:41.62 [[ 0.97487729 0.17628021 0.13616002 -1.36103699] [ -0.18770985 0.97926827 0.07614903 -75.33628882] [ -0.11991362 -0.09979454 0.98775593 41.62008857] [ 0. 0. 0. 1. ]] SLAMing on 248.929072329 meters 0.3543844472742213 Centerline is valid? [False, False] Translation: X:-1.41, Y:-75.40, Z:41.63 [[ 0.97459133 0.17551002 0.13916886 -1.40649316] [ -0.18753058 0.97911948 0.07846867 -75.39954072] [ -0.12249091 -0.1025733 0.98715485 41.63211379] [ 0. 0. 0. 1. ]] SLAMing on 248.959072329 meters 0.3529169840734075 Centerline is valid? [False, False] Translation: X:-1.45, Y:-75.46, Z:41.64 [[ 0.97435424 0.17532505 0.14104945 -1.45043122] [ -0.18753176 0.97912539 0.07839207 -75.45821492] [ -0.12436101 -0.10283289 0.98689398 41.64362985] [ 0. 0. 0. 1. ]] SLAMing on 248.989072329 meters 0.3557357134912757 Centerline is valid? [False, False] Translation: X:-1.50, Y:-75.53, Z:41.65 [[ 0.97507049 0.17549028 0.13579654 -1.49750515] [ -0.18740798 0.97897584 0.08052668 -75.52502417] [ -0.11880988 -0.10396855 0.98745873 41.65362394] [ 0. 0. 0. 1. ]] SLAMing on 249.019072329 meters 0.3519453046156539 Centerline is valid? [False, False] Translation: X:-1.54, Y:-75.58, Z:41.66 [[ 0.97496964 0.17553006 0.13646756 -1.53864654] [ -0.18717489 0.97924967 0.07768944 -75.5845835 ] [ -0.11999898 -0.10128815 0.98759352 41.66220175] [ 0. 0. 0. 1. ]] SLAMing on 249.049072329 meters 0.345483904350978 Centerline is valid? [False, False] Translation: X:-1.59, Y:-75.65, Z:41.67 [[ 0.97574517 0.17548795 0.13086381 -1.58562978] [ -0.1868234 0.97913265 0.07997665 -75.65117794] [ -0.1140981 -0.10248525 0.98816922 41.67088695] [ 0. 0. 0. 1. ]] SLAMing on 249.079072329 meters 0.3512834121960559 Centerline is valid? [False, False] Translation: X:-1.63, Y:-75.71, Z:41.68 [[ 0.97553631 0.17565758 0.13218669 -1.62924262] [ -0.18694462 0.97923877 0.07837814 -75.70933259] [ -0.11567462 -0.10117231 0.98812122 41.68242256] [ 0. 0. 0. 1. ]] SLAMing on 249.109072329 meters 0.3563057718148287 Centerline is valid? [False, False] Translation: X:-1.68, Y:-75.77, Z:41.70 [[ 0.9750445 0.17697677 0.13404268 -1.67558425] [ -0.18858867 0.97883623 0.07946035 -75.77412662] [ -0.1171432 -0.10275631 0.9877847 41.69550366] [ 0. 0. 0. 1. ]] SLAMing on 249.13907232900002 meters 0.36114975391868787 Centerline is valid? [False, False] Translation: X:-1.72, Y:-75.84, Z:41.71 [[ 0.97529174 0.17790183 0.13098459 -1.72326736] [ -0.18936264 0.97857028 0.08088259 -75.83984632] [ -0.11378846 -0.10368771 0.98807947 41.70655841] [ 0. 0. 0. 1. ]] SLAMing on 249.169072329 meters 0.3619034905846768 Centerline is valid? [False, False] Translation: X:-1.77, Y:-75.91, Z:41.72 [[ 0.97457656 0.18036513 0.13292459 -1.76888431] [ -0.19196907 0.9781119 0.08028069 -75.9061028 ] [ -0.11553529 -0.10375709 0.98786946 41.71748686] [ 0. 0. 0. 1. ]] SLAMing on 249.199072329 meters 0.36573668809682364 Centerline is valid? [False, False] Translation: X:-1.81, Y:-75.96, Z:41.73 [[ 0.97414443 0.18165224 0.13433203 -1.81261823] [ -0.19319684 0.97801603 0.07848329 -75.96471591] [ -0.11712222 -0.10240658 0.98782351 41.72760705] [ 0. 0. 0. 1. ]] SLAMing on 249.229072329 meters 0.35675899557185753 Centerline is valid? [False, False] Translation: X:-1.86, Y:-76.04, Z:41.74 [[ 0.97468933 0.18222034 0.12952395 -1.86443918] [ -0.19365339 0.97764773 0.08187359 -76.0370579 ] [ -0.11170977 -0.10488407 0.9881904 41.73727056] [ 0. 0. 0. 1. ]] SLAMing on 249.259072329 meters 0.36145272069411266 Centerline is valid? [False, False] Translation: X:-1.91, Y:-76.11, Z:41.75 [[ 0.97484468 0.18522266 0.12397745 -1.91433462] [ -0.19655081 0.97668632 0.08632273 -76.11007275] [ -0.10509815 -0.10851913 0.98852313 41.74931525] [ 0. 0. 0. 1. ]] SLAMing on 249.289072329 meters 0.369552815374388 Centerline is valid? [False, False] Translation: X:-1.96, Y:-76.17, Z:41.76 [[ 0.97434816 0.18606639 0.12658973 -1.96181393] [ -0.19753639 0.97660664 0.08496379 -76.17206489] [ -0.10781946 -0.1077904 0.98830977 41.7614174 ] [ 0. 0. 0. 1. ]] SLAMing on 249.319072329 meters 0.35973968097485276 Centerline is valid? [False, False] Translation: X:-2.01, Y:-76.23, Z:41.77 [[ 0.97383141 0.18677425 0.12949041 -2.00963373] [ -0.19847364 0.97648661 0.08415533 -76.23473738] [ -0.11072761 -0.10765354 0.98800309 41.77337584] [ 0. 0. 0. 1. ]] SLAMing on 249.349072329 meters 0.36008364227072653 Centerline is valid? [False, False] Translation: X:-2.06, Y:-76.31, Z:41.78 [[ 0.97417404 0.18777771 0.12539725 -2.06257856] [ -0.19929177 0.97611065 0.0865493 -76.30811494] [ -0.10614956 -0.10930472 0.98832421 41.78410996] [ 0. 0. 0. 1. ]] SLAMing on 249.379072329 meters 0.3661093359742502 Centerline is valid? [False, False] Translation: X:-2.11, Y:-76.37, Z:41.80 [[ 0.97338427 0.1908148 0.12693609 -2.11078913] [ -0.2022977 0.97566023 0.08463309 -76.37461554] [ -0.10769725 -0.1080594 0.98829372 41.79603805] [ 0. 0. 0. 1. ]] SLAMing on 249.409072329 meters 0.3678607645582784 Centerline is valid? [False, False] Translation: X:-2.16, Y:-76.43, Z:41.81 [[ 0.97297871 0.19180703 0.12853984 -2.15660691] [ -0.2032441 0.97563732 0.0826054 -76.43466644] [ -0.10956397 -0.10649826 0.98825799 41.8072409 ] [ 0. 0. 0. 1. ]] SLAMing on 249.439072329 meters 0.37306839039181516 Centerline is valid? [False, False] Translation: X:-2.20, Y:-76.50, Z:41.82 [[ 0.97255174 0.19265 0.13049555 -2.20307092] [ -0.2041786 0.97553369 0.08151765 -76.49562401] [ -0.11159843 -0.10592453 0.98809199 41.81892196] [ 0. 0. 0. 1. ]] SLAMing on 249.469072329 meters 0.37738307162334234 Centerline is valid? [False, False] Translation: X:-2.25, Y:-76.56, Z:41.83 [[ 0.97177248 0.19490219 0.13293377 -2.24934599] [ -0.20696253 0.97475402 0.08379202 -76.55761505] [ -0.11324648 -0.10893909 0.98757658 41.83046032] [ 0. 0. 0. 1. ]] SLAMing on 249.499072329 meters 0.3725284678141583 Centerline is valid? [False, False] Translation: X:-2.30, Y:-76.62, Z:41.84 [[ 0.97134832 0.19539207 0.13529368 -2.29542909] [ -0.20770876 0.97460048 0.08373152 -76.61761817] [ -0.11549681 -0.10943416 0.98726119 41.84156065] [ 0. 0. 0. 1. ]] SLAMing on 249.529072329 meters 0.3812747925651293 Centerline is valid? [False, False] Translation: X:-2.35, Y:-76.69, Z:41.85 [[ 0.97164255 0.19722124 0.13043975 -2.34532509] [ -0.20962043 0.97370116 0.08924866 -76.6886927 ] [ -0.10940761 -0.11406063 0.98743109 41.85217839] [ 0. 0. 0. 1. ]] SLAMing on 249.559072329 meters 0.3802380526847513 Centerline is valid? [False, False] Translation: X:-2.39, Y:-76.75, Z:41.86 [[ 0.97129222 0.19734287 0.1328428 -2.39343975] [ -0.2098764 0.97376232 0.08797063 -76.75189471] [ -0.11199693 -0.11332576 0.98722538 41.86479352] [ 0. 0. 0. 1. ]] SLAMing on 249.589072329 meters 0.38904808130672636 Centerline is valid? [False, False] Translation: X:-2.44, Y:-76.82, Z:41.88 [[ 0.97187217 0.19766854 0.12802984 -2.44370663] [ -0.20993117 0.973514 0.09055052 -76.82243931] [ -0.10673985 -0.11488098 0.98762795 41.87620294] [ 0. 0. 0. 1. ]] SLAMing on 249.619072329 meters 0.3819347933854942 Centerline is valid? [False, False] Translation: X:-2.49, Y:-76.89, Z:41.89 [[ 0.9714963 0.19807738 0.13023165 -2.49421801] [ -0.2103174 0.97366349 0.08801136 -76.88859937] [ -0.10936875 -0.11289269 0.9875696 41.88897299] [ 0. 0. 0. 1. ]] SLAMing on 249.649072329 meters 0.3781003528570854 Centerline is valid? [False, False] Translation: X:-2.54, Y:-76.95, Z:41.90 [[ 0.97125506 0.19809826 0.13198748 -2.54162071] [ -0.21036042 0.97379687 0.08641842 -76.95083505] [ -0.11140965 -0.11169926 0.98747717 41.90199973] [ 0. 0. 0. 1. ]] SLAMing on 249.679072329 meters 0.3818063562719577 Centerline is valid? [False, False] Translation: X:-2.59, Y:-77.02, Z:41.91 [[ 0.97195245 0.19790818 0.12704643 -2.59194786] [ -0.21006189 0.97348131 0.09059882 -77.02175075] [ -0.10574707 -0.11474536 0.9877505 41.91386726] [ 0. 0. 0. 1. ]] SLAMing on 249.709072329 meters 0.37625501905961567 Centerline is valid? [False, False] Translation: X:-2.64, Y:-77.09, Z:41.93 [[ 0.97165398 0.19689559 0.13084598 -2.64429333] [ -0.20944705 0.97365064 0.09020182 -77.09008184] [ -0.10963793 -0.11505026 0.98729072 41.92819633] [ 0. 0. 0. 1. ]] SLAMing on 249.739072329 meters 0.38879572587420635 Centerline is valid? [False, False] Translation: X:-2.69, Y:-77.15, Z:41.94 [[ 0.97148058 0.19548903 0.13419956 -2.69225919] [ -0.20850285 0.97379415 0.09083783 -77.15406125] [ -0.11292494 -0.11622818 0.98678213 41.94103554] [ 0. 0. 0. 1. ]] SLAMing on 249.769072329 meters 0.38371964214347976 Centerline is valid? [False, False] Translation: X:-2.74, Y:-77.22, Z:41.95 [[ 0.97134204 0.19461338 0.13645614 -2.74020936] [ -0.20768182 0.97413542 0.08904178 -77.21774977] [ -0.11559804 -0.11482949 0.98663635 41.95403836] [ 0. 0. 0. 1. ]] SLAMing on 249.799072329 meters 0.3786980427134904 Centerline is valid? [False, False] Translation: X:-2.79, Y:-77.29, Z:41.97 [[ 0.97224915 0.1937913 0.13105925 -2.79011128] [ -0.20655279 0.97410803 0.09192109 -77.28926174] [ -0.10985236 -0.11644085 0.98710384 41.96615377] [ 0. 0. 0. 1. ]] SLAMing on 249.829072329 meters 0.3773738004262597 Centerline is valid? [False, False] Translation: X:-2.84, Y:-77.36, Z:41.98 [[ 0.97231228 0.19178155 0.13352403 -2.8389756 ] [ -0.20456141 0.9747476 0.08956414 -77.35536711] [ -0.11297548 -0.11439818 0.98699017 41.9793639 ] [ 0. 0. 0. 1. ]] SLAMing on 249.859072329 meters 0.3889797902977675 Centerline is valid? [False, False] Translation: X:-2.88, Y:-77.42, Z:41.99 [[ 0.97243056 0.19004636 0.13513398 -2.8832703 ] [ -0.20284779 0.97523178 0.08818021 -77.41523159] [ -0.11502863 -0.11316076 0.98689567 41.99118404] [ 0. 0. 0. 1. ]] SLAMing on 249.88907232900002 meters 0.371754991823027 Centerline is valid? [False, False] Translation: X:-2.93, Y:-77.48, Z:42.00 [[ 0.97283963 0.18659283 0.13698969 -2.92883851] [ -0.19937113 0.9761183 0.08627992 -77.47693172] [ -0.11761893 -0.11124831 0.98680778 42.00321467] [ 0. 0. 0. 1. ]] SLAMing on 249.919072329 meters 0.3704257782282793 Centerline is valid? [False, False] Translation: X:-2.97, Y:-77.54, Z:42.01 [[ 0.97308336 0.18426398 0.13840358 -2.97202666] [ -0.19706009 0.97668475 0.08517173 -77.53564942] [ -0.11948258 -0.11015301 0.98670676 42.01466983] [ 0. 0. 0. 1. ]] SLAMing on 249.949072329 meters 0.3706313425950666 Centerline is valid? [False, False] Translation: X:-3.01, Y:-77.59, Z:42.03 [[ 0.97335759 0.1817201 0.13983137 -3.01461622] [ -0.19453768 0.97728109 0.08412349 -77.59364601] [ -0.12136763 -0.1090847 0.98659537 42.02598351] [ 0. 0. 0. 1. ]] SLAMing on 249.979072329 meters 0.36681203926667644 Centerline is valid? [False, False] Translation: X:-3.06, Y:-77.65, Z:42.04 [[ 0.97362458 0.17922859 0.14118173 -3.05650951] [ -0.1920734 0.97784549 0.08322262 -77.65160258] [ -0.12313805 -0.10814485 0.98647945 42.03733639] [ 0. 0. 0. 1. ]] SLAMing on 250.009072329 meters 0.36982150850755086 Centerline is valid? [False, False] Translation: X:-3.10, Y:-77.71, Z:42.05 [[ 0.97414568 0.17501822 0.14285944 -3.09973626] [ -0.18796493 0.97868616 0.08271992 -77.71364429] [ -0.12533706 -0.10743382 0.98628018 42.04891848] [ 0. 0. 0. 1. ]] SLAMing on 250.039072329 meters 0.3655600198438569 Centerline is valid? [False, False] Translation: X:-3.14, Y:-77.78, Z:42.06 [[ 0.97568123 0.17195937 0.13592689 -3.14442618] [ -0.18466206 0.97893854 0.08705896 -77.77909979] [ -0.11809347 -0.11004233 0.98688632 42.05866473] [ 0. 0. 0. 1. ]] SLAMing on 250.069072329 meters 0.3561065285863161 Centerline is valid? [False, False] Translation: X:-3.18, Y:-77.83, Z:42.07 [[ 0.97657284 0.16690729 0.13582138 -3.18233726] [ -0.17906419 0.98034963 0.08276845 -77.83117807] [ -0.11933778 -0.10515017 0.98726994 42.06878628] [ 0. 0. 0. 1. ]] SLAMing on 250.099072329 meters 0.35830461996510504 Centerline is valid? [False, False] Translation: X:-3.22, Y:-77.89, Z:42.08 [[ 0.97697037 0.16453592 0.13585591 -3.22217563] [ -0.17636548 0.98105883 0.08011741 -77.88609476] [ -0.12010045 -0.10223263 0.98748386 42.07965837] [ 0. 0. 0. 1. ]] SLAMing on 250.129072329 meters 0.35688439378555703 Centerline is valid? [False, False] Translation: X:-3.26, Y:-77.94, Z:42.09 [[ 0.9773208 0.16239669 0.13590941 -3.25947021] [ -0.17396045 0.98166118 0.07796845 -77.93745894] [ -0.12075517 -0.09984305 0.9876485 42.08877126] [ 0. 0. 0. 1. ]] SLAMing on 250.159072329 meters 0.3537574546966985 Centerline is valid? [False, False] Translation: X:-3.30, Y:-77.99, Z:42.10 [[ 9.77545485e-01 1.60667102e-01 1.36348474e-01 -3.29957180e+00] [-1.72101553e-01 9.82095088e-01 7.66178376e-02 -7.79935404e+01] [-1.21597201e-01 -9.83632055e-02 9.87693677e-01 4.20993554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.189072329 meters 0.356946718641576 Centerline is valid? [False, False] Translation: X:-3.34, Y:-78.05, Z:42.11 [[ 9.77900001e-01 1.57434173e-01 1.37572050e-01 -3.34041079e+00] [-1.68933466e-01 9.82671280e-01 7.62800036e-02 -7.80523664e+01] [-1.23179023e-01 -9.78347387e-02 9.87550147e-01 4.21093890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.219072329 meters 0.3545499696887755 Centerline is valid? [False, False] Translation: X:-3.38, Y:-78.10, Z:42.12 [[ 9.78124129e-01 1.56111984e-01 1.37485407e-01 -3.37792182e+00] [-1.67459156e-01 9.83008155e-01 7.51824352e-02 -7.81047957e+01] [-1.23412397e-01 -9.65609441e-02 9.87646376e-01 4.21191910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.249072329 meters 0.3542135821873193 Centerline is valid? [False, False] Translation: X:-3.41, Y:-78.15, Z:42.13 [[ 9.78456601e-01 1.54715466e-01 1.36696032e-01 -3.41246093e+00] [-1.65789204e-01 9.83406200e-01 7.36626516e-02 -7.81529053e+01] [-1.23030974e-01 -9.47384340e-02 9.87870441e-01 4.21278866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.279072329 meters 0.34851469771724203 Centerline is valid? [False, False] Translation: X:-3.45, Y:-78.20, Z:42.14 [[ 9.79065066e-01 1.50992761e-01 1.36501949e-01 -3.44910070e+00] [-1.61887390e-01 9.84140310e-01 7.25280921e-02 -7.82042725e+01] [-1.23385853e-01 -9.31076654e-02 9.87981221e-01 4.21359413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.309072329 meters 0.35539610982058695 Centerline is valid? [False, False] Translation: X:-3.48, Y:-78.25, Z:42.14 [[ 9.79408610e-01 1.49494507e-01 1.35684069e-01 -3.48356723e+00] [-1.60082991e-01 9.84564826e-01 7.07498414e-02 -7.82523177e+01] [-1.23013050e-01 -9.10137155e-02 9.88222795e-01 4.21445157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.339072329 meters 0.34144227431467844 Centerline is valid? [False, False] Translation: X:-3.53, Y:-78.32, Z:42.15 [[ 9.81033864e-01 1.45589831e-01 1.27969364e-01 -3.52560145e+00] [-1.56253444e-01 9.84662304e-01 7.76209337e-02 -7.83174086e+01] [-1.14705790e-01 -9.61444184e-02 9.88735977e-01 4.21522869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.369072329 meters 0.3377091212063816 Centerline is valid? [False, False] Translation: X:-3.56, Y:-78.36, Z:42.16 [[ 9.81138992e-01 1.45162104e-01 1.27648902e-01 -3.55994300e+00] [-1.55445581e-01 9.85021653e-01 7.46258292e-02 -7.83641799e+01] [-1.14904090e-01 -9.30607686e-02 9.89007959e-01 4.21599171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.399072329 meters 0.3391766120252912 Centerline is valid? [False, False] Translation: X:-3.59, Y:-78.41, Z:42.17 [[ 9.81282508e-01 1.44675272e-01 1.27097225e-01 -3.59371299e+00] [-1.54636933e-01 9.85321333e-01 7.23138213e-02 -7.84105121e+01] [-1.14769585e-01 -9.06142130e-02 9.89250730e-01 4.21673697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.429072329 meters 0.34194698719629407 Centerline is valid? [False, False] Translation: X:-3.63, Y:-78.46, Z:42.18 [[ 9.81391960e-01 1.44203289e-01 1.26788139e-01 -3.62896889e+00] [-1.53901114e-01 9.85582299e-01 7.02992118e-02 -7.84589434e+01] [-1.14822768e-01 -8.85039171e-02 9.89435591e-01 4.21752932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.459072329 meters 0.3412434967516759 Centerline is valid? [False, False] Translation: X:-3.66, Y:-78.50, Z:42.18 [[ 9.81722008e-01 1.43039829e-01 1.25544837e-01 -3.66065088e+00] [-1.52403994e-01 9.85947799e-01 6.84102279e-02 -7.85042327e+01] [-1.13995269e-01 -8.62933609e-02 9.89726495e-01 4.21819729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.489072329 meters 0.3447513822826584 Centerline is valid? [False, False] Translation: X:-3.70, Y:-78.55, Z:42.19 [[ 9.81903355e-01 1.42361753e-01 1.24895686e-01 -3.69548270e+00] [-1.51503184e-01 9.86184228e-01 6.69884614e-02 -7.85533754e+01] [-1.13633561e-01 -8.46982892e-02 9.89905861e-01 4.21898936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.519072329 meters 0.3414906016383305 Centerline is valid? [False, False] Translation: X:-3.73, Y:-78.60, Z:42.20 [[ 9.82062265e-01 1.41934661e-01 1.24130010e-01 -3.72871154e+00] [-1.50878073e-01 9.86357017e-01 6.58455876e-02 -7.86004989e+01] [-1.13090735e-01 -8.33929636e-02 9.90078835e-01 4.21974790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.549072329 meters 0.3452556353660529 Centerline is valid? [False, False] Translation: X:-3.76, Y:-78.65, Z:42.20 [[ 9.82127862e-01 1.41944354e-01 1.23598797e-01 -3.76189486e+00] [-1.50858132e-01 9.86351110e-01 6.59796377e-02 -7.86484251e+01] [-1.12546374e-01 -8.34463242e-02 9.90136367e-01 4.22048316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.579072329 meters 0.3503608904370819 Centerline is valid? [False, False] Translation: X:-3.79, Y:-78.69, Z:42.21 [[ 9.82190867e-01 1.42283516e-01 1.22704939e-01 -3.79335802e+00] [-1.51085120e-01 9.86338858e-01 6.56425500e-02 -7.86922910e+01] [-1.11688797e-01 -8.30124037e-02 9.90269940e-01 4.22112293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.609072329 meters 0.3492135711175204 Centerline is valid? [False, False] Translation: X:-3.82, Y:-78.74, Z:42.22 [[ 9.82306769e-01 1.42536314e-01 1.21477614e-01 -3.82431704e+00] [-1.51181901e-01 9.86356041e-01 6.51597499e-02 -7.87359511e+01] [-1.10532548e-01 -8.23720800e-02 9.90453127e-01 4.22175841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63907232900002 meters 0.34485810799844363 Centerline is valid? [False, False] Translation: X:-3.86, Y:-78.78, Z:42.22 [[ 9.82342656e-01 1.42807553e-01 1.20867316e-01 -3.85768572e+00] [-1.51311646e-01 9.86390342e-01 6.43341258e-02 -7.87839444e+01] [-1.10034954e-01 -8.14867887e-02 9.90581754e-01 4.22244070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.669072329 meters 0.3385984520178293 Centerline is valid? [False, False] Translation: X:-3.89, Y:-78.83, Z:42.23 [[ 9.82381680e-01 1.43389740e-01 1.19856653e-01 -3.88894999e+00] [-1.51796480e-01 9.86325494e-01 6.41860459e-02 -7.88279158e+01] [-1.09014052e-01 -8.12490136e-02 9.90714154e-01 4.22309094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.699072329 meters 0.3385984520178293 Centerline is valid? [False, False] Translation: X:-3.92, Y:-78.87, Z:42.24 [[ 9.82523173e-01 1.43496306e-01 1.18562322e-01 -3.91978530e+00] [-1.51643700e-01 9.86439670e-01 6.27771081e-02 -7.88696970e+01] [-1.07946294e-01 -7.96591925e-02 9.90960146e-01 4.22370309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.729072329 meters 0.3403295580026836 Centerline is valid? [False, False] Translation: X:-3.95, Y:-78.92, Z:42.24 [[ 9.82418394e-01 1.44470041e-01 1.18247649e-01 -3.95358400e+00] [-1.52703517e-01 9.86212501e-01 6.37694139e-02 -7.89186488e+01] [-1.07404540e-01 -8.07050771e-02 9.90934385e-01 4.22444498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.759072329 meters 0.3447314695241732 Centerline is valid? [False, False] Translation: X:-3.99, Y:-78.96, Z:42.25 [[ 9.82420880e-01 1.45153495e-01 1.17386872e-01 -3.98619358e+00] [-1.53266554e-01 9.86156724e-01 6.32793788e-02 -7.89649244e+01] [-1.06576631e-01 -8.01584645e-02 9.91068132e-01 4.22512362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.789072329 meters 0.3431064634002341 Centerline is valid? [False, False] Translation: X:-4.02, Y:-79.01, Z:42.26 [[ 9.82440607e-01 1.45820133e-01 1.16391336e-01 -4.01869755e+00] [-1.53763900e-01 9.86133746e-01 6.24251394e-02 -7.90108829e+01] [-1.05674582e-01 -7.92257775e-02 9.91239708e-01 4.22579409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.819072329 meters 0.35138533828474866 Centerline is valid? [False, False] Translation: X:-4.05, Y:-79.05, Z:42.26 [[ 9.82481536e-01 1.47030726e-01 1.14507629e-01 -4.04766575e+00] [-1.54808815e-01 9.85981831e-01 6.22419413e-02 -7.90540244e+01] [-1.03750964e-01 -7.88783484e-02 9.91470596e-01 4.22634411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.849072329 meters 0.34169490411906006 Centerline is valid? [False, False] Translation: X:-4.08, Y:-79.10, Z:42.27 [[ 9.82574159e-01 1.47480984e-01 1.13125510e-01 -4.07942147e+00] [-1.55127863e-01 9.85945460e-01 6.20233469e-02 -7.90996016e+01] [-1.02388319e-01 -7.84914565e-02 9.91642942e-01 4.22702586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.879072329 meters 0.3485864740576382 Centerline is valid? [False, False] Translation: X:-4.11, Y:-79.15, Z:42.28 [[ 9.82666630e-01 1.47691055e-01 1.12043059e-01 -4.11126279e+00] [-1.55292683e-01 9.85894842e-01 6.24142884e-02 -7.91452883e+01] [-1.01244642e-01 -7.87319057e-02 9.91741302e-01 4.22771616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.909072329 meters 0.3413589004493258 Centerline is valid? [False, False] Translation: X:-4.15, Y:-79.20, Z:42.28 [[ 9.82806192e-01 1.47032227e-01 1.11684887e-01 -4.14518004e+00] [-1.54795445e-01 9.85851478e-01 6.43057794e-02 -7.91958874e+01] [-1.00649689e-01 -8.04884300e-02 9.91660856e-01 4.22841901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.939072329 meters 0.3404870816895975 Centerline is valid? [False, False] Translation: X:-4.17, Y:-79.24, Z:42.29 [[ 9.83058157e-01 1.46932432e-01 1.09578832e-01 -4.17363646e+00] [-1.54494326e-01 9.85918321e-01 6.40044306e-02 -7.92368893e+01] [-9.86314514e-02 -7.98493854e-02 9.91915275e-01 4.22897377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.969072329 meters 0.34565784209612527 Centerline is valid? [False, False] Translation: X:-4.20, Y:-79.28, Z:42.29 [[ 9.83322839e-01 1.46829444e-01 1.07318730e-01 -4.20175947e+00] [-1.54125991e-01 9.86031039e-01 6.31503732e-02 -7.92768938e+01] [-9.65472646e-02 -7.86378098e-02 9.92217073e-01 4.22949703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.999072329 meters 0.33998605659466025 Centerline is valid? [False, False] Translation: X:-4.23, Y:-79.32, Z:42.30 [[ 9.83659841e-01 1.45702275e-01 1.05755209e-01 -4.23344043e+00] [-1.52779415e-01 9.86301819e-01 6.21865989e-02 -7.93234918e+01] [-9.52458261e-02 -7.73276790e-02 9.92445798e-01 4.23012025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.029072329 meters 0.3420669781932954 Centerline is valid? [False, False] Translation: X:-4.27, Y:-79.37, Z:42.31 [[ 9.83841037e-01 1.45158685e-01 1.04813028e-01 -4.26610268e+00] [-1.52136518e-01 9.86417310e-01 6.19303697e-02 -7.93696034e+01] [-9.43996538e-02 -7.68755281e-02 9.92561766e-01 4.23080075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.059072329 meters 0.33935508898181727 Centerline is valid? [False, False] Translation: X:-4.30, Y:-79.41, Z:42.31 [[ 9.84069585e-01 1.44540119e-01 1.03514281e-01 -4.29760348e+00] [-1.51417212e-01 9.86526968e-01 6.19465050e-02 -7.94140403e+01] [-9.31658750e-02 -7.66335154e-02 9.92697045e-01 4.23147072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.089072329 meters 0.33843725100086297 Centerline is valid? [False, False] Translation: X:-4.33, Y:-79.46, Z:42.32 [[ 9.84430878e-01 1.43054337e-01 1.02133750e-01 -4.32926809e+00] [-1.49894847e-01 9.86709155e-01 6.27421587e-02 -7.94596226e+01] [-9.18007683e-02 -7.70746412e-02 9.92790068e-01 4.23216299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.119072329 meters 0.33897355411105623 Centerline is valid? [False, False] Translation: X:-4.36, Y:-79.50, Z:42.33 [[ 9.84619389e-01 1.42379088e-01 1.01256383e-01 -4.36199097e+00] [-1.49058608e-01 9.86898600e-01 6.17469470e-02 -7.95044705e+01] [-9.11383083e-02 -7.58903766e-02 9.92942324e-01 4.23277154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.149072329 meters 0.342040090705153 Centerline is valid? [False, False] Translation: X:-4.39, Y:-79.55, Z:42.33 [[ 9.84854654e-01 1.41898428e-01 9.96300542e-02 -4.39260610e+00] [-1.48376432e-01 9.87053784e-01 6.09037074e-02 -7.95476447e+01] [-8.96980817e-02 -7.47640516e-02 9.93158895e-01 4.23336765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.179072329 meters 0.3357070487090552 Centerline is valid? [False, False] Translation: X:-4.42, Y:-79.59, Z:42.34 [[ 9.85071895e-01 1.41201388e-01 9.84658848e-02 -4.42448334e+00] [-1.47502955e-01 9.87244491e-01 5.99265647e-02 -7.95918999e+01] [-8.87481882e-02 -7.35559836e-02 9.93334423e-01 4.23397650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.209072329 meters 0.3329050840122776 Centerline is valid? [False, False] Translation: X:-4.46, Y:-79.64, Z:42.35 [[ 9.85470957e-01 1.37447868e-01 9.97751309e-02 -4.46108673e+00] [-1.44243858e-01 9.87443999e-01 6.44054285e-02 -7.96409063e+01] [-8.96699654e-02 -7.78616291e-02 9.92923393e-01 4.23450822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.239072329 meters 0.33376162263628106 Centerline is valid? [False, False] Translation: X:-4.49, Y:-79.68, Z:42.35 [[ 9.85579417e-01 1.36925300e-01 9.94217000e-02 -4.49435341e+00] [-1.43605573e-01 9.87599500e-01 6.34402654e-02 -7.96849164e+01] [-8.95022438e-02 -7.68029300e-02 9.93020976e-01 4.23511355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.269072329 meters 0.33075371574717055 Centerline is valid? [False, False] Translation: X:-4.53, Y:-79.73, Z:42.36 [[ 9.85857461e-01 1.35590480e-01 9.84900406e-02 -4.52630092e+00] [-1.42046882e-01 9.87930572e-01 6.17727208e-02 -7.97282092e+01] [-8.89255292e-02 -7.48893009e-02 9.93218930e-01 4.23566657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.299072329 meters 0.32964943930995133 Centerline is valid? [False, False] Translation: X:-4.56, Y:-79.77, Z:42.36 [[ 9.86095743e-01 1.34847683e-01 9.71148189e-02 -4.55666406e+00] [-1.41071514e-01 9.88159413e-01 6.03307698e-02 -7.97701650e+01] [-8.78294580e-02 -7.31920498e-02 9.93442958e-01 4.23617172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.329072329 meters 0.3301165258739359 Centerline is valid? [False, False] Translation: X:-4.59, Y:-79.81, Z:42.37 [[ 9.86299239e-01 1.34630224e-01 9.53337007e-02 -4.58545729e+00] [-1.40667418e-01 9.88255526e-01 5.96966714e-02 -7.98103197e+01] [-8.61770803e-02 -7.22891271e-02 9.93653759e-01 4.23666404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.359072329 meters 0.33018898943419805 Centerline is valid? [False, False] Translation: X:-4.61, Y:-79.85, Z:42.37 [[ 9.86786006e-01 1.31826039e-01 9.42086672e-02 -4.61442089e+00] [-1.38077112e-01 9.88402004e-01 6.32154174e-02 -7.98490656e+01] [-8.47825974e-02 -7.53881500e-02 9.93543425e-01 4.23692890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38907232900002 meters 0.32932242305472403 Centerline is valid? [False, False] Translation: X:-4.64, Y:-79.89, Z:42.37 [[ 9.87014122e-01 1.31556330e-01 9.21740481e-02 -4.64196388e+00] [-1.37563909e-01 9.88541075e-01 6.21507414e-02 -7.98864417e+01] [-8.29415092e-02 -7.40234818e-02 9.93801404e-01 4.23739733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.419072329 meters 0.3308210723298127 Centerline is valid? [False, False] Translation: X:-4.67, Y:-79.93, Z:42.38 [[ 9.87395736e-01 1.30172490e-01 9.00265686e-02 -4.66978633e+00] [-1.35874699e-01 9.88883823e-01 6.03891574e-02 -7.99253275e+01] [-8.11648104e-02 -7.18603294e-02 9.94106819e-01 4.23790384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.449072329 meters 0.3273625292842097 Centerline is valid? [False, False] Translation: X:-4.70, Y:-79.96, Z:42.38 [[ 9.87659693e-01 1.29821137e-01 8.76059546e-02 -4.69644372e+00] [-1.35383063e-01 9.88924189e-01 6.08307000e-02 -7.99640695e+01] [-7.87385370e-02 -7.19403930e-02 9.94296144e-01 4.23839823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.479072329 meters 0.3244315863379759 Centerline is valid? [False, False] Translation: X:-4.72, Y:-80.01, Z:42.39 [[ 9.87883227e-01 1.29323038e-01 8.58037404e-02 -4.72498115e+00] [-1.34772077e-01 9.88993310e-01 6.10632408e-02 -8.00052433e+01] [-7.69624415e-02 -7.18872996e-02 9.94439037e-01 4.23891684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.509072329 meters 0.3273804094647242 Centerline is valid? [False, False] Translation: X:-4.75, Y:-80.04, Z:42.39 [[ 9.88063916e-01 1.29362654e-01 8.36361283e-02 -4.75195741e+00] [-1.34681704e-01 9.88983804e-01 6.14155830e-02 -8.00441119e+01] [-7.47698934e-02 -7.19467777e-02 9.94601993e-01 4.23939178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.539072329 meters 0.3289742255451483 Centerline is valid? [False, False] Translation: X:-4.78, Y:-80.08, Z:42.40 [[ 9.88237348e-01 1.29368956e-01 8.15513213e-02 -4.77865778e+00] [-1.34526034e-01 9.89014619e-01 6.12603499e-02 -8.00813818e+01] [-7.27302614e-02 -7.15105415e-02 9.94784676e-01 4.23981295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.569072329 meters 0.3205618757692873 Centerline is valid? [False, False] Translation: X:-4.80, Y:-80.12, Z:42.40 [[ 9.88728546e-01 1.27627313e-01 7.82759894e-02 -4.80350194e+00] [-1.32508071e-01 9.89322670e-01 6.06816690e-02 -8.01173463e+01] [-6.96955724e-02 -7.03698987e-02 9.95083215e-01 4.24026077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.599072329 meters 0.31892779937486115 Centerline is valid? [False, False] Translation: X:-4.83, Y:-80.16, Z:42.41 [[ 9.89081095e-01 1.26319331e-01 7.59079269e-02 -4.83005580e+00] [-1.30940264e-01 9.89613687e-01 5.93245075e-02 -8.01550076e+01] [-6.76256913e-02 -6.86161529e-02 9.95348476e-01 4.24066008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.629072329 meters 0.31573414279932777 Centerline is valid? [False, False] Translation: X:-4.84, Y:-80.17, Z:42.41 [[ 9.89340571e-01 1.22703540e-01 7.84160384e-02 -4.84206327e+00] [-1.27176216e-01 9.90363564e-01 5.48290209e-02 -8.01733245e+01] [-7.09326722e-02 -6.42172299e-02 9.95411826e-01 4.24108168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.659072329 meters 0.31547488023965353 Centerline is valid? [False, False] Translation: X:-4.87, Y:-80.21, Z:42.41 [[ 9.90000640e-01 1.18201419e-01 7.69880300e-02 -4.86938928e+00] [-1.23001538e-01 9.90535899e-01 6.09036533e-02 -8.02130860e+01] [-6.90605092e-02 -6.97643018e-02 9.95170130e-01 4.24137093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.689072329 meters 0.3130987984210111 Centerline is valid? [False, False] Translation: X:-4.87, Y:-80.22, Z:42.42 [[ 9.90476282e-01 1.14465793e-01 7.65135103e-02 -4.87197339e+00] [-1.19028772e-01 9.91195789e-01 5.79918926e-02 -8.02216661e+01] [-6.92017812e-02 -6.65469033e-02 9.95380642e-01 4.24170116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.719072329 meters 0.3224669021945327 Centerline is valid? [False, False] Translation: X:-4.89, Y:-80.24, Z:42.42 [[ 9.90371046e-01 1.12945949e-01 8.00525115e-02 -4.88599382e+00] [-1.17367068e-01 9.91681480e-01 5.28470688e-02 -8.02389043e+01] [-7.34177308e-02 -6.17337353e-02 9.95388760e-01 4.24191159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.749072329 meters 0.3192438603357986 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.25, Z:42.41 [[ 9.90808768e-01 1.06362640e-01 8.35761595e-02 -4.89767485e+00] [-1.11327307e-01 9.92138299e-01 5.71649088e-02 -8.02531659e+01] [-7.68388981e-02 -6.59438016e-02 9.94860392e-01 4.24137604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.779072329 meters 0.3140480998950683 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.27, Z:42.41 [[ 9.91309846e-01 9.89116751e-02 8.67252591e-02 -4.90903033e+00] [-1.04408045e-01 9.92643251e-01 6.13052751e-02 -8.02679931e+01] [-8.00234357e-02 -6.98273375e-02 9.94344202e-01 4.24088799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.809072329 meters 0.29640612341617417 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.28, Z:42.41 [[ 9.93834032e-01 8.44927685e-02 7.17975581e-02 -4.91187779e+00] [-8.82346207e-02 9.94811398e-01 5.06451713e-02 -8.02803351e+01] [-6.71458784e-02 -5.66679251e-02 9.96132610e-01 4.24139538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839072329 meters 0.28766209887116717 Centerline is valid? [False, False] Translation: X:-4.92, Y:-80.29, Z:42.41 [[ 9.94895339e-01 7.42368403e-02 6.83531652e-02 -4.92271782e+00] [-7.80012059e-02 9.95481329e-01 5.41547392e-02 -8.02946642e+01] [-6.40240230e-02 -5.92099269e-02 9.96190298e-01 4.24139490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.869072329 meters 0.2832360068705408 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.30, Z:42.42 [[ 9.95391072e-01 6.71051593e-02 6.85092089e-02 -4.92540513e+00] [-7.04002227e-02 9.96417088e-01 4.68699862e-02 -8.02977727e+01] [-6.51185285e-02 -5.14770294e-02 9.96548891e-01 4.24156299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899072329 meters 0.2743579326858374 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.31, Z:42.42 [[ 9.96775011e-01 5.98268062e-02 5.34820586e-02 -4.92542543e+00] [-6.20394055e-02 9.97242940e-01 4.07140077e-02 -8.03088499e+01] [-5.08988163e-02 -4.39007005e-02 9.97738462e-01 4.24205625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.929072329 meters 0.2711816962382875 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.31, Z:42.42 [[ 9.97148513e-01 5.24852804e-02 5.42230421e-02 -4.92813660e+00] [-5.43236835e-02 9.97977755e-01 3.30051186e-02 -8.03108411e+01] [-5.23811069e-02 -3.58566003e-02 9.97983228e-01 4.24207466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959072329 meters 0.26759385030865346 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.32, Z:42.42 [[ 9.97963888e-01 4.98433720e-02 3.97959378e-02 -4.92771852e+00] [-5.11042330e-02 9.98202081e-01 3.13203184e-02 -8.03203330e+01] [-3.81632777e-02 -3.32902876e-02 9.98716837e-01 4.24240200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.989072329 meters 0.2632097711605102 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.33, Z:42.43 [[ 9.98699072e-01 4.44040407e-02 2.50687818e-02 -4.92738541e+00] [-4.50880262e-02 9.98606850e-01 2.74122144e-02 -8.03310994e+01] [-2.38166441e-02 -2.85068550e-02 9.99309825e-01 4.24279875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019072329 meters 0.26065375991729006 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.33, Z:42.43 [[ 9.98858660e-01 4.07434786e-02 2.49268261e-02 -4.92813884e+00] [-4.13431976e-02 9.98855843e-01 2.40363250e-02 -8.03337217e+01] [-2.39189824e-02 -2.50394460e-02 9.99400274e-01 4.24289487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.049072329 meters 0.2578184992260633 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.34, Z:42.43 [[ 9.99011501e-01 3.72427516e-02 2.42692868e-02 -4.92821465e+00] [-3.77589660e-02 9.99062588e-01 2.11708516e-02 -8.03378486e+01] [-2.34580757e-02 -2.20663074e-02 9.99481264e-01 4.24307206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079072329 meters 0.25898239768838466 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.34, Z:42.43 [[ 9.99131375e-01 3.35374865e-02 2.47332297e-02 -4.92951928e+00] [-3.39766204e-02 9.99268464e-01 1.75535028e-02 -8.03399100e+01] [-2.41264361e-02 -1.83786069e-02 9.99539965e-01 4.24305496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.109072329 meters 0.2709186144520167 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.34, Z:42.43 [[ 9.99227378e-01 2.99276649e-02 2.54751209e-02 -4.93129979e+00] [-3.02901683e-02 9.99443592e-01 1.39647078e-02 -8.03418938e+01] [-2.50430152e-02 -1.47255641e-02 9.99577913e-01 4.24301736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13907232900002 meters 0.25561304554325764 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.35, Z:42.43 [[ 9.99522706e-01 2.67492424e-02 1.54543837e-02 -4.93289783e+00] [-2.70589823e-02 9.99429858e-01 2.01933430e-02 -8.03490432e+01] [-1.49054158e-02 -2.06018847e-02 9.99676643e-01 4.24265172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.169072329 meters 0.2558285370449579 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.35, Z:42.43 [[ 9.99574760e-01 2.40076753e-02 1.65508216e-02 -4.93516057e+00] [-2.42946713e-02 9.99554049e-01 1.73629514e-02 -8.03517322e+01] [-1.61265967e-02 -1.77576648e-02 9.99712258e-01 4.24260648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199072329 meters 0.2625802223486823 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.35, Z:42.43 [[ 9.99619207e-01 2.11372289e-02 1.77386136e-02 -4.93806927e+00] [-2.13960791e-02 9.99665461e-01 1.45317951e-02 -8.03546870e+01] [-1.74255175e-02 -1.49057983e-02 9.99737050e-01 4.24262302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.229072329 meters 0.26342389492974944 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.36, Z:42.43 [[ 9.99650465e-01 1.84764974e-02 1.89094269e-02 -4.94086886e+00] [-1.87042050e-02 9.99753802e-01 1.19368312e-02 -8.03579971e+01] [-1.86842207e-02 -1.22863447e-02 9.99749942e-01 4.24263814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259072329 meters 0.25808703785723236 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.36, Z:42.43 [[ 9.99642265e-01 1.90632710e-02 1.87598805e-02 -4.94087879e+00] [-1.93078822e-02 9.99729774e-01 1.29454749e-02 -8.03609885e+01] [-1.85080280e-02 -1.33030574e-02 9.99740207e-01 4.24268447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.289072329 meters 0.25887034583568413 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.36, Z:42.43 [[ 9.99635028e-01 1.94250103e-02 1.87744593e-02 -4.94103401e+00] [-1.96812569e-02 9.99714324e-01 1.35616560e-02 -8.03628660e+01] [-1.85056606e-02 -1.39262113e-02 9.99731765e-01 4.24269909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319072329 meters 0.2616047719194571 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.36, Z:42.43 [[ 9.99610898e-01 2.00763110e-02 1.93647624e-02 -4.94205241e+00] [-2.03552948e-02 9.99690268e-01 1.43188886e-02 -8.03647966e+01] [-1.90712941e-02 -1.47074925e-02 9.99709946e-01 4.24264814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.349072329 meters 0.2609541550953712 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.37, Z:42.43 [[ 9.99670329e-01 1.61145121e-02 1.99889087e-02 -4.94381335e+00] [-1.63225687e-02 9.99813833e-01 1.02894785e-02 -8.03656578e+01] [-1.98193775e-02 -1.06123567e-02 9.99747253e-01 4.24265545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379072329 meters 0.2583277277093444 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99718583e-01 1.17378338e-02 2.06150101e-02 -4.94554965e+00] [-1.18544181e-02 9.99914375e-01 5.54224091e-03 -8.03643540e+01] [-2.05481911e-02 -5.78506017e-03 9.99772126e-01 4.24267125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.409072329 meters 0.25408983052148476 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99741681e-01 1.00154332e-02 2.04025292e-02 -4.94629037e+00] [-1.00816790e-02 9.99944228e-01 3.14667190e-03 -8.03592136e+01] [-2.03698760e-02 -3.35155081e-03 9.99786895e-01 4.24279921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439072329 meters 0.2530859434117538 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.36, Z:42.43 [[ 9.99929730e-01 1.04155881e-02 5.66135667e-03 -4.94439229e+00] [-1.04389258e-02 9.99937073e-01 4.10848746e-03 -8.03631061e+01] [-5.61820810e-03 -4.16729724e-03 9.99975534e-01 4.24314239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.469072329 meters 0.25188534169934934 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99928641e-01 1.02575243e-02 6.12344551e-03 -4.94561414e+00] [-1.02805055e-02 9.99940185e-01 3.73337806e-03 -8.03619098e+01] [-6.08478402e-03 -3.79606377e-03 9.99974282e-01 4.24315698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499072329 meters 0.254133608642179 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99923804e-01 1.00104666e-02 7.22333897e-03 -4.94795835e+00] [-1.00310066e-02 9.99945732e-01 2.81295549e-03 -8.03589922e+01] [-7.19478797e-03 -2.88519852e-03 9.99969955e-01 4.24311580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.529072329 meters 0.2622169443956048 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99921855e-01 9.89150804e-03 7.64472470e-03 -4.94874953e+00] [-9.91070935e-03 9.99947818e-01 2.47791844e-03 -8.03580498e+01] [-7.61981543e-03 -2.55348945e-03 9.99967709e-01 4.24308511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559072329 meters 0.26090368085899834 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99918665e-01 9.83875937e-03 8.11550599e-03 -4.94963673e+00] [-9.85714139e-03 9.99948935e-01 2.22816823e-03 -8.03573945e+01] [-8.09316916e-03 -2.30798270e-03 9.99964586e-01 4.24305038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.589072329 meters 0.25813141754923813 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99904621e-01 1.01176641e-02 9.40120783e-03 -4.95233588e+00] [-1.01350735e-02 9.99947008e-01 1.80602666e-03 -8.03558939e+01] [-9.38243687e-03 -1.90113633e-03 9.99954177e-01 4.24299224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619072329 meters 0.25901086407948454 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99896056e-01 1.02483044e-02 1.01415025e-02 -4.95408872e+00] [-1.02668831e-02 9.99945707e-01 1.78158779e-03 -8.03557786e+01] [-1.01226937e-02 -1.88552422e-03 9.99946987e-01 4.24298941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.649072329 meters 0.25901086407948454 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.36, Z:42.43 [[ 9.99896056e-01 1.02483044e-02 1.01415025e-02 -4.95408872e+00] [-1.02668831e-02 9.99945707e-01 1.78158779e-03 -8.03557786e+01] [-1.01226937e-02 -1.88552422e-03 9.99946987e-01 4.24298941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679072329 meters 0.2632189494776166 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.36, Z:42.43 [[ 9.99884937e-01 1.04001335e-02 1.10430559e-02 -4.95610693e+00] [-1.04195359e-02 9.99944269e-01 1.70089836e-03 -8.03555516e+01] [-1.10247509e-02 -1.81576617e-03 9.99937577e-01 4.24296909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.709072329 meters 0.2650896089201115 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.35, Z:42.43 [[ 9.99848478e-01 1.15676967e-02 1.30080637e-02 -4.96042543e+00] [-1.15943101e-02 9.99930838e-01 1.97236283e-03 -8.03547221e+01] [-1.29843484e-02 -2.12288350e-03 9.99913446e-01 4.24292233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739072329 meters 0.27019204000439917 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.35, Z:42.43 [[ 9.99835484e-01 1.16801064e-02 1.38773457e-02 -4.96221545e+00] [-1.17064560e-02 9.99929823e-01 1.81902980e-03 -8.03542917e+01] [-1.38551253e-02 -1.98118508e-03 9.99902050e-01 4.24288019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.769072329 meters 0.26829382426875426 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.35, Z:42.43 [[ 9.99820532e-01 1.18066252e-02 1.48157618e-02 -4.96411779e+00] [-1.18322922e-02 9.99928641e-01 1.64594923e-03 -8.03538175e+01] [-1.47952715e-02 -1.82095825e-03 9.99888886e-01 4.24282771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799072329 meters 0.2725664397549332 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.35, Z:42.43 [[ 9.99776069e-01 1.28936983e-02 1.67799037e-02 -4.96822977e+00] [-1.29228661e-02 9.99915166e-01 1.63098475e-03 -8.03525125e+01] [-1.67574508e-02 -1.84746397e-03 9.99857877e-01 4.24274610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.829072329 meters 0.27491528947585936 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.35, Z:42.43 [[ 9.99758829e-01 1.30045824e-02 1.76964527e-02 -4.97003151e+00] [-1.30311681e-02 9.99914128e-01 1.38783112e-03 -8.03517692e+01] [-1.76768849e-02 -1.61810187e-03 9.99842442e-01 4.24268889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859072329 meters 0.2788834023885495 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.35, Z:42.43 [[ 9.99739185e-01 1.31356363e-02 1.86819916e-02 -4.97210562e+00] [-1.31594675e-02 9.99912745e-01 1.15325489e-03 -8.03510252e+01] [-1.86652128e-02 -1.39879916e-03 9.99824811e-01 4.24264649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88907232900002 meters 0.28200480385568705 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.35, Z:42.43 [[ 9.99657367e-01 1.71558332e-02 1.97693390e-02 -4.97439523e+00] [-1.72530079e-02 9.99839847e-01 4.75538582e-03 -8.03488364e+01] [-1.96845902e-02 -5.09483703e-03 9.99793258e-01 4.24262357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919072329 meters 0.2818114095115518 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.35, Z:42.43 [[ 9.99634655e-01 1.72846496e-02 2.07797383e-02 -4.97644659e+00] [-1.73822478e-02 9.99838676e-01 4.52537579e-03 -8.03481776e+01] [-2.06981665e-02 -4.88492103e-03 9.99773836e-01 4.24257366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.949072329 meters 0.2846446540960895 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.35, Z:42.42 [[ 9.99611440e-01 1.73203598e-02 2.18397205e-02 -4.97841828e+00] [-1.74145212e-02 9.99839831e-01 4.12866850e-03 -8.03471114e+01] [-2.17647124e-02 -4.50739254e-03 9.99752960e-01 4.24249651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979072329 meters 0.28670424186638543 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.35, Z:42.42 [[ 9.99761820e-01 1.92451587e-02 1.02920781e-02 -4.98039633e+00] [-1.93734209e-02 9.99734035e-01 1.25112084e-02 -8.03515351e+01] [-1.00485606e-02 -1.27076212e-02 9.99868763e-01 4.24222288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.009072329 meters 0.2891280832605188 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.35, Z:42.42 [[ 9.99748469e-01 1.94410728e-02 1.11822703e-02 -4.98209935e+00] [-1.95809095e-02 9.99729698e-01 1.25346998e-02 -8.03518688e+01] [-1.09355597e-02 -1.27505060e-02 9.99858909e-01 4.24216541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039072329 meters 0.2956613373022054 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.35, Z:42.42 [[ 9.99734028e-01 1.97227005e-02 1.19535862e-02 -4.98364252e+00] [-1.98743122e-02 9.99721821e-01 1.27001277e-02 -8.03525009e+01] [-1.16997801e-02 -1.29343191e-02 9.99847898e-01 4.24212231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.069072329 meters 0.29864146168860645 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.35, Z:42.42 [[ 9.99680681e-01 2.10261744e-02 1.40155845e-02 -4.98803983e+00] [-2.12122769e-02 9.99686997e-01 1.32645394e-02 -8.03530441e+01] [-1.37322950e-02 -1.35576062e-02 9.99813790e-01 4.24207329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099072329 meters 0.3008158024674017 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.35, Z:42.42 [[ 9.99663281e-01 2.11507977e-02 1.50322475e-02 -4.99001505e+00] [-2.13484995e-02 9.99686065e-01 1.31153556e-02 -8.03526831e+01] [-1.47501282e-02 -1.34318553e-02 9.99800990e-01 4.24201032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.129072329 meters 0.30420113620862066 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.35, Z:42.42 [[ 9.99646730e-01 2.12636760e-02 1.59458929e-02 -4.99173377e+00] [-2.14718324e-02 9.99684952e-01 1.29983380e-02 -8.03524953e+01] [-1.56644767e-02 -1.33361336e-02 9.99788363e-01 4.24194385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.159072329 meters 0.3114458101828549 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.35, Z:42.42 [[ 9.99611207e-01 2.17983036e-02 1.73859043e-02 -4.99391493e+00] [-2.20253055e-02 9.99673230e-01 1.29738207e-02 -8.03523870e+01] [-1.70974158e-02 -1.33517065e-02 9.99764677e-01 4.24177552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.189072329 meters 0.3097310480937412 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.35, Z:42.42 [[ 9.99594086e-01 2.19311580e-02 1.81848408e-02 -4.99524196e+00] [-2.21677802e-02 9.99670852e-01 1.29141938e-02 -8.03524019e+01] [-1.78956320e-02 -1.33120693e-02 9.99751237e-01 4.24169066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.219072329 meters 0.31240837006718175 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.35, Z:42.42 [[ 9.99516867e-01 2.37347904e-02 2.00671776e-02 -4.99853112e+00] [-2.40193397e-02 9.99612623e-01 1.40597275e-02 -8.03538124e+01] [-1.97256993e-02 -1.45349352e-02 9.99699771e-01 4.24156297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.249072329 meters 0.31499667884055593 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.35, Z:42.41 [[ 9.99494090e-01 2.39548142e-02 2.09220378e-02 -5.00009053e+00] [-2.42540008e-02 9.99605466e-01 1.41653170e-02 -8.03543517e+01] [-2.05744559e-02 -1.46655937e-02 9.99680755e-01 4.24149501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.279072329 meters 0.3194438530520152 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.35, Z:42.41 [[ 9.99472624e-01 2.41685503e-02 2.16876913e-02 -5.00142388e+00] [-2.44807668e-02 9.99598765e-01 1.42478595e-02 -8.03548135e+01] [-2.13346393e-02 -1.47712769e-02 9.99663265e-01 4.24142560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.309072329 meters 0.3241157694737304 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99418878e-01 2.49470406e-02 2.32282619e-02 -5.00384401e+00] [-2.52886140e-02 9.99574602e-01 1.45292832e-02 -8.03552905e+01] [-2.28559181e-02 -1.51082505e-02 9.99624603e-01 4.24127249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.339072329 meters 0.31915025140140013 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99402704e-01 2.51367559e-02 2.37145320e-02 -5.00475596e+00] [-2.54899247e-02 9.99566852e-01 1.47096147e-02 -8.03559940e+01] [-2.33345081e-02 -1.53053103e-02 9.99610548e-01 4.24123188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.369072329 meters 0.3216192848715594 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.36, Z:42.41 [[ 9.99383926e-01 2.53228768e-02 2.43006378e-02 -5.00570937e+00] [-2.56882384e-02 9.99559810e-01 1.48425149e-02 -8.03566330e+01] [-2.39140858e-02 -1.54576114e-02 9.99594507e-01 4.24116740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.399072329 meters 0.3257670127198776 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.36, Z:42.41 [[ 9.99312129e-01 2.65375375e-02 2.59042211e-02 -5.00812511e+00] [-2.69477429e-02 9.99514848e-01 1.56168975e-02 -8.03581763e+01] [-2.54772196e-02 -1.63042154e-02 9.99542437e-01 4.24101215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.429072329 meters 0.3331593512264055 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.36, Z:42.41 [[ 9.99283760e-01 2.68289387e-02 2.66866238e-02 -5.00946039e+00] [-2.72581543e-02 9.99502732e-01 1.58518879e-02 -8.03591079e+01] [-2.62480640e-02 -1.65679622e-02 9.99518155e-01 4.24093657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.459072329 meters 0.3316942507816769 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.36, Z:42.41 [[ 9.99254646e-01 2.70814578e-02 2.75090326e-02 -5.01090815e+00] [-2.75292569e-02 9.99492428e-01 1.60320377e-02 -8.03599065e+01] [-2.70608988e-02 -1.67773914e-02 9.99492985e-01 4.24086366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.489072329 meters 0.3382156101935616 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.36, Z:42.41 [[ 9.99165256e-01 2.83090758e-02 2.94514554e-02 -5.01417889e+00] [-2.88110135e-02 9.99444353e-01 1.67603874e-02 -8.03610264e+01] [-2.89606197e-02 -1.75949231e-02 9.99425686e-01 4.24070658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.519072329 meters 0.3420557058285945 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.37, Z:42.40 [[ 9.99241085e-01 3.37265731e-02 1.94877409e-02 -5.01870638e+00] [-3.40710529e-02 9.99264014e-01 1.76236464e-02 -8.03739775e+01] [-1.88790130e-02 -1.82742394e-02 9.99654758e-01 4.24043638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.549072329 meters 0.3471611065911594 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.40 [[ 9.99192742e-01 3.44020192e-02 2.07452743e-02 -5.02066939e+00] [-3.47811586e-02 9.99229205e-01 1.82007172e-02 -8.03756976e+01] [-2.01031425e-02 -1.89075692e-02 9.99619111e-01 4.24029632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.579072329 meters 0.35008702051422824 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.40 [[ 9.99178178e-01 3.46689496e-02 2.10007837e-02 -5.02103342e+00] [-3.50604356e-02 9.99212665e-01 1.85692452e-02 -8.03769783e+01] [-2.03404728e-02 -1.92902812e-02 9.99606998e-01 4.24025688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.609072329 meters 0.34884333567729414 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.40 [[ 9.99163246e-01 3.49301077e-02 2.12766631e-02 -5.02139169e+00] [-3.53344249e-02 9.99196190e-01 1.89328621e-02 -8.03782604e+01] [-2.05982338e-02 -1.96688186e-02 9.99594343e-01 4.24020988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63907232900002 meters 0.3481498916455736 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.39 [[ 9.99194629e-01 3.20787121e-02 2.41049842e-02 -5.03083755e+00] [-3.27233369e-02 9.99103957e-01 2.68415151e-02 -8.03896749e+01] [-2.32223438e-02 -2.76086932e-02 9.99349030e-01 4.23928453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.669072329 meters 0.3530736077944891 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.39 [[ 9.99134720e-01 3.27683832e-02 2.56133748e-02 -5.03334531e+00] [-3.34636485e-02 9.99069619e-01 2.72044154e-02 -8.03904465e+01] [-2.46980999e-02 -2.80379929e-02 9.99301694e-01 4.23914299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.699072329 meters 0.35807954594080804 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.39 [[ 9.99110995e-01 3.30316335e-02 2.61940988e-02 -5.03437274e+00] [-3.37508342e-02 9.99051674e-01 2.75069894e-02 -8.03915461e+01] [-2.52606574e-02 -2.83666082e-02 9.99278357e-01 4.23908918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.729072329 meters 0.3572616516657925 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.39 [[ 9.99099094e-01 3.32926389e-02 2.63173218e-02 -5.03457152e+00] [-3.40256503e-02 9.99031069e-01 2.79137732e-02 -8.03929218e+01] [-2.53624990e-02 -2.87840895e-02 9.99263839e-01 4.23907500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.759072329 meters 0.36438235032064203 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.39 [[ 9.99076464e-01 3.38708948e-02 2.64382537e-02 -5.03481478e+00] [-3.46302349e-02 9.98984787e-01 2.88121906e-02 -8.03957944e+01] [-2.54355186e-02 -2.97011445e-02 9.99235146e-01 4.23907024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.789072329 meters 0.37110505324765053 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.39 [[ 9.99064875e-01 3.41916605e-02 2.64632940e-02 -5.03492126e+00] [-3.49650879e-02 9.98957837e-01 2.93373890e-02 -8.03974984e+01] [-2.54326209e-02 -3.02352463e-02 9.99219201e-01 4.23907878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.819072329 meters 0.36680035905945363 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.40, Z:42.39 [[ 9.99121670e-01 3.16044536e-02 2.75144814e-02 -5.03685617e+00] [-3.23439335e-02 9.99115838e-01 2.68591160e-02 -8.04014993e+01] [-2.66412865e-02 -2.77254514e-02 9.99260497e-01 4.23902038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.849072329 meters 0.3590877101643902 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.40, Z:42.39 [[ 9.99206143e-01 2.80729433e-02 2.82664857e-02 -5.03855571e+00] [-2.87367351e-02 9.99314078e-01 2.33575131e-02 -8.04037852e+01] [-2.75913830e-02 -2.41512570e-02 9.99327490e-01 4.23898098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.879072329 meters 0.36078582560111827 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.39 [[ 9.99282254e-01 2.45076133e-02 2.88851785e-02 -5.04009257e+00] [-2.50875019e-02 9.99487428e-01 1.98871555e-02 -8.04062802e+01] [-2.83829860e-02 -2.05975386e-02 9.99384885e-01 4.23896587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.909072329 meters 0.35481445242299775 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.39 [[ 9.99366005e-01 2.07562453e-02 2.89268992e-02 -5.04045553e+00] [-2.12337081e-02 9.99641695e-01 1.62975590e-02 -8.04085910e+01] [-2.85782584e-02 -1.69014518e-02 9.99448660e-01 4.23897535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.939072329 meters 0.3541493397264985 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.39 [[ 9.99691811e-01 2.07968234e-02 1.35563484e-02 -5.03549809e+00] [-2.10136607e-02 9.99650286e-01 1.60540300e-02 -8.04134222e+01] [-1.32177347e-02 -1.63339509e-02 9.99779222e-01 4.23912387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.969072329 meters 0.35093158394371754 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.42, Z:42.39 [[ 9.99761038e-01 1.70019984e-02 1.37404379e-02 -5.03619382e+00] [-1.71732636e-02 9.99775088e-01 1.24439530e-02 -8.04156894e+01] [-1.35257755e-02 -1.26769475e-02 9.99828159e-01 4.23913674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.999072329 meters 0.34925252093382164 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.42, Z:42.39 [[ 9.99817958e-01 1.32086572e-02 1.37689014e-02 -5.03656063e+00] [-1.33313269e-02 9.99871917e-01 8.85580023e-03 -8.04180448e+01] [-1.36501646e-02 -9.03774582e-03 9.99865987e-01 4.23916019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.029072329 meters 0.3481384040992509 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.42, Z:42.39 [[ 9.99878407e-01 9.11558505e-03 1.26521328e-02 -5.03453334e+00] [-9.18228925e-03 9.99944195e-01 5.22413023e-03 -8.04201261e+01] [-1.26038058e-02 -5.33967056e-03 9.99906312e-01 4.23923937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.059072329 meters 0.3461135593318894 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.42, Z:42.39 [[ 9.99906109e-01 5.22218700e-03 1.26689380e-02 -5.03487325e+00] [-5.24162417e-03 9.99985135e-01 1.50151929e-03 -8.04220373e+01] [-1.26609085e-02 -1.56778412e-03 9.99918618e-01 4.23927042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.089072329 meters 0.3346160081567327 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.42, Z:42.39 [[ 9.99934725e-01 7.64250326e-04 1.14000640e-02 -5.03274930e+00] [-7.36829463e-04 9.99996826e-01 -2.40933155e-03 -8.04232110e+01] [-1.14018692e-02 2.40077438e-03 9.99932115e-01 4.23939783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.119072329 meters 0.33004966841994166 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.42, Z:42.40 [[ 9.99949631e-01 3.50252563e-04 1.00305637e-02 -5.03024445e+00] [-3.26360821e-04 9.99997106e-01 -2.38343207e-03 -8.04232165e+01] [-1.00313694e-02 2.38003844e-03 9.99946852e-01 4.23950853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.149072329 meters 0.32507077623891206 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.42, Z:42.40 [[ 9.99961697e-01 -8.62827423e-05 8.75196225e-03 -5.02770852e+00] [ 1.07355736e-04 9.99997097e-01 -2.40736091e-03 -8.04232261e+01] [-8.75172913e-03 2.40820827e-03 9.99958803e-01 4.23958781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.179072329 meters 0.3239431307443015 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.42, Z:42.40 [[ 9.99962155e-01 -5.35641800e-03 6.85551018e-03 -5.02404224e+00] [ 5.40258217e-03 9.99962738e-01 -6.73316786e-03 -8.04239025e+01] [-6.81918906e-03 6.76995050e-03 9.99953832e-01 4.23972313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.209072329 meters 0.3124968744078207 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.42, Z:42.40 [[ 9.99961505e-01 -7.15864088e-03 5.07375561e-03 -5.02049320e+00] [ 7.19916164e-03 9.99941976e-01 -8.01359076e-03 -8.04218069e+01] [-5.01609479e-03 8.04980906e-03 9.99955019e-01 4.23981471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.239072329 meters 0.30812912151955996 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.42, Z:42.40 [[ 9.99955998e-01 -8.78002208e-03 3.30364970e-03 -5.01711849e+00] [ 8.80973936e-03 9.99919869e-01 -9.09091143e-03 -8.04200106e+01] [-3.22356657e-03 9.11961570e-03 9.99953220e-01 4.23992784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.269072329 meters 0.29893527229198147 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.41, Z:42.40 [[ 9.99865126e-01 -1.62436577e-02 -2.42343238e-03 -5.00535155e+00] [ 1.62133071e-02 9.99795848e-01 -1.20577824e-02 -8.04108060e+01] [ 2.61880012e-03 1.20168643e-02 9.99924366e-01 4.24042990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.299072329 meters 0.2981009474452974 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.41, Z:42.41 [[ 9.99855006e-01 -1.66488787e-02 -3.57506194e-03 -5.00338351e+00] [ 1.66047390e-02 9.99789634e-01 -1.20403247e-02 -8.04109853e+01] [ 3.77476778e-03 1.19792160e-02 9.99921122e-01 4.24054963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.329072329 meters 0.2892302697366632 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.41, Z:42.41 [[ 9.99781980e-01 -2.00161256e-02 -5.94539328e-03 -4.99885553e+00] [ 1.99285217e-02 9.99697044e-01 -1.44455784e-02 -8.04078881e+01] [ 6.23273659e-03 1.43239461e-02 9.99877981e-01 4.24072061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.359072329 meters 0.2925133502624142 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.41, Z:42.41 [[ 9.99766408e-01 -2.04065276e-02 -7.12057564e-03 -4.99652841e+00] [ 2.03014894e-02 9.99688398e-01 -1.45243520e-02 -8.04077827e+01] [ 7.41474845e-03 1.43764009e-02 9.99869162e-01 4.24079423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38907232900002 meters 0.2840096457441699 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.41, Z:42.41 [[ 9.99750102e-01 -2.07651054e-02 -8.27906721e-03 -4.99414608e+00] [ 2.06425861e-02 9.99680030e-01 -1.46192308e-02 -8.04076144e+01] [ 8.57998802e-03 1.44446761e-02 9.99858858e-01 4.24085099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419072329 meters 0.2792678529279277 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.41, Z:42.41 [[ 9.99641613e-01 -2.51386418e-02 -9.20292902e-03 -4.99193657e+00] [ 2.49641973e-02 9.99515235e-01 -1.86033182e-02 -8.04087079e+01] [ 9.66612992e-03 1.83669073e-02 9.99784588e-01 4.24089160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.449072329 meters 0.276863020273838 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.41, Z:42.41 [[ 9.99630173e-01 -2.52392054e-02 -1.01242335e-02 -4.99031243e+00] [ 2.50494817e-02 9.99515981e-01 -1.84479567e-02 -8.04090800e+01] [ 1.05849449e-02 1.81875273e-02 9.99778562e-01 4.24097824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479072329 meters 0.27623619406880306 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.41, Z:42.41 [[ 9.99622613e-01 -2.52323602e-02 -1.08609480e-02 -4.98915101e+00] [ 2.50322096e-02 9.99521215e-01 -1.81859447e-02 -8.04097147e+01] [ 1.13146223e-02 1.79072080e-02 9.99775630e-01 4.24106919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.509072329 meters 0.27623619406880306 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.41, Z:42.41 [[ 9.99695685e-01 -2.15733406e-02 -1.19636655e-02 -4.98681019e+00] [ 2.13963026e-02 9.99662502e-01 -1.47336309e-02 -8.04078135e+01] [ 1.22774814e-02 1.44731690e-02 9.99819879e-01 4.24108931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539072329 meters 0.27268802936973924 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.41, Z:42.41 [[ 9.99675536e-01 -2.19109478e-02 -1.29897123e-02 -4.98481097e+00] [ 2.17201508e-02 9.99656721e-01 -1.46518185e-02 -8.04082156e+01] [ 1.33062885e-02 1.43649260e-02 9.99808277e-01 4.24116353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.569072329 meters 0.27070105607857714 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.41, Z:42.41 [[ 9.99667658e-01 -2.20519314e-02 -1.33523749e-02 -4.98393880e+00] [ 2.18542210e-02 9.99651966e-01 -1.47762991e-02 -8.04078562e+01] [ 1.36735738e-02 1.44795826e-02 9.99801668e-01 4.24117270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599072329 meters 0.2683574337156323 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.41, Z:42.41 [[ 9.99647447e-01 -2.24553803e-02 -1.41681669e-02 -4.98174372e+00] [ 2.22406210e-02 9.99638038e-01 -1.51376192e-02 -8.04069324e+01] [ 1.45029595e-02 1.48171736e-02 9.99785035e-01 4.24115326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.629072329 meters 0.2681405362851331 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.41, Z:42.41 [[ 9.99641661e-01 -2.25947428e-02 -1.43536812e-02 -4.98106270e+00] [ 2.23744740e-02 9.99632190e-01 -1.53253963e-02 -8.04064276e+01] [ 1.46946752e-02 1.49987485e-02 9.99779528e-01 4.24112579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659072329 meters 0.2662986653217247 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.40, Z:42.41 [[ 9.99680300e-01 -1.96434386e-02 -1.59195957e-02 -4.97796132e+00] [ 1.94512243e-02 9.99737097e-01 -1.21402900e-02 -8.04046915e+01] [ 1.61538875e-02 1.18267531e-02 9.99799570e-01 4.24116833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.689072329 meters 0.2644009289482442 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.41, Z:42.41 [[ 9.99674035e-01 -1.95761782e-02 -1.63889297e-02 -4.97700773e+00] [ 1.93828528e-02 9.99741635e-01 -1.18729980e-02 -8.04054796e+01] [ 1.66171233e-02 1.15514636e-02 9.99795196e-01 4.24119631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719072329 meters 0.2609643793776811 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.40, Z:42.41 [[ 9.99650179e-01 -2.00568129e-02 -1.72407426e-02 -4.97580979e+00] [ 1.98478122e-02 9.99728462e-01 -1.22093131e-02 -8.04045115e+01] [ 1.74809410e-02 1.18628510e-02 9.99776820e-01 4.24132235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.749072329 meters 0.2586808884000387 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.40, Z:42.41 [[ 9.99622540e-01 -2.07516618e-02 -1.80040297e-02 -4.97440181e+00] [ 2.05205233e-02 9.99705827e-01 -1.29293049e-02 -8.04027425e+01] [ 1.82670379e-02 1.25549725e-02 9.99754314e-01 4.24138993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779072329 meters 0.25681982468026293 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.40, Z:42.41 [[ 9.99599976e-01 -2.12126547e-02 -1.87059203e-02 -4.97297282e+00] [ 2.09635118e-02 9.99690224e-01 -1.34159459e-02 -8.04014623e+01] [ 1.89847134e-02 1.30184374e-02 9.99735015e-01 4.24143347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.809072329 meters 0.2506704742128665 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.40, Z:42.41 [[ 9.99536188e-01 -2.33727637e-02 -1.95223591e-02 -4.97146519e+00] [ 2.30632103e-02 9.99607024e-01 -1.59338057e-02 -8.03963590e+01] [ 1.98871043e-02 1.54761671e-02 9.99682445e-01 4.24145844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839072329 meters 0.24957258561405887 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.40, Z:42.42 [[ 9.99528112e-01 -2.35293526e-02 -1.97464696e-02 -4.97128508e+00] [ 2.32128203e-02 9.99600756e-01 -1.61088142e-02 -8.03957083e+01] [ 2.01176159e-02 1.56428414e-02 9.99675239e-01 4.24150988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.869072329 meters 0.2491790869020862 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99518095e-01 -2.37946057e-02 -1.99347607e-02 -4.97159789e+00] [ 2.34692250e-02 9.99590029e-01 -1.64002772e-02 -8.03947839e+01] [ 2.03168262e-02 1.59245205e-02 9.99666763e-01 4.24161332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899072329 meters 0.2459740046092954 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99515426e-01 -2.38591887e-02 -1.99913264e-02 -4.97170990e+00] [ 2.35312112e-02 9.99587200e-01 -1.64836985e-02 -8.03944430e+01] [ 2.03763616e-02 1.60052908e-02 9.99664261e-01 4.24164639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.929072329 meters 0.2434910031880882 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99504806e-01 -2.40694307e-02 -2.02683246e-02 -4.97112100e+00] [ 2.37314836e-02 9.99577999e-01 -1.67523187e-02 -8.03935993e+01] [ 2.06629901e-02 1.62630256e-02 9.99654218e-01 4.24166251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959072329 meters 0.24448542784987662 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99502038e-01 -2.41270623e-02 -2.03361842e-02 -4.97094455e+00] [ 2.37864965e-02 9.99575461e-01 -1.68255599e-02 -8.03933543e+01] [ 2.07335020e-02 1.63334548e-02 9.99651609e-01 4.24166071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.989072329 meters 0.24453508766952092 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99501065e-01 -2.41778486e-02 -2.03236993e-02 -4.97093855e+00] [ 2.38358698e-02 9.99572966e-01 -1.69037451e-02 -8.03931111e+01] [ 2.07237166e-02 1.64108782e-02 9.99650544e-01 4.24165587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019072329 meters 0.24327639334037968 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99502771e-01 -2.41610475e-02 -2.02596897e-02 -4.97118028e+00] [ 2.38204521e-02 9.99573607e-01 -1.68875987e-02 -8.03931182e+01] [ 2.06590731e-02 1.63966067e-02 9.99652116e-01 4.24166356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.049072329 meters 0.2628958461993446 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99576398e-01 -2.02971071e-02 -2.08578836e-02 -4.96979624e+00] [ 2.00243524e-02 9.99712305e-01 -1.32035321e-02 -8.03914621e+01] [ 2.11198764e-02 1.27802734e-02 9.99695261e-01 4.24164657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079072329 meters 0.2730302434596091 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99583007e-01 -2.01397550e-02 -2.06930344e-02 -4.97031674e+00] [ 1.98733947e-02 9.99718010e-01 -1.29980030e-02 -8.03920552e+01] [ 2.09489758e-02 1.25813421e-02 9.99701381e-01 4.24165571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.109072329 meters 0.2617994582509435 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99637111e-01 -1.61700984e-02 -2.15446916e-02 -4.96855959e+00] [ 1.59769377e-02 9.99830879e-01 -9.10775782e-03 -8.03909811e+01] [ 2.16883213e-02 8.76023452e-03 9.99726400e-01 4.24167465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13907232900002 meters 0.25728295947793806 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99654349e-01 -1.60253194e-02 -2.08415863e-02 -4.97018524e+00] [ 1.58389699e-02 9.99833365e-01 -9.07579154e-03 -8.03910103e+01] [ 2.09835558e-02 8.74254523e-03 9.99741596e-01 4.24165152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.169072329 meters 0.26058712995498007 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.42 [[ 9.99698778e-01 -1.20498295e-02 -2.13812022e-02 -4.96898031e+00] [ 1.19388305e-02 9.99914622e-01 -5.31151194e-03 -8.03894337e+01] [ 2.14433795e-02 5.05464545e-03 9.99757287e-01 4.24165031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199072329 meters 0.25140282344947695 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.41 [[ 9.99903295e-01 -1.23384656e-02 -6.41591095e-03 -4.97370666e+00] [ 1.23015272e-02 9.99907713e-01 -5.76525000e-03 -8.03855871e+01] [ 6.48645318e-03 5.68576697e-03 9.99962798e-01 4.24147273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.229072329 meters 0.2541782490513953 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99944384e-01 -8.31980869e-03 -6.48146744e-03 -4.97324802e+00] [ 8.30716873e-03 9.99963545e-01 -1.97465621e-03 -8.03840385e+01] [ 6.49765992e-03 1.92070374e-03 9.99977045e-01 4.24141755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259072329 meters 0.2611277747781122 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99967706e-01 -4.33583519e-03 -6.76670862e-03 -4.97226520e+00] [ 4.34834220e-03 9.99988863e-01 1.83469812e-03 -8.03826294e+01] [ 6.75867831e-03 -1.86406283e-03 9.99975422e-01 4.24137577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.289072329 meters 0.25959101243358595 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99973710e-01 -4.13121165e-03 -5.95920422e-03 -4.97382644e+00] [ 4.14262410e-03 9.99989607e-01 1.90402650e-03 -8.03829587e+01] [ 5.95127634e-03 -1.92866318e-03 9.99980431e-01 4.24131943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319072329 meters 0.2561747720630093 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99986208e-01 -3.22709481e-05 -5.25192736e-03 -4.97487570e+00] [ 6.13315763e-05 9.99984690e-01 5.53325940e-03 -8.03809829e+01] [ 5.25166839e-03 -5.53350519e-03 9.99970900e-01 4.24122427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.349072329 meters 0.257698459009497 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99989854e-01 8.80141621e-05 -4.50382852e-03 -4.97628689e+00] [-6.33664504e-05 9.99985024e-01 5.47246336e-03 -8.03809291e+01] [ 4.50424273e-03 -5.47212244e-03 9.99974884e-01 4.24116421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379072329 meters 0.2640402268060182 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99994661e-01 8.75066688e-04 -3.14839969e-03 -4.97863074e+00] [-8.56910103e-04 9.99983023e-01 5.76365952e-03 -8.03814275e+01] [ 3.15338983e-03 -5.76093085e-03 9.99978434e-01 4.24103722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.409072329 meters 0.26369028244878434 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99996283e-01 1.03608265e-03 -2.52205862e-03 -4.97965884e+00] [-1.02135631e-03 9.99982464e-01 5.83331895e-03 -8.03818097e+01] [ 2.52805819e-03 -5.83072134e-03 9.99979806e-01 4.24096668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439072329 meters 0.26500151064516786 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99997280e-01 1.24865080e-03 -1.96986878e-03 -4.98058548e+00] [-1.23675830e-03 9.99981073e-01 6.02691731e-03 -8.03825343e+01] [ 1.97735701e-03 -6.02446467e-03 9.99979898e-01 4.24090723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.469072329 meters 0.26761737107250194 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99997985e-01 1.51014959e-03 -1.32228797e-03 -4.98178413e+00] [-1.50184497e-03 9.99979284e-01 6.25912371e-03 -8.03833834e+01] [ 1.33171279e-03 -6.25712523e-03 9.99979537e-01 4.24085188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499072329 meters 0.276237752919621 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99997840e-01 2.06729618e-03 -2.16998925e-04 -4.98365857e+00] [-2.06580912e-03 9.99975802e-01 6.64290752e-03 -8.03844427e+01] [ 2.30726531e-04 -6.64244489e-03 9.99977912e-01 4.24074161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.529072329 meters 0.2747455549352641 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99997613e-01 2.17924828e-03 1.55153483e-04 -4.98426325e+00] [-2.18023997e-03 9.99975128e-01 6.70748971e-03 -8.03847696e+01] [-1.40532338e-04 -6.70781198e-03 9.99977493e-01 4.24069754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559072329 meters 0.2744244059210174 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.41 [[ 9.99996721e-01 2.46014841e-03 7.11040495e-04 -4.98504806e+00] [-2.46503261e-03 9.99972797e-01 6.95183582e-03 -8.03856692e+01] [-6.93918605e-04 -6.95356576e-03 9.99975583e-01 4.24061701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.589072329 meters 0.2761384869097089 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.41 [[ 9.99995939e-01 2.69438902e-03 9.28920005e-04 -4.98538552e+00] [-2.70106428e-03 9.99969989e-01 7.26129075e-03 -8.03867159e+01] [-9.09327384e-04 -7.26377033e-03 9.99973205e-01 4.24058868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619072329 meters 0.279425422289611 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.41 [[ 9.99994973e-01 2.91352294e-03 1.25111690e-03 -4.98585443e+00] [-2.92286070e-03 9.99967395e-01 7.52772230e-03 -8.03876701e+01] [-1.22914392e-03 -7.53134130e-03 9.99970884e-01 4.24054288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.649072329 meters 0.2786194766586092 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.40 [[ 9.99993998e-01 3.10667133e-03 1.53408951e-03 -4.98622081e+00] [-3.11848511e-03 9.99965032e-01 7.75945193e-03 -8.03885130e+01] [-1.50992980e-03 -7.76418939e-03 9.99968718e-01 4.24049582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679072329 meters 0.28043740780248316 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.40 [[ 9.99992077e-01 3.53337267e-03 1.83328431e-03 -4.98652940e+00] [-3.54859898e-03 9.99958676e-01 8.36978988e-03 -8.03904692e+01] [-1.80363497e-03 -8.37622916e-03 9.99963292e-01 4.24043506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.709072329 meters 0.2821254812972909 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.40 [[ 9.99991239e-01 3.72395255e-03 1.91156546e-03 -4.98652274e+00] [-3.74034078e-03 9.99955658e-01 8.64244201e-03 -8.03914128e+01] [-1.87929665e-03 -8.64951620e-03 9.99960826e-01 4.24040648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739072329 meters 0.282205279767578 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.40 [[ 9.99998160e-01 -4.85892126e-04 1.85599727e-03 -4.98683466e+00] [ 4.77440500e-04 9.99989528e-01 4.55141679e-03 -8.03920567e+01] [-1.85818933e-03 -4.55052229e-03 9.99987920e-01 4.24047286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.769072329 meters 0.2792169592968028 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.39, Z:42.41 [[ 9.99979333e-01 -6.32782850e-03 1.13697948e-03 -4.98608889e+00] [ 6.32951630e-03 9.99978863e-01 -1.48704706e-03 -8.03882620e+01] [-1.12754567e-03 1.49421286e-03 9.99998248e-01 4.24060502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799072329 meters 0.26124486068296837 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99825337e-01 -1.83182112e-02 -3.70664410e-03 -4.97574371e+00] [ 1.82843782e-02 9.99792638e-01 -8.96448897e-03 -8.03782243e+01] [ 3.87008889e-03 8.89514952e-03 9.99952948e-01 4.24108399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.829072329 meters 0.2585506339297326 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99808945e-01 -1.90002223e-02 -4.58962491e-03 -4.97448139e+00] [ 1.89556962e-02 9.99774641e-01 -9.55762367e-03 -8.03768455e+01] [ 4.77018757e-03 9.46879810e-03 9.99943792e-01 4.24120489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859072329 meters 0.2514781294215748 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99798432e-01 -1.93928474e-02 -5.19745517e-03 -4.97380348e+00] [ 1.93404262e-02 9.99763412e-01 -9.95324110e-03 -8.03756249e+01] [ 5.38924720e-03 9.85071384e-03 9.99936958e-01 4.24131976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88907232900002 meters 0.2488599124666855 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.41 [[ 9.99790774e-01 -1.96729236e-02 -5.60210044e-03 -4.97351072e+00] [ 1.96149203e-02 9.99755300e-01 -1.02271245e-02 -8.03746619e+01] [ 5.80192705e-03 1.01151000e-02 9.99932009e-01 4.24142020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919072329 meters 0.24490974124268736 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.42 [[ 9.99762995e-01 -2.06489952e-02 -6.89733729e-03 -4.97158199e+00] [ 2.05723122e-02 9.99727747e-01 -1.10095993e-02 -8.03729820e+01] [ 7.12279663e-03 1.08650958e-02 9.99915604e-01 4.24157076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.949072329 meters 0.24186305367605312 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.42 [[ 9.99755245e-01 -2.07414241e-02 -7.69700932e-03 -4.97003893e+00] [ 2.06570048e-02 9.99727313e-01 -1.08898473e-02 -8.03732493e+01] [ 7.92078138e-03 1.07281848e-02 9.99911080e-01 4.24162902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979072329 meters 0.24093377064698399 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.42 [[ 9.99735542e-01 -2.10243857e-02 -9.31784087e-03 -4.96686425e+00] [ 2.09264058e-02 9.99725975e-01 -1.04909356e-02 -8.03747173e+01] [ 9.53585303e-03 1.02931723e-02 9.99901554e-01 4.24173108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.009072329 meters 0.24024356276475822 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.42 [[ 9.99734727e-01 -2.08539765e-02 -9.77688070e-03 -4.96614324e+00] [ 2.07554115e-02 9.99733800e-01 -1.00767835e-02 -8.03758643e+01] [ 9.98441910e-03 9.87118721e-03 9.99901431e-01 4.24178504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03907232899996 meters 0.23902848038845068 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99796247e-01 -1.68611928e-02 -1.10979881e-02 -4.96372014e+00] [ 1.67973032e-02 9.99841947e-01 -5.82512295e-03 -8.03758286e+01] [ 1.11944526e-02 5.63751979e-03 9.99921448e-01 4.24186631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.069072329 meters 0.24199968345579834 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99853648e-01 -1.24516110e-02 -1.17319851e-02 -4.96270861e+00] [ 1.24377668e-02 9.99921864e-01 -1.25226939e-03 -8.03764789e+01] [ 1.17466612e-02 1.10616642e-03 9.99930394e-01 4.24192261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09907232899997 meters 0.24219307871818735 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99860056e-01 -1.22096477e-02 -1.14364968e-02 -4.96334953e+00] [ 1.21998092e-02 9.99925147e-01 -9.29641337e-04 -8.03774956e+01] [ 1.14469914e-02 7.89988160e-04 9.99934169e-01 4.24190797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.129072329 meters 0.24369889228574312 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99863311e-01 -1.21313422e-02 -1.12334621e-02 -4.96353777e+00] [ 1.21224126e-02 9.99926149e-01 -8.62668138e-04 -8.03777975e+01] [ 1.12430978e-02 7.26373558e-04 9.99936531e-01 4.24186349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15907232899997 meters 0.24786062636544479 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99866896e-01 -1.19199549e-02 -1.11402850e-02 -4.96290550e+00] [ 1.19139020e-02 9.99928841e-01 -6.09543120e-04 -8.03786276e+01] [ 1.11467580e-02 4.76737723e-04 9.99937759e-01 4.24174141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.189072329 meters 0.25483125011008434 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99871999e-01 -1.16417568e-02 -1.09752000e-02 -4.96301880e+00] [ 1.16402311e-02 9.99932230e-01 -2.02885451e-04 -8.03799593e+01] [ 1.09768181e-02 7.51056176e-05 9.99939750e-01 4.24169716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21907232899997 meters 0.25001389488434106 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99904239e-01 -7.46810705e-03 -1.16507225e-02 -4.96134998e+00] [ 7.51482526e-03 9.99963877e-01 3.97128555e-03 -8.03796082e+01] [ 1.16206436e-02 -4.05845841e-03 9.99924242e-01 4.24168686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.249072329 meters 0.25504753405587666 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99927058e-01 -5.86303805e-03 -1.05595474e-02 -4.96301100e+00] [ 5.92471438e-03 9.99965518e-01 5.81903149e-03 -8.03834333e+01] [ 1.05250660e-02 -5.88116934e-03 9.99927315e-01 4.24160694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279072329 meters 0.254459602094248 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.42 [[ 9.99932282e-01 -5.71657140e-03 -1.01366611e-02 -4.96361833e+00] [ 5.77707275e-03 9.99965615e-01 5.94936646e-03 -8.03839790e+01] [ 1.01023026e-02 -6.00752382e-03 9.99930924e-01 4.24154623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30907232899995 meters 0.2559130546668616 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.38, Z:42.41 [[ 9.99935319e-01 -5.56790363e-03 -9.91751907e-03 -4.96381580e+00] [ 5.62897340e-03 9.99965304e-01 6.14053469e-03 -8.03846844e+01] [ 9.88298506e-03 -6.19596297e-03 9.99931966e-01 4.24149749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339072329 meters 0.27077082145813935 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.39, Z:42.41 [[ 9.99939130e-01 -5.42887362e-03 -9.60544037e-03 -4.96420972e+00] [ 5.48931864e-03 9.99965229e-01 6.27765668e-03 -8.03852269e+01] [ 9.57102577e-03 -6.33000188e-03 9.99934161e-01 4.24144416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36907232899995 meters 0.2682937703316831 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.41 [[ 9.99950500e-01 -4.78369911e-03 -8.72430735e-03 -4.96550936e+00] [ 4.84345180e-03 9.99964872e-01 6.84077118e-03 -8.03866119e+01] [ 8.69127669e-03 -6.88268833e-03 9.99938543e-01 4.24133388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399072329 meters 0.2675567830010133 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.41 [[ 9.99954459e-01 -4.58680546e-03 -8.36900345e-03 -4.96615470e+00] [ 4.64606152e-03 9.99964180e-01 7.07476936e-03 -8.03874335e+01] [ 8.33625308e-03 -7.11333008e-03 9.99939952e-01 4.24130293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42907232899995 meters 0.2675567830010133 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.41 [[ 9.99954459e-01 -4.58680546e-03 -8.36900345e-03 -4.96615470e+00] [ 4.64606152e-03 9.99964180e-01 7.07476936e-03 -8.03874335e+01] [ 8.33625308e-03 -7.11333008e-03 9.99939952e-01 4.24130293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459072329 meters 0.2620231308244322 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.41 [[ 9.99954412e-01 -4.60738645e-03 -8.36342536e-03 -4.96637035e+00] [ 4.66644752e-03 9.99964217e-01 7.05610386e-03 -8.03873618e+01] [ 8.33061589e-03 -7.09480967e-03 9.99940130e-01 4.24133643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48907232899995 meters 0.2618366797144612 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.41 [[ 9.99952126e-01 -4.85430269e-03 -8.49601042e-03 -4.96624558e+00] [ 4.91131532e-03 9.99965477e-01 6.70256857e-03 -8.03862428e+01] [ 8.46318082e-03 -6.74397428e-03 9.99941445e-01 4.24137090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519072329 meters 0.25798877063341363 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.39, Z:42.41 [[ 9.99950538e-01 -5.00426632e-03 -8.59526959e-03 -4.96622588e+00] [ 5.06009975e-03 9.99966160e-01 6.48641547e-03 -8.03855139e+01] [ 8.56251898e-03 -6.52958756e-03 9.99942022e-01 4.24140637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54907232899996 meters 0.25777602491022467 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99950464e-01 -5.44347264e-03 -8.33297510e-03 -4.96690674e+00] [ 5.49129748e-03 9.99968522e-01 5.72714617e-03 -8.03832285e+01] [ 8.30153724e-03 -5.77262132e-03 9.99948879e-01 4.24141784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579072329 meters 0.25611887117157933 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99951759e-01 -5.74753056e-03 -7.96532301e-03 -4.96762061e+00] [ 5.78875838e-03 9.99969919e-01 5.16255982e-03 -8.03815377e+01] [ 7.93541143e-03 -5.20842010e-03 9.99954950e-01 4.24139382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60907232899996 meters 0.2587458946928816 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99953748e-01 -6.05191066e-03 -7.47504763e-03 -4.96846915e+00] [ 6.08606638e-03 9.99971105e-01 4.55503431e-03 -8.03797484e+01] [ 7.44726498e-03 -4.60031727e-03 9.99961687e-01 4.24134684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639072329 meters 0.25551200329544277 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99959295e-01 -6.21661104e-03 -6.53929677e-03 -4.97012322e+00] [ 6.24259679e-03 9.99972670e-01 3.96090663e-03 -8.03780730e+01] [ 6.51449464e-03 -4.00156759e-03 9.99970774e-01 4.24125984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66907232899996 meters 0.25738705765824116 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99962864e-01 -6.15223425e-03 -6.03495329e-03 -4.97114422e+00] [ 6.17600313e-03 9.99973214e-01 3.92783774e-03 -8.03780569e+01] [ 6.01062666e-03 -3.96496376e-03 9.99974075e-01 4.24123156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699072329 meters 0.26273373246492704 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99969100e-01 -5.95290098e-03 -5.13434637e-03 -4.97287591e+00] [ 5.97293760e-03 9.99974572e-01 3.89600282e-03 -8.03780757e+01] [ 5.11102329e-03 -3.92654957e-03 9.99979230e-01 4.24116729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72907232899996 meters 0.26157976445895176 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99971243e-01 -6.00555714e-03 -4.63106738e-03 -4.97379066e+00] [ 6.02256330e-03 9.99975141e-01 3.66702977e-03 -8.03774852e+01] [ 4.60892970e-03 -3.69481521e-03 9.99982553e-01 4.24112309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759072329 meters 0.264565333281637 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.38, Z:42.41 [[ 9.99973095e-01 -6.06212570e-03 -4.13047376e-03 -4.97477911e+00] [ 6.07634877e-03 9.99975623e-01 3.43964344e-03 -8.03768730e+01] [ 4.10952153e-03 -3.46464909e-03 9.99985554e-01 4.24109090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78907232899996 meters 0.2741994917147759 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99975599e-01 -6.05306847e-03 -3.48724123e-03 -4.97615046e+00] [ 6.06453465e-03 9.99976209e-01 3.28689808e-03 -8.03764820e+01] [ 3.46726244e-03 -3.30796638e-03 9.99988518e-01 4.24106530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819072329 meters 0.2718539751257448 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99981151e-01 -5.74619694e-03 -2.16291016e-03 -4.97895916e+00] [ 5.75308060e-03 9.99978363e-01 3.18993914e-03 -8.03760744e+01] [ 2.14453334e-03 -3.20232241e-03 9.99992573e-01 4.24101629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84907232899997 meters 0.26723695934036634 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99982769e-01 -5.68655128e-03 -1.45761096e-03 -4.98030126e+00] [ 5.69103944e-03 9.99979020e-01 3.09369388e-03 -8.03758957e+01] [ 1.43998793e-03 -3.10193590e-03 9.99994152e-01 4.24096579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879072329 meters 0.2748220876731849 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998052e-01 -1.73208427e-03 -9.46543825e-04 -4.98067850e+00] [ 1.73829601e-03 9.99976698e-01 6.60160955e-03 -8.03736364e+01] [ 9.35087225e-04 -6.60324206e-03 9.99977761e-01 4.24084586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90907232899997 meters 0.2738570124602574 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998554e-01 -1.69729650e-03 -1.02298032e-04 -4.98219601e+00] [ 1.69791468e-03 9.99978203e-01 6.38054007e-03 -8.03731464e+01] [ 9.14661338e-05 -6.38070454e-03 9.99979639e-01 4.24076877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939072329 meters 0.27420981865498867 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998448e-01 -1.61456637e-03 7.04612174e-04 -4.98371681e+00] [ 1.61013410e-03 9.99979196e-01 6.24624288e-03 -8.03728670e+01] [-7.14682488e-04 -6.24509867e-03 9.99980244e-01 4.24070681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96907232899997 meters 0.27729253190720987 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99996489e-01 -1.00364847e-03 2.45237571e-03 -4.98743349e+00] [ 9.88294955e-04 9.99979956e-01 6.25388082e-03 -8.03722870e+01] [-2.45860325e-03 -6.25143519e-03 9.99977437e-01 4.24065153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999072329 meters 0.2771855701210672 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99994806e-01 -1.01870515e-03 3.05768439e-03 -4.98864174e+00] [ 1.00009765e-03 9.99981011e-01 6.08085974e-03 -8.03718401e+01] [-3.06382093e-03 -6.07777017e-03 9.99976837e-01 4.24061725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.029072329 meters 0.27925529949773414 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.40 [[ 9.99990548e-01 -1.12774659e-03 4.19903655e-03 -4.99050256e+00] [ 1.10507064e-03 9.99984816e-01 5.39868391e-03 -8.03699701e+01] [-4.20506114e-03 -5.39399265e-03 9.99976611e-01 4.24049043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05907232899995 meters 0.28024508791779634 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.40 [[ 9.99987903e-01 -1.28798612e-03 4.74712361e-03 -4.99142448e+00] [ 1.26440060e-03 9.99986860e-01 4.96804005e-03 -8.03687615e+01] [-4.75346000e-03 -4.96197768e-03 9.99976391e-01 4.24043256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.089072329 meters 0.2805789175626309 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.40 [[ 9.99985343e-01 -1.36429583e-03 5.23942465e-03 -4.99237644e+00] [ 1.33967161e-03 9.99988056e-01 4.70043199e-03 -8.03680171e+01] [-5.24577485e-03 -4.69334399e-03 9.99975227e-01 4.24039846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11907232899995 meters 0.2814123628628823 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.40 [[ 9.99982850e-01 -1.34704064e-03 5.69955438e-03 -4.99343663e+00] [ 1.32082796e-03 9.99988546e-01 4.60034278e-03 -8.03677538e+01] [-5.70568595e-03 -4.59273575e-03 9.99973176e-01 4.24039169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.149072329 meters 0.2924633941313768 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.37, Z:42.40 [[ 9.99979692e-01 -1.33439385e-03 6.23173919e-03 -4.99511398e+00] [ 1.30657928e-03 9.99989177e-01 4.46531303e-03 -8.03672363e+01] [-6.23763023e-03 -4.45708009e-03 9.99970613e-01 4.24045143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17907232899995 meters 0.2809218613683416 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.37, Z:42.40 [[ 9.99977099e-01 -1.41554973e-03 6.61795122e-03 -4.99610095e+00] [ 1.38751238e-03 9.99990052e-01 4.23923453e-03 -8.03665341e+01] [-6.62388624e-03 -4.22995496e-03 9.99969115e-01 4.24046174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.209072329 meters 0.2807899439313459 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99974098e-01 -1.68586653e-03 6.99725741e-03 -4.99673518e+00] [ 1.66017773e-03 9.99991867e-01 3.67545381e-03 -8.03648084e+01] [-7.00339683e-03 -3.66374192e-03 9.99968764e-01 4.24042487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23907232899995 meters 0.28296427168995225 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99973404e-01 -1.85829693e-03 7.05257721e-03 -4.99668620e+00] [ 1.83452743e-03 9.99992621e-01 3.37530172e-03 -8.03638959e+01] [-7.05879748e-03 -3.36227380e-03 9.99969434e-01 4.24039998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.269072329 meters 0.28089204314944444 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99973615e-01 -2.05662251e-03 6.96701085e-03 -4.99634482e+00] [ 2.03533167e-03 9.99993242e-01 3.06166289e-03 -8.03629193e+01] [-6.97326045e-03 -3.04740193e-03 9.99971043e-01 4.24038212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29907232899996 meters 0.27826085834238773 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99972739e-01 -2.32519248e-03 7.00824328e-03 -4.99651338e+00] [ 2.30696517e-03 9.99993939e-01 2.60780236e-03 -8.03614441e+01] [-7.01426444e-03 -2.59156349e-03 9.99972042e-01 4.24039650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.329072329 meters 0.27734985469514384 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99972931e-01 -2.25103801e-03 7.00496116e-03 -4.99690472e+00] [ 2.23180854e-03 9.99993723e-01 2.75172897e-03 -8.03617795e+01] [-7.01111144e-03 -2.73602075e-03 9.99971679e-01 4.24045283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35907232899996 meters 0.2778448211073875 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99972079e-01 -2.23410115e-03 7.13093592e-03 -4.99736133e+00] [ 2.21458769e-03 9.99993785e-01 2.74317582e-03 -8.03617127e+01] [-7.13702014e-03 -2.72730715e-03 9.99970812e-01 4.24047503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.389072329 meters 0.277500272541453 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99971577e-01 -2.26530502e-03 7.19115123e-03 -4.99758377e+00] [ 2.24611610e-03 9.99993899e-01 2.67536264e-03 -8.03614554e+01] [-7.19716786e-03 -2.65913444e-03 9.99970564e-01 4.24048494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41907232899996 meters 0.2787790736954509 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99969618e-01 -2.57542707e-03 7.35739006e-03 -4.99750755e+00] [ 2.56015184e-03 9.99994550e-01 2.08484050e-03 -8.03596495e+01] [-7.36271932e-03 -2.06594112e-03 9.99970761e-01 4.24041932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.449072329 meters 0.27732438115404123 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99969399e-01 -2.65351016e-03 7.35937533e-03 -4.99746204e+00] [ 2.63916575e-03 9.99994600e-01 1.95816113e-03 -8.03592404e+01] [-7.36453159e-03 -1.93867859e-03 9.99971002e-01 4.24041129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47907232899996 meters 0.27843626950618666 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99969571e-01 -2.61630781e-03 7.34925828e-03 -4.99758676e+00] [ 2.60167939e-03 9.99994617e-01 1.99931878e-03 -8.03593082e+01] [-7.35444955e-03 -1.98013753e-03 9.99970995e-01 4.24043046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.509072329 meters 0.27887958219327225 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99969890e-01 -2.53191398e-03 7.33536395e-03 -4.99790974e+00] [ 2.51617918e-03 9.99994516e-01 2.15349517e-03 -8.03597019e+01] [-7.34077619e-03 -2.13497324e-03 9.99970777e-01 4.24048204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53907232899996 meters 0.2779253611853875 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99968523e-01 -2.47317980e-03 7.53893176e-03 -4.99862413e+00] [ 2.45658583e-03 9.99994541e-01 2.20957012e-03 -8.03598340e+01] [-7.54435527e-03 -2.19098053e-03 9.99969141e-01 4.24051432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.569072329 meters 0.2774147870393404 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99967420e-01 -2.53755628e-03 7.66285345e-03 -4.99911289e+00] [ 2.52181179e-03 9.99994691e-01 2.06361464e-03 -8.03593244e+01] [-7.66804930e-03 -2.04422313e-03 9.99968511e-01 4.24054552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59907232899997 meters 0.28024817472501595 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99967960e-01 -2.51699694e-03 7.59892456e-03 -4.99903603e+00] [ 2.50104125e-03 9.99994649e-01 2.10850304e-03 -8.03594274e+01] [-7.60419100e-03 -2.08943026e-03 9.99968905e-01 4.24055509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.629072329 meters 0.28215339406299855 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99967610e-01 -2.52061389e-03 7.64360687e-03 -4.99902724e+00] [ 2.50485242e-03 9.99994718e-01 2.07091832e-03 -8.03593508e+01] [-7.64878649e-03 -2.05170514e-03 9.99968643e-01 4.24053871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65907232899997 meters 0.3002094284911564 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99964667e-01 -2.59530505e-03 7.99562937e-03 -4.99942050e+00] [ 2.58091881e-03 9.99995033e-01 1.80905613e-03 -8.03585923e+01] [-8.00028471e-03 -1.78835614e-03 9.99966398e-01 4.24047170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.689072329 meters 0.2782177267425491 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99963584e-01 -2.62500599e-03 8.12031435e-03 -4.99958358e+00] [ 2.61115802e-03 9.99995119e-01 1.71548161e-03 -8.03583187e+01] [-8.12477787e-03 -1.69421572e-03 9.99965558e-01 4.24045042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71907232899997 meters 0.28141247224102445 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99964128e-01 -2.62378826e-03 8.05347628e-03 -4.99949348e+00] [ 2.60995157e-03 9.99995101e-01 1.72813110e-03 -8.03583164e+01] [-8.05797108e-03 -1.70704992e-03 9.99966077e-01 4.24045856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.749072329 meters 0.28019622187727666 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.40 [[ 9.99965919e-01 -2.55510394e-03 7.85061243e-03 -4.99910915e+00] [ 2.54044617e-03 9.99995012e-01 1.87649187e-03 -8.03587624e+01] [-7.85536791e-03 -1.85648386e-03 9.99967423e-01 4.24047379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779072329 meters 0.2770985741052533 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99968260e-01 -2.39920406e-03 7.59756405e-03 -4.99873597e+00] [ 2.38260281e-03 9.99994756e-01 2.19337239e-03 -8.03596797e+01] [-7.60278656e-03 -2.17520080e-03 9.99968733e-01 4.24050569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80907232899995 meters 0.2784679976149066 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99972303e-01 -2.24294078e-03 7.09670310e-03 -4.99778546e+00] [ 2.22451607e-03 9.99994138e-01 2.60306399e-03 -8.03609132e+01] [-7.10250002e-03 -2.58720516e-03 9.99971430e-01 4.24054295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839072329 meters 0.2779832500810659 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99973883e-01 -2.22812424e-03 6.87528550e-03 -4.99734362e+00] [ 2.20977226e-03 9.99993979e-01 2.67571028e-03 -8.03611060e+01] [-6.88120592e-03 -2.66044758e-03 9.99972785e-01 4.24055660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86907232899995 meters 0.27606582300673677 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99975769e-01 -2.16811736e-03 6.61522172e-03 -4.99695147e+00] [ 2.14920907e-03 9.99993589e-01 2.86407136e-03 -8.03616082e+01] [-6.62138895e-03 -2.84978446e-03 9.99974018e-01 4.24058756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899072329 meters 0.27490228685276025 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.36, Z:42.41 [[ 9.99981054e-01 -2.13171356e-03 5.77471477e-03 -4.99535804e+00] [ 2.11333260e-03 9.99992688e-01 3.18724039e-03 -8.03624563e+01] [-5.78146682e-03 -3.17497611e-03 9.99978247e-01 4.24065029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92907232899995 meters 0.2750351552464313 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.36, Z:42.41 [[ 9.99983646e-01 -2.02596882e-03 5.34828466e-03 -4.99466286e+00] [ 2.00737030e-03 9.99991928e-01 3.48055328e-03 -8.03632704e+01] [-5.35529299e-03 -3.46976037e-03 9.99979641e-01 4.24069891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959072329 meters 0.2733455025760439 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.36, Z:42.41 [[ 9.99985900e-01 -1.90497919e-03 4.95691335e-03 -4.99394029e+00] [ 1.88619780e-03 9.99991036e-01 3.79084891e-03 -8.03641789e+01] [-4.96409041e-03 -3.78144574e-03 9.99980529e-01 4.24073170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98907232899995 meters 0.2749381139005561 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.36, Z:42.41 [[ 9.99987851e-01 -1.83636511e-03 4.57436781e-03 -4.99306116e+00] [ 1.81806657e-03 9.99990343e-01 4.00118705e-03 -8.03648335e+01] [-4.58167128e-03 -3.99282194e-03 9.99981533e-01 4.24073980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019072329 meters 0.2710291804968222 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99991324e-01 -1.90171717e-03 3.70624218e-03 -4.99106137e+00] [ 1.88570800e-03 9.99988898e-01 4.31823458e-03 -8.03660010e+01] [-3.71441309e-03 -4.31120823e-03 9.99983808e-01 4.24075201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04907232899996 meters 0.27125941033968687 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99992684e-01 -1.88348291e-03 3.32939578e-03 -4.99020937e+00] [ 1.86868286e-03 9.99988385e-01 4.44280271e-03 -8.03663694e+01] [-3.33772505e-03 -4.43654862e-03 9.99984588e-01 4.24076280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079072329 meters 0.2714837439961885 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99994772e-01 -1.79734893e-03 2.68812759e-03 -4.98873242e+00] [ 1.78448338e-03 9.99986980e-01 4.78082915e-03 -8.03674792e+01] [-2.69668541e-03 -4.77600724e-03 9.99984959e-01 4.24077722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10907232899996 meters 0.272248115738262 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99995579e-01 -1.74976901e-03 2.40415289e-03 -4.98812909e+00] [ 1.73789358e-03 9.99986324e-01 4.93279117e-03 -8.03679418e+01] [-2.41275126e-03 -4.92859120e-03 9.99984944e-01 4.24079223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139072329 meters 0.2707424868715383 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99996399e-01 -1.70697628e-03 2.07056835e-03 -4.98737780e+00] [ 1.69643534e-03 9.99985648e-01 5.08196182e-03 -8.03683948e+01] [-2.07921342e-03 -5.07843093e-03 9.99984943e-01 4.24080342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16907232899996 meters 0.26970984265850867 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.41 [[ 9.99997735e-01 -1.69980655e-03 1.28123262e-03 -4.98558209e+00] [ 1.69287982e-03 9.99984051e-01 5.38813921e-03 -8.03693957e+01] [-1.29037098e-03 -5.38595803e-03 9.99984663e-01 4.24082280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199072329 meters 0.270226440139796 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998049e-01 -1.72046829e-03 9.70542618e-04 -4.98472753e+00] [ 1.71516864e-03 9.99983759e-01 5.43515250e-03 -8.03695882e+01] [-9.79877862e-04 -5.43347725e-03 9.99984758e-01 4.24081253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22907232899996 meters 0.2696380612663185 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998356e-01 -1.70504796e-03 6.17396501e-04 -4.98384986e+00] [ 1.70160109e-03 9.99983201e-01 5.54104610e-03 -8.03699366e+01] [-6.26833879e-04 -5.53998643e-03 9.99984458e-01 4.24081328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259072329 meters 0.26923247801771333 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998639e-01 -1.63386039e-03 2.30811124e-04 -4.98279848e+00] [ 1.63250109e-03 9.99982012e-01 5.77153390e-03 -8.03707351e+01] [-2.40236852e-04 -5.77114925e-03 9.99983318e-01 4.24080093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28907232899996 meters 0.2698726401606084 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998848e-01 -1.50996279e-03 1.57329485e-04 -4.98272128e+00] [ 1.50899256e-03 9.99980894e-01 5.99454802e-03 -8.03714317e+01] [-1.66378023e-04 -5.99430370e-03 9.99982020e-01 4.24081653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319072329 meters 0.2698726401606084 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99998848e-01 -1.50996279e-03 1.57329485e-04 -4.98272128e+00] [ 1.50899256e-03 9.99980894e-01 5.99454802e-03 -8.03714317e+01] [-1.66378023e-04 -5.99430370e-03 9.99982020e-01 4.24081653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34907232899997 meters 0.2720815988060092 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99999473e-01 -1.00829793e-03 1.93328449e-04 -4.98294209e+00] [ 1.00696618e-03 9.99976582e-01 6.76913597e-03 -8.03738721e+01] [-2.00149227e-04 -6.76893773e-03 9.99977070e-01 4.24083684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379072329 meters 0.2710625198237256 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99999617e-01 -8.21379910e-04 3.03336439e-04 -4.98317494e+00] [ 8.19224616e-04 9.99974895e-01 7.03834618e-03 -8.03747493e+01] [-3.09109980e-04 -7.03809498e-03 9.99975185e-01 4.24083145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40907232899997 meters 0.27228460404368193 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99999623e-01 -7.47431922e-04 4.41569089e-04 -4.98319594e+00] [ 7.44270723e-04 9.99974402e-01 7.11631916e-03 -8.03750880e+01] [-4.46876750e-04 -7.11598784e-03 9.99974581e-01 4.24078580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439072329 meters 0.2749532924413345 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99999544e-01 -7.22676628e-04 6.23813011e-04 -4.98321411e+00] [ 7.18230855e-04 9.99974552e-01 7.09781589e-03 -8.03751679e+01] [-6.28926562e-04 -7.09736462e-03 9.99974616e-01 4.24072538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46907232899997 meters 0.2792330602854048 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99999030e-01 -4.71453369e-04 1.31079493e-03 -4.98384956e+00] [ 4.62020633e-04 9.99974065e-01 7.18720862e-03 -8.03754515e+01] [-1.31414937e-03 -7.18659603e-03 9.99973313e-01 4.24057923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499072329 meters 0.2789311419435727 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.41 [[ 9.99998632e-01 -2.28812205e-04 1.63832573e-03 -4.98441997e+00] [ 2.16514757e-04 9.99971834e-01 7.50235435e-03 -8.03765125e+01] [-1.63999621e-03 -7.50198936e-03 9.99970515e-01 4.24054633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.529072329 meters 0.2803519005930305 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.38, Z:42.41 [[ 9.99997566e-01 6.24851839e-04 2.11620281e-03 -4.98539530e+00] [-6.43120627e-04 9.99962440e-01 8.64316553e-03 -8.03795634e+01] [-2.11072263e-03 -8.64450547e-03 9.99960408e-01 4.24053817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55907232899995 meters 0.2815599446639031 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.38, Z:42.41 [[ 9.99997125e-01 8.92110197e-04 2.22573141e-03 -4.98570000e+00] [-9.12206319e-04 9.99958683e-01 9.04437920e-03 -8.03808400e+01] [-2.21757087e-03 -9.04638353e-03 9.99956622e-01 4.24054292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.589072329 meters 0.28298638439910767 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.38, Z:42.41 [[ 9.99996494e-01 1.06246378e-03 2.42562585e-03 -4.98596602e+00] [-1.08487289e-03 9.99956574e-01 9.25594026e-03 -8.03816092e+01] [-2.41568641e-03 -9.25853930e-03 9.99954221e-01 4.24051200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61907232899995 meters 0.28660875649815143 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.38, Z:42.40 [[ 9.99995579e-01 1.19684206e-03 2.72221481e-03 -4.98563488e+00] [-1.22209899e-03 9.99956050e-01 9.29542217e-03 -8.03818590e+01] [-2.71097002e-03 -9.29870789e-03 9.99953091e-01 4.24036996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.649072329 meters 0.28681428435191647 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.38, Z:42.40 [[ 9.99995063e-01 1.20054785e-03 2.90379249e-03 -4.98554778e+00] [-1.22729443e-03 9.99956680e-01 9.22673792e-03 -8.03818225e+01] [-2.89258956e-03 -9.23025618e-03 9.99953217e-01 4.24029616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67907232899995 meters 0.2983217707259056 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.38, Z:42.40 [[ 9.99994934e-01 1.23780844e-03 2.93257394e-03 -4.98503861e+00] [-1.26492382e-03 9.99956302e-01 9.26253151e-03 -8.03820862e+01] [-2.92098055e-03 -9.26619407e-03 9.99952802e-01 4.24021926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.709072329 meters 0.2927672210093167 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.40 [[ 9.99994972e-01 1.37185724e-03 2.85889693e-03 -4.98489802e+00] [-1.39893434e-03 9.99953983e-01 9.49079193e-03 -8.03828344e+01] [-2.84574536e-03 -9.49474363e-03 9.99950875e-01 4.24022639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73907232899995 meters 0.2912590824520029 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.38, Z:42.40 [[ 9.99994634e-01 1.54408888e-03 2.88931641e-03 -4.98503236e+00] [-1.57222749e-03 9.99951114e-01 9.76205242e-03 -8.03837044e+01] [-2.87410169e-03 -9.76654270e-03 9.99948176e-01 4.24023486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.769072329 meters 0.28421543079962025 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.40 [[ 9.99997223e-01 -1.40783687e-03 1.89020654e-03 -4.98302399e+00] [ 1.39471932e-03 9.99975062e-01 6.92322054e-03 -8.03788619e+01] [-1.89990617e-03 -6.92056500e-03 9.99974248e-01 4.24028195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79907232899996 meters 0.27890031715539176 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.38, Z:42.40 [[ 9.99980420e-01 -5.92590697e-03 2.01082860e-03 -4.98347249e+00] [ 5.92133950e-03 9.99979893e-01 2.26983577e-03 -8.03778417e+01] [-2.02423900e-03 -2.25788452e-03 9.99995402e-01 4.24031379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.829072329 meters 0.273965509469994 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.40 [[ 9.99971581e-01 -7.49449383e-03 8.18929483e-04 -4.98094411e+00] [ 7.49393806e-03 9.99971689e-01 6.79625527e-04 -8.03747444e+01] [-8.23999748e-04 -6.73469205e-04 9.99999434e-01 4.24033838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85907232899996 meters 0.26623382000827 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.40 [[ 9.99919912e-01 -1.26386048e-02 6.60384518e-04 -4.98070645e+00] [ 1.26416178e-02 9.99908680e-01 -4.77707531e-03 -8.03718153e+01] [-5.99948645e-04 4.78504105e-03 9.99988372e-01 4.24037370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.889072329 meters 0.26535285821571236 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.40 [[ 9.99916725e-01 -1.28991555e-02 3.94371815e-04 -4.98056130e+00] [ 1.29009979e-02 9.99903804e-01 -5.09388797e-03 -8.03707655e+01] [-3.28627024e-04 5.09855156e-03 9.99986948e-01 4.24044409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91907232899996 meters 0.2615619354829021 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99914649e-01 -1.30613431e-02 3.10761978e-04 -4.98079079e+00] [ 1.30628059e-02 9.99900659e-01 -5.29473934e-03 -8.03700393e+01] [-2.41574700e-04 5.29834685e-03 9.99985934e-01 4.24050443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.949072329 meters 0.2576940454450879 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99907615e-01 -1.35871015e-02 -3.91055155e-04 -4.97981960e+00] [ 1.35846398e-02 9.99891317e-01 -5.72814079e-03 -8.03689317e+01] [ 4.68841485e-04 5.72229925e-03 9.99983518e-01 4.24060466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97907232899996 meters 0.25687698323140473 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99905180e-01 -1.37436446e-02 -8.61557688e-04 -4.97880322e+00] [ 1.37383776e-02 9.99888528e-01 -5.84706394e-03 -8.03685489e+01] [ 9.41821617e-04 5.83467312e-03 9.99982535e-01 4.24062521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.009072329 meters 0.25475533213664936 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99902538e-01 -1.38857758e-02 -1.44879436e-03 -4.97751071e+00] [ 1.38769976e-02 9.99886288e-01 -5.90262123e-03 -8.03683671e+01] [ 1.53059209e-03 5.88194103e-03 9.99981530e-01 4.24064743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03907232899996 meters 0.26236499400549856 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.41 [[ 9.99894692e-01 -1.42944740e-02 -2.50473008e-03 -4.97527045e+00] [ 1.42791136e-02 9.99879765e-01 -6.04673933e-03 -8.03682610e+01] [ 2.59086388e-03 6.01033724e-03 9.99978581e-01 4.24069365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.069072329 meters 0.25610868150840527 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.41 [[ 9.99894372e-01 -1.42309338e-02 -2.95390981e-03 -4.97455829e+00] [ 1.42136246e-02 9.99882158e-01 -5.80029567e-03 -8.03688939e+01] [ 3.03610534e-03 5.75769723e-03 9.99978815e-01 4.24074841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09907232899997 meters 0.25267407882540566 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.41 [[ 9.99918848e-01 -1.18373375e-02 -4.70905730e-03 -4.97084293e+00] [ 1.18244755e-02 9.99926307e-01 -2.74986025e-03 -8.03677358e+01] [ 4.74126130e-03 2.69395496e-03 9.99985131e-01 4.24079398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.129072329 meters 0.2493463225780181 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.41 [[ 9.99919446e-01 -1.17042387e-02 -4.91040500e-03 -4.97033561e+00] [ 1.16921582e-02 9.99928565e-01 -2.48172494e-03 -8.03685675e+01] [ 4.93910092e-03 2.42411180e-03 9.99984864e-01 4.24079029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15907232899997 meters 0.24982632997358545 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.41 [[ 9.99948188e-01 -8.22868070e-03 -5.99250957e-03 -4.96729209e+00] [ 8.23553886e-03 9.99965459e-01 1.12068008e-03 -8.03675333e+01] [ 5.98308087e-03 -1.16997356e-03 9.99981417e-01 4.24072451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.189072329 meters 0.25093050188252886 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.41 [[ 9.99950091e-01 -8.01184076e-03 -5.96877685e-03 -4.96695710e+00] [ 8.02058044e-03 9.99966795e-01 1.44173900e-03 -8.03686579e+01] [ 5.95702767e-03 -1.48954010e-03 9.99981147e-01 4.24066947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21907232899997 meters 0.25605063519100374 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99967729e-01 -5.63083029e-03 -5.73020191e-03 -4.96383910e+00] [ 5.65009000e-03 9.99978425e-01 3.35046794e-03 -8.03678311e+01] [ 5.71121236e-03 -3.38273597e-03 9.99977969e-01 4.24027165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.249072329 meters 0.25576428206218044 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99969541e-01 -5.35051762e-03 -5.68231350e-03 -4.96360603e+00] [ 5.37197965e-03 9.99978470e-01 3.76846438e-03 -8.03692385e+01] [ 5.66202793e-03 -3.79887487e-03 9.99976755e-01 4.24022314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279072329 meters 0.26153787236448517 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99971345e-01 -5.03149741e-03 -5.65634101e-03 -4.96341381e+00] [ 5.05568615e-03 9.99978102e-01 4.27026036e-03 -8.03708698e+01] [ 5.63473135e-03 -4.29873468e-03 9.99974885e-01 4.24018717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30907232899995 meters 0.25850583150737505 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99974722e-01 -4.17993675e-03 -5.75177786e-03 -4.96224111e+00] [ 4.21173861e-03 9.99975850e-01 5.52808857e-03 -8.03742155e+01] [ 5.72853190e-03 -5.55217382e-03 9.99968178e-01 4.24007703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339072329 meters 0.2596243254249623 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99971654e-01 -4.47360535e-03 -6.05632192e-03 -4.96129918e+00] [ 4.50489367e-03 9.99976527e-01 5.16247865e-03 -8.03732401e+01] [ 6.03308486e-03 -5.18961540e-03 9.99968334e-01 4.24005563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36907232899995 meters 0.2572923530552425 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99966901e-01 -4.95518062e-03 -6.45312595e-03 -4.96025568e+00] [ 4.98446290e-03 9.99977319e-01 4.52953982e-03 -8.03714860e+01] [ 6.43053490e-03 -4.56155527e-03 9.99968920e-01 4.24005490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399072329 meters 0.2528020833843696 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99962539e-01 -5.20317850e-03 -6.91722774e-03 -4.95902606e+00] [ 5.23282568e-03 9.99977171e-01 4.27482402e-03 -8.03708891e+01] [ 6.89482716e-03 -4.31086053e-03 9.99966938e-01 4.24005308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42907232899995 meters 0.25262938115248035 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99964963e-01 -5.14046170e-03 -6.60670866e-03 -4.95958101e+00] [ 5.16892327e-03 9.99977404e-01 4.29815001e-03 -8.03710633e+01] [ 6.58446490e-03 -4.33214899e-03 9.99968938e-01 4.24002498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459072329 meters 0.2540533866951734 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99969145e-01 -4.99972321e-03 -6.05900175e-03 -4.96060954e+00] [ 5.02628506e-03 9.99977791e-01 4.37659517e-03 -8.03714221e+01] [ 6.03698542e-03 -4.40691440e-03 9.99972067e-01 4.23997938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48907232899995 meters 0.25738843496083197 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99983567e-01 -7.12843608e-04 -5.68836466e-03 -4.96053316e+00] [ 7.61024823e-04 9.99963818e-01 8.47247040e-03 -8.03709862e+01] [ 5.68211930e-03 -8.47666016e-03 9.99947929e-01 4.23983745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519072329 meters 0.2601066026665775 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99986305e-01 -4.05225390e-04 -5.21780176e-03 -4.96118160e+00] [ 4.51347311e-04 9.99960814e-01 8.84119813e-03 -8.03722240e+01] [ 5.21401462e-03 -8.84343209e-03 9.99947302e-01 4.23976479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54907232899996 meters 0.26014374319080047 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99976602e-01 -4.66348372e-03 -5.00482743e-03 -4.96200725e+00] [ 4.68662669e-03 9.99978334e-01 4.62240734e-03 -8.03725546e+01] [ 4.98316248e-03 -4.64575494e-03 9.99976792e-01 4.23981362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579072329 meters 0.254767522527761 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99974086e-01 -4.81308354e-03 -5.35370932e-03 -4.96134483e+00] [ 4.83708258e-03 9.99978271e-01 4.47881503e-03 -8.03721120e+01] [ 5.33203608e-03 -4.50459529e-03 9.99975639e-01 4.23984872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60907232899996 meters 0.25549662397379386 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99974743e-01 -4.82594156e-03 -5.21767359e-03 -4.96157705e+00] [ 4.84901524e-03 9.99978481e-01 4.41864542e-03 -8.03719833e+01] [ 5.19623718e-03 -4.44383439e-03 9.99976625e-01 4.23983576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639072329 meters 0.2616823880502954 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99988783e-01 -6.49494726e-04 -4.69166075e-03 -4.96209912e+00] [ 6.88314599e-04 9.99965505e-01 8.27735815e-03 -8.03707965e+01] [ 4.68612281e-03 -8.28049464e-03 9.99954736e-01 4.23972532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66907232899996 meters 0.2629756304515788 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.37, Z:42.40 [[ 9.99994874e-01 6.47918053e-05 -3.20128454e-03 -4.96475200e+00] [-3.71449052e-05 9.99962713e-01 8.63549436e-03 -8.03716821e+01] [ 3.20172468e-03 -8.63533119e-03 9.99957589e-01 4.23959259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699072329 meters 0.2675740486674085 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.39 [[ 9.99998190e-01 1.21093396e-03 -1.46750432e-03 -4.96779459e+00] [-1.19723142e-03 9.99956014e-01 9.30248943e-03 -8.03730094e+01] [ 1.47870447e-03 -9.30071565e-03 9.99955654e-01 4.23943897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72907232899996 meters 0.2711408925820492 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.39 [[ 9.99998862e-01 1.39629875e-03 -5.71242211e-04 -4.96943274e+00] [-1.39086697e-03 9.99954841e-01 9.40109680e-03 -8.03734320e+01] [ 5.84343154e-04 -9.40029158e-03 9.99955646e-01 4.23935426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759072329 meters 0.27947603333097587 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.39 [[ 9.99999474e-01 9.98943561e-04 -2.31104965e-04 -4.96999731e+00] [-9.96898032e-04 9.99961761e-01 8.68806534e-03 -8.03713073e+01] [ 2.39775014e-04 -8.68783038e-03 9.99962231e-01 4.23931932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78907232899996 meters 0.2799014726970745 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.39 [[ 9.99998233e-01 1.78455819e-03 5.90450883e-04 -4.97159629e+00] [-1.79000065e-03 9.99954695e-01 9.34905430e-03 -8.03730292e+01] [-5.73740201e-04 -9.35009469e-03 9.99956122e-01 4.23926411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819072329 meters 0.2788838675935103 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.37, Z:42.39 [[ 9.99995347e-01 2.53264803e-03 1.70070825e-03 -4.97389713e+00] [-2.54959050e-03 9.99946399e-01 1.00348533e-02 -8.03748663e+01] [-1.67520234e-03 -1.00391427e-02 9.99948203e-01 4.23921141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84907232899997 meters 0.2830057651563242 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.39 [[ 9.99971204e-01 6.99536260e-03 2.94200249e-03 -4.97641848e+00] [-7.03617566e-03 9.99875849e-01 1.40988752e-02 -8.03741040e+01] [-2.84301049e-03 -1.41191696e-02 9.99896278e-01 4.23914274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879072329 meters 0.2831020149095555 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.39 [[ 9.99970001e-01 6.91493705e-03 3.49013358e-03 -4.97744998e+00] [-6.96255739e-03 9.99880234e-01 1.38217188e-02 -8.03733685e+01] [-3.39413927e-03 -1.38456044e-02 9.99898384e-01 4.23909869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90907232899997 meters 0.2865980905229732 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.39 [[ 9.99969930e-01 6.60040330e-03 4.07097053e-03 -4.97848382e+00] [-6.65344193e-03 9.99891326e-01 1.31555490e-02 -8.03714159e+01] [-3.98369619e-03 -1.31822394e-02 9.99905175e-01 4.23904340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939072329 meters 0.28875144250263074 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.37, Z:42.39 [[ 9.99947064e-01 8.04379997e-03 6.41605099e-03 -4.98305628e+00] [-8.12997394e-03 9.99875550e-01 1.35199452e-02 -8.03717651e+01] [-6.30650077e-03 -1.35713919e-02 9.99888016e-01 4.23887980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96907232899997 meters 0.2912503063352833 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.39 [[ 9.99929950e-01 8.72226596e-03 8.00110147e-03 -4.98630764e+00] [-8.83144133e-03 9.99866974e-01 1.37127382e-02 -8.03722057e+01] [-7.88043097e-03 -1.37824389e-02 9.99873964e-01 4.23879211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999072329 meters 0.302205674808724 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.37, Z:42.39 [[ 9.99825991e-01 1.54357199e-02 1.04750343e-02 -4.99167510e+00] [-1.56364202e-02 9.99690368e-01 1.93563885e-02 -8.03737136e+01] [-1.01730112e-02 -1.95168124e-02 9.99757773e-01 4.23870671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.029072329 meters 0.30544657444652373 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.38, Z:42.39 [[ 9.99784969e-01 1.66657909e-02 1.23396514e-02 -4.99542083e+00] [-1.69121943e-02 9.99654102e-01 2.01408753e-02 -8.03753310e+01] [-1.19997195e-02 -2.03452350e-02 9.99721000e-01 4.23861288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05907232899995 meters 0.3073840626757351 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.38, Z:42.39 [[ 9.99770641e-01 1.68255110e-02 1.32502024e-02 -4.99709324e+00] [-1.70908004e-02 9.99650487e-01 2.01695155e-02 -8.03755918e+01] [-1.29062089e-02 -2.03913460e-02 9.99708769e-01 4.23853293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.089072329 meters 0.3073918946290791 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.38, Z:42.38 [[ 9.99804260e-01 1.32456564e-02 1.46967575e-02 -5.00041553e+00] [-1.34827368e-02 9.99778650e-01 1.61513972e-02 -8.03762848e+01] [-1.44795685e-02 -1.63463883e-02 9.99761540e-01 4.23849696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11907232899995 meters 0.31528440880028324 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.38, Z:42.38 [[ 9.99764242e-01 1.39948422e-02 1.66013790e-02 -5.00436950e+00] [-1.42619493e-02 9.99768961e-01 1.60816824e-02 -8.03757942e+01] [-1.63724828e-02 -1.63146590e-02 9.99732851e-01 4.23840529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.149072329 meters 0.31554781975411034 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.38, Z:42.38 [[ 9.99732317e-01 1.43832546e-02 1.81222494e-02 -5.00742946e+00] [-1.46733525e-02 9.99764673e-01 1.59778641e-02 -8.03755753e+01] [-1.78881710e-02 -1.62395013e-02 9.99708103e-01 4.23831545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17907232899995 meters 0.3180854406435692 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.38, Z:42.38 [[ 9.99691773e-01 1.48788595e-02 1.98740471e-02 -5.01101788e+00] [-1.51951972e-02 9.99758721e-01 1.58621006e-02 -8.03751856e+01] [-1.96332420e-02 -1.61592016e-02 9.99676656e-01 4.23822163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.209072329 meters 0.32965845111083475 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.37, Z:42.38 [[ 9.99579060e-01 1.91365875e-02 2.18058392e-02 -5.01422376e+00] [-1.95577415e-02 9.99623066e-01 1.92670709e-02 -8.03728082e+01] [-2.14289139e-02 -1.96854336e-02 9.99576553e-01 4.23803388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23907232899995 meters 0.32965845111083475 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.37, Z:42.38 [[ 9.99579060e-01 1.91365875e-02 2.18058392e-02 -5.01422376e+00] [-1.95577415e-02 9.99623066e-01 1.92670709e-02 -8.03728082e+01] [-2.14289139e-02 -1.96854336e-02 9.99576553e-01 4.23803388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.269072329 meters 0.33510618911309464 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.37, Z:42.38 [[ 9.99552240e-01 1.93839384e-02 2.27943308e-02 -5.01595897e+00] [-1.98253201e-02 9.99617164e-01 1.92997820e-02 -8.03730975e+01] [-2.24114985e-02 -1.97430453e-02 9.99553869e-01 4.23793727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29907232899996 meters 0.3390778963399713 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.37, Z:42.38 [[ 9.99509459e-01 2.02244987e-02 2.39125619e-02 -5.01788154e+00] [-2.07032280e-02 9.99586704e-01 1.99448380e-02 -8.03746232e+01] [-2.34993046e-02 -2.04301215e-02 9.99515079e-01 4.23783528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.329072329 meters 0.34172186134302196 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.38 [[ 9.99497695e-01 2.04030840e-02 2.42501881e-02 -5.01841111e+00] [-2.08935803e-02 9.99578665e-01 2.01482104e-02 -8.03753759e+01] [-2.38288850e-02 -2.06447631e-02 9.99502865e-01 4.23779371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35907232899996 meters 0.34132021083726044 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.38 [[ 9.99488168e-01 2.06101297e-02 2.44668085e-02 -5.01867878e+00] [-2.11116442e-02 9.99568578e-01 2.04195228e-02 -8.03763264e+01] [-2.40354040e-02 -2.09256060e-02 9.99492080e-01 4.23775624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.389072329 meters 0.3400948523397827 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.38 [[ 9.99481807e-01 2.07869957e-02 2.45767933e-02 -5.01873200e+00] [-2.12969441e-02 9.99559441e-01 2.06727692e-02 -8.03772052e+01] [-2.41362410e-02 -2.11854673e-02 9.99484176e-01 4.23772365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41907232899996 meters 0.33963900570177324 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.38 [[ 9.99527752e-01 1.78599704e-02 2.50058888e-02 -5.01898288e+00] [-1.83146685e-02 9.99668892e-01 1.80742455e-02 -8.03813008e+01] [-2.46748037e-02 -1.85236846e-02 9.99523900e-01 4.23763029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.449072329 meters 0.34083040957680255 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.38, Z:42.38 [[ 9.99597379e-01 1.37438596e-02 2.48230984e-02 -5.01878954e+00] [-1.40932888e-02 9.99803270e-01 1.39571136e-02 -8.03819996e+01] [-2.46263904e-02 -1.43013332e-02 9.99594424e-01 4.23764321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47907232899996 meters 0.33341082218496726 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.38, Z:42.38 [[ 9.99891706e-01 1.12315001e-02 9.50947600e-03 -5.01328844e+00] [-1.13388700e-02 9.99871712e-01 1.13132274e-02 -8.03839554e+01] [-9.38119153e-03 -1.14198289e-02 9.99890784e-01 4.23775020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.509072329 meters 0.3332483028881748 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.38, Z:42.38 [[ 9.99926100e-01 6.94525373e-03 9.97782507e-03 -5.01397888e+00] [-7.01352697e-03 9.99952121e-01 6.82387952e-03 -8.03836254e+01] [-9.92995377e-03 -6.89335498e-03 9.99926936e-01 4.23767062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53907232899996 meters 0.3338218919626466 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.38, Z:42.38 [[ 9.99925850e-01 6.90360958e-03 1.00316812e-02 -5.01389806e+00] [-6.97136271e-03 9.99953021e-01 6.73471657e-03 -8.03833927e+01] [-9.98471609e-03 -6.80415168e-03 9.99927002e-01 4.23763923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.569072329 meters 0.33242828822351633 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.38, Z:42.38 [[ 9.99926468e-01 6.98304018e-03 9.91438568e-03 -5.01353790e+00] [-7.05146792e-03 9.99951444e-01 6.88376507e-03 -8.03838988e+01] [-9.86583467e-03 -6.95316987e-03 9.99927157e-01 4.23762866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59907232899997 meters 0.32844252163775284 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.38, Z:42.38 [[ 9.99949136e-01 2.78678145e-03 9.69330722e-03 -5.01328573e+00] [-2.81361157e-03 9.99992246e-01 2.75536630e-03 -8.03845074e+01] [-9.68555345e-03 -2.78249935e-03 9.99949223e-01 4.23766150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.629072329 meters 0.328022643799077 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.39, Z:42.38 [[ 9.99948913e-01 2.89078358e-03 9.68584073e-03 -5.01321454e+00] [-2.91917821e-03 9.99991480e-01 2.91870697e-03 -8.03850601e+01] [-9.67732086e-03 -2.94683255e-03 9.99948832e-01 4.23765242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65907232899997 meters 0.3311484926890665 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.39, Z:42.38 [[ 9.99940485e-01 3.29902286e-03 1.03992207e-02 -5.01419664e+00] [-3.33238955e-03 9.99989350e-01 3.19288267e-03 -8.03859252e+01] [-1.03885766e-02 -3.22734690e-03 9.99940829e-01 4.23753708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.689072329 meters 0.3349813813364478 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99932397e-01 3.61642657e-03 1.10508980e-02 -5.01515011e+00] [-3.65512744e-03 9.99987251e-01 3.48386933e-03 -8.03869705e+01] [-1.10381580e-02 -3.52402625e-03 9.99932868e-01 4.23743644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71907232899997 meters 0.33581238428707116 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99930199e-01 3.56417569e-03 1.12647059e-02 -5.01542005e+00] [-3.60201841e-03 9.99987932e-01 3.34090449e-03 -8.03865868e+01] [-1.12526624e-02 -3.38124697e-03 9.99930970e-01 4.23739827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.749072329 meters 0.3448221741470491 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99914731e-01 4.02840810e-03 1.24218262e-02 -5.01769071e+00] [-4.07188030e-03 9.99985667e-01 3.47636009e-03 -8.03870128e+01] [-1.24076439e-02 -3.52664385e-03 9.99916803e-01 4.23731614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779072329 meters 0.3482833644544846 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99899413e-01 4.50673500e-03 1.34481761e-02 -5.01950612e+00] [-4.55843384e-03 9.99982329e-01 3.81612802e-03 -8.03881797e+01] [-1.34307402e-02 -3.87704679e-03 9.99902287e-01 4.23720972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80907232899995 meters 0.34334709223058113 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99885769e-01 4.81063033e-03 1.43285544e-02 -5.02107476e+00] [-4.86836897e-03 9.99980159e-01 3.99747003e-03 -8.03888763e+01] [-1.43090398e-02 -4.06677009e-03 9.99889350e-01 4.23711933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839072329 meters 0.35553903486211913 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99878169e-01 4.69271191e-03 1.48870657e-02 -5.02214567e+00] [-4.74759407e-03 9.99982056e-01 3.65337020e-03 -8.03878872e+01] [-1.48696544e-02 -3.72360285e-03 9.99882507e-01 4.23707704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86907232899995 meters 0.3513347572885873 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99868038e-01 4.76055311e-03 1.55320326e-02 -5.02330004e+00] [-4.81582324e-03 9.99982198e-01 3.52300114e-03 -8.03876449e+01] [-1.55149847e-02 -3.59733576e-03 9.99873164e-01 4.23701543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.899072329 meters 0.3510173582197714 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.39, Z:42.37 [[ 9.99861553e-01 4.87756336e-03 1.59086312e-02 -5.02400043e+00] [-4.93554626e-03 9.99981313e-01 3.60752214e-03 -8.03880092e+01] [-1.58907380e-02 -3.68554048e-03 9.99866942e-01 4.23698034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92907232899995 meters 0.35397076318372056 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.37 [[ 9.99833286e-01 6.07574869e-03 1.72187435e-02 -5.02642527e+00] [-6.15326784e-03 9.99971155e-01 4.45262274e-03 -8.03899632e+01] [-1.71911938e-02 -4.55783197e-03 9.99841832e-01 4.23686765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.959072329 meters 0.35723302327516565 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.37 [[ 9.99820592e-01 6.26450097e-03 1.78756504e-02 -5.02781891e+00] [-6.34747179e-03 9.99969327e-01 4.58859909e-03 -8.03905001e+01] [-1.78463568e-02 -4.70124105e-03 9.99829688e-01 4.23683811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98907232899995 meters 0.35863182028590573 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.37 [[ 9.99801124e-01 6.95135721e-03 1.86919985e-02 -5.02984099e+00] [-7.05409507e-03 9.99960344e-01 5.43605019e-03 -8.03928882e+01] [-1.86534693e-02 -5.56682422e-03 9.99810511e-01 4.23685700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.019072329 meters 0.36089902792433337 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.37 [[ 9.99793814e-01 7.11355180e-03 1.90191050e-02 -5.03043049e+00] [-7.22141607e-03 9.99958196e-01 5.60871258e-03 -8.03935321e+01] [-1.89784121e-02 -5.74490101e-03 9.99803389e-01 4.23682504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04907232899996 meters 0.3640531316862441 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.37 [[ 9.99782544e-01 7.16132691e-03 1.95851986e-02 -5.03127977e+00] [-7.27024410e-03 9.99958470e-01 5.49566282e-03 -8.03934006e+01] [-1.95450290e-02 -5.63685693e-03 9.99793087e-01 4.23674485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.079072329 meters 0.3647514710242714 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.37 [[ 9.99764441e-01 7.26852147e-03 2.04507107e-02 -5.03273896e+00] [-7.37868178e-03 9.99958645e-01 5.31633285e-03 -8.03931310e+01] [-2.04112230e-02 -5.46597982e-03 9.99776728e-01 4.23664560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10907232899996 meters 0.3729676519179632 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.39, Z:42.37 [[ 9.99740307e-01 7.47644896e-03 2.15272155e-02 -5.03475195e+00] [-7.58951366e-03 9.99957807e-01 5.17527266e-03 -8.03929493e+01] [-2.14876146e-02 -5.33730978e-03 9.99754868e-01 4.23655217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.139072329 meters 0.37596201735060975 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.39, Z:42.36 [[ 9.99687648e-01 1.15227308e-02 2.21772946e-02 -5.03568676e+00] [-1.17245665e-02 9.99890828e-01 8.99259665e-03 -8.03914613e+01] [-2.20712542e-02 -9.24980697e-03 9.99713609e-01 4.23647437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16907232899996 meters 0.3803409404261211 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.39, Z:42.36 [[ 9.99668927e-01 1.19030693e-02 2.28112409e-02 -5.03712520e+00] [-1.21211893e-02 9.99881902e-01 9.44765647e-03 -8.03929471e+01] [-2.26960908e-02 -9.72102798e-03 9.99695148e-01 4.23646336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.199072329 meters 0.37801483397331204 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.39, Z:42.36 [[ 9.99645716e-01 1.23864284e-02 2.35588215e-02 -5.03856714e+00] [-1.26222306e-02 9.99871456e-01 9.88685047e-03 -8.03943539e+01] [-2.34333304e-02 -1.01807126e-02 9.99673563e-01 4.23640699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22907232899996 meters 0.37799953053316115 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.40, Z:42.36 [[ 9.99834052e-01 1.53693697e-02 9.78012284e-03 -5.03570094e+00] [-1.54668806e-02 9.99830633e-01 9.97403493e-03 -8.04012427e+01] [-9.62517178e-03 -1.01236477e-02 9.99902429e-01 4.23643155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.259072329 meters 0.37992524135609024 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.40, Z:42.36 [[ 9.99865461e-01 1.20929240e-02 1.10824348e-02 -5.03872677e+00] [-1.21673393e-02 9.99903715e-01 6.67206041e-03 -8.04040857e+01] [-1.10006830e-02 -6.80600650e-03 9.99916328e-01 4.23640111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28907232899996 meters 0.38633962471217276 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.36 [[ 9.99905258e-01 8.11044400e-03 1.11218364e-02 -5.03890958e+00] [-8.14204758e-03 9.99962935e-01 2.79924998e-03 -8.04056300e+01] [-1.10987210e-02 -2.88953929e-03 9.99934232e-01 4.23639634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.319072329 meters 0.38529453363471894 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.36 [[ 9.99925733e-01 4.11575166e-03 1.14712132e-02 -5.03947342e+00] [-4.10248961e-03 9.99990889e-01 -1.17940729e-03 -8.04068954e+01] [-1.14759628e-02 1.13225917e-03 9.99933508e-01 4.23634052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34907232899997 meters 0.3812110138857172 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.40, Z:42.36 [[ 9.99934313e-01 3.62196898e-03 1.08743252e-02 -5.03808013e+00] [-3.60220072e-03 9.99991825e-01 -1.83691953e-03 -8.04048364e+01] [-1.08808896e-02 1.79762737e-03 9.99939186e-01 4.23634488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.379072329 meters 0.3732267766173506 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.40, Z:42.36 [[ 9.99941557e-01 3.06141391e-03 1.03687404e-02 -5.03766893e+00] [-3.03637520e-03 9.99992438e-01 -2.42970856e-03 -8.04032158e+01] [-1.03761003e-02 2.39808317e-03 9.99943291e-01 4.23646818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40907232899997 meters 0.37228295607639 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.40, Z:42.37 [[ 9.99943493e-01 3.34497326e-03 1.00906903e-02 -5.03785809e+00] [-3.32627327e-03 9.99992721e-01 -1.86940547e-03 -8.04047165e+01] [-1.00968700e-02 1.83573544e-03 9.99947340e-01 4.23659072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.439072329 meters 0.37786670209400025 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.37 [[ 9.99946629e-01 3.61981927e-03 9.67659459e-03 -5.03776208e+00] [-3.60756043e-03 9.99992668e-01 -1.28400923e-03 -8.04062852e+01] [-9.68117152e-03 1.24903180e-03 9.99952356e-01 4.23672124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46907232899997 meters 0.3699980333628693 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.37 [[ 9.99956316e-01 3.47803949e-03 8.67573702e-03 -5.03601793e+00] [-3.46836144e-03 9.99993346e-01 -1.13032648e-03 -8.04065712e+01] [-8.67961061e-03 1.10018651e-03 9.99961726e-01 4.23682324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.499072329 meters 0.36979852931332485 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.41, Z:42.37 [[ 9.99960274e-01 3.28985463e-03 8.28415056e-03 -5.03504809e+00] [-3.27884987e-03 9.99993725e-01 -1.34164251e-03 -8.04058533e+01] [-8.28851238e-03 1.31442672e-03 9.99964786e-01 4.23682014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.529072329 meters 0.36177359722991853 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99967282e-01 2.44787909e-03 7.70997872e-03 -5.03369171e+00] [-2.42922293e-03 9.99994101e-01 -2.42817872e-03 -8.04028745e+01] [-7.71587713e-03 2.40937001e-03 9.99967330e-01 4.23681623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55907232899995 meters 0.3640230992741941 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99972198e-01 2.27008460e-03 7.10288188e-03 -5.03265846e+00] [-2.25239880e-03 9.99994346e-01 -2.49695644e-03 -8.04024776e+01] [-7.10851002e-03 2.48088850e-03 9.99971657e-01 4.23688694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.589072329 meters 0.3602871962326858 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99979995e-01 2.14781840e-03 5.94947676e-03 -5.03057138e+00] [-2.13490326e-03 9.99995353e-01 -2.17630314e-03 -8.04031957e+01] [-5.95412342e-03 2.16355804e-03 9.99979934e-01 4.23699642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61907232899995 meters 0.3529933291590159 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99990127e-01 1.53524195e-03 4.16999948e-03 -5.02701443e+00] [-1.52764559e-03 9.99997169e-01 -1.82424238e-03 -8.04043955e+01] [-4.17278833e-03 1.81785408e-03 9.99989642e-01 4.23711455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.649072329 meters 0.3536726462955527 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99991245e-01 1.30839990e-03 3.97478183e-03 -5.02676647e+00] [-1.29989577e-03 9.99996862e-01 -2.14135336e-03 -8.04033132e+01] [-3.97757111e-03 2.13616781e-03 9.99989808e-01 4.23714964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67907232899995 meters 0.3516384400331721 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99992224e-01 1.10224946e-03 3.78653808e-03 -5.02627537e+00] [-1.09307975e-03 9.99996467e-01 -2.42287760e-03 -8.04023731e+01] [-3.78919532e-03 2.41871977e-03 9.99989896e-01 4.23714755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.709072329 meters 0.3406190978943983 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99995425e-01 5.56291096e-04 2.97333694e-03 -5.02520002e+00] [-5.47524899e-04 9.99995504e-01 -2.94827007e-03 -8.04007806e+01] [-2.97496367e-03 2.94662861e-03 9.99991233e-01 4.23727656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73907232899995 meters 0.3434874676569298 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99996412e-01 5.01423517e-04 2.63140871e-03 -5.02511807e+00] [-4.93699872e-04 9.99995571e-01 -2.93500450e-03 -8.04006144e+01] [-2.63286874e-03 2.93369485e-03 9.99992231e-01 4.23739015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.769072329 meters 0.3462074429097584 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99996600e-01 6.60911833e-04 2.52241635e-03 -5.02506657e+00] [-6.54220517e-04 9.99996268e-01 -2.65264432e-03 -8.04014830e+01] [-2.52416010e-03 2.65098508e-03 9.99993300e-01 4.23741888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79907232899996 meters 0.3478117318799466 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99995008e-01 6.98363329e-04 3.08161152e-03 -5.02606492e+00] [-6.89803040e-04 9.99995903e-01 -2.77805005e-03 -8.04012175e+01] [-3.08353898e-03 2.77591047e-03 9.99991393e-01 4.23736099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.829072329 meters 0.3439153155658663 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99993390e-01 7.40660560e-04 3.55955483e-03 -5.02701911e+00] [-7.30496991e-04 9.99995656e-01 -2.85574471e-03 -8.04010721e+01] [-3.56165451e-03 2.85312559e-03 9.99989587e-01 4.23732724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85907232899996 meters 0.3474307143104894 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99983884e-01 4.67127179e-03 3.22648066e-03 -5.02589419e+00] [-4.67434651e-03 9.99988628e-01 9.46082188e-04 -8.03994864e+01] [-3.22202456e-03 -9.61148630e-04 9.99994347e-01 4.23729006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.889072329 meters 0.35698090262319393 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99950344e-01 9.34544826e-03 3.45996762e-03 -5.02618763e+00] [-9.36547630e-03 9.99939216e-01 5.81827615e-03 -8.04012989e+01] [-3.40538291e-03 -5.85039148e-03 9.99977088e-01 4.23725721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91907232899996 meters 0.3517131543083637 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99946314e-01 9.60137723e-03 3.89652708e-03 -5.02696461e+00] [-9.62514705e-03 9.99934900e-01 6.12805732e-03 -8.04024065e+01] [-3.83743562e-03 -6.16523298e-03 9.99973632e-01 4.23721282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.949072329 meters 0.3514438223592596 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99946091e-01 9.56872132e-03 4.03162576e-03 -5.02707323e+00] [-9.59295261e-03 9.99935778e-01 6.03445642e-03 -8.04021671e+01] [-3.97362481e-03 -6.07280630e-03 9.99973665e-01 4.23718028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97907232899996 meters 0.3471968209918064 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99979819e-01 5.31295748e-03 3.48335438e-03 -5.02580579e+00] [-5.31971438e-03 9.99983981e-01 1.93338136e-03 -8.04029271e+01] [-3.47302661e-03 -1.95187279e-03 9.99992064e-01 4.23718124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.009072329 meters 0.34931005550921024 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99982035e-01 5.26148828e-03 2.87151571e-03 -5.02434889e+00] [-5.26723675e-03 9.99984132e-01 1.99801529e-03 -8.04031025e+01] [-2.86095761e-03 -2.01310435e-03 9.99993881e-01 4.23718866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03907232899996 meters 0.34947623896305247 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99983090e-01 5.21399389e-03 2.57571414e-03 -5.02365898e+00] [-5.21912330e-03 9.99984403e-01 1.98876249e-03 -8.04030337e+01] [-2.56530457e-03 -2.00217183e-03 9.99994705e-01 4.23719532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.069072329 meters 0.34970645500619085 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99982628e-01 5.18431058e-03 2.80486219e-03 -5.02418585e+00] [-5.18960364e-03 9.99984761e-01 1.88312706e-03 -8.04027119e+01] [-2.79505673e-03 -1.89765047e-03 9.99994293e-01 4.23719054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09907232899997 meters 0.3520600845687171 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99981589e-01 5.21570596e-03 3.10132520e-03 -5.02490716e+00] [-5.22149382e-03 9.99984636e-01 1.86109329e-03 -8.04026830e+01] [-3.09157064e-03 -1.87725258e-03 9.99993459e-01 4.23718939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.129072329 meters 0.3520600845687171 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99981589e-01 5.21570596e-03 3.10132520e-03 -5.02490716e+00] [-5.22149382e-03 9.99984636e-01 1.86109329e-03 -8.04026830e+01] [-3.09157064e-03 -1.87725258e-03 9.99993459e-01 4.23718939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15907232899997 meters 0.3527481378096631 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99980085e-01 5.33735140e-03 3.36781300e-03 -5.02561533e+00] [-5.34412241e-03 9.99983711e-01 2.00471872e-03 -8.04031896e+01] [-3.35705826e-03 -2.02267680e-03 9.99992319e-01 4.23719641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.189072329 meters 0.3449016683248596 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99982174e-01 5.18743733e-03 2.95667365e-03 -5.02479560e+00] [-5.19302126e-03 9.99984741e-01 1.88404829e-03 -8.04027032e+01] [-2.94685516e-03 -1.89936877e-03 9.99993854e-01 4.23722851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21907232899997 meters 0.34883046604312484 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99983209e-01 5.07330949e-03 2.80071665e-03 -5.02440000e+00] [-5.07819654e-03 9.99985591e-01 1.74058103e-03 -8.04022221e+01] [-2.79184579e-03 -1.75477440e-03 9.99994563e-01 4.23723018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.249072329 meters 0.35049337128111313 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99981901e-01 5.20912953e-03 3.01056176e-03 -5.02448558e+00] [-5.21482948e-03 9.99984619e-01 1.88858110e-03 -8.04028423e+01] [-3.00067759e-03 -1.90424648e-03 9.99993685e-01 4.23716360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.279072329 meters 0.34761099009332147 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99979849e-01 5.30950101e-03 3.47993811e-03 -5.02542914e+00] [-5.31630601e-03 9.99983969e-01 1.94917167e-03 -8.04031318e+01] [-3.46953319e-03 -1.96763280e-03 9.99992045e-01 4.23713020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30907232899995 meters 0.34681601431542214 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99984262e-01 4.84129389e-03 2.83513699e-03 -5.02440223e+00] [-4.84547508e-03 9.99987180e-01 1.46976887e-03 -8.04016548e+01] [-2.82798506e-03 -1.48348333e-03 9.99994901e-01 4.23722291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.339072329 meters 0.343192290808826 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99985882e-01 4.75107494e-03 2.37981213e-03 -5.02335853e+00] [-4.75458114e-03 9.99987617e-01 1.46982411e-03 -8.04016343e+01] [-2.37279942e-03 -1.48111837e-03 9.99996088e-01 4.23724014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36907232899995 meters 0.3434103415224334 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99985358e-01 4.82194564e-03 2.45594834e-03 -5.02335313e+00] [-4.82578077e-03 9.99987142e-01 1.55804460e-03 -8.04019769e+01] [-2.44840395e-03 -1.56987366e-03 9.99995770e-01 4.23720973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.399072329 meters 0.3400600970295526 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99987266e-01 4.50051165e-03 2.28308614e-03 -5.02294864e+00] [-4.50302722e-03 9.99989259e-01 1.09788407e-03 -8.04004854e+01] [-2.27812058e-03 -1.10815089e-03 9.99996791e-01 4.23721838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42907232899995 meters 0.3369521035706703 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99989885e-01 4.15585198e-03 1.72036591e-03 -5.02173744e+00] [-4.15713328e-03 9.99991084e-01 7.41880670e-04 -8.03993313e+01] [-1.71726743e-03 -7.49024956e-04 9.99998245e-01 4.23725085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.459072329 meters 0.336698937698553 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99990525e-01 4.05977414e-03 1.57115252e-03 -5.02166306e+00] [-4.06077388e-03 9.99991554e-01 6.33642702e-04 -8.03988887e+01] [-1.56856681e-03 -6.40016794e-04 9.99998565e-01 4.23729690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48907232899995 meters 0.33406491469967203 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99991357e-01 3.95512332e-03 1.28146930e-03 -5.02136436e+00] [-3.95581810e-03 9.99992030e-01 5.40092086e-04 -8.03984732e+01] [-1.27932295e-03 -5.45156678e-04 9.99999033e-01 4.23736208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.519072329 meters 0.33631624355732914 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99993638e-01 3.56569603e-03 9.59316155e-05 -5.01899083e+00] [-3.56573990e-03 9.99993536e-01 4.61102003e-04 -8.03981639e+01] [-9.42868458e-05 -4.61441137e-04 9.99999889e-01 4.23745083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54907232899996 meters 0.32905422568703835 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99993745e-01 3.49221467e-03 -5.61578137e-04 -5.01750566e+00] [-3.49192849e-03 9.99993773e-01 5.09769080e-04 -8.03982531e+01] [ 5.63354863e-04 -5.07804900e-04 9.99999712e-01 4.23747037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.579072329 meters 0.3288041580757493 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99993555e-01 3.45844046e-03 -9.64284095e-04 -5.01651692e+00] [-3.45791705e-03 9.99993873e-01 5.43929716e-04 -8.03983319e+01] [ 9.66159336e-04 -5.40591795e-04 9.99999387e-01 4.23747187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60907232899996 meters 0.3345349486063468 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99999098e-01 -7.12667302e-04 -1.13815688e-03 -5.01711269e+00] [ 7.08750780e-04 9.99993840e-01 -3.43781304e-03 -8.03991377e+01] [ 1.14059989e-03 3.43700327e-03 9.99993443e-01 4.23761350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.639072329 meters 0.33745123689083467 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99997754e-01 -6.34925786e-04 -2.02228216e-03 -5.01594532e+00] [ 6.28924377e-04 9.99995401e-01 -2.96689650e-03 -8.04002522e+01] [ 2.02415662e-03 2.96561797e-03 9.99993554e-01 4.23776166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66907232899996 meters 0.32022619671374614 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99996342e-01 -4.60840516e-04 -2.66521334e-03 -5.01496332e+00] [ 4.54250782e-04 9.99996840e-01 -2.47257481e-03 -8.04015923e+01] [ 2.66634438e-03 2.47135509e-03 9.99993391e-01 4.23784833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.699072329 meters 0.3161183162040897 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99994954e-01 -5.88629937e-04 -3.12174417e-03 -5.01392304e+00] [ 5.80693529e-04 9.99996599e-01 -2.54259680e-03 -8.04013294e+01] [ 3.12323020e-03 2.54077119e-03 9.99991895e-01 4.23786232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72907232899996 meters 0.3191001769386941 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99994938e-01 -6.57484368e-04 -3.11327350e-03 -5.01363472e+00] [ 6.49239903e-04 9.99996282e-01 -2.64843657e-03 -8.04010701e+01] [ 3.11500323e-03 2.64640190e-03 9.99991647e-01 4.23781920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.759072329 meters 0.31802738289746185 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99994754e-01 -7.13938990e-04 -3.15935396e-03 -5.01340300e+00] [ 7.05312346e-04 9.99996023e-01 -2.73078087e-03 -8.04008226e+01] [ 3.16129101e-03 2.72853821e-03 9.99991281e-01 4.23780321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78907232899996 meters 0.32034969036330607 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99989449e-01 3.27409998e-03 -3.22199211e-03 -5.01333177e+00] [-3.27064921e-03 9.99994073e-01 1.07569008e-03 -8.03991165e+01] [ 3.22549493e-03 -1.06514073e-03 9.99994231e-01 4.23782295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.819072329 meters 0.3221706807919282 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99991087e-01 3.44405481e-03 -2.44218407e-03 -5.01479135e+00] [-3.44128128e-03 9.99993430e-01 1.13897039e-03 -8.03995099e+01] [ 2.44609071e-03 -1.13055599e-03 9.99996369e-01 4.23775396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84907232899997 meters 0.3254076186631524 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99992790e-01 3.34237760e-03 -1.80209609e-03 -5.01568705e+00] [-3.34096228e-03 9.99994109e-01 7.87816226e-04 -8.03986419e+01] [ 1.80471865e-03 -7.81789811e-04 9.99998066e-01 4.23765578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.879072329 meters 0.3234538681625448 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99995668e-01 2.74035120e-03 -1.07481717e-03 -5.01635762e+00] [-2.74069091e-03 9.99996195e-01 -3.14714129e-04 -8.03954258e+01] [ 1.07395065e-03 3.17658507e-04 9.99999373e-01 4.23751103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90907232899997 meters 0.32448872086779296 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99995550e-01 2.87410689e-03 -8.00208322e-04 -5.01689821e+00] [-2.87424964e-03 9.99995854e-01 -1.77303252e-04 -8.03959568e+01] [ 7.99695415e-04 1.79602461e-04 9.99999664e-01 4.23748967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.939072329 meters 0.3295329968511974 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99975261e-01 6.83640764e-03 -1.65566531e-03 -5.01506673e+00] [-6.82993783e-03 9.99969139e-01 3.88230467e-03 -8.03950384e+01] [ 1.68215523e-03 -3.87090053e-03 9.99991093e-01 4.23754813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96907232899997 meters 0.32806181817697655 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99966979e-01 8.04547948e-03 -1.14506144e-03 -5.01691371e+00] [-8.03896781e-03 9.99952107e-01 5.58205493e-03 -8.03996310e+01] [ 1.18991691e-03 -5.57266549e-03 9.99983765e-01 4.23764974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.999072329 meters 0.327431321224537 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99967350e-01 8.01131133e-03 -1.05728665e-03 -5.01706081e+00] [-8.00537511e-03 9.99952808e-01 5.50420888e-03 -8.03994106e+01] [ 1.10133269e-03 -5.49556519e-03 9.99984293e-01 4.23764119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.029072329 meters 0.3309736694358288 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99967531e-01 8.00962395e-03 -8.84816619e-04 -5.01691483e+00] [-8.00470834e-03 9.99953241e-01 5.42596878e-03 -8.03993544e+01] [ 9.28235215e-04 -5.41870990e-03 9.99984888e-01 4.23755885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05907232899995 meters 0.33181886258978166 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99968072e-01 7.97346726e-03 -5.27956107e-04 -5.01723048e+00] [-7.97058008e-03 9.99954391e-01 5.26180026e-03 -8.03990234e+01] [ 5.69886820e-04 -5.25742415e-03 9.99986017e-01 4.23747694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.089072329 meters 0.33768336880373306 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99965405e-01 8.29804403e-03 5.75698004e-04 -5.01925705e+00] [-8.30098618e-03 9.99951438e-01 5.31171112e-03 -8.03994919e+01] [-5.31593235e-04 -5.31630622e-03 9.99985727e-01 4.23737403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11907232899995 meters 0.3361527209911837 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99963814e-01 8.44229588e-03 1.04845812e-03 -5.02025521e+00] [-8.44784959e-03 9.99949678e-01 5.41065946e-03 -8.03999236e+01] [-1.00272697e-03 -5.41932088e-03 9.99984813e-01 4.23735021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.149072329 meters 0.3413124213861177 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99961878e-01 8.62049681e-03 1.38936847e-03 -5.02103941e+00] [-8.62814028e-03 9.99947137e-01 5.59264710e-03 -8.04005768e+01] [-1.34108363e-03 -5.60442156e-03 9.99983396e-01 4.23733703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17907232899995 meters 0.3460648107060057 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99956177e-01 9.07022299e-03 2.31845740e-03 -5.02257311e+00] [-9.08316153e-03 9.99942884e-01 5.63242572e-03 -8.04007523e+01] [-2.26723762e-03 -5.65323781e-03 9.99981450e-01 4.23722005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.209072329 meters 0.34488588612465493 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99957521e-01 8.88633303e-03 2.44746327e-03 -5.02265180e+00] [-8.89922395e-03 9.99946316e-01 5.30751209e-03 -8.03997423e+01] [-2.40016756e-03 -5.32906715e-03 9.99982920e-01 4.23718737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23907232899995 meters 0.3378763642846176 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99957860e-01 8.79601056e-03 2.62830926e-03 -5.02304143e+00] [-8.80938434e-03 9.99948084e-01 5.12085812e-03 -8.03991582e+01] [-2.58312969e-03 -5.14379612e-03 9.99983434e-01 4.23718044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.269072329 meters 0.3419455836268572 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99955058e-01 8.95076482e-03 3.12512545e-03 -5.02403712e+00] [-8.96712750e-03 9.99945951e-01 5.26169420e-03 -8.03997316e+01] [-3.07786035e-03 -5.28948113e-03 9.99981274e-01 4.23714836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29907232899996 meters 0.3373695819107302 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99955619e-01 8.88476628e-03 3.13369815e-03 -5.02407072e+00] [-8.90086004e-03 9.99947075e-01 5.15970534e-03 -8.03993936e+01] [-3.08768952e-03 -5.18736896e-03 9.99981779e-01 4.23715156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.329072329 meters 0.3362427868326112 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99951882e-01 9.27630678e-03 3.19108876e-03 -5.02467463e+00] [-9.29467050e-03 9.99940048e-01 5.78881371e-03 -8.04013442e+01] [-3.13719863e-03 -5.81819528e-03 9.99978153e-01 4.23721282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35907232899996 meters 0.3382387785677252 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99951588e-01 9.31793068e-03 3.16205251e-03 -5.02488482e+00] [-9.33635443e-03 9.99939229e-01 5.86264997e-03 -8.04015260e+01] [-3.10723258e-03 -5.89188819e-03 9.99977815e-01 4.23725530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.389072329 meters 0.3381885174879557 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99950312e-01 9.40189256e-03 3.31315121e-03 -5.02524874e+00] [-9.42151493e-03 9.99937869e-01 5.95758709e-03 -8.04018716e+01] [-3.25693277e-03 -5.98850597e-03 9.99976765e-01 4.23725290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41907232899996 meters 0.33957812446225916 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99946420e-01 9.61593631e-03 3.83297912e-03 -5.02624475e+00] [-9.63943797e-03 9.99934560e-01 6.16085952e-03 -8.04026702e+01] [-3.77348585e-03 -6.19747718e-03 9.99973676e-01 4.23720954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.449072329 meters 0.337039133727188 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99950014e-01 9.17707796e-03 3.96862672e-03 -5.02651547e+00] [-9.19856320e-03 9.99942950e-01 5.42983510e-03 -8.04003628e+01] [-3.91857029e-03 -5.46606935e-03 9.99977383e-01 4.23720844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47907232899996 meters 0.3400752863041918 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99950464e-01 9.25925468e-03 3.65168561e-03 -5.02599018e+00] [-9.27981154e-03 9.99940961e-01 5.65323382e-03 -8.04009962e+01] [-3.59912529e-03 -5.68684074e-03 9.99977353e-01 4.23724615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.509072329 meters 0.3336407673729833 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99976034e-01 5.53818031e-03 4.15456976e-03 -5.02723855e+00] [-5.54724462e-03 9.99982252e-01 2.17342581e-03 -8.04036300e+01] [-4.14245920e-03 -2.19642014e-03 9.99989008e-01 4.23724328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53907232899996 meters 0.32742715822314067 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.40, Z:42.37 [[ 9.99994386e-01 7.30691097e-04 3.27014614e-03 -5.02525562e+00] [-7.22550618e-04 9.99996639e-01 -2.48982126e-03 -8.04026455e+01] [-3.27195444e-03 2.48744444e-03 9.99991553e-01 4.23727298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.569072329 meters 0.3317701182854592 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99997318e-01 4.99747828e-04 2.26168469e-03 -5.02329840e+00] [-4.94183053e-04 9.99996851e-01 -2.46034594e-03 -8.04025958e+01] [-2.26290712e-03 2.45922165e-03 9.99994416e-01 4.23734771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59907232899997 meters 0.3204818948436684 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.37 [[ 9.99999623e-01 1.70719772e-04 8.50896907e-04 -5.02035837e+00] [-1.68759138e-04 9.99997332e-01 -2.30373670e-03 -8.04030058e+01] [-8.51287930e-04 2.30359224e-03 9.99996984e-01 4.23742063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.629072329 meters 0.31262977019291094 Centerline is valid? [False, False] Translation: X:-5.02, Y:-80.40, Z:42.38 [[ 9.99981946e-01 -5.87561939e-03 -1.25860708e-03 -5.01598394e+00] [ 5.86595519e-03 9.99954298e-01 -7.54928004e-03 -8.04016631e+01] [ 1.30290626e-03 7.54176081e-03 9.99970712e-01 4.23753195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65907232899997 meters 0.30825463373483897 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99977778e-01 -6.13121476e-03 -2.61741600e-03 -5.01351991e+00] [ 6.11179456e-03 9.99954206e-01 -7.36422692e-03 -8.04020360e+01] [ 2.66244779e-03 7.34806617e-03 9.99969458e-01 4.23765633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.689072329 meters 0.3038650159750411 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99961436e-01 -7.11260984e-03 -5.15144379e-03 -5.00864210e+00] [ 7.07700389e-03 9.99951170e-01 -6.89739779e-03 -8.04036398e+01] [ 5.20025074e-03 6.86067501e-03 9.99962944e-01 4.23785862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71907232899997 meters 0.3006124956592543 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.40, Z:42.38 [[ 9.99949684e-01 -7.55314283e-03 -6.60152137e-03 -5.00617918e+00] [ 7.50845960e-03 9.99948911e-01 -6.76740156e-03 -8.04039327e+01] [ 6.65229926e-03 6.71749379e-03 9.99955310e-01 4.23801653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.749072329 meters 0.30011284242278075 Centerline is valid? [False, False] Translation: X:-5.00, Y:-80.40, Z:42.38 [[ 9.99942288e-01 -7.53971032e-03 -7.65336541e-03 -5.00431234e+00] [ 7.49119776e-03 9.99951793e-01 -6.34772110e-03 -8.04049698e+01] [ 7.70085644e-03 6.29002188e-03 9.99950565e-01 4.23812171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779072329 meters 0.28925146433646254 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.40, Z:42.39 [[ 9.99757622e-01 -1.77724737e-02 -1.29936959e-02 -4.99351479e+00] [ 1.76133911e-02 9.99769745e-01 -1.22566767e-02 -8.03992550e+01] [ 1.32085354e-02 1.20248429e-02 9.99840456e-01 4.23861226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80907232899995 meters 0.2816927800351356 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.40, Z:42.39 [[ 9.99648460e-01 -2.24631770e-02 -1.40840941e-02 -4.99086709e+00] [ 2.22308884e-02 9.99617714e-01 -1.64381411e-02 -8.03997157e+01] [ 1.44479628e-02 1.61192605e-02 9.99765685e-01 4.23866043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839072329 meters 0.2727057815340912 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.40, Z:42.39 [[ 9.99467257e-01 -2.83314643e-02 -1.62027586e-02 -4.98588523e+00] [ 2.79858033e-02 9.99383986e-01 -2.11764906e-02 -8.03997028e+01] [ 1.67927385e-02 2.07117618e-02 9.99644450e-01 4.23875295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86907232899995 meters 0.2662872032398236 Centerline is valid? [False, False] Translation: X:-4.98, Y:-80.40, Z:42.39 [[ 9.99163756e-01 -3.53945035e-02 -2.04699025e-02 -4.97753975e+00] [ 3.48769925e-02 9.99076142e-01 -2.51089227e-02 -8.03987093e+01] [ 2.13397090e-02 2.43739969e-02 9.99475125e-01 4.23917847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899072329 meters 0.25210647175749035 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.40, Z:42.40 [[ 9.98352446e-01 -5.08335042e-02 -2.66148285e-02 -4.96325749e+00] [ 4.99122713e-02 9.98167756e-01 -3.42037437e-02 -8.03951072e+01] [ 2.83047598e-02 3.28189846e-02 9.99060436e-01 4.23977809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92907232899995 meters 0.24422440560325714 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.40, Z:42.40 [[ 9.97992983e-01 -5.65292348e-02 -2.85385870e-02 -4.95881251e+00] [ 5.54098761e-02 9.97717366e-01 -3.85979731e-02 -8.03956711e+01] [ 3.06553577e-02 3.69391867e-02 9.98847208e-01 4.23993996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959072329 meters 0.23713590033691923 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.39, Z:42.41 [[ 9.97165455e-01 -6.67969441e-02 -3.46297995e-02 -4.94597657e+00] [ 6.53090132e-02 9.96961669e-01 -4.24519054e-02 -8.03936546e+01] [ 3.73602402e-02 4.00699356e-02 9.98498179e-01 4.24065975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98907232899995 meters 0.24204774812151553 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.40, Z:42.41 [[ 9.97016506e-01 -6.78203792e-02 -3.68576020e-02 -4.94166666e+00] [ 6.62578137e-02 9.96914786e-01 -4.20810052e-02 -8.03954743e+01] [ 3.95978382e-02 3.95133526e-02 9.98434127e-01 4.24087454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019072329 meters 0.2338991816460621 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.40, Z:42.41 [[ 9.96910836e-01 -6.81959763e-02 -3.89627292e-02 -4.93764167e+00] [ 6.65930645e-02 9.96935220e-01 -4.10552101e-02 -8.03986116e+01] [ 4.16431172e-02 3.83337363e-02 9.98396903e-01 4.24107344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04907232899996 meters 0.2338991816460621 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.40, Z:42.41 [[ 9.96910836e-01 -6.81959763e-02 -3.89627292e-02 -4.93764167e+00] [ 6.65930645e-02 9.96935220e-01 -4.10552101e-02 -8.03986116e+01] [ 4.16431172e-02 3.83337363e-02 9.98396903e-01 4.24107344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079072329 meters 0.24665661812712458 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.40, Z:42.42 [[ 9.95833450e-01 -7.99769803e-02 -4.38112178e-02 -4.92735286e+00] [ 7.78693601e-02 9.95813638e-01 -4.78702565e-02 -8.04003695e+01] [ 4.74563268e-02 4.42592511e-02 9.97892287e-01 4.24169318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10907232899996 meters 0.2252457722236839 Centerline is valid? [False, False] Translation: X:-4.92, Y:-80.40, Z:42.42 [[ 9.95622604e-01 -8.13981755e-02 -4.59343770e-02 -4.92251639e+00] [ 7.91803818e-02 9.95694453e-01 -4.81977573e-02 -8.04007611e+01] [ 4.96598139e-02 4.43496752e-02 9.97781043e-01 4.24180234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139072329 meters 0.23651567883954483 Centerline is valid? [False, False] Translation: X:-4.92, Y:-80.40, Z:42.42 [[ 9.95180361e-01 -8.59255393e-02 -4.72530437e-02 -4.91937825e+00] [ 8.34750034e-02 9.95173194e-01 -5.15968742e-02 -8.04033440e+01] [ 5.14584517e-02 4.74037479e-02 9.97549454e-01 4.24196196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16907232899996 meters 0.2184881350160035 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.41, Z:42.42 [[ 9.92955912e-01 -1.04931933e-01 -5.50258776e-02 -4.90766011e+00] [ 1.02380441e-01 9.93619736e-01 -4.73081987e-02 -8.04071558e+01] [ 5.96389387e-02 4.13413820e-02 9.97363568e-01 4.24242414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199072329 meters 0.2149816018163144 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.41, Z:42.43 [[ 9.92505695e-01 -1.08915892e-01 -5.54055345e-02 -4.90648555e+00] [ 1.06158333e-01 9.93066086e-01 -5.04990773e-02 -8.04102747e+01] [ 6.05215093e-02 4.42388626e-02 9.97186076e-01 4.24254916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22907232899996 meters 0.2293338244854078 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.41, Z:42.43 [[ 9.92021247e-01 -1.13114093e-01 -5.56690881e-02 -4.90536627e+00] [ 1.10129336e-01 9.92446418e-01 -5.40521720e-02 -8.04123865e+01] [ 6.13626494e-02 4.74901034e-02 9.96985113e-01 4.24264852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259072329 meters 0.2340727984893946 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.41, Z:42.43 [[ 9.91509181e-01 -1.17390193e-01 -5.59382327e-02 -4.90391940e+00] [ 1.14163542e-01 9.91781254e-01 -5.77635738e-02 -8.04141436e+01] [ 6.22593677e-02 5.08870070e-02 9.96761899e-01 4.24271327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28907232899996 meters 0.24868454046054517 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.42, Z:42.43 [[ 9.90902930e-01 -1.21773878e-01 -5.72931582e-02 -4.90069100e+00] [ 1.18296225e-01 9.91126144e-01 -6.06215273e-02 -8.04181922e+01] [ 6.41668654e-02 5.32924847e-02 9.96515190e-01 4.24293435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319072329 meters 0.24220611094483657 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.42, Z:42.43 [[ 9.90417710e-01 -1.25762507e-01 -5.70661991e-02 -4.90077108e+00] [ 1.22080915e-01 9.90455843e-01 -6.39802577e-02 -8.04207343e+01] [ 6.45678679e-02 5.64004866e-02 9.96318210e-01 4.24303770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34907232899997 meters 0.23016065399286423 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.42, Z:42.43 [[ 9.89838727e-01 -1.29876943e-01 -5.78901936e-02 -4.89923553e+00] [ 1.25973370e-01 9.89792672e-01 -6.66421464e-02 -8.04248991e+01] [ 6.59545677e-02 5.86723545e-02 9.96096155e-01 4.24330576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379072329 meters 0.24322141120838137 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.43, Z:42.43 [[ 9.89266777e-01 -1.34036484e-01 -5.81847419e-02 -4.89771924e+00] [ 1.29886831e-01 9.89050863e-01 -7.00557042e-02 -8.04274071e+01] [ 6.69376895e-02 6.17463490e-02 9.95844734e-01 4.24339329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40907232899997 meters 0.2501168335588354 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.43, Z:42.43 [[ 9.88724599e-01 -1.38139070e-01 -5.78036664e-02 -4.89742860e+00] [ 1.33771385e-01 9.88273169e-01 -7.36298920e-02 -8.04295167e+01] [ 6.72969773e-02 6.50672090e-02 9.95609047e-01 4.24341361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439072329 meters 0.24453270514537964 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.45, Z:42.44 [[ 9.86423502e-01 -1.51151178e-01 -6.42027748e-02 -4.89929030e+00] [ 1.46730732e-01 9.86783463e-01 -6.87640195e-02 -8.04465592e+01] [ 7.37479990e-02 5.84099247e-02 9.95564922e-01 4.24371927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46907232899997 meters 0.27461792099768295 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.45, Z:42.44 [[ 9.85740068e-01 -1.55196039e-01 -6.50438886e-02 -4.89685577e+00] [ 1.50508727e-01 9.86007123e-01 -7.16734040e-02 -8.04503778e+01] [ 7.52571658e-02 6.08616733e-02 9.95305087e-01 4.24391037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499072329 meters 0.22959498737690479 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.45, Z:42.44 [[ 9.84474812e-01 -1.63487580e-01 -6.38839303e-02 -4.89703208e+00] [ 1.58323871e-01 9.84226649e-01 -7.89395615e-02 -8.04538995e+01] [ 7.57819045e-02 6.75996588e-02 9.94830332e-01 4.24399002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.529072329 meters 0.28294547326067254 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.48, Z:42.44 [[ 9.83069717e-01 -1.68405605e-01 -7.22044536e-02 -4.90627298e+00] [ 1.62903664e-01 9.83684029e-01 -7.63421748e-02 -8.04769421e+01] [ 8.38828180e-02 6.32873101e-02 9.94463870e-01 4.24407149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55907232899995 meters 0.2372454596280742 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.50, Z:42.44 [[ 9.79397124e-01 -1.84909191e-01 -8.11779776e-02 -4.90501379e+00] [ 1.78900432e-01 9.80928731e-01 -7.59832917e-02 -8.04978616e+01] [ 9.36798195e-02 5.98950422e-02 9.93799112e-01 4.24441834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.589072329 meters 0.2644734019475341 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.50, Z:42.44 [[ 9.77856098e-01 -1.93373474e-01 -8.00259355e-02 -4.90448545e+00] [ 1.86756036e-01 9.78867942e-01 -8.33050695e-02 -8.05011941e+01] [ 9.44438135e-02 6.65150437e-02 9.93305650e-01 4.24449866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61907232899995 meters 0.22112950663024752 Centerline is valid? [False, False] Translation: X:-4.90, Y:-80.50, Z:42.45 [[ 9.77143625e-01 -1.97258235e-01 -7.92434553e-02 -4.90482337e+00] [ 1.90396130e-01 9.77891143e-01 -8.64767371e-02 -8.05040748e+01] [ 9.45497216e-02 6.94125451e-02 9.93097301e-01 4.24454722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.649072329 meters 0.2509974311158441 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.52, Z:42.45 [[ 9.75049461e-01 -2.02722672e-01 -9.04547752e-02 -4.90729141e+00] [ 1.95621250e-01 9.77282598e-01 -8.15539658e-02 -8.05183486e+01] [ 1.04932716e-01 6.18242742e-02 9.92555734e-01 4.24479488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67907232899995 meters 0.24151716994031133 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.54, Z:42.45 [[ 9.72540521e-01 -2.10471161e-01 -9.93318972e-02 -4.91400906e+00] [ 2.02811381e-01 9.75788680e-01 -8.18779267e-02 -8.05375744e+01] [ 1.14159883e-01 5.94839622e-02 9.91679978e-01 4.24489306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.709072329 meters 0.2636349302692197 Centerline is valid? [False, False] Translation: X:-4.91, Y:-80.54, Z:42.45 [[ 9.70761835e-01 -2.19051730e-01 -9.81722960e-02 -4.91286880e+00] [ 2.10650959e-01 9.73487614e-01 -8.91517786e-02 -8.05409925e+01] [ 1.15098366e-01 6.58650559e-02 9.91168079e-01 4.24496982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73907232899995 meters 0.2622988752391975 Centerline is valid? [False, False] Translation: X:-4.92, Y:-80.57, Z:42.45 [[ 9.66350532e-01 -2.36161620e-01 -1.01952626e-01 -4.91860977e+00] [ 2.28035227e-01 9.69911483e-01 -8.52739690e-02 -8.05706681e+01] [ 1.19023461e-01 5.91557552e-02 9.91127647e-01 4.24529625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.769072329 meters 0.2915983190280573 Centerline is valid? [False, False] Translation: X:-4.93, Y:-80.59, Z:42.46 [[ 9.63203512e-01 -2.45656828e-01 -1.09049152e-01 -4.92750439e+00] [ 2.37127088e-01 9.67709599e-01 -8.54919649e-02 -8.05949474e+01] [ 1.26529596e-01 5.64876529e-02 9.90353173e-01 4.24553335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79907232899996 meters 0.2504189861145263 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.62, Z:42.46 [[ 9.59995188e-01 -2.54399197e-01 -1.17005500e-01 -4.93504593e+00] [ 2.45387601e-01 9.65593179e-01 -8.61088771e-02 -8.06181122e+01] [ 1.34885742e-01 5.39524086e-02 9.89391214e-01 4.24575763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.829072329 meters 0.24849692963448608 Centerline is valid? [False, False] Translation: X:-4.94, Y:-80.65, Z:42.46 [[ 9.54797956e-01 -2.71141125e-01 -1.21833306e-01 -4.94210632e+00] [ 2.61811446e-01 9.61164042e-01 -8.72837393e-02 -8.06506376e+01] [ 1.40768004e-01 5.14409819e-02 9.88705312e-01 4.24605581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85907232899996 meters 0.24500135834759526 Centerline is valid? [False, False] Translation: X:-4.95, Y:-80.68, Z:42.46 [[ 9.51764522e-01 -2.78580053e-01 -1.28598009e-01 -4.95183043e+00] [ 2.68635984e-01 9.59079991e-01 -8.94442757e-02 -8.06759484e+01] [ 1.48253169e-01 5.05838356e-02 9.87654936e-01 4.24611361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.889072329 meters 0.25603895803868737 Centerline is valid? [False, False] Translation: X:-4.96, Y:-80.70, Z:42.46 [[ 9.48681664e-01 -2.85870717e-01 -1.35207374e-01 -4.96212388e+00] [ 2.75469142e-01 9.57028208e-01 -9.06297971e-02 -8.06994432e+01] [ 1.55305676e-01 4.87333675e-02 9.86663674e-01 4.24616862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91907232899996 meters 0.2503494810959539 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.73, Z:42.46 [[ 9.44761382e-01 -2.96001415e-01 -1.40744778e-01 -4.97334464e+00] [ 2.85022988e-01 9.53988659e-01 -9.30995937e-02 -8.07293901e+01] [ 1.61826534e-01 4.78414037e-02 9.85658852e-01 4.24641137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.949072329 meters 0.2627715716849546 Centerline is valid? [False, False] Translation: X:-4.99, Y:-80.76, Z:42.47 [[ 9.42733983e-01 -2.99861138e-01 -1.46068258e-01 -4.98940566e+00] [ 2.88462037e-01 9.52835590e-01 -9.43079643e-02 -8.07610532e+01] [ 1.67458328e-01 4.67721757e-02 9.84769045e-01 4.24652606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97907232899996 meters 0.2666880881585666 Centerline is valid? [False, False] Translation: X:-5.01, Y:-80.79, Z:42.47 [[ 9.41093782e-01 -3.02511532e-01 -1.51093566e-01 -5.00667821e+00] [ 2.90695458e-01 9.52037055e-01 -9.55070459e-02 -8.07949407e+01] [ 1.72738656e-01 4.59588737e-02 9.83894882e-01 4.24661798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.009072329 meters 0.27610001358444314 Centerline is valid? [False, False] Translation: X:-5.03, Y:-80.83, Z:42.47 [[ 9.37901931e-01 -3.12395355e-01 -1.50828078e-01 -5.02691432e+00] [ 3.01303152e-01 9.49069531e-01 -9.21055667e-02 -8.08339303e+01] [ 1.71919685e-01 4.09410136e-02 9.84259852e-01 4.24651381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03907232899996 meters 0.26038698793831544 Centerline is valid? [False, False] Translation: X:-5.04, Y:-80.87, Z:42.47 [[ 9.36097067e-01 -3.15076929e-01 -1.56361150e-01 -5.04360826e+00] [ 3.03587122e-01 9.48230837e-01 -9.32370059e-02 -8.08680051e+01] [ 1.77643294e-01 3.98096563e-02 9.83289404e-01 4.24670216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.069072329 meters 0.25423292474130665 Centerline is valid? [False, False] Translation: X:-5.06, Y:-80.90, Z:42.47 [[ 9.33766355e-01 -3.19605262e-01 -1.61036864e-01 -5.06192384e+00] [ 3.07347863e-01 9.46672410e-01 -9.66883617e-02 -8.09044296e+01] [ 1.83351265e-01 4.07900032e-02 9.82200840e-01 4.24692685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09907232899997 meters 0.2543486112806426 Centerline is valid? [False, False] Translation: X:-5.09, Y:-80.95, Z:42.47 [[ 9.31965371e-01 -3.25273048e-01 -1.60118682e-01 -5.08648576e+00] [ 3.13568026e-01 9.44867812e-01 -9.43393426e-02 -8.09452111e+01] [ 1.81977034e-01 3.77129014e-02 9.82579308e-01 4.24674475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.129072329 meters 0.2657480268286242 Centerline is valid? [False, False] Translation: X:-5.11, Y:-81.00, Z:42.47 [[ 9.26807570e-01 -3.35409122e-01 -1.68903667e-01 -5.11080658e+00] [ 3.24007210e-01 9.41580395e-01 -9.19004211e-02 -8.10011779e+01] [ 1.89860621e-01 3.04479999e-02 9.81338812e-01 4.24656989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15907232899997 meters 0.2611615890924628 Centerline is valid? [False, False] Translation: X:-5.13, Y:-81.04, Z:42.47 [[ 9.25223458e-01 -3.37372634e-01 -1.73612378e-01 -5.13361686e+00] [ 3.24743641e-01 9.40763106e-01 -9.75004930e-02 -8.10426333e+01] [ 1.96222118e-01 3.38302276e-02 9.79975712e-01 4.24678275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.189072329 meters 0.287431203996625 Centerline is valid? [False, False] Translation: X:-5.16, Y:-81.10, Z:42.46 [[ 9.20973469e-01 -3.45458889e-01 -1.80183309e-01 -5.16474906e+00] [ 3.34261213e-01 9.38156288e-01 -9.01788289e-02 -8.11014922e+01] [ 2.00193182e-01 2.28240175e-02 9.79490558e-01 4.24645530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21907232899997 meters 0.2727679691366151 Centerline is valid? [False, False] Translation: X:-5.19, Y:-81.15, Z:42.47 [[ 9.20500070e-01 -3.47163620e-01 -1.79323844e-01 -5.19450469e+00] [ 3.36204239e-01 9.37549362e-01 -8.92631171e-02 -8.11475205e+01] [ 1.99113862e-01 2.18772692e-02 9.79732134e-01 4.24652770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.249072329 meters 0.3154355575188799 Centerline is valid? [False, False] Translation: X:-5.23, Y:-81.20, Z:42.46 [[ 9.17938961e-01 -3.49907754e-01 -1.86956218e-01 -5.22798923e+00] [ 3.39805501e-01 9.36676626e-01 -8.46706556e-02 -8.12021178e+01] [ 2.04744438e-01 1.41937424e-02 9.78712549e-01 4.24641627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279072329 meters 0.2662362894783147 Centerline is valid? [False, False] Translation: X:-5.26, Y:-81.25, Z:42.46 [[ 9.17846587e-01 -3.49504398e-01 -1.88160354e-01 -5.25737365e+00] [ 3.38817105e-01 9.36791246e-01 -8.73219948e-02 -8.12474709e+01] [ 2.06786394e-01 1.63962484e-02 9.78248716e-01 4.24639473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30907232899995 meters 0.2677055281308677 Centerline is valid? [False, False] Translation: X:-5.29, Y:-81.31, Z:42.46 [[ 9.14473701e-01 -3.54595020e-01 -1.94936457e-01 -5.29026678e+00] [ 3.44781895e-01 9.34976738e-01 -8.33303334e-02 -8.13053609e+01] [ 2.11809573e-01 8.99283754e-03 9.77269581e-01 4.24627468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339072329 meters 0.28939119676957387 Centerline is valid? [False, False] Translation: X:-5.33, Y:-81.36, Z:42.46 [[ 9.14757432e-01 -3.56522158e-01 -1.90028398e-01 -5.32830339e+00] [ 3.47786215e-01 9.34268463e-01 -7.86586826e-02 -8.13601891e+01] [ 2.05581103e-01 5.86435719e-03 9.78622511e-01 4.24574076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36907232899995 meters 0.31925079363010533 Centerline is valid? [False, False] Translation: X:-5.36, Y:-81.41, Z:42.46 [[ 9.14609407e-01 -3.57766475e-01 -1.88395282e-01 -5.36254557e+00] [ 3.48261459e-01 9.33759099e-01 -8.25100040e-02 -8.14108790e+01] [ 2.05435122e-01 9.85360997e-03 9.78621130e-01 4.24569288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399072329 meters 0.3180371608044455 Centerline is valid? [False, False] Translation: X:-5.40, Y:-81.47, Z:42.45 [[ 9.13300620e-01 -3.64323122e-01 -1.82073174e-01 -5.39686713e+00] [ 3.56267398e-01 9.31259929e-01 -7.63445212e-02 -8.14710151e+01] [ 1.97371525e-01 4.85876266e-03 9.80316721e-01 4.24535237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42907232899995 meters 0.31123628233431105 Centerline is valid? [False, False] Translation: X:-5.44, Y:-81.53, Z:42.45 [[ 9.10817780e-01 -3.67854432e-01 -1.87334165e-01 -5.43518126e+00] [ 3.60384385e-01 9.29883329e-01 -7.37569629e-02 -8.15302613e+01] [ 2.01330742e-01 -3.33154495e-04 9.79523262e-01 4.24516901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459072329 meters 0.29408918458466393 Centerline is valid? [False, False] Translation: X:-5.47, Y:-81.59, Z:42.45 [[ 9.08384286e-01 -3.70893245e-01 -1.93070424e-01 -5.47199915e+00] [ 3.64180100e-01 9.28654484e-01 -7.05244994e-02 -8.15877771e+01] [ 2.05452775e-01 -6.24905928e-03 9.78647080e-01 4.24496314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48907232899995 meters 0.30546380908624315 Centerline is valid? [False, False] Translation: X:-5.51, Y:-81.65, Z:42.45 [[ 9.03910711e-01 -3.80093713e-01 -1.96148402e-01 -5.50879039e+00] [ 3.74721579e-01 9.24834739e-01 -6.53027033e-02 -8.16531945e+01] [ 2.06226003e-01 -1.44732260e-02 9.78397343e-01 4.24458567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519072329 meters 0.2654200268906749 Centerline is valid? [False, False] Translation: X:-5.55, Y:-81.72, Z:42.44 [[ 9.00765204e-01 -3.86021613e-01 -1.99021007e-01 -5.54862777e+00] [ 3.81298260e-01 9.22293700e-01 -6.31345269e-02 -8.17151877e+01] [ 2.07927113e-01 -1.90169785e-02 9.77959442e-01 4.24422413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54907232899996 meters 0.3088157943523587 Centerline is valid? [False, False] Translation: X:-5.59, Y:-81.78, Z:42.44 [[ 8.97653893e-01 -3.91196122e-01 -2.02936153e-01 -5.58744229e+00] [ 3.86697556e-01 9.20047611e-01 -6.30665877e-02 -8.17761823e+01] [ 2.11382327e-01 -2.18629465e-02 9.77158904e-01 4.24394016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579072329 meters 0.28030522958263565 Centerline is valid? [False, False] Translation: X:-5.64, Y:-81.86, Z:42.43 [[ 8.92366977e-01 -4.04732240e-01 -1.99682227e-01 -5.63540581e+00] [ 4.02527964e-01 9.13849248e-01 -5.33927863e-02 -8.18590578e+01] [ 2.04089235e-01 -3.27317210e-02 9.78404936e-01 4.24288572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60907232899996 meters 0.3214892009817486 Centerline is valid? [False, False] Translation: X:-5.69, Y:-81.94, Z:42.42 [[ 8.91077304e-01 -4.09433524e-01 -1.95819886e-01 -5.68963504e+00] [ 4.08172339e-01 9.11606923e-01 -4.86637419e-02 -8.19376596e+01] [ 1.98435331e-01 -3.65651050e-02 9.79431678e-01 4.24207854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639072329 meters 0.3046469975877667 Centerline is valid? [False, False] Translation: X:-5.75, Y:-82.02, Z:42.41 [[ 8.89496222e-01 -4.15038694e-01 -1.91152698e-01 -5.74501335e+00] [ 4.14574499e-01 9.08933398e-01 -4.43628559e-02 -8.20165669e+01] [ 1.92157373e-01 -3.97864415e-02 9.80557282e-01 4.24120955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66907232899996 meters 0.2397588502636296 Centerline is valid? [False, False] Translation: X:-5.80, Y:-82.11, Z:42.41 [[ 8.81443881e-01 -4.31043533e-01 -1.93023722e-01 -5.79810864e+00] [ 4.32538986e-01 9.00873685e-01 -3.65599283e-02 -8.21073691e+01] [ 1.89648913e-01 -5.12647600e-02 9.80512730e-01 4.24072896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699072329 meters 0.2672446475492869 Centerline is valid? [False, False] Translation: X:-5.86, Y:-82.19, Z:42.40 [[ 8.79183886e-01 -4.36799813e-01 -1.90372314e-01 -5.85906601e+00] [ 4.39068659e-01 8.97869308e-01 -3.23947113e-02 -8.21935258e+01] [ 1.85079462e-01 -5.51056085e-02 9.81177336e-01 4.23973092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72907232899996 meters 0.2514954645600606 Centerline is valid? [False, False] Translation: X:-5.92, Y:-82.28, Z:42.39 [[ 8.76236092e-01 -4.43130900e-01 -1.89328594e-01 -5.92430759e+00] [ 4.46068831e-01 8.94522128e-01 -2.92020692e-02 -8.22843005e+01] [ 1.82298956e-01 -5.88656777e-02 9.81479456e-01 4.23869967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759072329 meters 0.22468817129672616 Centerline is valid? [False, False] Translation: X:-6.00, Y:-82.38, Z:42.38 [[ 8.74932968e-01 -4.46968967e-01 -1.86309002e-01 -5.99858507e+00] [ 4.50550884e-01 8.92398404e-01 -2.50796827e-02 -8.23843545e+01] [ 1.77471696e-01 -6.19986442e-02 9.82171047e-01 4.23756955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78907232899996 meters 0.2251201438954378 Centerline is valid? [False, False] Translation: X:-6.07, Y:-82.49, Z:42.36 [[ 8.70301477e-01 -4.58331075e-01 -1.80299652e-01 -6.07106199e+00] [ 4.63235257e-01 8.86082770e-01 -1.64445133e-02 -8.24936918e+01] [ 1.67297447e-01 -6.92094716e-02 9.83474257e-01 4.23649111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819072329 meters 0.2455630341872254 Centerline is valid? [False, False] Translation: X:-6.16, Y:-82.60, Z:42.35 [[ 8.70736167e-01 -4.60482539e-01 -1.72552480e-01 -6.15543158e+00] [ 4.65946769e-01 8.84757973e-01 -9.84566410e-03 -8.26032696e+01] [ 1.57200939e-01 -7.18272948e-02 9.84951118e-01 4.23518139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84907232899997 meters 0.2345987566243829 Centerline is valid? [False, False] Translation: X:-6.23, Y:-82.70, Z:42.34 [[ 8.70183078e-01 -4.64043335e-01 -1.65665912e-01 -6.23473889e+00] [ 4.69889256e-01 8.82714434e-01 -4.39481376e-03 -8.27049018e+01] [ 1.48275076e-01 -7.40203398e-02 9.86172141e-01 4.23392826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879072329 meters 0.23766885131412516 Centerline is valid? [False, False] Translation: X:-6.31, Y:-82.82, Z:42.33 [[ 8.66482504e-01 -4.73989750e-01 -1.56658188e-01 -6.31368842e+00] [ 4.79918404e-01 8.77313128e-01 2.21496357e-05 -8.28175223e+01] [ 1.37427786e-01 -7.52023396e-02 9.87652880e-01 4.23280911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90907232899997 meters 0.23340364934967736 Centerline is valid? [False, False] Translation: X:-6.40, Y:-82.93, Z:42.31 [[ 8.67577149e-01 -4.75085102e-01 -1.46983118e-01 -6.40334133e+00] [ 4.80789148e-01 8.76828150e-01 3.76701171e-03 -8.29276179e+01] [ 1.27089284e-01 -7.39360614e-02 9.89131828e-01 4.23138941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939072329 meters 0.23340364934967736 Centerline is valid? [False, False] Translation: X:-6.50, Y:-83.03, Z:42.30 [[ 8.71605209e-01 -4.70109725e-01 -1.38928782e-01 -6.49633546e+00] [ 4.75312644e-01 8.79803314e-01 4.90094426e-03 -8.30275268e+01] [ 1.19926021e-01 -7.03062950e-02 9.90290248e-01 4.23007330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96907232899997 meters 0.22927353652988344 Centerline is valid? [False, False] Translation: X:-6.58, Y:-83.13, Z:42.29 [[ 8.68637107e-01 -4.77833250e-01 -1.30938767e-01 -6.57526190e+00] [ 4.82722668e-01 8.75749287e-01 6.48160546e-03 -8.31336162e+01] [ 1.11572405e-01 -6.88372739e-02 9.91369269e-01 4.22885341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999072329 meters 0.22277246868473596 Centerline is valid? [False, False] Translation: X:-6.66, Y:-83.23, Z:42.28 [[ 8.68928205e-01 -4.79203450e-01 -1.23805607e-01 -6.66053418e+00] [ 4.83507974e-01 8.75322929e-01 5.45975156e-03 -8.32321626e+01] [ 1.05753555e-01 -6.46051304e-02 9.92291471e-01 4.22780626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.029072329 meters 0.21647410384279206 Centerline is valid? [False, False] Translation: X:-6.74, Y:-83.33, Z:42.27 [[ 8.69422968e-01 -4.79816357e-01 -1.17813268e-01 -6.74481331e+00] [ 4.83610243e-01 8.75273525e-01 4.17014252e-03 -8.33277191e+01] [ 1.01117932e-01 -6.06013209e-02 9.93027011e-01 4.22684890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05907232899995 meters 0.22260414248610316 Centerline is valid? [False, False] Translation: X:-6.83, Y:-83.42, Z:42.26 [[ 8.69955685e-01 -4.80131826e-01 -1.12474604e-01 -6.83081083e+00] [ 4.83522503e-01 8.75325702e-01 3.30227503e-03 -8.34239314e+01] [ 9.68663840e-02 -5.72568348e-02 9.93649112e-01 4.22606767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.089072329 meters 0.20557858682499575 Centerline is valid? [False, False] Translation: X:-6.91, Y:-83.52, Z:42.26 [[ 8.67479935e-01 -4.85731175e-01 -1.07442023e-01 -6.90911884e+00] [ 4.88863913e-01 8.72353974e-01 3.25863318e-03 -8.35182465e+01] [ 9.21446562e-02 -5.53513268e-02 9.94206011e-01 4.22557607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11907232899995 meters 0.20420042354468726 Centerline is valid? [False, False] Translation: X:-7.00, Y:-83.61, Z:42.25 [[ 8.68192267e-01 -4.85613321e-01 -1.02087662e-01 -6.99729609e+00] [ 4.88387515e-01 8.72623234e-01 2.51545077e-03 -8.36112174e+01] [ 8.78625290e-02 -5.20422342e-02 9.94772226e-01 4.22497606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.149072329 meters 0.22078484403591925 Centerline is valid? [False, False] Translation: X:-7.08, Y:-83.70, Z:42.25 [[ 8.67399238e-01 -4.87809387e-01 -9.82881654e-02 -7.08028133e+00] [ 4.90301202e-01 8.71551964e-01 1.38022912e-03 -8.37040965e+01] [ 8.49899549e-02 -4.93880154e-02 9.95157039e-01 4.22463600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17907232899995 meters 0.19760629093181034 Centerline is valid? [False, False] Translation: X:-7.17, Y:-83.79, Z:42.24 [[ 8.67322986e-01 -4.89143022e-01 -9.21408809e-02 -7.16819383e+00] [ 4.91287028e-01 8.70997475e-01 6.74996404e-04 -8.37945905e+01] [ 7.99243048e-02 -4.58530594e-02 9.95745752e-01 4.22409338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.209072329 meters 0.19474622000248515 Centerline is valid? [False, False] Translation: X:-7.26, Y:-83.89, Z:42.23 [[ 8.69218058e-01 -4.87005008e-01 -8.53585939e-02 -7.26018422e+00] [ 4.88888666e-01 8.72345159e-01 1.34017803e-03 -8.38856325e+01] [ 7.38094827e-02 -4.28957560e-02 9.96349394e-01 4.22345975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23907232899995 meters 0.2011073651124906 Centerline is valid? [False, False] Translation: X:-7.35, Y:-83.98, Z:42.23 [[ 8.71374842e-01 -4.83931693e-01 -8.07217538e-02 -7.35384939e+00] [ 4.85594055e-01 8.74183729e-01 1.10541797e-03 -8.39776295e+01] [ 7.00306969e-02 -4.01612372e-02 9.96736062e-01 4.22307644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.269072329 meters 0.20296493247709474 Centerline is valid? [False, False] Translation: X:-7.43, Y:-84.06, Z:42.23 [[ 8.74798947e-01 -4.77664035e-01 -8.10177260e-02 -7.43314470e+00] [ 4.78738507e-01 8.77930719e-01 -6.86253702e-03 -8.40590695e+01] [ 7.44059376e-02 -3.27829651e-02 9.96689036e-01 4.22332318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29907232899996 meters 0.20318060961608242 Centerline is valid? [False, False] Translation: X:-7.51, Y:-84.14, Z:42.23 [[ 8.79390271e-01 -4.69668612e-01 -7.80009321e-02 -7.51447747e+00] [ 4.70381260e-01 8.82405270e-01 -1.01198134e-02 -8.41359953e+01] [ 7.35813922e-02 -2.77909113e-02 9.96901923e-01 4.22329783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.329072329 meters 0.1953397529766604 Centerline is valid? [False, False] Translation: X:-7.61, Y:-84.22, Z:42.23 [[ 8.82234216e-01 -4.64591270e-01 -7.62741127e-02 -7.60853095e+00] [ 4.65523748e-01 8.85014045e-01 -6.14652127e-03 -8.42231116e+01] [ 7.03592812e-02 -3.00847395e-02 9.97067942e-01 4.22319514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35907232899996 meters 0.18480281920046512 Centerline is valid? [False, False] Translation: X:-7.69, Y:-84.30, Z:42.23 [[ 8.86522527e-01 -4.56743825e-01 -7.39113524e-02 -7.69168583e+00] [ 4.57337403e-01 8.89240605e-01 -9.67708076e-03 -8.42991375e+01] [ 7.01449227e-02 -2.52234758e-02 9.97217863e-01 4.22333646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.389072329 meters 0.18573249313849607 Centerline is valid? [False, False] Translation: X:-7.77, Y:-84.37, Z:42.24 [[ 8.91063346e-01 -4.48266791e-01 -7.11547447e-02 -7.77414062e+00] [ 4.48700734e-01 8.93618463e-01 -1.06627303e-02 -8.43727898e+01] [ 6.83649415e-02 -2.24260180e-02 9.97408296e-01 4.22351504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41907232899996 meters 0.19930937767790266 Centerline is valid? [False, False] Translation: X:-7.86, Y:-84.45, Z:42.24 [[ 8.95930272e-01 -4.38756785e-01 -6.92923630e-02 -7.85795621e+00] [ 4.39055335e-01 8.98384131e-01 -1.16775834e-02 -8.44462239e+01] [ 6.73747783e-02 -1.99608812e-02 9.97528046e-01 4.22373331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.449072329 meters 0.19189516080694521 Centerline is valid? [False, False] Translation: X:-7.94, Y:-84.52, Z:42.24 [[ 9.01062451e-01 -4.28238818e-01 -6.85417666e-02 -7.94212205e+00] [ 4.28478913e-01 9.03473329e-01 -1.19064760e-02 -8.45173406e+01] [ 6.70244733e-02 -1.86402232e-02 9.97577196e-01 4.22391741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47907232899996 meters 0.20266310639157648 Centerline is valid? [False, False] Translation: X:-8.02, Y:-84.58, Z:42.24 [[ 9.05400176e-01 -4.19016934e-01 -6.83763863e-02 -8.02144452e+00] [ 4.19291139e-01 9.07785357e-01 -1.09857555e-02 -8.45827644e+01] [ 6.66742999e-02 -1.87231079e-02 9.97599109e-01 4.22409078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.509072329 meters 0.1811154233419315 Centerline is valid? [False, False] Translation: X:-8.10, Y:-84.64, Z:42.24 [[ 9.08454202e-01 -4.12429094e-01 -6.79205869e-02 -8.09688066e+00] [ 4.12709446e-01 9.10802124e-01 -1.05073327e-02 -8.46447381e+01] [ 6.61957445e-02 -1.84860373e-02 9.97635399e-01 4.22422771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53907232899996 meters 0.2192094732485925 Centerline is valid? [False, False] Translation: X:-8.17, Y:-84.71, Z:42.25 [[ 9.09635584e-01 -4.10070132e-01 -6.63746246e-02 -8.16786912e+00] [ 4.10363478e-01 9.11869582e-01 -9.78170895e-03 -8.47064282e+01] [ 6.45361878e-02 -1.83399313e-02 9.97746825e-01 4.22458544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.569072329 meters 0.19694583627389764 Centerline is valid? [False, False] Translation: X:-8.25, Y:-84.77, Z:42.25 [[ 9.12735209e-01 -4.03327572e-01 -6.51253211e-02 -8.24729411e+00] [ 4.03575181e-01 9.14892999e-01 -9.89315304e-03 -8.47708827e+01] [ 6.35728817e-02 -1.72531341e-02 9.97828050e-01 4.22484036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59907232899997 meters 0.2125363730735557 Centerline is valid? [False, False] Translation: X:-8.32, Y:-84.83, Z:42.25 [[ 9.15121050e-01 -3.98070192e-01 -6.39811338e-02 -8.32308870e+00] [ 3.98339670e-01 9.17193435e-01 -9.03938374e-03 -8.48311603e+01] [ 6.22813851e-02 -1.72140934e-02 9.97910168e-01 4.22510805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.629072329 meters 0.18965137802175822 Centerline is valid? [False, False] Translation: X:-8.39, Y:-84.89, Z:42.25 [[ 9.16648155e-01 -3.94500450e-01 -6.42304824e-02 -8.39465336e+00] [ 3.94752332e-01 9.18740915e-01 -9.25896838e-03 -8.48890064e+01] [ 6.26638394e-02 -1.68679164e-02 9.97892137e-01 4.22530557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65907232899997 meters 0.18087041352223496 Centerline is valid? [False, False] Translation: X:-8.45, Y:-84.94, Z:42.26 [[ 9.19695530e-01 -3.86221670e-01 -7.06608399e-02 -8.45497984e+00] [ 3.86011497e-01 9.22334371e-01 -1.71590364e-02 -8.49365776e+01] [ 7.18001130e-02 -1.14948075e-02 9.97352803e-01 4.22586227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.689072329 meters 0.18455513294081147 Centerline is valid? [False, False] Translation: X:-8.53, Y:-84.99, Z:42.26 [[ 9.22622212e-01 -3.78887744e-01 -7.21964761e-02 -8.52981393e+00] [ 3.78814928e-01 9.25347109e-01 -1.52308169e-02 -8.49934309e+01] [ 7.25775703e-02 -1.32968129e-02 9.97274130e-01 4.22599730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71907232899997 meters 0.17964361140567955 Centerline is valid? [False, False] Translation: X:-8.59, Y:-85.04, Z:42.26 [[ 9.25057258e-01 -3.71937074e-01 -7.70187111e-02 -8.58634857e+00] [ 3.71344160e-01 9.28224640e-01 -2.24172315e-02 -8.50394601e+01] [ 7.98284649e-02 -7.86322579e-03 9.96777601e-01 4.22641949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.749072329 meters 0.1712924471282448 Centerline is valid? [False, False] Translation: X:-8.65, Y:-85.09, Z:42.27 [[ 9.29022521e-01 -3.62580607e-01 -7.38407688e-02 -8.65003044e+00] [ 3.61779419e-01 9.31943729e-01 -2.44241214e-02 -8.50860567e+01] [ 7.76711542e-02 -4.02351158e-03 9.96970914e-01 4.22663554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779072329 meters 0.16931939462724707 Centerline is valid? [False, False] Translation: X:-8.71, Y:-85.13, Z:42.27 [[ 9.32669751e-01 -3.53711118e-01 -7.08207654e-02 -8.71340468e+00] [ 3.52743561e-01 9.35354529e-01 -2.61511894e-02 -8.51328054e+01] [ 7.54924901e-02 -5.91145694e-04 9.97146195e-01 4.22696555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80907232899995 meters 0.16973226718611212 Centerline is valid? [False, False] Translation: X:-8.77, Y:-85.17, Z:42.27 [[ 9.34608680e-01 -3.49081263e-01 -6.81827456e-02 -8.76766854e+00] [ 3.48000975e-01 9.37090350e-01 -2.75135761e-02 -8.51745236e+01] [ 7.34978669e-02 1.98676515e-03 9.97293395e-01 4.22734866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839072329 meters 0.17652729218887928 Centerline is valid? [False, False] Translation: X:-8.84, Y:-85.22, Z:42.27 [[ 9.36187542e-01 -3.44943851e-01 -6.75768172e-02 -8.83777969e+00] [ 3.44259614e-01 9.38619236e-01 -2.18917198e-02 -8.52238881e+01] [ 7.09803147e-02 -2.76921358e-03 9.97473873e-01 4.22747130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86907232899995 meters 0.17308376814666362 Centerline is valid? [False, False] Translation: X:-8.90, Y:-85.26, Z:42.28 [[ 9.39350928e-01 -3.36395924e-01 -6.67653844e-02 -8.89514792e+00] [ 3.35610881e-01 9.41720295e-01 -2.29830962e-02 -8.52646630e+01] [ 7.06057373e-02 -8.17996738e-04 9.97503965e-01 4.22773124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899072329 meters 0.17127541412358627 Centerline is valid? [False, False] Translation: X:-8.95, Y:-85.31, Z:42.28 [[ 9.42061015e-01 -3.28756941e-01 -6.66327106e-02 -8.95020514e+00] [ 3.27842827e-01 9.44413719e-01 -2.45317902e-02 -8.53064268e+01] [ 7.09938423e-02 1.26538703e-03 9.97475951e-01 4.22798543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92907232899995 meters 0.16755572985759182 Centerline is valid? [False, False] Translation: X:-9.00, Y:-85.34, Z:42.28 [[ 9.44236364e-01 -3.22850709e-01 -6.46924172e-02 -9.00378733e+00] [ 3.21908915e-01 9.46446417e-01 -2.47755911e-02 -8.53443455e+01] [ 6.92267236e-02 2.56894817e-03 9.97597645e-01 4.22826366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959072329 meters 0.16484629113244684 Centerline is valid? [False, False] Translation: X:-9.06, Y:-85.38, Z:42.29 [[ 9.46654588e-01 -3.16057607e-01 -6.28703421e-02 -9.05835812e+00] [ 3.15122279e-01 9.48733853e-01 -2.45362112e-02 -8.53815140e+01] [ 6.74020781e-02 3.41547146e-03 9.97720048e-01 4.22853008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98907232899995 meters 0.15876061453384988 Centerline is valid? [False, False] Translation: X:-9.10, Y:-85.42, Z:42.29 [[ 9.47600309e-01 -3.13411345e-01 -6.18626094e-02 -9.10493868e+00] [ 3.12374108e-01 9.49602432e-01 -2.60314583e-02 -8.54167794e+01] [ 6.69034387e-02 5.34314054e-03 9.97745148e-01 4.22868725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019072329 meters 0.1560937118666411 Centerline is valid? [False, False] Translation: X:-9.15, Y:-85.45, Z:42.29 [[ 9.49241449e-01 -3.08526710e-01 -6.12530798e-02 -9.15081781e+00] [ 3.07618739e-01 9.51207624e-01 -2.39743277e-02 -8.54486697e+01] [ 6.56611169e-02 3.91483040e-03 9.97834301e-01 4.22892058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04907232899996 meters 0.16618293595014325 Centerline is valid? [False, False] Translation: X:-9.20, Y:-85.48, Z:42.29 [[ 9.50381060e-01 -3.05138576e-01 -6.05498936e-02 -9.19946108e+00] [ 3.04156321e-01 9.52292699e-01 -2.50509182e-02 -8.54805296e+01] [ 6.53052231e-02 5.39128528e-03 9.97850771e-01 4.22916039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079072329 meters 0.16981538530790422 Centerline is valid? [False, False] Translation: X:-9.24, Y:-85.51, Z:42.29 [[ 9.51684805e-01 -3.01019334e-01 -6.06909567e-02 -9.24304397e+00] [ 3.00112179e-01 9.53607882e-01 -2.37631656e-02 -8.55104431e+01] [ 6.50285469e-02 4.40094838e-03 9.97873699e-01 4.22929236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10907232899996 meters 0.15388547358851232 Centerline is valid? [False, False] Translation: X:-9.28, Y:-85.54, Z:42.29 [[ 9.50922628e-01 -3.03424181e-01 -6.06623685e-02 -9.27908853e+00] [ 3.02395557e-01 9.52836122e-01 -2.56953692e-02 -8.55409107e+01] [ 6.55978923e-02 6.09027731e-03 9.97827553e-01 4.22943857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139072329 meters 0.1398289400045154 Centerline is valid? [False, False] Translation: X:-9.33, Y:-85.57, Z:42.30 [[ 9.51777195e-01 -3.01070931e-01 -5.89615598e-02 -9.32638267e+00] [ 2.99973687e-01 9.53569189e-01 -2.68624112e-02 -8.55704396e+01] [ 6.43114180e-02 7.88011389e-03 9.97898765e-01 4.22952943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16907232899996 meters 0.14492671872029733 Centerline is valid? [False, False] Translation: X:-9.36, Y:-85.60, Z:42.30 [[ 9.51118921e-01 -3.03160584e-01 -5.88766316e-02 -9.36371695e+00] [ 3.02000165e-01 9.52899152e-01 -2.79124672e-02 -8.56022709e+01] [ 6.45654522e-02 8.76732322e-03 9.97874960e-01 4.22985244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199072329 meters 0.13786948890348502 Centerline is valid? [False, False] Translation: X:-9.39, Y:-85.62, Z:42.31 [[ 9.52410118e-01 -2.97195279e-01 -6.77490421e-02 -9.39212826e+00] [ 2.95335088e-01 9.54706729e-01 -3.62249584e-02 -8.56234828e+01] [ 7.54463530e-02 1.44923476e-02 9.97044542e-01 4.23057793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22907232899996 meters 0.12244832647999883 Centerline is valid? [False, False] Translation: X:-9.43, Y:-85.65, Z:42.31 [[ 9.52978482e-01 -2.95242412e-01 -6.82929831e-02 -9.43098198e+00] [ 2.93620208e-01 9.55355400e-01 -3.29124958e-02 -8.56509621e+01] [ 7.49612349e-02 1.13127003e-02 9.97122277e-01 4.23093135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259072329 meters 0.12586176528520698 Centerline is valid? [False, False] Translation: X:-9.47, Y:-85.68, Z:42.31 [[ 9.52024856e-01 -2.98310981e-01 -6.82585692e-02 -9.46639288e+00] [ 2.96683830e-01 9.54402466e-01 -3.30853026e-02 -8.56798503e+01] [ 7.50158559e-02 1.12468167e-02 9.97118915e-01 4.23128413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28907232899996 meters 0.1125973029377517 Centerline is valid? [False, False] Translation: X:-9.50, Y:-85.70, Z:42.32 [[ 9.54243527e-01 -2.90596742e-01 -7.05182544e-02 -9.49688983e+00] [ 2.88517439e-01 9.56708523e-01 -3.82947742e-02 -8.57007335e+01] [ 7.85937516e-02 1.61967942e-02 9.96775143e-01 4.23193216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319072329 meters 0.11776186930129592 Centerline is valid? [False, False] Translation: X:-9.54, Y:-85.73, Z:42.32 [[ 9.55478060e-01 -2.86697089e-01 -6.97599871e-02 -9.54140571e+00] [ 2.84957125e-01 9.57939004e-01 -3.39455622e-02 -8.57281816e+01] [ 7.65579064e-02 1.25556345e-02 9.96986080e-01 4.23231578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34907232899997 meters 0.11064877351429235 Centerline is valid? [False, False] Translation: X:-9.57, Y:-85.75, Z:42.33 [[ 9.54871469e-01 -2.88251171e-01 -7.16361598e-02 -9.57268919e+00] [ 2.86716998e-01 9.57511304e-01 -3.10719375e-02 -8.57536381e+01] [ 7.75489552e-02 9.13040195e-03 9.96946736e-01 4.23273320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379072329 meters 0.1119945939374267 Centerline is valid? [False, False] Translation: X:-9.62, Y:-85.78, Z:42.33 [[ 9.56185638e-01 -2.83973339e-01 -7.11910640e-02 -9.61987698e+00] [ 2.82578410e-01 9.58800679e-01 -2.91667641e-02 -8.57808144e+01] [ 7.65406239e-02 7.77178324e-03 9.97036174e-01 4.23293568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40907232899997 meters 0.10813652419508721 Centerline is valid? [False, False] Translation: X:-9.66, Y:-85.81, Z:42.33 [[ 9.56849830e-01 -2.81645821e-01 -7.15124790e-02 -9.66144637e+00] [ 2.80411648e-01 9.59501269e-01 -2.69559357e-02 -8.58052020e+01] [ 7.62083410e-02 5.73985040e-03 9.97075395e-01 4.23316427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439072329 meters 0.1024353205959176 Centerline is valid? [False, False] Translation: X:-9.70, Y:-85.83, Z:42.33 [[ 9.56202147e-01 -2.83611415e-01 -7.24017887e-02 -9.69522634e+00] [ 2.82431477e-01 9.58927959e-01 -2.62608332e-02 -8.58299429e+01] [ 7.68759715e-02 4.66212100e-03 9.97029764e-01 4.23334653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46907232899997 meters 0.10011127899752438 Centerline is valid? [False, False] Translation: X:-9.72, Y:-85.85, Z:42.34 [[ 9.57887660e-01 -2.77011233e-01 -7.56042817e-02 -9.72493030e+00] [ 2.75260303e-01 9.60807262e-01 -3.28811633e-02 -8.58468589e+01] [ 8.17495945e-02 1.06856031e-02 9.96595616e-01 4.23388266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499072329 meters 0.09539001211344002 Centerline is valid? [False, True] Translation: X:-9.76, Y:-85.87, Z:42.34 [[ 9.57747015e-01 -2.77214905e-01 -7.66325795e-02 -9.76068750e+00] [ 2.75793426e-01 9.60786551e-01 -2.87609000e-02 -8.58700180e+01] [ 8.16005019e-02 6.41090445e-03 9.96644500e-01 4.23443503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.529072329 meters 0.09374214516319543 Centerline is valid? [True, True] Translation: X:-9.73, Y:-85.87, Z:42.35 [[ 9.56812397e-01 -2.80675083e-01 -7.57069035e-02 -9.73115060e+00] [ 2.79457821e-01 9.59793918e-01 -2.64378771e-02 -8.58663841e+01] [ 8.00834789e-02 4.13920229e-03 9.96779566e-01 4.23473351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55907232899995 meters 0.09476367974908778 Centerline is valid? [True, True] Translation: X:-9.70, Y:-85.86, Z:42.34 [[ 9.55919728e-01 -2.83730529e-01 -7.55940463e-02 -9.70448570e+00] [ 2.82525438e-01 9.58896169e-01 -2.64105105e-02 -8.58569918e+01] [ 7.99803094e-02 3.88908705e-03 9.96788857e-01 4.23432450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.589072329 meters 0.09108275874277585 Centerline is valid? [True, True] Translation: X:-9.67, Y:-85.86, Z:42.35 [[ 9.55122064e-01 -2.86462562e-01 -7.53726995e-02 -9.67319477e+00] [ 2.85272461e-01 9.58084461e-01 -2.63398712e-02 -8.58573747e+01] [ 7.97587991e-02 3.65603666e-03 9.96807488e-01 4.23488538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61907232899995 meters 0.0910777039235521 Centerline is valid? [True, True] Translation: X:-9.64, Y:-85.85, Z:42.35 [[ 9.53972947e-01 -2.89667773e-01 -7.76414732e-02 -9.64459098e+00] [ 2.88414191e-01 9.57120839e-01 -2.71469042e-02 -8.58524616e+01] [ 8.21758552e-02 3.50450947e-03 9.96611683e-01 4.23453410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.649072329 meters 0.08964983241903604 Centerline is valid? [True, True] Translation: X:-9.62, Y:-85.85, Z:42.35 [[ 9.53583092e-01 -2.90743300e-01 -7.84067654e-02 -9.61646724e+00] [ 2.89466641e-01 9.56794814e-01 -2.74362446e-02 -8.58476058e+01] [ 8.29960908e-02 3.46659595e-03 9.96543843e-01 4.23485861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67907232899995 meters 0.09025611884547986 Centerline is valid? [True, True] Translation: X:-9.59, Y:-85.84, Z:42.35 [[ 9.53437396e-01 -2.91244041e-01 -7.83201157e-02 -9.59026382e+00] [ 2.89970632e-01 9.56642628e-01 -2.74210543e-02 -8.58372041e+01] [ 8.29105800e-02 3.43372517e-03 9.96551075e-01 4.23472431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.709072329 meters 0.09109354136732643 Centerline is valid? [True, True] Translation: X:-9.56, Y:-85.83, Z:42.35 [[ 9.53984392e-01 -2.89697216e-01 -7.73905845e-02 -9.56432652e+00] [ 2.88448267e-01 9.57111825e-01 -2.71026042e-02 -8.58256197e+01] [ 8.19229926e-02 3.53228145e-03 9.96632403e-01 4.23493596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73907232899995 meters 0.09114003142876999 Centerline is valid? [True, True] Translation: X:-9.54, Y:-85.82, Z:42.35 [[ 9.54394583e-01 -2.88346609e-01 -7.73770825e-02 -9.53759452e+00] [ 2.87093097e-01 9.57519127e-01 -2.71048857e-02 -8.58163414e+01] [ 8.19056384e-02 3.65432985e-03 9.96633389e-01 4.23530517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.769072329 meters 0.09220287972669192 Centerline is valid? [True, True] Translation: X:-9.51, Y:-85.80, Z:42.36 [[ 9.55492329e-01 -2.84745644e-01 -7.71642955e-02 -9.51092317e+00] [ 2.83486301e-01 9.58594911e-01 -2.70428033e-02 -8.58034204e+01] [ 8.16696214e-02 3.96417035e-03 9.96651573e-01 4.23563667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79907232899996 meters 0.09286171509430363 Centerline is valid? [True, True] Translation: X:-9.48, Y:-85.79, Z:42.36 [[ 9.55871238e-01 -2.83572939e-01 -7.67890907e-02 -9.48427246e+00] [ 2.82320539e-01 9.58942065e-01 -2.69300799e-02 -8.57917085e+01] [ 8.12729311e-02 4.06255140e-03 9.96683604e-01 4.23576818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.829072329 meters 0.09284805221600377 Centerline is valid? [True, True] Translation: X:-9.46, Y:-85.78, Z:42.36 [[ 9.55942238e-01 -2.83380946e-01 -7.66138106e-02 -9.45733275e+00] [ 2.82132046e-01 9.58998709e-01 -2.68883854e-02 -8.57814610e+01] [ 8.10922016e-02 4.08853221e-03 9.96698218e-01 4.23587571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85907232899996 meters 0.09284805221600377 Centerline is valid? [True, True] Translation: X:-9.43, Y:-85.77, Z:42.36 [[ 9.55867889e-01 -2.83633426e-01 -7.66071725e-02 -9.43124808e+00] [ 2.82383823e-01 9.58924071e-01 -2.69072884e-02 -8.57720737e+01] [ 8.10922681e-02 4.08718674e-03 9.96698219e-01 4.23598885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.889072329 meters 0.09528180394695766 Centerline is valid? [True, True] Translation: X:-9.41, Y:-85.76, Z:42.36 [[ 9.55527423e-01 -2.84918206e-01 -7.60852150e-02 -9.40643582e+00] [ 2.83688466e-01 9.58543632e-01 -2.67387531e-02 -8.57576008e+01] [ 8.05493559e-02 3.96511390e-03 9.96742735e-01 4.23557753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91907232899996 meters 0.09241387481900074 Centerline is valid? [True, True] Translation: X:-9.38, Y:-85.75, Z:42.36 [[ 9.55465518e-01 -2.84827494e-01 -7.71941822e-02 -9.37794243e+00] [ 2.83560539e-01 9.58570279e-01 -2.71374437e-02 -8.57534842e+01] [ 8.17255388e-02 4.03966774e-03 9.96646686e-01 4.23611143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.949072329 meters 0.09472252371360249 Centerline is valid? [True, True] Translation: X:-9.35, Y:-85.74, Z:42.36 [[ 9.55639523e-01 -2.84089311e-01 -7.77583800e-02 -9.35359974e+00] [ 2.82800551e-01 9.58788877e-01 -2.73448083e-02 -8.57382685e+01] [ 8.23222376e-02 4.14166683e-03 9.96597158e-01 4.23581758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97907232899996 meters 0.09557384612087691 Centerline is valid? [True, True] Translation: X:-9.33, Y:-85.73, Z:42.36 [[ 9.56027036e-01 -2.82870097e-01 -7.74391048e-02 -9.32805550e+00] [ 2.81587364e-01 9.59148876e-01 -2.72395002e-02 -8.57260348e+01] [ 8.19808704e-02 4.23582527e-03 9.96624902e-01 4.23594442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.009072329 meters 0.0947238177282771 Centerline is valid? [True, True] Translation: X:-9.30, Y:-85.72, Z:42.36 [[ 9.55610279e-01 -2.84199601e-01 -7.77147487e-02 -9.30000531e+00] [ 2.82910990e-01 9.58756158e-01 -2.73496123e-02 -8.57188298e+01] [ 8.22822428e-02 4.14921415e-03 9.96600430e-01 4.23614289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03907232899996 meters 0.09417892605005804 Centerline is valid? [True, True] Translation: X:-9.27, Y:-85.71, Z:42.36 [[ 9.55463965e-01 -2.84590980e-01 -7.80806375e-02 -9.27173580e+00] [ 2.83289854e-01 9.58640036e-01 -2.74979845e-02 -8.57106186e+01] [ 8.26769035e-02 4.15388090e-03 9.96567747e-01 4.23637301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.069072329 meters 0.09379965423179522 Centerline is valid? [True, True] Translation: X:-9.24, Y:-85.70, Z:42.37 [[ 9.55555401e-01 -2.84153240e-01 -7.85545105e-02 -9.24473590e+00] [ 2.82833492e-01 9.58769537e-01 -2.76801395e-02 -8.57015356e+01] [ 8.31810730e-02 4.23206028e-03 9.96525463e-01 4.23651072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09907232899997 meters 0.09263901936787537 Centerline is valid? [True, True] Translation: X:-9.22, Y:-85.69, Z:42.37 [[ 9.54821851e-01 -2.86328095e-01 -7.95704385e-02 -9.21583623e+00] [ 2.84980143e-01 9.58122816e-01 -2.80532962e-02 -8.56949188e+01] [ 8.42706995e-02 4.10990532e-03 9.96434422e-01 4.23654253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.129072329 meters 0.09397229802612878 Centerline is valid? [True, True] Translation: X:-9.19, Y:-85.68, Z:42.36 [[ 9.55004829e-01 -2.85808124e-01 -7.92432494e-02 -9.19097257e+00] [ 2.84468322e-01 9.58277872e-01 -2.79516422e-02 -8.56829427e+01] [ 8.39258588e-02 4.15175906e-03 9.96463353e-01 4.23646475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15907232899997 meters 0.09275441393442926 Centerline is valid? [True, True] Translation: X:-9.16, Y:-85.68, Z:42.37 [[ 9.54369210e-01 -2.88257425e-01 -7.80196618e-02 -9.16243624e+00] [ 2.86965782e-01 9.57545058e-01 -2.75336491e-02 -8.56767055e+01] [ 8.26441204e-02 3.88829364e-03 9.96571538e-01 4.23671151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.189072329 meters 0.09208701214842462 Centerline is valid? [True, True] Translation: X:-9.13, Y:-85.67, Z:42.37 [[ 9.54188183e-01 -2.89065553e-01 -7.72399969e-02 -9.13423415e+00] [ 2.87800724e-01 9.57301771e-01 -2.72775124e-02 -8.56690729e+01] [ 8.18269750e-02 3.79815295e-03 9.96639313e-01 4.23702858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21907232899997 meters 0.091922806704232 Centerline is valid? [True, True] Translation: X:-9.11, Y:-85.66, Z:42.37 [[ 9.54019183e-01 -2.89872155e-01 -7.62989617e-02 -9.10695798e+00] [ 2.88639042e-01 9.57058218e-01 -2.69642597e-02 -8.56603352e+01] [ 8.08387364e-02 3.70156182e-03 9.96720320e-01 4.23730526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.249072329 meters 0.09173177908351093 Centerline is valid? [True, True] Translation: X:-9.08, Y:-85.65, Z:42.38 [[ 9.54000189e-01 -2.90371325e-01 -7.46199200e-02 -9.07929746e+00] [ 2.89192151e-01 9.56907295e-01 -2.63880205e-02 -8.56519000e+01] [ 7.90666703e-02 3.59468136e-03 9.96862849e-01 4.23758180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279072329 meters 0.09083576427936345 Centerline is valid? [True, True] Translation: X:-9.05, Y:-85.64, Z:42.38 [[ 9.53917776e-01 -2.90955528e-01 -7.33877125e-02 -9.05104430e+00] [ 2.89815432e-01 9.56730162e-01 -2.59694387e-02 -8.56443001e+01] [ 7.77681899e-02 3.50381760e-03 9.96965311e-01 4.23782588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30907232899995 meters 0.08984074888025945 Centerline is valid? [True, True] Translation: X:-9.02, Y:-85.64, Z:42.38 [[ 9.53494921e-01 -2.92350154e-01 -7.33404673e-02 -9.02246508e+00] [ 2.91214152e-01 9.56305279e-01 -2.59717563e-02 -8.56379401e+01] [ 7.77287230e-02 3.40615576e-03 9.96968728e-01 4.23809558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339072329 meters 0.09141478165495986 Centerline is valid? [True, True] Translation: X:-9.00, Y:-85.63, Z:42.38 [[ 9.52505019e-01 -2.95330932e-01 -7.42551714e-02 -8.99620638e+00] [ 2.94174310e-01 9.55389606e-01 -2.63092193e-02 -8.56274059e+01] [ 7.87125452e-02 3.21569960e-03 9.96892168e-01 4.23754083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36907232899995 meters 0.08937281562573339 Centerline is valid? [True, True] Translation: X:-8.97, Y:-85.62, Z:42.38 [[ 9.52379817e-01 -2.95706612e-01 -7.43658790e-02 -8.96802737e+00] [ 2.94546560e-01 9.55273438e-01 -2.63625368e-02 -8.56229045e+01] [ 7.88353253e-02 3.20293415e-03 9.96882507e-01 4.23808732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399072329 meters 0.08966456447033842 Centerline is valid? [True, True] Translation: X:-8.94, Y:-85.61, Z:42.38 [[ 9.52394499e-01 -2.95623841e-01 -7.45068017e-02 -8.94137961e+00] [ 2.94457497e-01 9.55298946e-01 -2.64330696e-02 -8.56120812e+01] [ 7.89905147e-02 3.23562372e-03 9.96870117e-01 4.23801022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42907232899995 meters 0.08974555137626195 Centerline is valid? [True, True] Translation: X:-8.91, Y:-85.60, Z:42.38 [[ 9.52272678e-01 -2.96018829e-01 -7.44956400e-02 -8.91386382e+00] [ 2.94852855e-01 9.55176688e-01 -2.64440537e-02 -8.56016508e+01] [ 7.89844365e-02 3.21669771e-03 9.96870659e-01 4.23805557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459072329 meters 0.09112249993259118 Centerline is valid? [True, True] Translation: X:-8.89, Y:-85.59, Z:42.38 [[ 9.51797084e-01 -2.97242844e-01 -7.56901739e-02 -8.88871430e+00] [ 2.96041921e-01 9.54796624e-01 -2.68809992e-02 -8.55897423e+01] [ 8.02589072e-02 3.17779222e-03 9.96768985e-01 4.23765941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48907232899995 meters 0.08960422842599455 Centerline is valid? [True, True] Translation: X:-8.86, Y:-85.58, Z:42.38 [[ 9.51750273e-01 -2.97088373e-01 -7.68759838e-02 -8.86015858e+00] [ 2.95847501e-01 9.54844429e-01 -2.73198204e-02 -8.55835399e+01] [ 8.15210058e-02 3.25807878e-03 9.96666298e-01 4.23814531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519072329 meters 0.09191170318548535 Centerline is valid? [True, True] Translation: X:-8.84, Y:-85.57, Z:42.38 [[ 9.52255480e-01 -2.95267901e-01 -7.76296754e-02 -8.83612111e+00] [ 2.93995250e-01 9.55408227e-01 -2.76027661e-02 -8.55669446e+01] [ 8.23182413e-02 3.46212943e-03 9.96600081e-01 4.23789098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54907232899996 meters 0.0922015768415388 Centerline is valid? [True, True] Translation: X:-8.81, Y:-85.55, Z:42.38 [[ 9.52679741e-01 -2.94124809e-01 -7.67587620e-02 -8.80979948e+00] [ 2.92875726e-01 9.55760484e-01 -2.73076206e-02 -8.55545905e+01] [ 8.13948403e-02 3.53463879e-03 9.96675668e-01 4.23810223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579072329 meters 0.0925608884990464 Centerline is valid? [True, True] Translation: X:-8.78, Y:-85.54, Z:42.38 [[ 9.53024593e-01 -2.92949513e-01 -7.69721168e-02 -8.78352295e+00] [ 2.91688052e-01 9.56120891e-01 -2.74029405e-02 -8.55423685e+01] [ 8.16223270e-02 3.66382941e-03 9.96656597e-01 4.23823579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60907232899996 meters 0.09369379638889212 Centerline is valid? [True, True] Translation: X:-8.76, Y:-85.53, Z:42.38 [[ 9.54027152e-01 -2.89772648e-01 -7.65767960e-02 -8.75844483e+00] [ 2.88512453e-01 9.57087428e-01 -2.72803841e-02 -8.55267968e+01] [ 8.11957979e-02 3.93286788e-03 9.96690411e-01 4.23849190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639072329 meters 0.09490060665731309 Centerline is valid? [True, True] Translation: X:-8.73, Y:-85.51, Z:42.39 [[ 9.54635935e-01 -2.87760074e-01 -7.65791804e-02 -8.73276998e+00] [ 2.86492303e-01 9.57693685e-01 -2.72940699e-02 -8.55132104e+01] [ 8.11935410e-02 4.11655415e-03 9.96689853e-01 4.23856143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66907232899996 meters 0.09564789579019715 Centerline is valid? [True, True] Translation: X:-8.71, Y:-85.50, Z:42.39 [[ 9.55084017e-01 -2.86258598e-01 -7.66194240e-02 -8.70629274e+00] [ 2.84983585e-01 9.58142929e-01 -2.73218518e-02 -8.55004691e+01] [ 8.12334743e-02 4.25938584e-03 9.96685999e-01 4.23868134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699072329 meters 0.0952726293260908 Centerline is valid? [True, True] Translation: X:-8.68, Y:-85.49, Z:42.39 [[ 9.55337263e-01 -2.85782289e-01 -7.52276401e-02 -8.67972032e+00] [ 2.84550310e-01 9.58285194e-01 -2.68441402e-02 -8.54902519e+01] [ 7.97611135e-02 4.23915910e-03 9.96804993e-01 4.23908572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72907232899996 meters 0.09555874352438495 Centerline is valid? [True, True] Translation: X:-8.65, Y:-85.48, Z:42.39 [[ 9.55681461e-01 -2.84768622e-01 -7.46979061e-02 -8.65329518e+00] [ 2.83549357e-01 9.58586585e-01 -2.66743416e-02 -8.54793816e+01] [ 7.92004262e-02 4.31163053e-03 9.96849388e-01 4.23932971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759072329 meters 0.0947586019517429 Centerline is valid? [True, True] Translation: X:-8.63, Y:-85.47, Z:42.40 [[ 9.55555283e-01 -2.85367366e-01 -7.40241059e-02 -8.62571724e+00] [ 2.84170319e-01 9.58408824e-01 -2.64529019e-02 -8.54706890e+01] [ 7.84941513e-02 4.24175638e-03 9.96905550e-01 4.23966523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78907232899996 meters 0.09538057540688182 Centerline is valid? [True, True] Translation: X:-8.60, Y:-85.46, Z:42.40 [[ 9.55594061e-01 -2.85270329e-01 -7.38974250e-02 -8.59960982e+00] [ 2.84076044e-01 9.58437652e-01 -2.64209877e-02 -8.54597595e+01] [ 7.83631984e-02 4.25525071e-03 9.96915795e-01 4.23967904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819072329 meters 0.09624262500935202 Centerline is valid? [True, True] Translation: X:-8.57, Y:-85.45, Z:42.40 [[ 9.56125412e-01 -2.83400024e-01 -7.42200974e-02 -8.57340492e+00] [ 2.82189217e-01 9.58991539e-01 -2.65419157e-02 -8.54467248e+01] [ 7.86984250e-02 4.43328889e-03 9.96888612e-01 4.23970547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84907232899997 meters 0.09799420214352926 Centerline is valid? [True, True] Translation: X:-8.55, Y:-85.43, Z:42.40 [[ 9.56315939e-01 -2.82700951e-01 -7.44311574e-02 -8.54888483e+00] [ 2.81480699e-01 9.59197499e-01 -2.66227971e-02 -8.54332883e+01] [ 7.89204701e-02 4.50887093e-03 9.96870719e-01 4.23963586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879072329 meters 0.09639293566135892 Centerline is valid? [True, True] Translation: X:-8.52, Y:-85.43, Z:42.40 [[ 9.56250439e-01 -2.82884380e-01 -7.45756308e-02 -8.52095214e+00] [ 2.81658911e-01 9.59143390e-01 -2.66873563e-02 -8.54266574e+01] [ 7.90781596e-02 4.51490528e-03 9.96858195e-01 4.23990676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90907232899997 meters 0.0973332510138129 Centerline is valid? [True, True] Translation: X:-8.49, Y:-85.42, Z:42.40 [[ 9.56143329e-01 -2.83223563e-01 -7.46615602e-02 -8.49498489e+00] [ 2.81995227e-01 9.59043335e-01 -2.67314944e-02 -8.54159156e+01] [ 7.91746608e-02 4.50493635e-03 9.96850580e-01 4.23980922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939072329 meters 0.09725925912217442 Centerline is valid? [True, True] Translation: X:-8.47, Y:-85.41, Z:42.40 [[ 9.55509592e-01 -2.85192876e-01 -7.52757815e-02 -8.46771928e+00] [ 2.83949322e-01 9.58460097e-01 -2.69633983e-02 -8.54074722e+01] [ 7.98386020e-02 4.38927863e-03 9.96798140e-01 4.23982943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96907232899997 meters 0.0953876923534226 Centerline is valid? [True, True] Translation: X:-8.44, Y:-85.40, Z:42.40 [[ 9.54782172e-01 -2.87650818e-01 -7.51532515e-02 -8.43862166e+00] [ 2.86417870e-01 9.57726191e-01 -2.69322489e-02 -8.54019023e+01] [ 7.97233208e-02 4.18919691e-03 9.96808228e-01 4.24003387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999072329 meters 0.0958929107830843 Centerline is valid? [True, True] Translation: X:-8.41, Y:-85.39, Z:42.40 [[ 9.54650749e-01 -2.88136616e-01 -7.49615799e-02 -8.41280850e+00] [ 2.86910860e-01 9.57580340e-01 -2.68709870e-02 -8.53914703e+01] [ 7.95242504e-02 4.14511645e-03 9.96824313e-01 4.24004506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.029072329 meters 0.09599420128788828 Centerline is valid? [True, True] Translation: X:-8.39, Y:-85.38, Z:42.40 [[ 9.54497934e-01 -2.88633077e-01 -7.49976111e-02 -8.38564246e+00] [ 2.87406653e-01 9.57430932e-01 -2.68965853e-02 -8.53814057e+01] [ 7.95682768e-02 4.11792279e-03 9.96820913e-01 4.24015951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05907232899995 meters 0.09689409068894991 Centerline is valid? [True, True] Translation: X:-8.36, Y:-85.37, Z:42.40 [[ 9.54857010e-01 -2.87197369e-01 -7.59326097e-02 -8.35898488e+00] [ 2.85934470e-01 9.57861758e-01 -2.72457758e-02 -8.53700080e+01] [ 8.05578581e-02 4.30406947e-03 9.96740642e-01 4.24014037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.089072329 meters 0.09701804751674203 Centerline is valid? [True, True] Translation: X:-8.33, Y:-85.36, Z:42.41 [[ 9.55292002e-01 -2.86043035e-01 -7.48102498e-02 -8.33161795e+00] [ 2.84812682e-01 9.58206904e-01 -2.68563953e-02 -8.53596569e+01] [ 7.93657826e-02 4.34879167e-03 9.96836075e-01 4.24050383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11907232899995 meters 0.09763569572941225 Centerline is valid? [True, True] Translation: X:-8.30, Y:-85.35, Z:42.41 [[ 9.55599613e-01 -2.85181114e-01 -7.41694758e-02 -8.30428729e+00] [ 2.83967719e-01 9.58463546e-01 -2.66451887e-02 -8.53489358e+01] [ 7.86874434e-02 4.40039520e-03 9.96889624e-01 4.24067623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.149072329 meters 0.09621019418365952 Centerline is valid? [True, True] Translation: X:-8.28, Y:-85.34, Z:42.41 [[ 9.54785332e-01 -2.87942171e-01 -7.39883481e-02 -8.27520044e+00] [ 2.86741976e-01 9.57638700e-01 -2.65924713e-02 -8.53442460e+01] [ 7.85111994e-02 4.17453644e-03 9.96904491e-01 4.24083390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17907232899995 meters 0.09563665227821218 Centerline is valid? [True, True] Translation: X:-8.25, Y:-85.34, Z:42.41 [[ 9.54550088e-01 -2.88703525e-01 -7.40567624e-02 -8.24674953e+00] [ 2.87502503e-01 9.57409654e-01 -2.66282646e-02 -8.53366755e+01] [ 7.85903332e-02 4.12650776e-03 9.96898456e-01 4.24111590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.209072329 meters 0.09467740385831983 Centerline is valid? [True, True] Translation: X:-8.22, Y:-85.33, Z:42.41 [[ 9.54228489e-01 -2.90089006e-01 -7.27760897e-02 -8.21823233e+00] [ 2.88932201e-01 9.56991495e-01 -2.61813123e-02 -8.53302726e+01] [ 7.72410097e-02 3.95559826e-03 9.97004604e-01 4.24144153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23907232899995 meters 0.09418329362104823 Centerline is valid? [True, True] Translation: X:-8.19, Y:-85.32, Z:42.42 [[ 9.53990283e-01 -2.90596747e-01 -7.38652189e-02 -8.19021481e+00] [ 2.89405380e-01 9.56837308e-01 -2.65874542e-02 -8.53216037e+01] [ 7.84032248e-02 3.98718123e-03 9.96913756e-01 4.24150325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.269072329 meters 0.0943863666256649 Centerline is valid? [True, True] Translation: X:-8.16, Y:-85.31, Z:42.42 [[ 9.54091288e-01 -2.90426559e-01 -7.32272316e-02 -8.16426871e+00] [ 2.89253652e-01 9.56888984e-01 -2.63779695e-02 -8.53109833e+01] [ 7.77311942e-02 3.98574675e-03 9.96966386e-01 4.24159116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29907232899996 meters 0.09684836709265184 Centerline is valid? [True, True] Translation: X:-8.14, Y:-85.30, Z:42.41 [[ 9.53978667e-01 -2.90867165e-01 -7.29451463e-02 -8.13982599e+00] [ 2.89703449e-01 9.56755299e-01 -2.62908716e-02 -8.52952639e+01] [ 7.74378065e-02 3.94847019e-03 9.96989366e-01 4.24120895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.329072329 meters 0.09624951700208975 Centerline is valid? [True, True] Translation: X:-8.11, Y:-85.29, Z:42.41 [[ 9.53617870e-01 -2.92231926e-01 -7.22042866e-02 -8.11183452e+00] [ 2.91094888e-01 9.56339897e-01 -2.60339536e-02 -8.52871490e+01] [ 7.66597925e-02 3.80814464e-03 9.97050036e-01 4.24133363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35907232899996 meters 0.09388620174832742 Centerline is valid? [True, True] Translation: X:-8.08, Y:-85.28, Z:42.42 [[ 9.53364566e-01 -2.92977776e-01 -7.25260423e-02 -8.08306062e+00] [ 2.91831451e-01 9.56111777e-01 -2.61662936e-02 -8.52831163e+01] [ 7.70091456e-02 3.78063696e-03 9.97023219e-01 4.24176055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.389072329 meters 0.09406606162257651 Centerline is valid? [True, True] Translation: X:-8.06, Y:-85.27, Z:42.42 [[ 9.53320207e-01 -2.93200499e-01 -7.22083786e-02 -8.05592182e+00] [ 2.92063428e-01 9.56043567e-01 -2.60701465e-02 -8.52728797e+01] [ 7.66781358e-02 3.76377082e-03 9.97048794e-01 4.24189159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41907232899996 meters 0.09500769341354443 Centerline is valid? [True, True] Translation: X:-8.03, Y:-85.26, Z:42.42 [[ 9.53653783e-01 -2.92236440e-01 -7.17100093e-02 -8.03160307e+00] [ 2.91111346e-01 9.56338443e-01 -2.59030189e-02 -8.52592720e+01] [ 7.61488447e-02 3.82691460e-03 9.97089117e-01 4.24197209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.449072329 meters 0.09810310483568221 Centerline is valid? [True, True] Translation: X:-8.01, Y:-85.24, Z:42.42 [[ 9.53731602e-01 -2.91683951e-01 -7.29143596e-02 -8.00780034e+00] [ 2.90518423e-01 9.56506620e-01 -2.63463755e-02 -8.52434901e+01] [ 7.74278825e-02 3.94440618e-03 9.96990153e-01 4.24163802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47907232899996 meters 0.09498676852295582 Centerline is valid? [True, True] Translation: X:-7.98, Y:-85.24, Z:42.42 [[ 9.53939766e-01 -2.91186762e-01 -7.21747382e-02 -7.97814622e+00] [ 2.90042315e-01 9.56658041e-01 -2.60930506e-02 -8.52399992e+01] [ 7.66444946e-02 3.95747039e-03 9.97050631e-01 4.24241691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.509072329 meters 0.09566119076460276 Centerline is valid? [True, True] Translation: X:-7.95, Y:-85.23, Z:42.43 [[ 9.54088455e-01 -2.90602945e-01 -7.25613453e-02 -7.95181930e+00] [ 2.89443060e-01 9.56835187e-01 -2.62514668e-02 -8.52285375e+01] [ 7.70580020e-02 4.04384358e-03 9.97018411e-01 4.24254274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53907232899996 meters 0.09593079071631123 Centerline is valid? [True, True] Translation: X:-7.92, Y:-85.22, Z:42.43 [[ 9.54061643e-01 -2.90540403e-01 -7.31618446e-02 -7.92492179e+00] [ 2.89359560e-01 9.56853938e-01 -2.64874672e-02 -8.52185388e+01] [ 7.77008785e-02 4.10059733e-03 9.96968284e-01 4.24258063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.569072329 meters 0.09642458314315566 Centerline is valid? [True, True] Translation: X:-7.90, Y:-85.21, Z:42.43 [[ 9.53592536e-01 -2.91984163e-01 -7.35290692e-02 -7.89930127e+00] [ 2.90794664e-01 9.56414724e-01 -2.66334405e-02 -8.52080593e+01] [ 7.81008272e-02 4.01558910e-03 9.96937378e-01 4.24251341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59907232899997 meters 0.09576796107045657 Centerline is valid? [True, True] Translation: X:-7.87, Y:-85.20, Z:42.43 [[ 9.53435381e-01 -2.92588029e-01 -7.31656925e-02 -7.87180774e+00] [ 2.91411103e-01 9.56230400e-01 -2.65139655e-02 -8.51986464e+01] [ 7.77209283e-02 3.95805764e-03 9.96967297e-01 4.24259525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.629072329 meters 0.09528238719881765 Centerline is valid? [True, True] Translation: X:-7.85, Y:-85.19, Z:42.43 [[ 9.53215907e-01 -2.93173867e-01 -7.36784809e-02 -7.84528574e+00] [ 2.91980529e-01 9.56050953e-01 -2.67197455e-02 -8.51898852e+01] [ 7.82739130e-02 3.95700458e-03 9.96924038e-01 4.24270216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65907232899997 meters 0.09692696786470456 Centerline is valid? [True, True] Translation: X:-7.82, Y:-85.18, Z:42.43 [[ 9.53342976e-01 -2.92748860e-01 -7.37243198e-02 -7.81999449e+00] [ 2.91551639e-01 9.56180966e-01 -2.67507452e-02 -8.51766455e+01] [ 7.83250415e-02 4.00818873e-03 9.96919817e-01 4.24258428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.689072329 meters 0.09518960464913118 Centerline is valid? [True, True] Translation: X:-7.79, Y:-85.17, Z:42.43 [[ 9.53435989e-01 -2.92398479e-01 -7.39117315e-02 -7.79200646e+00] [ 2.91193113e-01 9.56287954e-01 -2.68313191e-02 -8.51701504e+01] [ 7.85263354e-02 4.05935813e-03 9.96903775e-01 4.24300894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71907232899997 meters 0.09841397508656123 Centerline is valid? [True, True] Translation: X:-7.77, Y:-85.15, Z:42.43 [[ 9.53943135e-01 -2.90938118e-01 -7.31266441e-02 -7.76876633e+00] [ 2.89752802e-01 9.56732874e-01 -2.65616659e-02 -8.51532092e+01] [ 7.76904655e-02 4.14966884e-03 9.96968892e-01 4.24281469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.749072329 meters 0.09841397508656123 Centerline is valid? [True, True] Translation: X:-7.74, Y:-85.14, Z:42.43 [[ 9.53871435e-01 -2.91174388e-01 -7.31215586e-02 -7.74280293e+00] [ 2.89988693e-01 9.56661012e-01 -2.65756603e-02 -8.51435366e+01] [ 7.76906959e-02 4.14533798e-03 9.96968892e-01 4.24292806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779072329 meters 0.09604424499764601 Centerline is valid? [True, True] Translation: X:-7.71, Y:-85.14, Z:42.43 [[ 9.54212888e-01 -2.89944818e-01 -7.35511115e-02 -7.71464161e+00] [ 2.88740414e-01 9.57033778e-01 -2.67454885e-02 -8.51371847e+01] [ 7.81456139e-02 4.28371146e-03 9.96932752e-01 4.24343595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80907232899995 meters 0.09828924120816854 Centerline is valid? [True, True] Translation: X:-7.69, Y:-85.12, Z:42.43 [[ 9.54304280e-01 -2.89883615e-01 -7.26004827e-02 -7.69032832e+00] [ 2.88709542e-01 9.57052517e-01 -2.64060526e-02 -8.51217047e+01] [ 7.71371567e-02 4.23895690e-03 9.97011480e-01 4.24330935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839072329 meters 0.09759192428524584 Centerline is valid? [True, True] Translation: X:-7.66, Y:-85.11, Z:42.44 [[ 9.54317479e-01 -2.89845834e-01 -7.25778280e-02 -7.66234096e+00] [ 2.88671448e-01 9.57063901e-01 -2.64099410e-02 -8.51129043e+01] [ 7.71164306e-02 4.25232160e-03 9.97013026e-01 4.24358839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86907232899995 meters 0.09788349563871987 Centerline is valid? [True, True] Translation: X:-7.64, Y:-85.10, Z:42.44 [[ 9.54738018e-01 -2.88285121e-01 -7.32598591e-02 -7.63501235e+00] [ 2.87082547e-01 9.57534335e-01 -2.66759885e-02 -8.51014543e+01] [ 7.78391210e-02 4.43695347e-03 9.96956060e-01 4.24384963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899072329 meters 0.09905480311164354 Centerline is valid? [True, True] Translation: X:-7.61, Y:-85.09, Z:42.44 [[ 9.55204021e-01 -2.86739703e-01 -7.32503997e-02 -7.60866268e+00] [ 2.85531580e-01 9.57997587e-01 -2.66896951e-02 -8.50874592e+01] [ 7.78267015e-02 4.57880177e-03 9.96956388e-01 4.24393118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92907232899995 meters 0.09976895669547511 Centerline is valid? [True, True] Translation: X:-7.58, Y:-85.07, Z:42.44 [[ 9.55703438e-01 -2.84910950e-01 -7.38693990e-02 -7.58209087e+00] [ 2.83675970e-01 9.58542078e-01 -2.69263648e-02 -8.50745681e+01] [ 7.84785434e-02 4.77864598e-03 9.96904350e-01 4.24399318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959072329 meters 0.09837276180107905 Centerline is valid? [True, True] Translation: X:-7.55, Y:-85.07, Z:42.44 [[ 9.55802253e-01 -2.84857796e-01 -7.27879751e-02 -7.55496180e+00] [ 2.83657768e-01 9.58558150e-01 -2.65432280e-02 -8.50659985e+01] [ 7.73325522e-02 4.72320254e-03 9.96994166e-01 4.24431304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98907232899995 meters 0.09931484250337354 Centerline is valid? [True, True] Translation: X:-7.53, Y:-85.06, Z:42.44 [[ 9.55944562e-01 -2.84241122e-01 -7.33278877e-02 -7.52955706e+00] [ 2.83020339e-01 9.58740704e-01 -2.67535139e-02 -8.50550040e+01] [ 7.79068795e-02 4.82159249e-03 9.96948981e-01 4.24430941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019072329 meters 0.09860553847711839 Centerline is valid? [True, True] Translation: X:-7.50, Y:-85.05, Z:42.44 [[ 9.55597478e-01 -2.85448777e-01 -7.31604714e-02 -7.50155667e+00] [ 2.84236130e-01 9.58382323e-01 -2.67047686e-02 -8.50466107e+01] [ 7.77385461e-02 4.72416025e-03 9.96962587e-01 4.24445191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04907232899996 meters 0.10453735861648743 Centerline is valid? [True, False] Translation: X:-7.53, Y:-85.06, Z:42.45 [[ 9.57861356e-01 -2.75696584e-01 -8.05792508e-02 -7.53308464e+00] [ 2.74006719e-01 9.61210267e-01 -3.15458362e-02 -8.50617668e+01] [ 8.61506825e-02 8.13728135e-03 9.96248887e-01 4.24511859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079072329 meters 0.09754489660783494 Centerline is valid? [False, True] Translation: X:-7.56, Y:-85.07, Z:42.45 [[ 9.60369264e-01 -2.68219585e-01 -7.58230226e-02 -7.56040003e+00] [ 2.66497813e-01 9.63298507e-01 -3.21698822e-02 -8.50743410e+01] [ 8.16687969e-02 1.06882964e-02 9.96602211e-01 4.24522417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10907232899996 meters 0.09969483167419507 Centerline is valid? [True, True] Translation: X:-7.53, Y:-85.06, Z:42.45 [[ 9.60059288e-01 -2.68834098e-01 -7.75525106e-02 -7.53404434e+00] [ 2.67546977e-01 9.63173961e-01 -2.67308257e-02 -8.50645755e+01] [ 8.18827161e-02 4.91423776e-03 9.96629857e-01 4.24545693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139072329 meters 0.09666243727200366 Centerline is valid? [True, True] Translation: X:-7.50, Y:-85.06, Z:42.46 [[ 9.59640857e-01 -2.70641126e-01 -7.64382501e-02 -7.50452862e+00] [ 2.69395560e-01 9.62668825e-01 -2.63583917e-02 -8.50612359e+01] [ 8.07183853e-02 4.70246441e-03 9.96725855e-01 4.24597592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16907232899996 meters 0.10071438449096648 Centerline is valid? [True, False] Translation: X:-7.53, Y:-85.08, Z:42.46 [[ 9.62085259e-01 -2.60747239e-01 -8.00176922e-02 -7.53386664e+00] [ 2.59150339e-01 9.65373586e-01 -2.99155803e-02 -8.50759593e+01] [ 8.50473714e-02 8.04472681e-03 9.96344432e-01 4.24644230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199072329 meters 0.09990058551773812 Centerline is valid? [False, True] Translation: X:-7.56, Y:-85.09, Z:42.47 [[ 9.64309098e-01 -2.50505254e-01 -8.57617722e-02 -7.56355978e+00] [ 2.48481011e-01 9.68050716e-01 -3.36897237e-02 -8.50897560e+01] [ 9.14611978e-02 1.11771352e-02 9.95745912e-01 4.24694896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22907232899996 meters 0.1009718560252552 Centerline is valid? [True, False] Translation: X:-7.61, Y:-85.11, Z:42.47 [[ 9.66064062e-01 -2.43893307e-01 -8.50663403e-02 -7.60758916e+00] [ 2.42406552e-01 9.69783552e-01 -2.75486128e-02 -8.51072697e+01] [ 8.92148599e-02 5.99308653e-03 9.95994373e-01 4.24695398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259072329 meters 0.10028480275150825 Centerline is valid? [False, False] Translation: X:-7.64, Y:-85.12, Z:42.47 [[ 9.68417273e-01 -2.35267640e-01 -8.25658747e-02 -7.63617171e+00] [ 2.33592038e-01 9.71885962e-01 -2.95370479e-02 -8.51194258e+01] [ 8.71937261e-02 9.31745645e-03 9.96147800e-01 4.24705318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28907232899996 meters 0.10099049336689833 Centerline is valid? [False, False] Translation: X:-7.67, Y:-85.13, Z:42.47 [[ 9.71479726e-01 -2.24860948e-01 -7.52641814e-02 -7.67162605e+00] [ 2.23227987e-01 9.74318032e-01 -2.95573880e-02 -8.51336836e+01] [ 7.99775514e-02 1.19133315e-02 9.96725471e-01 4.24704484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319072329 meters 0.09931474550993402 Centerline is valid? [False, True] Translation: X:-7.71, Y:-85.15, Z:42.46 [[ 9.73714951e-01 -2.20710001e-01 -5.62697886e-02 -7.71382546e+00] [ 2.19671084e-01 9.75276229e-01 -2.41017218e-02 -8.51477100e+01] [ 6.01980782e-02 1.11073614e-02 9.98124650e-01 4.24629320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34907232899997 meters 0.0982151323498954 Centerline is valid? [True, True] Translation: X:-7.68, Y:-85.15, Z:42.47 [[ 9.73700583e-01 -2.20480122e-01 -5.74081006e-02 -7.68406453e+00] [ 2.19884534e-01 9.75385143e-01 -1.65714760e-02 -8.51456194e+01] [ 5.96486895e-02 3.51250246e-03 9.98213252e-01 4.24713109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379072329 meters 0.09939483597271881 Centerline is valid? [True, True] Translation: X:-7.66, Y:-85.13, Z:42.47 [[ 9.73910925e-01 -2.19573591e-01 -5.73144646e-02 -7.65861160e+00] [ 2.18977763e-01 9.75589399e-01 -1.65548495e-02 -8.51343339e+01] [ 5.95503918e-02 3.57235553e-03 9.98218908e-01 4.24708077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40907232899997 meters 0.10035060200917457 Centerline is valid? [True, False] Translation: X:-7.68, Y:-85.14, Z:42.47 [[ 9.75758278e-01 -2.10146741e-01 -6.11075296e-02 -7.68463119e+00] [ 2.09319743e-01 9.77648661e-01 -1.97063878e-02 -8.51435318e+01] [ 6.38829276e-02 6.43765866e-03 9.97936635e-01 4.24747994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439072329 meters 0.1046777228142011 Centerline is valid? [False, False] Translation: X:-7.71, Y:-85.15, Z:42.48 [[ 9.77252423e-01 -2.03977609e-01 -5.80589083e-02 -7.70865473e+00] [ 2.03047670e-01 9.78931632e-01 -2.15523565e-02 -8.51532167e+01] [ 6.12319000e-02 9.27336662e-03 9.98080487e-01 4.24767319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46907232899997 meters 0.10052144121226399 Centerline is valid? [False, False] Translation: X:-7.73, Y:-85.16, Z:42.48 [[ 9.78779557e-01 -1.97847535e-01 -5.33566526e-02 -7.73365831e+00] [ 1.96867592e-01 9.80158195e-01 -2.30881862e-02 -8.51625948e+01] [ 5.68659011e-02 1.20940489e-02 9.98308571e-01 4.24777180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499072329 meters 0.10377729891584869 Centerline is valid? [False, False] Translation: X:-7.75, Y:-85.17, Z:42.48 [[ 9.79653422e-01 -1.94596775e-01 -4.91046665e-02 -7.75227774e+00] [ 1.93616825e-01 9.80782977e-01 -2.40266081e-02 -8.51710329e+01] [ 5.28365215e-02 1.40302592e-02 9.98504609e-01 4.24802024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.529072329 meters 0.09926584915620726 Centerline is valid? [False, True] Translation: X:-7.76, Y:-85.18, Z:42.48 [[ 9.80748778e-01 -1.89616804e-01 -4.66615623e-02 -7.76443993e+00] [ 1.88797706e-01 9.81782439e-01 -2.14165398e-02 -8.51775854e+01] [ 4.98724382e-02 1.21946493e-02 9.98681146e-01 4.24824510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55907232899995 meters 0.10360239629318009 Centerline is valid? [True, False] Translation: X:-7.78, Y:-85.19, Z:42.48 [[ 9.82184392e-01 -1.82812972e-01 -4.35113436e-02 -7.78088885e+00] [ 1.82139775e-01 9.83089113e-01 -1.89973185e-02 -8.51851401e+01] [ 4.62484844e-02 1.07337234e-02 9.98872297e-01 4.24836300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.589072329 meters 0.10220714856870158 Centerline is valid? [False, False] Translation: X:-7.79, Y:-85.19, Z:42.49 [[ 9.82757192e-01 -1.80083479e-01 -4.19313959e-02 -7.78865731e+00] [ 1.79501259e-01 9.83605790e-01 -1.72901373e-02 -8.51881612e+01] [ 4.43576319e-02 9.46526842e-03 9.98970875e-01 4.24857692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61907232899995 meters 0.10205366914016781 Centerline is valid? [False, False] Translation: X:-7.81, Y:-85.20, Z:42.49 [[ 9.83832707e-01 -1.73929479e-01 -4.26818509e-02 -7.80874556e+00] [ 1.73233578e-01 9.84687249e-01 -1.95230579e-02 -8.51955264e+01] [ 4.54239096e-02 1.18134932e-02 9.98897948e-01 4.24898957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.649072329 meters 0.10258624413546442 Centerline is valid? [False, False] Translation: X:-7.81, Y:-85.20, Z:42.49 [[ 9.84025690e-01 -1.72895880e-01 -4.24317905e-02 -7.81114224e+00] [ 1.72262951e-01 9.84883356e-01 -1.81728209e-02 -8.51980262e+01] [ 4.49323701e-02 1.05730971e-02 9.98934078e-01 4.24921510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67907232899995 meters 0.10707496787362591 Centerline is valid? [False, False] Translation: X:-7.82, Y:-85.20, Z:42.50 [[ 9.85756598e-01 -1.60585864e-01 -4.99610829e-02 -7.81561467e+00] [ 1.59434053e-01 9.86859013e-01 -2.62691876e-02 -8.52005614e+01] [ 5.35230052e-02 1.79295271e-02 9.98405639e-01 4.24957570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.709072329 meters 0.10240199476270823 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.20, Z:42.50 [[ 9.86402772e-01 -1.57202112e-01 -4.79277248e-02 -7.82514565e+00] [ 1.56168596e-01 9.87423554e-01 -2.46189886e-02 -8.52037542e+01] [ 5.11951213e-02 1.67994331e-02 9.98547364e-01 4.24976369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73907232899995 meters 0.10794080017158873 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.21, Z:42.50 [[ 9.86609131e-01 -1.56072539e-01 -4.73686000e-02 -7.82842901e+00] [ 1.55106132e-01 9.87619288e-01 -2.34569570e-02 -8.52054594e+01] [ 5.04431299e-02 1.57956876e-02 9.98602016e-01 4.24996773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.769072329 meters 0.10065114927370376 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.21, Z:42.50 [[ 9.87287236e-01 -1.52295052e-01 -4.54986997e-02 -7.83797591e+00] [ 1.51477159e-01 9.88239066e-01 -2.09336744e-02 -8.52110698e+01] [ 4.81516875e-02 1.37755357e-02 9.98745037e-01 4.25027224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79907232899996 meters 0.10764370600816833 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.21, Z:42.51 [[ 9.88819580e-01 -1.41627648e-01 -4.66631222e-02 -7.83851707e+00] [ 1.40479030e-01 9.89713949e-01 -2.70544039e-02 -8.52128885e+01] [ 5.00147945e-02 2.01967342e-02 9.98544247e-01 4.25075822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.829072329 meters 0.10784156404492178 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.51 [[ 9.89546730e-01 -1.36205263e-01 -4.73856049e-02 -7.84011761e+00] [ 1.35330596e-01 9.90573317e-01 -2.12163687e-02 -8.52158363e+01] [ 4.98286969e-02 1.45818661e-02 9.98651326e-01 4.25104223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85907232899996 meters 0.10369843099928427 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.51 [[ 9.90158787e-01 -1.31309739e-01 -4.84079477e-02 -7.83996594e+00] [ 1.30681911e-01 9.91296396e-01 -1.59277438e-02 -8.52184082e+01] [ 5.00780920e-02 9.44495238e-03 9.98700645e-01 4.25120549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.889072329 meters 0.10788271728659142 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.51 [[ 9.90228631e-01 -1.30897930e-01 -4.80935611e-02 -7.84146518e+00] [ 1.30290683e-01 9.91353655e-01 -1.55650073e-02 -8.52185782e+01] [ 4.97151548e-02 9.14677295e-03 9.98721553e-01 4.25128167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91907232899996 meters 0.10606289722108847 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.22, Z:42.52 [[ 9.90733955e-01 -1.24442461e-01 -5.44086779e-02 -7.83143487e+00] [ 1.23404599e-01 9.92111455e-01 -2.20491472e-02 -8.52188953e+01] [ 5.67233227e-02 1.51305577e-02 9.98275278e-01 4.25186878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.949072329 meters 0.10537852358851031 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.22, Z:42.52 [[ 9.90802415e-01 -1.23964228e-01 -5.42535142e-02 -7.83278726e+00] [ 1.22962179e-01 9.92179594e-01 -2.14465966e-02 -8.52197494e+01] [ 5.64878405e-02 1.45782093e-02 9.98296849e-01 4.25199107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97907232899996 meters 0.10483559416608976 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.22, Z:42.52 [[ 9.90862728e-01 -1.23548378e-01 -5.41003871e-02 -7.83403467e+00] [ 1.22576326e-01 9.92238068e-01 -2.09442287e-02 -8.52203391e+01] [ 5.62680890e-02 1.41214289e-02 9.98315825e-01 4.25209878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.009072329 meters 0.10514269022237759 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.52 [[ 9.90932241e-01 -1.23081885e-01 -5.38901069e-02 -7.83551695e+00] [ 1.22141792e-01 9.92302652e-01 -2.04163767e-02 -8.52208112e+01] [ 5.59881821e-02 1.36490117e-02 9.98338133e-01 4.25221415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03907232899996 meters 0.10449062370816534 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.52 [[ 9.90984245e-01 -1.22734561e-01 -5.37257256e-02 -7.83661394e+00] [ 1.21818760e-01 9.92350568e-01 -2.00135016e-02 -8.52212831e+01] [ 5.57711026e-02 1.32882635e-02 9.98355150e-01 4.25229792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.069072329 meters 0.10480629182371451 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.52 [[ 9.91036902e-01 -1.22381102e-01 -5.35604837e-02 -7.83761949e+00] [ 1.21490185e-01 9.92399152e-01 -1.95973828e-02 -8.52219282e+01] [ 5.55517280e-02 1.29146564e-02 9.98372284e-01 4.25237010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09907232899997 meters 0.1048386179947993 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.52 [[ 9.91074884e-01 -1.22111572e-01 -5.34727770e-02 -7.83822911e+00] [ 1.21240839e-01 9.92436489e-01 -1.92477280e-02 -8.52226216e+01] [ 5.54187054e-02 1.25928554e-02 9.98383787e-01 4.25241892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.129072329 meters 0.10452504086348345 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.22, Z:42.53 [[ 9.91605044e-01 -1.17274959e-01 -5.44611794e-02 -7.83787097e+00] [ 1.16674737e-01 9.93070315e-01 -1.40838433e-02 -8.52249132e+01] [ 5.57354627e-02 7.61136630e-03 9.98416559e-01 4.25256241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15907232899997 meters 0.10520097864768015 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.53 [[ 9.92120699e-01 -1.12396786e-01 -5.53487142e-02 -7.83779475e+00] [ 1.12073188e-01 9.93659864e-01 -8.92605001e-03 -8.52270046e+01] [ 5.60010552e-02 2.65261213e-03 9.98427186e-01 4.25271701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.189072329 meters 0.10802239336510629 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.53 [[ 9.92150032e-01 -1.12238028e-01 -5.51447143e-02 -7.83880767e+00] [ 1.11919689e-01 9.93677958e-01 -8.83731970e-03 -8.52264824e+01] [ 5.57879704e-02 2.59616774e-03 9.98439263e-01 4.25277175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21907232899997 meters 0.10446911431687321 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.53 [[ 9.92176288e-01 -1.12037225e-01 -5.50806168e-02 -7.83945130e+00] [ 1.11732215e-01 9.93701174e-01 -8.59590658e-03 -8.52266951e+01] [ 5.56967351e-02 2.37437535e-03 9.98444909e-01 4.25283403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.249072329 meters 0.11117586929841644 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.53 [[ 9.92222108e-01 -1.11744180e-01 -5.48500436e-02 -7.84059857e+00] [ 1.11452933e-01 9.93734633e-01 -8.35000589e-03 -8.52267260e+01] [ 5.54394525e-02 2.17186222e-03 9.98459689e-01 4.25289718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279072329 meters 0.10772262952786746 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.53 [[ 9.92910777e-01 -1.03760863e-01 -5.79816618e-02 -7.83492257e+00] [ 1.03049788e-01 9.94561118e-01 -1.51302090e-02 -8.52261702e+01] [ 5.92362300e-02 9.04794957e-03 9.98202987e-01 4.25346875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30907232899995 meters 0.10827694698606898 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.54 [[ 9.92948329e-01 -1.03430315e-01 -5.79291392e-02 -7.83577673e+00] [ 1.02745253e-01 9.94599223e-01 -1.46900746e-02 -8.52268073e+01] [ 5.91356759e-02 8.63454096e-03 9.98212611e-01 4.25356502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339072329 meters 0.11084226963823907 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.54 [[ 9.92970748e-01 -1.03273042e-01 -5.78253570e-02 -7.83644171e+00] [ 1.02597099e-01 9.94616625e-01 -1.45466587e-02 -8.52267322e+01] [ 5.90163391e-02 8.51169265e-03 9.98220729e-01 4.25361167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36907232899995 meters 0.10804651050327277 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.54 [[ 9.92996895e-01 -1.03171512e-01 -5.75569747e-02 -7.83740312e+00] [ 1.02493234e-01 9.94626221e-01 -1.46225222e-02 -8.52259108e+01] [ 5.87563040e-02 8.62091869e-03 9.98235131e-01 4.25363159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399072329 meters 0.10812290128118225 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.54 [[ 9.93028890e-01 -1.02975838e-01 -5.73550327e-02 -7.83836268e+00] [ 1.02307381e-01 9.94647448e-01 -1.44794439e-02 -8.52256690e+01] [ 5.85390697e-02 8.51066290e-03 9.98248840e-01 4.25367992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42907232899995 meters 0.10921872234028035 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.54 [[ 9.93058510e-01 -1.02666877e-01 -5.73960614e-02 -7.83880053e+00] [ 1.02026774e-01 9.94683395e-01 -1.39814842e-02 -8.52267857e+01] [ 5.85263445e-02 8.02849687e-03 9.98253580e-01 4.25375950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459072329 meters 0.10630911980507328 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.54 [[ 9.93112844e-01 -1.02025217e-01 -5.75997686e-02 -7.83943187e+00] [ 1.01455822e-01 9.94758566e-01 -1.27323287e-02 -8.52298120e+01] [ 5.85968818e-02 6.80080732e-03 9.98258561e-01 4.25394885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48907232899995 meters 0.10767600699242316 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.53 [[ 9.93907843e-01 -1.02484565e-01 -4.05476748e-02 -7.84283426e+00] [ 1.02044083e-01 9.94697611e-01 -1.27932721e-02 -8.52282421e+01] [ 4.16437882e-02 8.57768318e-03 9.99095700e-01 4.25324536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519072329 meters 0.10599815796871533 Centerline is valid? [False, False] Translation: X:-7.84, Y:-85.23, Z:42.53 [[ 9.93916749e-01 -1.02390842e-01 -4.05661330e-02 -7.84288745e+00] [ 1.01958515e-01 9.94708953e-01 -1.25920778e-02 -8.52288051e+01] [ 4.16408091e-02 8.37941439e-03 9.99097507e-01 4.25326268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54907232899996 meters 0.1096182359473906 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.54 [[ 9.94049800e-01 -9.73941192e-02 -4.87788890e-02 -7.82974691e+00] [ 9.65983704e-02 9.95153001e-01 -1.84190163e-02 -8.52288995e+01] [ 5.03363616e-02 1.35974582e-02 9.98639755e-01 4.25379494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579072329 meters 0.10982578999911373 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.54 [[ 9.94077637e-01 -9.71498631e-02 -4.86986265e-02 -7.83025830e+00] [ 9.63718074e-02 9.95181117e-01 -1.80836884e-02 -8.52296710e+01] [ 5.02207813e-02 1.32834156e-02 9.98649800e-01 4.25383678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60907232899996 meters 0.1083924652129505 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.54 [[ 9.94105203e-01 -9.68420566e-02 -4.87489715e-02 -7.83058574e+00] [ 9.60905368e-02 9.95218114e-01 -1.75360901e-02 -8.52310324e+01] [ 5.02140905e-02 1.27484036e-02 9.98657110e-01 4.25390756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639072329 meters 0.10524865108413507 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.54 [[ 9.94135033e-01 -9.65477706e-02 -4.87243729e-02 -7.83116475e+00] [ 9.58195483e-02 9.95252310e-01 -1.70719887e-02 -8.52319712e+01] [ 5.01413071e-02 1.23031147e-02 9.98666352e-01 4.25398214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66907232899996 meters 0.10524865108413507 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.54 [[ 9.94135033e-01 -9.65477706e-02 -4.87243729e-02 -7.83116475e+00] [ 9.58195483e-02 9.95252310e-01 -1.70719887e-02 -8.52319712e+01] [ 5.01413071e-02 1.23031147e-02 9.98666352e-01 4.25398214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699072329 meters 0.10645659649473936 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.54 [[ 9.94172273e-01 -9.62010610e-02 -4.86502536e-02 -7.83192071e+00] [ 9.54986383e-02 9.95291678e-01 -1.65675829e-02 -8.52329717e+01] [ 5.00150116e-02 1.18249986e-02 9.98678461e-01 4.25406241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72907232899996 meters 0.10579933492148279 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.23, Z:42.54 [[ 9.94208626e-01 -9.58376177e-02 -4.86246788e-02 -7.83252079e+00] [ 9.51645340e-02 9.95333303e-01 -1.59789656e-02 -8.52343371e+01] [ 4.99291481e-02 1.12590805e-02 9.98689298e-01 4.25414224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759072329 meters 0.10461422056652417 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.24, Z:42.54 [[ 9.94238468e-01 -9.52611091e-02 -4.91445784e-02 -7.83229035e+00] [ 9.46592137e-02 9.95405030e-01 -1.44381239e-02 -8.52387156e+01] [ 5.02941522e-02 9.70295100e-03 9.98687314e-01 4.25435134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78907232899996 meters 0.10489405059546056 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.24, Z:42.55 [[ 9.94284673e-01 -9.46965751e-02 -4.93005823e-02 -7.83278777e+00] [ 9.41500575e-02 9.95469210e-01 -1.32973202e-02 -8.52415999e+01] [ 5.03364224e-02 8.57966901e-03 9.98695466e-01 4.25450497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819072329 meters 0.10189972846542418 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.24, Z:42.55 [[ 9.94320333e-01 -9.42520141e-02 -4.94331187e-02 -7.83309054e+00] [ 9.37501154e-02 9.95518780e-01 -1.23804465e-02 -8.52439976e+01] [ 5.03784800e-02 7.67576913e-03 9.98700702e-01 4.25461548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84907232899997 meters 0.10052344239138855 Centerline is valid? [False, False] Translation: X:-7.83, Y:-85.25, Z:42.55 [[ 9.94331718e-01 -9.40562121e-02 -4.95768394e-02 -7.83288932e+00] [ 9.35787235e-02 9.95541109e-01 -1.18711214e-02 -8.52456152e+01] [ 5.04723343e-02 7.16449518e-03 9.98699761e-01 4.25465173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879072329 meters 0.09998560468262917 Centerline is valid? [False, True] Translation: X:-7.83, Y:-85.25, Z:42.55 [[ 9.94313745e-01 -9.40277718e-02 -4.99895418e-02 -7.83170647e+00] [ 9.35770886e-02 9.95548068e-01 -1.12859825e-02 -8.52480253e+01] [ 5.08281875e-02 6.54393175e-03 9.98685973e-01 4.25465853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90907232899997 meters 0.09979498287619748 Centerline is valid? [True, True] Translation: X:-7.80, Y:-85.25, Z:42.55 [[ 9.94104505e-01 -9.59134737e-02 -5.05651855e-02 -7.80270918e+00] [ 9.56418794e-02 9.95385488e-01 -7.76930811e-03 -8.52475243e+01] [ 5.10770331e-02 2.88735482e-03 9.98690543e-01 4.25488665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939072329 meters 0.09785652924644617 Centerline is valid? [True, True] Translation: X:-7.77, Y:-85.25, Z:42.55 [[ 9.93805013e-01 -9.91460800e-02 -5.02160477e-02 -7.77189508e+00] [ 9.88822710e-02 9.95069216e-01 -7.71696470e-03 -8.52502259e+01] [ 5.07335501e-02 2.70368136e-03 9.98708565e-01 4.25508588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96907232899997 meters 0.09931322996812847 Centerline is valid? [True, True] Translation: X:-7.74, Y:-85.24, Z:42.55 [[ 9.93743805e-01 -1.00145070e-01 -4.94390121e-02 -7.74473597e+00] [ 9.98904485e-02 9.94969411e-01 -7.60061291e-03 -8.52435646e+01] [ 4.99514687e-02 2.61457690e-03 9.98748224e-01 4.25495276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999072329 meters 0.09708698301102056 Centerline is valid? [True, True] Translation: X:-7.71, Y:-85.24, Z:42.55 [[ 9.93704015e-01 -1.00670055e-01 -4.91718385e-02 -7.71486389e+00] [ 1.00418550e-01 9.94916522e-01 -7.56498293e-03 -8.52443737e+01] [ 4.96834418e-02 2.57958917e-03 9.98761684e-01 4.25532411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.029072329 meters 0.09641780934840377 Centerline is valid? [True, True] Translation: X:-7.69, Y:-85.24, Z:42.55 [[ 9.93556562e-01 -1.02504727e-01 -4.83542991e-02 -7.68551338e+00] [ 1.02263547e-01 9.94729502e-01 -7.44210539e-03 -8.52411858e+01] [ 4.88622988e-02 2.44927049e-03 9.98802521e-01 4.25544318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05907232899995 meters 0.09545076450290345 Centerline is valid? [True, True] Translation: X:-7.66, Y:-85.24, Z:42.56 [[ 9.93503407e-01 -1.03432273e-01 -4.74630839e-02 -7.65615658e+00] [ 1.03200759e-01 9.94633691e-01 -7.30921684e-03 -8.52389200e+01] [ 4.79643912e-02 2.36350557e-03 9.98846250e-01 4.25566067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.089072329 meters 0.09575091341036883 Centerline is valid? [True, True] Translation: X:-7.63, Y:-85.23, Z:42.56 [[ 9.93505825e-01 -1.03729281e-01 -4.67590793e-02 -7.62882243e+00] [ 1.03504713e-01 9.94602866e-01 -7.20513608e-03 -8.52337859e+01] [ 4.72540978e-02 2.31855960e-03 9.98880210e-01 4.25566843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11907232899995 meters 0.09815158810827408 Centerline is valid? [True, True] Translation: X:-7.60, Y:-85.22, Z:42.56 [[ 9.93582338e-01 -1.03230945e-01 -4.62332037e-02 -7.60232876e+00] [ 1.03010689e-01 9.94654710e-01 -7.12787346e-03 -8.52226881e+01] [ 4.67218909e-02 2.31961500e-03 9.98905243e-01 4.25551524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.149072329 meters 0.09708287464159679 Centerline is valid? [True, True] Translation: X:-7.57, Y:-85.22, Z:42.56 [[ 9.93689660e-01 -1.02260830e-01 -4.60823526e-02 -7.57362172e+00] [ 1.02040581e-01 9.94754807e-01 -7.11295981e-03 -8.52190936e+01] [ 4.65680190e-02 2.36580459e-03 9.98912320e-01 4.25584004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17907232899995 meters 0.09964135770318977 Centerline is valid? [True, True] Translation: X:-7.55, Y:-85.21, Z:42.56 [[ 9.93963347e-01 -9.96332675e-02 -4.59355660e-02 -7.54657431e+00] [ 9.94113539e-02 9.95021119e-01 -7.09609808e-03 -8.52075786e+01] [ 4.64138657e-02 2.48674460e-03 9.98919201e-01 4.25575059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.209072329 meters 0.09971373033650997 Centerline is valid? [True, True] Translation: X:-7.52, Y:-85.20, Z:42.56 [[ 9.94442422e-01 -9.51697087e-02 -4.50221618e-02 -7.51790247e+00] [ 9.49518990e-02 9.95457553e-01 -6.95677139e-03 -8.52002779e+01] [ 4.54797250e-02 2.64316883e-03 9.98961765e-01 4.25626022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23907232899995 meters 0.09952220049065967 Centerline is valid? [True, True] Translation: X:-7.49, Y:-85.20, Z:42.56 [[ 9.94489990e-01 -9.45809413e-02 -4.52117885e-02 -7.48910273e+00] [ 9.43603462e-02 9.95513544e-01 -6.99349437e-03 -8.51956211e+01] [ 4.56703990e-02 2.68876013e-03 9.98952944e-01 4.25637859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.269072329 meters 0.10078218068208088 Centerline is valid? [True, False] Translation: X:-7.48, Y:-85.19, Z:42.57 [[ 9.94949783e-01 -8.48133970e-02 -5.36806902e-02 -7.47809960e+00] [ 8.44536563e-02 9.96387312e-01 -8.93888808e-03 -8.51948892e+01] [ 5.42448960e-02 4.36021420e-03 9.98518142e-01 4.25711102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29907232899996 meters 0.10149932547775112 Centerline is valid? [False, False] Translation: X:-7.48, Y:-85.19, Z:42.57 [[ 9.94988978e-01 -8.46049974e-02 -5.32815944e-02 -7.47950409e+00] [ 8.42413414e-02 9.96404387e-01 -9.03847415e-03 -8.51937705e+01] [ 5.38547145e-02 4.50466917e-03 9.98538621e-01 4.25713949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.329072329 meters 0.10202462658003134 Centerline is valid? [False, False] Translation: X:-7.49, Y:-85.19, Z:42.56 [[ 9.95800984e-01 -8.46521925e-02 -3.48483451e-02 -7.48614204e+00] [ 8.42993579e-02 9.96374396e-01 -1.14752575e-02 -8.51904990e+01] [ 3.56934045e-02 8.48937955e-03 9.99326729e-01 4.25634013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35907232899996 meters 0.1055511075177654 Centerline is valid? [False, False] Translation: X:-7.47, Y:-85.19, Z:42.57 [[ 9.96035505e-01 -7.68383085e-02 -4.48235043e-02 -7.47134661e+00] [ 7.63334609e-02 9.96999274e-01 -1.28704917e-02 -8.51913331e+01] [ 4.56779481e-02 9.39793349e-03 9.98912010e-01 4.25702441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.389072329 meters 0.1021340094557682 Centerline is valid? [False, False] Translation: X:-7.47, Y:-85.19, Z:42.57 [[ 9.96063685e-01 -7.66063014e-02 -4.45938322e-02 -7.47237060e+00] [ 7.61095568e-02 9.97018131e-01 -1.27350756e-02 -8.51910787e+01] [ 4.54364462e-02 9.29092949e-03 9.98924025e-01 4.25707354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41907232899996 meters 0.10605759802235451 Centerline is valid? [False, False] Translation: X:-7.47, Y:-85.19, Z:42.57 [[ 9.96094017e-01 -7.63585452e-02 -4.43405288e-02 -7.47343974e+00] [ 7.58713814e-02 9.97038376e-01 -1.25702334e-02 -8.51909780e+01] [ 4.51690536e-02 9.15695706e-03 9.98937389e-01 4.25712289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.449072329 meters 0.10217543323122442 Centerline is valid? [False, False] Translation: X:-7.48, Y:-85.19, Z:42.56 [[ 9.96619827e-01 -7.78172458e-02 -2.63324390e-02 -7.47899314e+00] [ 7.74170387e-02 9.96872124e-01 -1.58924678e-02 -8.51878717e+01] [ 2.74867825e-02 1.38001690e-02 9.99526904e-01 4.25637927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47907232899996 meters 0.10442519903487346 Centerline is valid? [False, False] Translation: X:-7.47, Y:-85.19, Z:42.57 [[ 9.96923763e-01 -6.96528877e-02 -3.59372451e-02 -7.46541829e+00] [ 6.90793340e-02 9.97466934e-01 -1.69635356e-02 -8.51900636e+01] [ 3.70277730e-02 1.44288308e-02 9.99210064e-01 4.25710677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.509072329 meters 0.10498244008180582 Centerline is valid? [False, False] Translation: X:-7.47, Y:-85.19, Z:42.57 [[ 9.96955793e-01 -6.93209539e-02 -3.56896579e-02 -7.46664680e+00] [ 6.87597771e-02 9.97493132e-01 -1.67196131e-02 -8.51899792e+01] [ 3.67592081e-02 1.42147022e-02 9.99223050e-01 4.25718251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53907232899996 meters 0.11523443448515272 Centerline is valid? [False, False] Translation: X:-7.47, Y:-85.19, Z:42.56 [[ 9.97249248e-01 -7.20612301e-02 -1.73527093e-02 -7.47344745e+00] [ 7.17591475e-02 9.97269432e-01 -1.74443153e-02 -8.51879614e+01] [ 1.85623853e-02 1.61511147e-02 9.99697244e-01 4.25649845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.569072329 meters 0.1052747892083245 Centerline is valid? [False, False] Translation: X:-7.46, Y:-85.19, Z:42.57 [[ 9.97537733e-01 -6.46606548e-02 -2.71564312e-02 -7.45897397e+00] [ 6.41673906e-02 9.97764687e-01 -1.86594724e-02 -8.51904386e+01] [ 2.83022618e-02 1.68709705e-02 9.99457029e-01 4.25714622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59907232899997 meters 0.10864898332878976 Centerline is valid? [False, False] Translation: X:-7.45, Y:-85.19, Z:42.58 [[ 9.97729579e-01 -5.63288908e-02 -3.69153516e-02 -7.44512695e+00] [ 5.56266586e-02 9.98255646e-01 -1.97823010e-02 -8.51932420e+01] [ 3.79652733e-02 1.76839092e-02 9.99122574e-01 4.25785711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.629072329 meters 0.10304655332201718 Centerline is valid? [False, False] Translation: X:-7.45, Y:-85.20, Z:42.58 [[ 9.97884355e-01 -5.66837204e-02 -3.18397485e-02 -7.45496265e+00] [ 5.61274584e-02 9.98259506e-01 -1.81015889e-02 -8.51974084e+01] [ 3.28103970e-02 1.62762082e-02 9.99329056e-01 4.25792566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65907232899997 meters 0.10327959156954745 Centerline is valid? [False, False] Translation: X:-7.46, Y:-85.20, Z:42.57 [[ 9.98144653e-01 -5.89457511e-02 -1.52528993e-02 -7.45742601e+00] [ 5.86524417e-02 9.98097417e-01 -1.90115183e-02 -8.51958349e+01] [ 1.63445276e-02 1.80816256e-02 9.99702911e-01 4.25731224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.689072329 meters 0.1020983389389928 Centerline is valid? [False, False] Translation: X:-7.44, Y:-85.20, Z:42.58 [[ 9.98367046e-01 -5.13504176e-02 -2.50275153e-02 -7.44307984e+00] [ 5.08543763e-02 9.98504409e-01 -2.00693126e-02 -8.51982441e+01] [ 2.60206519e-02 1.87637816e-02 9.99485291e-01 4.25792959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71907232899997 meters 0.10178839261036007 Centerline is valid? [False, False] Translation: X:-7.44, Y:-85.20, Z:42.57 [[ 9.98643624e-01 -5.12726619e-02 -9.05684445e-03 -7.44466826e+00] [ 5.10890199e-02 9.98504467e-01 -1.94612998e-02 -8.51987732e+01] [ 1.00411323e-02 1.89721977e-02 9.99769589e-01 4.25733210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.749072329 meters 0.10183751583986314 Centerline is valid? [False, False] Translation: X:-7.43, Y:-85.20, Z:42.58 [[ 9.98841443e-01 -4.40380072e-02 -1.94016792e-02 -7.42939020e+00] [ 4.36470911e-02 9.98844161e-01 -2.01313971e-02 -8.52020091e+01] [ 2.02658006e-02 1.92612469e-02 9.99609074e-01 4.25801484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779072329 meters 0.10166943956367464 Centerline is valid? [False, False] Translation: X:-7.41, Y:-85.20, Z:42.58 [[ 9.99111752e-01 -3.92433329e-02 -1.53514486e-02 -7.41224535e+00] [ 3.88807498e-02 9.98973467e-01 -2.32443379e-02 -8.52025344e+01] [ 1.62478751e-02 2.26268153e-02 9.99611942e-01 4.25804107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80907232899995 meters 0.10327432147734314 Centerline is valid? [False, False] Translation: X:-7.41, Y:-85.21, Z:42.58 [[ 9.99263980e-01 -3.46107269e-02 -1.65407082e-02 -7.41089642e+00] [ 3.43257742e-02 9.99262480e-01 -1.72115414e-02 -8.52078874e+01] [ 1.71242130e-02 1.66311008e-02 9.99715043e-01 4.25829100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839072329 meters 0.0992583639106002 Centerline is valid? [False, True] Translation: X:-7.41, Y:-85.21, Z:42.58 [[ 9.99392368e-01 -3.00356944e-02 -1.76848103e-02 -7.40943996e+00] [ 2.98364166e-02 9.99489483e-01 -1.14263962e-02 -8.52130666e+01] [ 1.80189817e-02 1.08918018e-02 9.99778318e-01 4.25848756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86907232899995 meters 0.09947316066108074 Centerline is valid? [True, True] Translation: X:-7.38, Y:-85.22, Z:42.59 [[ 9.99315861e-01 -3.18727720e-02 -1.87599791e-02 -7.38060887e+00] [ 3.18472621e-02 9.99491374e-01 -1.65706953e-03 -8.52173451e+01] [ 1.88032527e-02 1.05848190e-03 9.99822643e-01 4.25909786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899072329 meters 0.0989457639316042 Centerline is valid? [True, True] Translation: X:-7.35, Y:-85.22, Z:42.59 [[ 9.99231825e-01 -3.45672686e-02 -1.84624842e-02 -7.35201479e+00] [ 3.45430073e-02 9.99401881e-01 -1.63147289e-03 -8.52157261e+01] [ 1.85078370e-02 9.92469908e-04 9.99828223e-01 4.25887638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92907232899995 meters 0.0985969689740474 Centerline is valid? [True, True] Translation: X:-7.32, Y:-85.21, Z:42.59 [[ 9.99193539e-01 -3.60838487e-02 -1.76132959e-02 -7.32260420e+00] [ 3.60619965e-02 9.99348342e-01 -1.55680736e-03 -8.52133810e+01] [ 1.76579937e-02 9.20381237e-04 9.99843662e-01 4.25875671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959072329 meters 0.09758437898716552 Centerline is valid? [True, True] Translation: X:-7.29, Y:-85.21, Z:42.59 [[ 9.99117623e-01 -3.78668920e-02 -1.81679305e-02 -7.29377766e+00] [ 3.78439063e-02 9.99282370e-01 -1.60743612e-03 -8.52129737e+01] [ 1.82157612e-02 9.18472295e-04 9.99833657e-01 4.25860349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98907232899995 meters 0.09900042875554997 Centerline is valid? [True, True] Translation: X:-7.27, Y:-85.21, Z:42.58 [[ 9.99100422e-01 -3.81112927e-02 -1.85977529e-02 -7.26652222e+00] [ 3.80871927e-02 9.99273060e-01 -1.64846711e-03 -8.52073303e+01] [ 1.86470587e-02 9.38647988e-04 9.99825688e-01 4.25837874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019072329 meters 0.10055607346460574 Centerline is valid? [True, False] Translation: X:-7.25, Y:-85.21, Z:42.59 [[ 9.99148033e-01 -3.00593081e-02 -2.82780143e-02 -7.25301938e+00] [ 2.99950543e-02 9.99546417e-01 -2.69376023e-03 -8.52095915e+01] [ 2.83461604e-02 1.84326466e-03 9.99596467e-01 4.25903176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04907232899996 meters 0.09883326835184 Centerline is valid? [False, True] Translation: X:-7.26, Y:-85.21, Z:42.58 [[ 9.99557991e-01 -2.74713604e-02 -1.13643033e-02 -7.25701760e+00] [ 2.74301063e-02 9.99616614e-01 -3.77025393e-03 -8.52085880e+01] [ 1.14635204e-02 3.45686340e-03 9.99928316e-01 4.25828690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079072329 meters 0.09916418837752694 Centerline is valid? [True, True] Translation: X:-7.23, Y:-85.21, Z:42.59 [[ 9.99583100e-01 -2.64660665e-02 -1.15400922e-02 -7.22831761e+00] [ 2.64572041e-02 9.99649524e-01 -9.19977948e-04 -8.52067305e+01] [ 1.15603958e-02 6.14275835e-04 9.99932988e-01 4.25850663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10907232899996 meters 0.09899886100606436 Centerline is valid? [True, True] Translation: X:-7.20, Y:-85.21, Z:42.59 [[ 9.99579687e-01 -2.63806047e-02 -1.20213566e-02 -7.19896912e+00] [ 2.63709502e-02 9.99651764e-01 -9.60942885e-04 -8.52052952e+01] [ 1.20425206e-02 6.43524392e-04 9.99927279e-01 4.25853568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139072329 meters 0.09902424861355379 Centerline is valid? [True, True] Translation: X:-7.17, Y:-85.20, Z:42.59 [[ 9.99612576e-01 -2.54510256e-02 -1.12669408e-02 -7.17066861e+00] [ 2.54424901e-02 9.99675882e-01 -9.00281194e-04 -8.52024067e+01] [ 1.12862020e-02 6.13273375e-04 9.99936121e-01 4.25861573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16907232899996 meters 0.0995325814564893 Centerline is valid? [True, True] Translation: X:-7.14, Y:-85.20, Z:42.58 [[ 9.99602206e-01 -2.57762768e-02 -1.14461072e-02 -7.14237579e+00] [ 2.57674246e-02 9.99667541e-01 -9.20202959e-04 -8.51985572e+01] [ 1.14660213e-02 6.24900203e-04 9.99934068e-01 4.25847891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199072329 meters 0.09883291505631617 Centerline is valid? [True, True] Translation: X:-7.11, Y:-85.20, Z:42.58 [[ 9.99587995e-01 -2.67734335e-02 -1.03452049e-02 -7.11352848e+00] [ 2.67662825e-02 9.99641375e-01 -8.29099256e-04 -8.51973507e+01] [ 1.03636927e-02 5.51854987e-04 9.99946143e-01 4.25843370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22907232899996 meters 0.10116799711523694 Centerline is valid? [True, False] Translation: X:-7.11, Y:-85.20, Z:42.58 [[ 9.99568792e-01 -2.68431916e-02 -1.19026414e-02 -7.11008306e+00] [ 2.68376532e-02 9.99639610e-01 -6.24816837e-04 -8.51979313e+01] [ 1.19151239e-02 3.05108449e-04 9.99928966e-01 4.25839540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259072329 meters 0.10263760910255927 Centerline is valid? [False, False] Translation: X:-7.10, Y:-85.20, Z:42.59 [[ 9.99576879e-01 -1.92423144e-02 -2.18127327e-02 -7.09579554e+00] [ 1.92150477e-02 9.99814309e-01 -1.45895967e-03 -8.52005192e+01] [ 2.18367560e-02 1.03920965e-03 9.99761010e-01 4.25901696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28907232899996 meters 0.09887639856463008 Centerline is valid? [False, True] Translation: X:-7.10, Y:-85.20, Z:42.58 [[ 9.99864061e-01 -1.56369474e-02 -5.22920975e-03 -7.10003941e+00] [ 1.56192823e-02 9.99872224e-01 -3.40210468e-03 -8.52006265e+01] [ 5.28174011e-03 3.31996570e-03 9.99980540e-01 4.25828595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319072329 meters 0.0997235408230762 Centerline is valid? [True, True] Translation: X:-7.07, Y:-85.20, Z:42.58 [[ 9.99883500e-01 -1.39151505e-02 -6.27330664e-03 -7.07031994e+00] [ 1.39127343e-02 9.99903121e-01 -4.28642971e-04 -8.51977905e+01] [ 6.27866352e-03 3.41314186e-04 9.99980231e-01 4.25830527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34907232899997 meters 0.10255311380502946 Centerline is valid? [True, False] Translation: X:-7.07, Y:-85.20, Z:42.58 [[ 9.99933935e-01 -9.32296195e-03 -6.72362801e-03 -7.07006874e+00] [ 9.35530651e-03 9.99944740e-01 4.79528088e-03 -8.52003161e+01] [ 6.67855025e-03 -4.85786568e-03 9.99965898e-01 4.25845068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379072329 meters 0.10014080992487673 Centerline is valid? [False, False] Translation: X:-7.07, Y:-85.20, Z:42.59 [[ 9.99936909e-01 -9.06655895e-03 -6.63146734e-03 -7.07070342e+00] [ 9.10075467e-03 9.99945353e-01 5.14471513e-03 -8.52009226e+01] [ 6.58446009e-03 -5.20474190e-03 9.99964777e-01 4.25851496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40907232899997 meters 0.09978519845920258 Centerline is valid? [False, True] Translation: X:-7.07, Y:-85.20, Z:42.59 [[ 9.99938099e-01 -8.85600149e-03 -6.73574503e-03 -7.07067980e+00] [ 8.89447213e-03 9.99944180e-01 5.70306498e-03 -8.52029875e+01] [ 6.68486269e-03 -5.76262285e-03 9.99961052e-01 4.25856237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439072329 meters 0.09921863091607835 Centerline is valid? [True, True] Translation: X:-7.04, Y:-85.20, Z:42.58 [[ 9.99935278e-01 -1.00569599e-02 -5.31958897e-03 -7.04173632e+00] [ 1.00553120e-02 9.99949387e-01 -3.36437588e-04 -8.51983379e+01] [ 5.32270327e-03 2.82925686e-04 9.99985794e-01 4.25814532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46907232899997 meters 0.10168629830757042 Centerline is valid? [True, False] Translation: X:-7.04, Y:-85.20, Z:42.58 [[ 9.99937228e-01 -9.94090810e-03 -5.16889838e-03 -7.04236070e+00] [ 9.93953081e-03 9.99950559e-01 -2.92076332e-04 -8.51979676e+01] [ 5.17154633e-03 2.40681573e-04 9.99986599e-01 4.25817752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499072329 meters 0.10105035110178731 Centerline is valid? [False, False] Translation: X:-7.04, Y:-85.20, Z:42.58 [[ 9.99971102e-01 -5.32958730e-03 -5.42126597e-03 -7.04256653e+00] [ 5.35579113e-03 9.99973990e-01 4.83054794e-03 -8.51998357e+01] [ 5.39538013e-03 -4.85944352e-03 9.99973637e-01 4.25832650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.529072329 meters 0.09968941106131861 Centerline is valid? [False, True] Translation: X:-7.04, Y:-85.20, Z:42.58 [[ 9.99973379e-01 -5.00317113e-03 -5.31125390e-03 -7.04336859e+00] [ 5.03149764e-03 9.99973119e-01 5.33340358e-03 -8.52007972e+01] [ 5.28442719e-03 -5.35998516e-03 9.99971672e-01 4.25841613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55907232899995 meters 0.09968941106131861 Centerline is valid? [True, True] Translation: X:-7.02, Y:-85.20, Z:42.58 [[ 9.99974427e-01 -5.12025517e-03 -4.99291867e-03 -7.01601879e+00] [ 5.11887123e-03 9.99986856e-01 -2.89918970e-04 -8.51953937e+01] [ 4.99433751e-03 2.64353448e-04 9.99987493e-01 4.25792257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.589072329 meters 0.09891911086210428 Centerline is valid? [True, True] Translation: X:-6.99, Y:-85.20, Z:42.58 [[ 9.99971927e-01 -5.45028565e-03 -5.14200454e-03 -6.98818849e+00] [ 5.44881583e-03 9.99985110e-01 -2.99811904e-04 -8.51961591e+01] [ 5.14356204e-03 2.71785651e-04 9.99986735e-01 4.25799650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61907232899995 meters 0.09908037865684133 Centerline is valid? [True, True] Translation: X:-6.96, Y:-85.19, Z:42.58 [[ 9.99977975e-01 -4.90925294e-03 -4.46641354e-03 -6.95961548e+00] [ 4.90813386e-03 9.99987921e-01 -2.61481772e-04 -8.51948402e+01] [ 4.46764327e-03 2.39554257e-04 9.99989991e-01 4.25813566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.649072329 meters 0.10006695174627513 Centerline is valid? [True, False] Translation: X:-6.96, Y:-85.19, Z:42.58 [[ 9.99979434e-01 -4.75113114e-03 -4.30793841e-03 -6.96018190e+00] [ 4.75053706e-03 9.99988705e-01 -1.48124768e-04 -8.51948771e+01] [ 4.30859351e-03 1.27656700e-04 9.99990710e-01 4.25815675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67907232899995 meters 0.10031688887223508 Centerline is valid? [False, False] Translation: X:-6.96, Y:-85.19, Z:42.58 [[ 9.99980518e-01 -4.63549761e-03 -4.18034624e-03 -6.96066920e+00] [ 4.63527066e-03 9.99989255e-01 -6.39779679e-05 -8.51948494e+01] [ 4.18059789e-03 4.45996852e-05 9.99991260e-01 4.25818011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.709072329 meters 0.09818235789001464 Centerline is valid? [False, True] Translation: X:-6.96, Y:-85.20, Z:42.58 [[ 9.99979735e-01 -4.45268739e-03 -4.55006670e-03 -6.96014695e+00] [ 4.45663235e-03 9.99989702e-01 8.57242289e-04 -8.51980538e+01] [ 4.54620281e-03 -8.77502892e-04 9.99989281e-01 4.25826536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73907232899995 meters 0.0971275764484513 Centerline is valid? [True, True] Translation: X:-6.93, Y:-85.20, Z:42.58 [[ 9.99965246e-01 -6.31639421e-03 -5.44150164e-03 -6.93069762e+00] [ 6.31485937e-03 9.99980016e-01 -2.99196473e-04 -8.51994811e+01] [ 5.44328275e-03 2.64823757e-04 9.99985150e-01 4.25807819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.769072329 meters 0.09681027403896962 Centerline is valid? [True, True] Translation: X:-6.90, Y:-85.20, Z:42.58 [[ 9.99939681e-01 -8.59858271e-03 -6.83359675e-03 -6.90314861e+00] [ 8.59624423e-03 9.99962983e-01 -3.71503123e-04 -8.51997787e+01] [ 6.83653819e-03 3.12737447e-04 9.99976582e-01 4.25777295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79907232899996 meters 0.09635849483113423 Centerline is valid? [True, True] Translation: X:-6.88, Y:-85.20, Z:42.58 [[ 9.99930539e-01 -9.21425280e-03 -7.34940788e-03 -6.87541972e+00] [ 9.21151694e-03 9.99957491e-01 -4.06019422e-04 -8.51990973e+01] [ 7.35283663e-03 3.38292024e-04 9.99972910e-01 4.25764647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.829072329 meters 0.09583074980298144 Centerline is valid? [True, True] Translation: X:-6.85, Y:-85.20, Z:42.58 [[ 9.99932369e-01 -9.95198164e-03 -6.01800911e-03 -6.84629204e+00] [ 9.95018139e-03 9.99950442e-01 -3.29010740e-04 -8.51977933e+01] [ 6.02098518e-03 2.69108206e-04 9.99981837e-01 4.25764460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85907232899996 meters 0.09789235602851902 Centerline is valid? [True, True] Translation: X:-6.82, Y:-85.19, Z:42.57 [[ 9.99925243e-01 -1.05642033e-02 -6.15678358e-03 -6.81839073e+00] [ 1.05623253e-02 9.99944160e-01 -3.37471619e-04 -8.51930351e+01] [ 6.16000491e-03 2.72416440e-04 9.99980990e-01 4.25724550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.889072329 meters 0.0952572707677978 Centerline is valid? [True, True] Translation: X:-6.79, Y:-85.20, Z:42.58 [[ 9.99917009e-01 -1.06294906e-02 -7.27939538e-03 -6.78919277e+00] [ 1.06268285e-02 9.99943452e-01 -4.04282782e-04 -8.51999644e+01] [ 7.28328106e-03 3.26892344e-04 9.99973423e-01 4.25769506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91907232899996 meters 0.09537612344723723 Centerline is valid? [True, True] Translation: X:-6.76, Y:-85.20, Z:42.58 [[ 9.99912390e-01 -1.03517461e-02 -8.24951167e-03 -6.75990210e+00] [ 1.03483085e-02 9.99946349e-01 -4.59283654e-04 -8.51989379e+01] [ 8.25382346e-03 3.73874924e-04 9.99965867e-01 4.25766915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.949072329 meters 0.09718282959879591 Centerline is valid? [True, True] Translation: X:-6.73, Y:-85.19, Z:42.57 [[ 9.99918968e-01 -8.26118462e-03 -9.68556753e-03 -6.73156289e+00] [ 8.25639995e-03 9.99965773e-01 -5.33880832e-04 -8.51921290e+01] [ 9.68964651e-03 4.53869651e-04 9.99952951e-01 4.25730198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97907232899996 meters 0.09761194648165492 Centerline is valid? [True, True] Translation: X:-6.70, Y:-85.19, Z:42.57 [[ 9.99914595e-01 -7.30464083e-03 -1.08371882e-02 -6.70190799e+00] [ 7.29859701e-03 9.99973187e-01 -5.97137590e-04 -8.51899333e+01] [ 1.08412595e-02 5.17990323e-04 9.99941098e-01 4.25709066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.009072329 meters 0.09726780841580183 Centerline is valid? [True, True] Translation: X:-6.67, Y:-85.19, Z:42.57 [[ 9.99875436e-01 -1.05087393e-02 -1.17762417e-02 -6.67410291e+00] [ 1.05017995e-02 9.99944643e-01 -6.50995445e-04 -8.51926316e+01] [ 1.17824310e-02 5.27242625e-04 9.99930446e-01 4.25695462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03907232899996 meters 0.0969509793152206 Centerline is valid? [True, True] Translation: X:-6.65, Y:-85.19, Z:42.57 [[ 9.99859206e-01 -1.16264758e-02 -1.20993057e-02 -6.64533432e+00] [ 1.16191539e-02 9.99932267e-01 -6.75268347e-04 -8.51925594e+01] [ 1.21063371e-02 5.34589578e-04 9.99926573e-01 4.25685146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.069072329 meters 0.09612396996435157 Centerline is valid? [True, True] Translation: X:-6.62, Y:-85.19, Z:42.57 [[ 9.99853176e-01 -1.20363814e-02 -1.21963935e-02 -6.61713395e+00] [ 1.20289213e-02 9.99927415e-01 -6.84841767e-04 -8.51932695e+01] [ 1.22037513e-02 5.38031757e-04 9.99925387e-01 4.25703121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09907232899997 meters 0.09804310186398588 Centerline is valid? [True, True] Translation: X:-6.59, Y:-85.19, Z:42.56 [[ 9.99851334e-01 -1.20758167e-02 -1.23079259e-02 -6.58973310e+00] [ 1.20682687e-02 9.99926940e-01 -6.87345020e-04 -8.51866830e+01] [ 1.23153270e-02 5.38707477e-04 9.99924018e-01 4.25647352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.129072329 meters 0.09713425890033205 Centerline is valid? [True, True] Translation: X:-6.56, Y:-85.19, Z:42.56 [[ 9.99839296e-01 -1.41737130e-02 -1.09767040e-02 -6.55952186e+00] [ 1.41678502e-02 9.99899444e-01 -6.11695034e-04 -8.51882454e+01] [ 1.09842702e-02 4.56080434e-04 9.99939567e-01 4.25649084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15907232899997 meters 0.09540186433860552 Centerline is valid? [True, True] Translation: X:-6.53, Y:-85.19, Z:42.57 [[ 9.99814372e-01 -1.58547006e-02 -1.09476410e-02 -6.53056659e+00] [ 1.58488833e-02 9.99874208e-01 -6.17931603e-04 -8.51908047e+01] [ 1.09560610e-02 4.44309013e-04 9.99939882e-01 4.25666528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.189072329 meters 0.0951488856691985 Centerline is valid? [True, True] Translation: X:-6.50, Y:-85.19, Z:42.57 [[ 9.99819615e-01 -1.61698819e-02 -9.96356993e-03 -6.50107985e+00] [ 1.61650570e-02 9.99869178e-01 -5.64605300e-04 -8.51901810e+01] [ 9.97139608e-03 4.03441778e-04 9.99950203e-01 4.25670517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21907232899997 meters 0.09719072709027257 Centerline is valid? [True, True] Translation: X:-6.47, Y:-85.18, Z:42.56 [[ 9.99793881e-01 -1.67456240e-02 -1.14794950e-02 -6.47365220e+00] [ 1.67392944e-02 9.99859679e-01 -6.47257260e-04 -8.51839866e+01] [ 1.14887229e-02 4.54965202e-04 9.99933899e-01 4.25603828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.249072329 meters 0.09702379124949573 Centerline is valid? [True, True] Translation: X:-6.45, Y:-85.18, Z:42.56 [[ 9.99778157e-01 -1.74099271e-02 -1.18545460e-02 -6.44538200e+00] [ 1.74031405e-02 9.99848326e-01 -6.75411638e-04 -8.51821758e+01] [ 1.18645069e-02 4.68955472e-04 9.99929504e-01 4.25588164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279072329 meters 0.09493624445131404 Centerline is valid? [True, True] Translation: X:-6.42, Y:-85.19, Z:42.56 [[ 9.99774891e-01 -1.65270910e-02 -1.33049930e-02 -6.41500823e+00] [ 1.65185404e-02 9.99863277e-01 -7.52307442e-04 -8.51864275e+01] [ 1.33156073e-02 5.32359027e-04 9.99911202e-01 4.25634494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30907232899995 meters 0.09641047279665325 Centerline is valid? [True, True] Translation: X:-6.39, Y:-85.18, Z:42.56 [[ 9.99736110e-01 -1.86364121e-02 -1.34311024e-02 -6.38758768e+00] [ 1.86278415e-02 9.99826196e-01 -7.62947286e-04 -8.51820715e+01] [ 1.34429866e-02 5.12553505e-04 9.99909508e-01 4.25577830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339072329 meters 0.09433975293125833 Centerline is valid? [True, True] Translation: X:-6.36, Y:-85.19, Z:42.56 [[ 9.99687529e-01 -1.97165183e-02 -1.53656366e-02 -6.35788291e+00] [ 1.97053330e-02 9.99805445e-01 -8.79021840e-04 -8.51869194e+01] [ 1.53799784e-02 5.75962186e-04 9.99881555e-01 4.25611982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36907232899995 meters 0.09544793605627706 Centerline is valid? [True, True] Translation: X:-6.33, Y:-85.18, Z:42.56 [[ 9.99682406e-01 -2.08518071e-02 -1.41523520e-02 -6.33058354e+00] [ 2.08424446e-02 9.99782446e-01 -8.08737891e-04 -8.51829263e+01] [ 1.41661367e-02 5.13511429e-04 9.99899523e-01 4.25573303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399072329 meters 0.0951259207668417 Centerline is valid? [True, True] Translation: X:-6.30, Y:-85.18, Z:42.56 [[ 9.99683203e-01 -2.04772246e-02 -1.46348000e-02 -6.30160541e+00] [ 2.04670860e-02 9.99790173e-01 -8.42224362e-04 -8.51809050e+01] [ 1.46489756e-02 5.42425838e-04 9.99892551e-01 4.25575077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42907232899995 meters 0.09395831002038664 Centerline is valid? [True, True] Translation: X:-6.27, Y:-85.18, Z:42.56 [[ 9.99695757e-01 -2.01394074e-02 -1.42407183e-02 -6.27296910e+00] [ 2.01297010e-02 9.99797037e-01 -8.24621762e-04 -8.51811030e+01] [ 1.42544353e-02 5.37709476e-04 9.99898256e-01 4.25605139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459072329 meters 0.09617846861961923 Centerline is valid? [True, True] Translation: X:-6.24, Y:-85.17, Z:42.56 [[ 9.99740151e-01 -1.76273707e-02 -1.44536055e-02 -6.24496529e+00] [ 1.76171817e-02 9.99844459e-01 -8.31971868e-04 -8.51730710e+01] [ 1.44660229e-02 5.77123886e-04 9.99895195e-01 4.25568796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48907232899995 meters 0.09550598057943331 Centerline is valid? [True, True] Translation: X:-6.22, Y:-85.17, Z:42.56 [[ 9.99753205e-01 -1.66769029e-02 -1.46768338e-02 -6.21644524e+00] [ 1.66662645e-02 9.99860750e-01 -8.46862227e-04 -8.51731944e+01] [ 1.46889130e-02 6.02045232e-04 9.99891931e-01 4.25586423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519072329 meters 0.09695068471433917 Centerline is valid? [True, True] Translation: X:-6.19, Y:-85.17, Z:42.55 [[ 9.99743304e-01 -1.68623688e-02 -1.51323025e-02 -6.18848575e+00] [ 1.68510636e-02 9.99857628e-01 -8.74297585e-04 -8.51681931e+01] [ 1.51448909e-02 6.19077764e-04 9.99885118e-01 4.25545259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54907232899996 meters 0.0959790389120748 Centerline is valid? [True, True] Translation: X:-6.16, Y:-85.17, Z:42.56 [[ 9.99748186e-01 -1.68392722e-02 -1.48325181e-02 -6.15986623e+00] [ 1.68282823e-02 9.99858020e-01 -8.65439890e-04 -8.51680086e+01] [ 1.48449855e-02 6.15616159e-04 9.99889618e-01 4.25577671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579072329 meters 0.09561768092498245 Centerline is valid? [True, True] Translation: X:-6.13, Y:-85.17, Z:42.56 [[ 9.99744971e-01 -1.74169181e-02 -1.43751470e-02 -6.13043180e+00] [ 1.74066266e-02 9.99848140e-01 -8.40735221e-04 -8.51669072e+01] [ 1.43876070e-02 5.90297992e-04 9.99896319e-01 4.25577533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60907232899996 meters 0.09553615128174424 Centerline is valid? [True, True] Translation: X:-6.10, Y:-85.16, Z:42.56 [[ 9.99754051e-01 -1.76958659e-02 -1.33676086e-02 -6.10158042e+00] [ 1.76869403e-02 9.99843265e-01 -7.85641470e-04 -8.51635543e+01] [ 1.33794160e-02 5.49016148e-04 9.99910341e-01 4.25569402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639072329 meters 0.09554478499009057 Centerline is valid? [True, True] Translation: X:-6.07, Y:-85.16, Z:42.56 [[ 9.99751192e-01 -1.74828586e-02 -1.38529215e-02 -6.07255967e+00] [ 1.74732108e-02 9.99846998e-01 -8.17182557e-04 -8.51606821e+01] [ 1.38650887e-02 5.74924218e-04 9.99903710e-01 4.25564567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66907232899996 meters 0.09647712415071491 Centerline is valid? [True, True] Translation: X:-6.05, Y:-85.16, Z:42.55 [[ 9.99749663e-01 -1.67991268e-02 -1.47783581e-02 -6.04544537e+00] [ 1.67881071e-02 9.99858692e-01 -8.69416891e-04 -8.51565808e+01] [ 1.47908752e-02 6.21098587e-04 9.99890416e-01 4.25540278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699072329 meters 0.09621995646755707 Centerline is valid? [True, True] Translation: X:-6.02, Y:-85.16, Z:42.55 [[ 9.99721544e-01 -1.77975200e-02 -1.54946017e-02 -6.01770784e+00] [ 1.77854012e-02 9.99841404e-01 -9.19586005e-04 -8.51559144e+01] [ 1.55085106e-02 6.43752233e-04 9.99879529e-01 4.25534042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72907232899996 meters 0.09580800315669974 Centerline is valid? [True, True] Translation: X:-5.99, Y:-85.15, Z:42.55 [[ 9.99728729e-01 -1.77856382e-02 -1.50379167e-02 -5.98970648e+00] [ 1.77741586e-02 9.99841625e-01 -8.96694030e-04 -8.51540930e+01] [ 1.50514833e-02 6.29164466e-04 9.99886522e-01 4.25542936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759072329 meters 0.0962467169162603 Centerline is valid? [True, True] Translation: X:-5.96, Y:-85.15, Z:42.55 [[ 9.99720891e-01 -1.77757762e-02 -1.55615833e-02 -5.96254044e+00] [ 1.77634992e-02 9.99841787e-01 -9.26803460e-04 -8.51501102e+01] [ 1.55755959e-02 6.50116607e-04 9.99878482e-01 4.25520544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78907232899996 meters 0.0965751853537224 Centerline is valid? [True, True] Translation: X:-5.93, Y:-85.15, Z:42.55 [[ 9.99725513e-01 -1.67540250e-02 -1.63768443e-02 -5.93346675e+00] [ 1.67403073e-02 9.99859396e-01 -9.74359437e-04 -8.51463970e+01] [ 1.63908661e-02 6.99938581e-04 9.99865416e-01 4.25510586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819072329 meters 0.09753133986142558 Centerline is valid? [True, True] Translation: X:-5.91, Y:-85.14, Z:42.55 [[ 9.99707798e-01 -1.65662816e-02 -1.76033010e-02 -5.90618580e+00] [ 1.65503270e-02 9.99862481e-01 -1.05164887e-03 -8.51416908e+01] [ 1.76183021e-02 7.60001194e-04 9.99844497e-01 4.25484621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84907232899997 meters 0.09635071937386307 Centerline is valid? [True, True] Translation: X:-5.88, Y:-85.14, Z:42.55 [[ 9.99720721e-01 -1.64743923e-02 -1.69432768e-02 -5.87740936e+00] [ 1.64594907e-02 9.99864015e-01 -1.01858134e-03 -8.51419610e+01] [ 1.69577533e-02 7.39419165e-04 9.99855934e-01 4.25522716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879072329 meters 0.096732023455391 Centerline is valid? [True, True] Translation: X:-5.85, Y:-85.14, Z:42.55 [[ 9.99719391e-01 -1.52689770e-02 -1.81107189e-02 -5.84829732e+00] [ 1.52518296e-02 9.99883096e-01 -1.08456201e-03 -8.51387530e+01] [ 1.81251619e-02 8.08036068e-04 9.99835399e-01 4.25520429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90907232899997 meters 0.0984403249678358 Centerline is valid? [True, True] Translation: X:-5.82, Y:-85.13, Z:42.55 [[ 9.99781666e-01 -1.16199326e-02 -1.73665385e-02 -5.82059339e+00] [ 1.16035785e-02 9.99932133e-01 -1.04217262e-03 -8.51290300e+01] [ 1.73774699e-02 8.40431086e-04 9.99848647e-01 4.25497586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939072329 meters 0.09898551376963015 Centerline is valid? [True, True] Translation: X:-5.79, Y:-85.13, Z:42.55 [[ 9.99773570e-01 -1.16236744e-02 -1.78241022e-02 -5.79180665e+00] [ 1.16063077e-02 9.99932064e-01 -1.07747798e-03 -8.51252141e+01] [ 1.78354155e-02 8.70361993e-04 9.99840558e-01 4.25486317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96907232899997 meters 0.09958909065635634 Centerline is valid? [True, True] Translation: X:-5.76, Y:-85.12, Z:42.55 [[ 9.99760970e-01 -1.15258221e-02 -1.85784409e-02 -5.76419332e+00] [ 1.15069845e-02 9.99933165e-01 -1.12053489e-03 -8.51210764e+01] [ 1.85901142e-02 9.06485215e-04 9.99826778e-01 4.25464673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999072329 meters 0.09991200179324233 Centerline is valid? [True, True] Translation: X:-5.73, Y:-85.12, Z:42.55 [[ 9.99735317e-01 -1.09660560e-02 -2.02247744e-02 -5.73477851e+00] [ 1.09436329e-02 9.99939374e-01 -1.21903955e-03 -8.51195632e+01] [ 2.02369163e-02 9.97384387e-04 9.99794715e-01 4.25455038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.029072329 meters 0.09910306766311575 Centerline is valid? [True, True] Translation: X:-5.71, Y:-85.12, Z:42.55 [[ 9.99736155e-01 -1.03629086e-02 -2.04995431e-02 -5.70635945e+00] [ 1.03396457e-02 9.99945775e-01 -1.24046594e-03 -8.51193499e+01] [ 2.05112864e-02 1.02818063e-03 9.99789093e-01 4.25466856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05907232899995 meters 0.09964249810205003 Centerline is valid? [True, True] Translation: X:-5.68, Y:-85.12, Z:42.54 [[ 9.99719636e-01 -1.00915474e-02 -2.14198618e-02 -5.67734945e+00] [ 1.00659258e-02 9.99948487e-01 -1.30364644e-03 -8.51159438e+01] [ 2.14319142e-02 1.08767020e-03 9.99769718e-01 4.25447163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.089072329 meters 0.09967606164540439 Centerline is valid? [True, True] Translation: X:-5.65, Y:-85.12, Z:42.54 [[ 9.99644879e-01 -1.24577135e-02 -2.35567577e-02 -5.65052902e+00] [ 1.24273246e-02 9.99921747e-01 -1.43599155e-03 -8.51162116e+01] [ 2.35728035e-02 1.14273412e-03 9.99721470e-01 4.25406245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11907232899995 meters 0.09997139198452143 Centerline is valid? [True, True] Translation: X:-5.62, Y:-85.12, Z:42.54 [[ 9.99607513e-01 -1.42928315e-02 -2.40942766e-02 -5.62285928e+00] [ 1.42615883e-02 9.99897221e-01 -1.46805509e-03 -8.51150566e+01] [ 2.41127828e-02 1.12385625e-03 9.99708613e-01 4.25374015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.149072329 meters 0.09893303890449627 Centerline is valid? [True, True] Translation: X:-5.59, Y:-85.12, Z:42.54 [[ 9.99589401e-01 -1.51676881e-02 -2.43098699e-02 -5.59339738e+00] [ 1.51359171e-02 9.99884335e-01 -1.49040257e-03 -8.51170393e+01] [ 2.43296641e-02 1.12183844e-03 9.99703360e-01 4.25387426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17907232899995 meters 0.09660163609069577 Centerline is valid? [True, True] Translation: X:-5.56, Y:-85.12, Z:42.54 [[ 9.99514658e-01 -1.70950712e-02 -2.60423958e-02 -5.56398962e+00] [ 1.70591062e-02 9.99853199e-01 -1.60257596e-03 -8.51224166e+01] [ 2.60659689e-02 1.15753817e-03 9.99659555e-01 4.25403197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.209072329 meters 0.0972976757874265 Centerline is valid? [True, True] Translation: X:-5.54, Y:-85.12, Z:42.54 [[ 9.99500226e-01 -1.78529054e-02 -2.60877858e-02 -5.53622794e+00] [ 1.78171180e-02 9.99839977e-01 -1.60362425e-03 -8.51195718e+01] [ 2.61122405e-02 1.13801364e-03 9.99658370e-01 4.25369917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23907232899995 meters 0.0969239506787166 Centerline is valid? [True, True] Translation: X:-5.51, Y:-85.12, Z:42.54 [[ 9.99471699e-01 -1.92270768e-02 -2.62038493e-02 -5.50745133e+00] [ 1.91911859e-02 9.99814519e-01 -1.62049725e-03 -8.51198733e+01] [ 2.62301464e-02 1.11675820e-03 9.99655307e-01 4.25364137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.269072329 meters 0.09474229069284136 Centerline is valid? [True, True] Translation: X:-5.48, Y:-85.13, Z:42.54 [[ 9.99403689e-01 -2.44117509e-02 -2.44199385e-02 -5.47649183e+00] [ 2.43822479e-02 9.99701576e-01 -1.50521819e-03 -8.51281758e+01] [ 2.44493960e-02 9.08907617e-04 9.99700656e-01 4.25374844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29907232899996 meters 0.09388638008974906 Centerline is valid? [True, True] Translation: X:-5.45, Y:-85.13, Z:42.54 [[ 9.99317001e-01 -2.66543468e-02 -2.55944788e-02 -5.44706927e+00] [ 2.66223754e-02 9.99644299e-01 -1.58914972e-03 -8.51311742e+01] [ 2.56277325e-02 9.06678510e-04 9.99671145e-01 4.25375345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.329072329 meters 0.09485712218943922 Centerline is valid? [True, True] Translation: X:-5.42, Y:-85.13, Z:42.53 [[ 9.99224508e-01 -2.98836512e-02 -2.56388407e-02 -5.41916296e+00] [ 2.98526754e-02 9.99553045e-01 -1.59015113e-03 -8.51302965e+01] [ 2.56749008e-02 8.23529991e-04 9.99670006e-01 4.25282489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35907232899996 meters 0.09254481948389824 Centerline is valid? [True, True] Translation: X:-5.39, Y:-85.13, Z:42.53 [[ 9.99177588e-01 -3.14683792e-02 -2.55712554e-02 -5.38952682e+00] [ 3.14378329e-02 9.99504435e-01 -1.59580077e-03 -8.51341859e+01] [ 2.56088004e-02 7.90583510e-04 9.99671728e-01 4.25339209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.389072329 meters 0.09300874564954609 Centerline is valid? [True, True] Translation: X:-5.36, Y:-85.13, Z:42.53 [[ 9.99106100e-01 -3.30914307e-02 -2.63050964e-02 -5.36185625e+00] [ 3.30597167e-02 9.99452033e-01 -1.63972219e-03 -8.51328422e+01] [ 2.63449429e-02 7.68617404e-04 9.99652616e-01 4.25292059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41907232899996 meters 0.09276147843015772 Centerline is valid? [True, True] Translation: X:-5.33, Y:-85.13, Z:42.53 [[ 9.99051179e-01 -3.48575552e-02 -2.61092330e-02 -5.33397363e+00] [ 3.48268097e-02 9.99392031e-01 -1.63151160e-03 -8.51324536e+01] [ 2.61502299e-02 7.20662301e-04 9.99657764e-01 4.25269000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.449072329 meters 0.0911600832999291 Centerline is valid? [True, True] Translation: X:-5.30, Y:-85.14, Z:42.53 [[ 9.98984968e-01 -3.79611399e-02 -2.42484079e-02 -5.30406214e+00] [ 3.79355641e-02 9.99279040e-01 -1.51404264e-03 -8.51367424e+01] [ 2.42884005e-02 5.92628804e-04 9.99704818e-01 4.25293293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47907232899996 meters 0.0911600832999291 Centerline is valid? [True, True] Translation: X:-5.28, Y:-85.13, Z:42.53 [[ 9.98975088e-01 -3.82207375e-02 -2.42476469e-02 -5.27640429e+00] [ 3.81949430e-02 9.99269141e-01 -1.52621040e-03 -8.51347874e+01] [ 2.42882581e-02 5.98508677e-04 9.99704818e-01 4.25286129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.509072329 meters 0.09097485376358738 Centerline is valid? [True, True] Translation: X:-5.25, Y:-85.13, Z:42.53 [[ 9.98927226e-01 -3.94499301e-02 -2.42507845e-02 -5.24768460e+00] [ 3.94243777e-02 9.99221384e-01 -1.53106480e-03 -8.51349897e+01] [ 2.42923028e-02 5.73350225e-04 9.99704734e-01 4.25291541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53907232899996 meters 0.09124265767666742 Centerline is valid? [True, True] Translation: X:-5.22, Y:-85.13, Z:42.53 [[ 9.98881426e-01 -4.05813415e-02 -2.42703795e-02 -5.22017402e+00] [ 4.05561261e-02 9.99176090e-01 -1.53046601e-03 -8.51336386e+01] [ 2.43124913e-02 5.44441499e-04 9.99704259e-01 4.25259100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.569072329 meters 0.09064900620995477 Centerline is valid? [True, True] Translation: X:-5.19, Y:-85.13, Z:42.53 [[ 9.98848735e-01 -4.08758420e-02 -2.51071655e-02 -5.19085136e+00] [ 4.08487095e-02 9.99164074e-01 -1.59281219e-03 -8.51313770e+01] [ 2.51512853e-02 5.65383130e-04 9.99683497e-01 4.25276215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59907232899997 meters 0.09174578553008299 Centerline is valid? [True, True] Translation: X:-5.16, Y:-85.13, Z:42.52 [[ 9.98858745e-01 -4.04998434e-02 -2.53173817e-02 -5.16374664e+00] [ 4.04721277e-02 9.99179376e-01 -1.60639200e-03 -8.51256487e+01] [ 2.53616643e-02 5.79910393e-04 9.99678173e-01 4.25217065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.629072329 meters 0.09164993368040297 Centerline is valid? [True, True] Translation: X:-5.13, Y:-85.12, Z:42.52 [[ 9.98845060e-01 -3.90442858e-02 -2.80016037e-02 -5.13404455e+00] [ 3.90098806e-02 9.99237250e-01 -1.77412015e-03 -8.51229397e+01] [ 2.80495148e-02 6.79731928e-04 9.99606304e-01 4.25244620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65907232899997 meters 0.09141649801914449 Centerline is valid? [True, True] Translation: X:-5.11, Y:-85.12, Z:42.53 [[ 9.98885565e-01 -3.82760756e-02 -2.76146838e-02 -5.10575756e+00] [ 3.82419349e-02 9.99266953e-01 -1.76358075e-03 -8.51206202e+01] [ 2.76619439e-02 7.05576411e-04 9.99617086e-01 4.25260678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.689072329 meters 0.09299338453302579 Centerline is valid? [True, True] Translation: X:-5.08, Y:-85.11, Z:42.52 [[ 9.98920407e-01 -3.75763032e-02 -2.73137762e-02 -5.07841694e+00] [ 3.75427082e-02 9.99293506e-01 -1.74191798e-03 -8.51137156e+01] [ 2.73599340e-02 7.14604288e-04 9.99625392e-01 4.25190440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71907232899997 meters 0.09320686159754006 Centerline is valid? [True, True] Translation: X:-5.05, Y:-85.11, Z:42.52 [[ 9.98967799e-01 -3.65327277e-02 -2.69943593e-02 -5.05008321e+00] [ 3.64992777e-02 9.99332180e-01 -1.73100411e-03 -8.51090818e+01] [ 2.70395702e-02 7.43942756e-04 9.99634087e-01 4.25195366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.749072329 meters 0.09220330922717951 Centerline is valid? [True, True] Translation: X:-5.02, Y:-85.11, Z:42.53 [[ 9.99083905e-01 -3.44181583e-02 -2.54310892e-02 -5.02105182e+00] [ 3.43876189e-02 9.99407230e-01 -1.63735256e-03 -8.51059613e+01] [ 2.54723691e-02 7.61337989e-04 9.99675237e-01 4.25254916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779072329 meters 0.09323867619040405 Centerline is valid? [True, True] Translation: X:-4.99, Y:-85.10, Z:42.52 [[ 9.99126058e-01 -3.31704278e-02 -2.54330886e-02 -4.99356837e+00] [ 3.31395252e-02 9.99449397e-01 -1.63569512e-03 -8.50998190e+01] [ 2.54733417e-02 7.91425133e-04 9.99675189e-01 4.25214708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80907232899995 meters 0.09357672767266509 Centerline is valid? [True, True] Translation: X:-4.97, Y:-85.10, Z:42.52 [[ 9.99170972e-01 -3.19075209e-02 -2.52839664e-02 -4.96508406e+00] [ 3.18763374e-02 9.99490482e-01 -1.63551876e-03 -8.50953229e+01] [ 2.53232691e-02 8.28202628e-04 9.99678972e-01 4.25209652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839072329 meters 0.09471270067202259 Centerline is valid? [True, True] Translation: X:-4.94, Y:-85.09, Z:42.52 [[ 9.99322483e-01 -2.71770295e-02 -2.48190363e-02 -4.93625868e+00] [ 2.71455782e-02 9.99630205e-01 -1.60332535e-03 -8.50862509e+01] [ 2.48534320e-02 9.28511976e-04 9.99690675e-01 4.25217825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86907232899995 meters 0.09565595822748178 Centerline is valid? [True, True] Translation: X:-4.91, Y:-85.08, Z:42.52 [[ 9.99380644e-01 -2.46627258e-02 -2.51013640e-02 -4.90688696e+00] [ 2.46297680e-02 9.99695326e-01 -1.62135737e-03 -8.50805113e+01] [ 2.51337033e-02 1.00211240e-03 9.99683596e-01 4.25202029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899072329 meters 0.09501818552092946 Centerline is valid? [True, True] Translation: X:-4.88, Y:-85.08, Z:42.52 [[ 9.99357490e-01 -2.56604770e-02 -2.50229170e-02 -4.87716827e+00] [ 2.56277884e-02 9.99670232e-01 -1.62621924e-03 -8.50824057e+01] [ 2.50563948e-02 9.83892360e-04 9.99685555e-01 4.25218734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92907232899995 meters 0.096304872105979 Centerline is valid? [True, True] Translation: X:-4.85, Y:-85.08, Z:42.52 [[ 9.99347191e-01 -2.62158942e-02 -2.48579772e-02 -4.84967963e+00] [ 2.61838398e-02 9.99655841e-01 -1.61417102e-03 -8.50792463e+01] [ 2.48917390e-02 9.62239982e-04 9.99689690e-01 4.25179059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959072329 meters 0.09497018451732682 Centerline is valid? [True, True] Translation: X:-4.82, Y:-85.08, Z:42.52 [[ 9.99327566e-01 -2.65851856e-02 -2.52516235e-02 -4.82066692e+00] [ 2.65519858e-02 9.99646073e-01 -1.64920099e-03 -8.50816189e+01] [ 2.52865306e-02 9.77611259e-04 9.99679767e-01 4.25206176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98907232899995 meters 0.09554242399569304 Centerline is valid? [True, True] Translation: X:-4.79, Y:-85.08, Z:42.51 [[ 9.99201480e-01 -2.87805603e-02 -2.77142825e-02 -4.79285710e+00] [ 2.87414690e-02 9.99585244e-01 -1.80791545e-03 -8.50801444e+01] [ 2.77548206e-02 1.00992260e-03 9.99614251e-01 4.25135440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019072329 meters 0.09503699566015722 Centerline is valid? [True, True] Translation: X:-4.76, Y:-85.08, Z:42.51 [[ 9.99160579e-01 -2.94822336e-02 -2.84417883e-02 -4.76371410e+00] [ 2.94410593e-02 9.99564777e-01 -1.86543680e-03 -8.50789017e+01] [ 2.84844071e-02 1.02651454e-03 9.99593710e-01 4.25123536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04907232899996 meters 0.09488119898818194 Centerline is valid? [True, True] Translation: X:-4.73, Y:-85.08, Z:42.51 [[ 9.99111774e-01 -3.09680035e-02 -2.85770301e-02 -4.73486914e+00] [ 3.09268625e-02 9.99519881e-01 -1.88062631e-03 -8.50773089e+01] [ 2.86215489e-02 9.95158004e-04 9.99589824e-01 4.25095175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079072329 meters 0.09339694589613705 Centerline is valid? [True, True] Translation: X:-4.70, Y:-85.08, Z:42.51 [[ 9.99059864e-01 -3.34016056e-02 -2.76354831e-02 -4.70416225e+00] [ 3.33641509e-02 9.99441613e-01 -1.81543705e-03 -8.50813129e+01] [ 2.76806903e-02 8.91695864e-04 9.99616419e-01 4.25120658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10907232899996 meters 0.09292016909802624 Centerline is valid? [True, True] Translation: X:-4.67, Y:-85.08, Z:42.51 [[ 9.99040255e-01 -3.42139376e-02 -2.73491274e-02 -4.67449674e+00] [ 3.41772816e-02 9.99414153e-01 -1.80676086e-03 -8.50822779e+01] [ 2.73949214e-02 8.70308000e-04 9.99624310e-01 4.25128007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139072329 meters 0.09216846667553046 Centerline is valid? [True, True] Translation: X:-4.65, Y:-85.08, Z:42.51 [[ 9.99027353e-01 -3.52149713e-02 -2.65377820e-02 -4.64563212e+00] [ 3.51806303e-02 9.99379420e-01 -1.75996645e-03 -8.50832473e+01] [ 2.65832903e-02 8.24638727e-04 9.99646262e-01 4.25138686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16907232899996 meters 0.09185634757095887 Centerline is valid? [True, True] Translation: X:-4.62, Y:-85.08, Z:42.51 [[ 9.99015050e-01 -3.63321492e-02 -2.54736285e-02 -4.61672921e+00] [ 3.63009310e-02 9.99339480e-01 -1.68702914e-03 -8.50814795e+01] [ 2.55180960e-02 7.60651073e-04 9.99674071e-01 4.25132552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199072329 meters 0.09290849309879658 Centerline is valid? [True, True] Translation: X:-4.59, Y:-85.07, Z:42.51 [[ 9.99049809e-01 -3.62971514e-02 -2.41246112e-02 -4.58929026e+00] [ 3.62690830e-02 9.99340779e-01 -1.60015369e-03 -8.50742207e+01] [ 2.41667888e-02 7.23655710e-04 9.99707679e-01 4.25070109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22907232899996 meters 0.09176280620561965 Centerline is valid? [True, True] Translation: X:-4.56, Y:-85.07, Z:42.51 [[ 9.99079803e-01 -3.50064043e-02 -2.47810187e-02 -4.56056909e+00] [ 3.49763393e-02 9.99386786e-01 -1.64576370e-03 -8.50744747e+01] [ 2.48234349e-02 7.77499952e-04 9.99691549e-01 4.25118294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259072329 meters 0.09332750847338551 Centerline is valid? [True, True] Translation: X:-4.53, Y:-85.07, Z:42.51 [[ 9.99181263e-01 -3.22824388e-02 -2.43854206e-02 -4.53318633e+00] [ 3.22524660e-02 9.99478439e-01 -1.62153429e-03 -8.50673749e+01] [ 2.44250492e-02 8.33716730e-04 9.99701316e-01 4.25092487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28907232899996 meters 0.09246147374850441 Centerline is valid? [True, True] Translation: X:-4.50, Y:-85.07, Z:42.51 [[ 9.99232296e-01 -3.05505452e-02 -2.45251490e-02 -4.50429841e+00] [ 3.05194678e-02 9.99532826e-01 -1.64055512e-03 -8.50666671e+01] [ 2.45638114e-02 8.90801167e-04 9.99697867e-01 4.25144002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319072329 meters 0.09311252448509263 Centerline is valid? [True, True] Translation: X:-4.48, Y:-85.06, Z:42.51 [[ 9.99263549e-01 -2.94051080e-02 -2.46515488e-02 -4.47713656e+00] [ 2.93733876e-02 9.99567151e-01 -1.64794925e-03 -8.50627248e+01] [ 2.46893365e-02 9.22636121e-04 9.99694746e-01 4.25130230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34907232899997 meters 0.09354484682893992 Centerline is valid? [True, True] Translation: X:-4.45, Y:-85.06, Z:42.51 [[ 9.99207876e-01 -3.10291566e-02 -2.49160869e-02 -4.44877595e+00] [ 3.09970289e-02 9.99518074e-01 -1.67471966e-03 -8.50612659e+01] [ 2.49560443e-02 9.01068410e-04 9.99688143e-01 4.25093830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379072329 meters 0.0931165846156693 Centerline is valid? [True, True] Translation: X:-4.42, Y:-85.06, Z:42.51 [[ 9.99175732e-01 -3.16479281e-02 -2.54217324e-02 -4.41941386e+00] [ 3.16145389e-02 9.99498665e-01 -1.71435325e-03 -8.50603443e+01] [ 2.54632433e-02 9.09243818e-04 9.99675346e-01 4.25087337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40907232899997 meters 0.09361002202731307 Centerline is valid? [True, True] Translation: X:-4.39, Y:-85.06, Z:42.50 [[ 9.99136825e-01 -3.18016687e-02 -2.67256285e-02 -4.39092631e+00] [ 3.17646667e-02 9.99493740e-01 -1.80802578e-03 -8.50573463e+01] [ 2.67695966e-02 9.57534454e-04 9.99641172e-01 4.25047980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439072329 meters 0.09329047958534634 Centerline is valid? [True, True] Translation: X:-4.36, Y:-85.06, Z:42.50 [[ 9.99111490e-01 -3.17716248e-02 -2.76910441e-02 -4.36174453e+00] [ 3.17317142e-02 9.99494655e-01 -1.87962941e-03 -8.50552098e+01] [ 2.77367694e-02 9.99275049e-04 9.99614762e-01 4.25044703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46907232899997 meters 0.09546466585227656 Centerline is valid? [True, True] Translation: X:-4.33, Y:-85.05, Z:42.50 [[ 9.99153730e-01 -3.16060744e-02 -2.63226139e-02 -4.33476658e+00] [ 3.15699917e-02 9.99499949e-01 -1.78533813e-03 -8.50477567e+01] [ 2.63658788e-02 9.52822551e-04 9.99651906e-01 4.24974262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499072329 meters 0.09298647432737174 Centerline is valid? [True, True] Translation: X:-4.30, Y:-85.05, Z:42.51 [[ 9.99173824e-01 -3.16938022e-02 -2.54395711e-02 -4.30484605e+00] [ 3.16599001e-02 9.99497195e-01 -1.73442292e-03 -8.50508370e+01] [ 2.54817504e-02 9.27575698e-04 9.99674857e-01 4.25051414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.529072329 meters 0.09238584128167611 Centerline is valid? [True, True] Translation: X:-4.28, Y:-85.05, Z:42.51 [[ 9.99214929e-01 -3.12441088e-02 -2.43583841e-02 -4.27579010e+00] [ 3.12127364e-02 9.99511373e-01 -1.66718379e-03 -8.50494372e+01] [ 2.43985716e-02 9.05583108e-04 9.99701900e-01 4.25062458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55907232899995 meters 0.09326814071826292 Centerline is valid? [True, True] Translation: X:-4.25, Y:-85.05, Z:42.50 [[ 9.99220195e-01 -3.01748685e-02 -2.54652481e-02 -4.24708409e+00] [ 3.01403015e-02 9.99544163e-01 -1.74024102e-03 -8.50455980e+01] [ 2.55061516e-02 9.71353713e-04 9.99674193e-01 4.25033730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.589072329 meters 0.09517854857644376 Centerline is valid? [True, True] Translation: X:-4.22, Y:-85.04, Z:42.50 [[ 9.99177989e-01 -3.07369205e-02 -2.64308214e-02 -4.22003110e+00] [ 3.06997586e-02 9.99527011e-01 -1.81073635e-03 -8.50401330e+01] [ 2.64739764e-02 9.97828069e-04 9.99649005e-01 4.24957139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61907232899995 meters 0.09486775381024407 Centerline is valid? [True, True] Translation: X:-4.19, Y:-85.04, Z:42.50 [[ 9.99205142e-01 -3.06778044e-02 -2.54549962e-02 -4.19144631e+00] [ 3.06431068e-02 9.99528854e-01 -1.75214221e-03 -8.50380562e+01] [ 2.54967551e-02 9.70729339e-04 9.99674434e-01 4.24967542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.649072329 meters 0.09372655145731283 Centerline is valid? [True, True] Translation: X:-4.16, Y:-85.04, Z:42.50 [[ 9.99184629e-01 -3.07506250e-02 -2.61625082e-02 -4.16209444e+00] [ 3.07138397e-02 9.99526586e-01 -1.80681185e-03 -8.50381664e+01] [ 2.62056831e-02 1.00178755e-03 9.99656070e-01 4.24983804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67907232899995 meters 0.09429389147328875 Centerline is valid? [True, True] Translation: X:-4.13, Y:-85.03, Z:42.49 [[ 9.99178177e-01 -3.15882130e-02 -2.53999059e-02 -4.13450740e+00] [ 3.15538022e-02 9.99500515e-01 -1.75451576e-03 -8.50349295e+01] [ 2.54426410e-02 9.51610248e-04 9.99675831e-01 4.24949632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.709072329 meters 0.09340574959658336 Centerline is valid? [True, True] Translation: X:-4.11, Y:-85.04, Z:42.50 [[ 9.99180416e-01 -3.24547274e-02 -2.41906490e-02 -4.10532003e+00] [ 3.24237629e-02 9.99472814e-01 -1.67126015e-03 -8.50351864e+01] [ 2.42321364e-02 8.85538539e-04 9.99705966e-01 4.24956319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73907232899995 meters 0.0925309431680163 Centerline is valid? [True, True] Translation: X:-4.08, Y:-85.04, Z:42.50 [[ 9.99168893e-01 -3.33032257e-02 -2.35036021e-02 -4.07623972e+00] [ 3.32740051e-02 9.99444932e-01 -1.63333610e-03 -8.50356374e+01] [ 2.35449514e-02 8.49919649e-04 9.99722418e-01 4.24964807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.769072329 meters 0.09176705402035427 Centerline is valid? [True, True] Translation: X:-4.05, Y:-85.04, Z:42.50 [[ 9.99141169e-01 -3.45406034e-02 -2.28882424e-02 -4.04674299e+00] [ 3.45131118e-02 9.99402972e-01 -1.59517767e-03 -8.50352255e+01] [ 2.29296759e-02 8.03863206e-04 9.99736757e-01 4.24951739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79907232899996 meters 0.09127309147159894 Centerline is valid? [True, True] Translation: X:-4.02, Y:-85.03, Z:42.49 [[ 9.99127708e-01 -3.53728873e-02 -2.21941785e-02 -4.01780520e+00] [ 3.53471161e-02 9.99373890e-01 -1.55251798e-03 -8.50344783e+01] [ 2.22351995e-02 7.66663531e-04 9.99752473e-01 4.24943316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.829072329 meters 0.09094567285612853 Centerline is valid? [True, True] Translation: X:-3.99, Y:-85.03, Z:42.49 [[ 9.99074807e-01 -3.63987866e-02 -2.29054389e-02 -3.98923251e+00] [ 3.63714892e-02 9.99337046e-01 -1.60736121e-03 -8.50342060e+01] [ 2.29487596e-02 7.72769170e-04 9.99736344e-01 4.24921286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85907232899996 meters 0.08980222936781497 Centerline is valid? [True, True] Translation: X:-3.96, Y:-85.04, Z:42.49 [[ 9.99036982e-01 -3.82102422e-02 -2.15658630e-02 -3.95898314e+00] [ 3.81865700e-02 9.99269488e-01 -1.50856466e-03 -8.50362990e+01] [ 2.16077515e-02 6.83585549e-04 9.99766292e-01 4.24926642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.889072329 meters 0.08940270050125097 Centerline is valid? [True, True] Translation: X:-3.93, Y:-85.04, Z:42.49 [[ 9.99009096e-01 -3.92407939e-02 -2.09996659e-02 -3.93018030e+00] [ 3.92183569e-02 9.99229569e-01 -1.47937117e-03 -8.50352796e+01] [ 2.10415388e-02 6.54332860e-04 9.99778388e-01 4.24922252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91907232899996 meters 0.08920172512760385 Centerline is valid? [True, True] Translation: X:-3.90, Y:-85.03, Z:42.49 [[ 9.98992954e-01 -3.96034823e-02 -2.10865415e-02 -3.90317712e+00] [ 3.95809528e-02 9.99215264e-01 -1.48488228e-03 -8.50334375e+01] [ 2.11288006e-02 6.48761528e-04 9.99776551e-01 4.24904701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.949072329 meters 0.08888180888201351 Centerline is valid? [True, True] Translation: X:-3.87, Y:-85.03, Z:42.49 [[ 9.98998775e-01 -4.00211451e-02 -1.99938746e-02 -3.87374060e+00] [ 4.00008357e-02 9.99198645e-01 -1.41483675e-03 -8.50303969e+01] [ 2.00344757e-02 6.13648488e-04 9.99799101e-01 4.24900775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97907232899996 meters 0.08809011093625595 Centerline is valid? [True, True] Translation: X:-3.84, Y:-85.03, Z:42.49 [[ 9.98992479e-01 -4.07588020e-02 -1.87815554e-02 -3.84479416e+00] [ 4.07410524e-02 9.99168858e-01 -1.32687249e-03 -8.50297437e+01] [ 1.88200270e-02 5.60355302e-04 9.99822731e-01 4.24913376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.009072329 meters 0.08776382361228695 Centerline is valid? [True, True] Translation: X:-3.82, Y:-85.03, Z:42.49 [[ 9.98980157e-01 -4.15010106e-02 -1.77851527e-02 -3.81564076e+00] [ 4.14850619e-02 9.99138324e-01 -1.26490331e-03 -8.50277789e+01] [ 1.78223225e-02 5.25795147e-04 9.99841032e-01 4.24906826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03907232899996 meters 0.08810193617235296 Centerline is valid? [True, True] Translation: X:-3.79, Y:-85.02, Z:42.49 [[ 9.98970808e-01 -4.18591447e-02 -1.74681485e-02 -3.78778805e+00] [ 4.18438547e-02 9.99123393e-01 -1.24004634e-03 -8.50247277e+01] [ 1.75047431e-02 5.07835424e-04 9.99846651e-01 4.24883160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.069072329 meters 0.08732357604108691 Centerline is valid? [True, True] Translation: X:-3.76, Y:-85.02, Z:42.49 [[ 9.98960248e-01 -4.24524761e-02 -1.66195687e-02 -3.75865207e+00] [ 4.24385906e-02 9.99098372e-01 -1.18744035e-03 -8.50236792e+01] [ 1.66549938e-02 4.80894638e-04 9.99861180e-01 4.24886308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09907232899997 meters 0.08652390821284586 Centerline is valid? [True, True] Translation: X:-3.73, Y:-85.02, Z:42.49 [[ 9.98904921e-01 -4.40103714e-02 -1.58759395e-02 -3.73002319e+00] [ 4.39979428e-02 9.99030981e-01 -1.13145409e-03 -8.50237466e+01] [ 1.59103512e-02 4.31706375e-04 9.99873329e-01 4.24890766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.129072329 meters 0.08555040852441334 Centerline is valid? [True, True] Translation: X:-3.70, Y:-85.02, Z:42.49 [[ 9.98868674e-01 -4.49026398e-02 -1.56564778e-02 -3.70107904e+00] [ 4.48905334e-02 9.98991280e-01 -1.12400882e-03 -8.50237975e+01] [ 1.56911558e-02 4.19909562e-04 9.99876798e-01 4.24905440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15907232899997 meters 0.0856732778074373 Centerline is valid? [True, True] Translation: X:-3.67, Y:-85.02, Z:42.49 [[ 9.98785471e-01 -4.64378987e-02 -1.64652617e-02 -3.67453832e+00] [ 4.64247418e-02 9.98921093e-01 -1.18060201e-03 -8.50211507e+01] [ 1.65023219e-02 4.14772612e-04 9.99863741e-01 4.24853340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.189072329 meters 0.08602269884488387 Centerline is valid? [True, True] Translation: X:-3.65, Y:-85.02, Z:42.48 [[ 9.98739797e-01 -4.74580604e-02 -1.63263529e-02 -3.64672813e+00] [ 4.74452537e-02 9.98873153e-01 -1.17107890e-03 -8.50179005e+01] [ 1.63635327e-02 3.94995145e-04 9.99866030e-01 4.24811588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21907232899997 meters 0.08517174993193251 Centerline is valid? [True, True] Translation: X:-3.62, Y:-85.02, Z:42.48 [[ 9.98679036e-01 -4.92658486e-02 -1.45965314e-02 -3.61714022e+00] [ 4.92557107e-02 9.98785645e-01 -1.05345020e-03 -8.50167985e+01] [ 1.46307052e-02 3.33096103e-04 9.99892910e-01 4.24799841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24907232899994 meters 0.08469796635842282 Centerline is valid? [True, True] Translation: X:-3.59, Y:-85.02, Z:42.48 [[ 9.98616164e-01 -5.06424842e-02 -1.41808288e-02 -3.58824443e+00] [ 5.06330003e-02 9.98716799e-01 -1.02724714e-03 -8.50162818e+01] [ 1.42146543e-02 3.07807689e-04 9.99898919e-01 4.24803204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279072329 meters 0.08411029238699536 Centerline is valid? [True, True] Translation: X:-3.56, Y:-85.02, Z:42.48 [[ 9.98586912e-01 -5.14279322e-02 -1.33920843e-02 -3.55897164e+00] [ 5.14194982e-02 9.98676668e-01 -9.73567518e-04 -8.50161284e+01] [ 1.34244307e-02 2.83577525e-04 9.99909848e-01 4.24817294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30907232899995 meters 0.08393430466742854 Centerline is valid? [True, True] Translation: X:-3.53, Y:-85.01, Z:42.48 [[ 9.98512325e-01 -5.31834718e-02 -1.20272865e-02 -3.53082840e+00] [ 5.31768308e-02 9.98584731e-01 -8.71516617e-04 -8.50149542e+01] [ 1.20566149e-02 2.30647105e-04 9.99927290e-01 4.24801619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339072329 meters 0.0829159402412244 Centerline is valid? [True, True] Translation: X:-3.50, Y:-85.02, Z:42.49 [[ 9.98481079e-01 -5.38555519e-02 -1.16238362e-02 -3.50123416e+00] [ 5.38493113e-02 9.98548712e-01 -8.49421355e-04 -8.50152601e+01] [ 1.16527127e-02 2.22195576e-04 9.99932080e-01 4.24851924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36907232899995 meters 0.0829159402412244 Centerline is valid? [True, True] Translation: X:-3.47, Y:-85.01, Z:42.48 [[ 9.98466717e-01 -5.41212320e-02 -1.16235480e-02 -3.47360812e+00] [ 5.41149634e-02 9.98534347e-01 -8.53375831e-04 -8.50130382e+01] [ 1.16526976e-02 2.23059492e-04 9.99932080e-01 4.24844804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399072329 meters 0.08317371535092784 Centerline is valid? [True, True] Translation: X:-3.45, Y:-85.01, Z:42.48 [[ 9.98481324e-01 -5.39112618e-02 -1.13411092e-02 -3.44645315e+00] [ 5.39053221e-02 9.98545707e-01 -8.28987221e-04 -8.50088696e+01] [ 1.13693077e-02 2.16382113e-04 9.99935344e-01 4.24819752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42907232899995 meters 0.08341504296624776 Centerline is valid? [True, True] Translation: X:-3.42, Y:-85.00, Z:42.48 [[ 9.98483836e-01 -5.38850283e-02 -1.12442260e-02 -3.41894462e+00] [ 5.38791021e-02 9.98547122e-01 -8.29522691e-04 -8.50036068e+01] [ 1.12725884e-02 2.22436196e-04 9.99936438e-01 4.24800409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459072329 meters 0.08462106820251619 Centerline is valid? [True, True] Translation: X:-3.39, Y:-85.00, Z:42.47 [[ 9.98499221e-01 -5.33905720e-02 -1.21964313e-02 -3.39194013e+00] [ 5.33836072e-02 9.98573677e-01 -8.96130506e-04 -8.49979057e+01] [ 1.22268802e-02 2.43696113e-04 9.99925219e-01 4.24737302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48907232899995 meters 0.08389759420693002 Centerline is valid? [True, True] Translation: X:-3.36, Y:-85.00, Z:42.48 [[ 9.98514109e-01 -5.33524844e-02 -1.10944039e-02 -3.36257769e+00] [ 5.33466521e-02 9.98575716e-01 -8.21179918e-04 -8.49971988e+01] [ 1.11224143e-02 2.28110431e-04 9.99938118e-01 4.24780992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519072329 meters 0.0840632828122029 Centerline is valid? [True, True] Translation: X:-3.33, Y:-84.99, Z:42.48 [[ 9.98580332e-01 -5.22961985e-02 -1.01206885e-02 -3.33485590e+00] [ 5.22913155e-02 9.98631594e-01 -7.46671014e-04 -8.49940834e+01] [ 1.01458873e-02 2.16386874e-04 9.99948506e-01 4.24788898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54907232899996 meters 0.08302372949503828 Centerline is valid? [True, True] Translation: X:-3.31, Y:-84.99, Z:42.48 [[ 9.98574940e-01 -5.26396137e-02 -8.78407707e-03 -3.30587418e+00] [ 5.26358934e-02 9.98613556e-01 -6.54337006e-04 -8.49938884e+01] [ 8.80634248e-03 1.91046793e-04 9.99961205e-01 4.24833837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579072329 meters 0.08428557371821109 Centerline is valid? [True, True] Translation: X:-3.28, Y:-84.99, Z:42.48 [[ 9.98587680e-01 -5.24461839e-02 -8.48777258e-03 -3.27967967e+00] [ 5.24427000e-02 9.98623734e-01 -6.32655974e-04 -8.49873704e+01] [ 8.50927155e-03 1.86640750e-04 9.99963778e-01 4.24764024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60907232899996 meters 0.08307609458239 Centerline is valid? [True, True] Translation: X:-3.25, Y:-84.99, Z:42.48 [[ 9.98562737e-01 -5.30867796e-02 -7.36569265e-03 -3.25015733e+00] [ 5.30841472e-02 9.98589890e-01 -5.52574152e-04 -8.49880675e+01] [ 7.38464060e-03 1.60778445e-04 9.99972720e-01 4.24811026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639072329 meters 0.08343721156636212 Centerline is valid? [True, True] Translation: X:-3.22, Y:-84.99, Z:42.48 [[ 9.98580718e-01 -5.27243680e-02 -7.52928539e-03 -3.22264518e+00] [ 5.27216323e-02 9.98609090e-01 -5.61509131e-04 -8.49853380e+01] [ 7.54841805e-03 1.63755975e-04 9.99971497e-01 4.24785935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66907232899996 meters 0.08329288749224674 Centerline is valid? [True, True] Translation: X:-3.19, Y:-84.98, Z:42.48 [[ 9.98596195e-01 -5.23478429e-02 -8.08353702e-03 -3.19391525e+00] [ 5.23446321e-02 9.98628895e-01 -6.08404339e-04 -8.49842975e+01] [ 8.10430230e-03 1.84420486e-04 9.99967143e-01 4.24793253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699072329 meters 0.0836328524558431 Centerline is valid? [True, True] Translation: X:-3.16, Y:-84.98, Z:42.48 [[ 9.98677540e-01 -5.05992597e-02 -9.10414012e-03 -3.16476574e+00] [ 5.05951013e-02 9.98719012e-01 -6.86654476e-04 -8.49813472e+01] [ 9.12722203e-03 2.25121512e-04 9.99958321e-01 4.24788808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72907232899996 meters 0.08456319240890732 Centerline is valid? [True, True] Translation: X:-3.14, Y:-84.98, Z:42.48 [[ 9.98747290e-01 -4.91682433e-02 -9.29159333e-03 -3.13726123e+00] [ 4.91638801e-02 9.98790482e-01 -6.97560577e-04 -8.49760328e+01] [ 9.31465281e-03 2.39875956e-04 9.99956589e-01 4.24756594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759072329 meters 0.08437916231716455 Centerline is valid? [True, True] Translation: X:-3.11, Y:-84.97, Z:42.48 [[ 9.98794968e-01 -4.80838954e-02 -9.82604207e-03 -3.10808136e+00] [ 4.80789044e-02 9.98843264e-01 -7.43657390e-04 -8.49741914e+01] [ 9.85043388e-03 2.70335921e-04 9.99951447e-01 4.24763237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78907232899996 meters 0.0856100543731033 Centerline is valid? [True, True] Translation: X:-3.08, Y:-84.97, Z:42.47 [[ 9.98886447e-01 -4.62905462e-02 -9.11324092e-03 -3.08015610e+00] [ 4.62862029e-02 9.98927983e-01 -6.87041012e-04 -8.49694650e+01] [ 9.13527488e-03 2.64458636e-04 9.99958238e-01 4.24722572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819072329 meters 0.08561634994454337 Centerline is valid? [True, True] Translation: X:-3.05, Y:-84.97, Z:42.47 [[ 9.98896733e-01 -4.59131661e-02 -9.86392710e-03 -3.05087397e+00] [ 4.59080027e-02 9.98945391e-01 -7.49369327e-04 -8.49678797e+01] [ 9.88793043e-03 2.95709381e-04 9.99951069e-01 4.24719513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84907232899997 meters 0.08549492302731486 Centerline is valid? [True, True] Translation: X:-3.02, Y:-84.97, Z:42.47 [[ 9.98910744e-01 -4.57568289e-02 -9.14542929e-03 -3.02200686e+00] [ 4.57523606e-02 9.98952569e-01 -6.97312961e-04 -8.49671900e+01] [ 9.16775691e-03 2.78128430e-04 9.99957937e-01 4.24722524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879072329 meters 0.08401605389407908 Centerline is valid? [True, True] Translation: X:-2.99, Y:-84.97, Z:42.48 [[ 9.98778697e-01 -4.88473715e-02 -7.41946493e-03 -2.99156327e+00] [ 4.88445430e-02 9.98806235e-01 -5.62066909e-04 -8.49745268e+01] [ 7.43806332e-03 1.98980081e-04 9.99972317e-01 4.24760258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90907232899997 meters 0.0834006062839989 Centerline is valid? [True, True] Translation: X:-2.96, Y:-84.98, Z:42.48 [[ 9.98656557e-01 -5.13827514e-02 -6.70026520e-03 -2.96362772e+00] [ 5.13804890e-02 9.98679020e-01 -5.09460971e-04 -8.49769084e+01] [ 6.71759179e-03 1.64513637e-04 9.99977423e-01 4.24756015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939072329 meters 0.0820037722944068 Centerline is valid? [True, True] Translation: X:-2.93, Y:-84.98, Z:42.48 [[ 9.98392239e-01 -5.62759700e-02 -6.77879642e-03 -2.93436708e+00] [ 5.62737669e-02 9.98415243e-01 -5.15449354e-04 -8.49844972e+01] [ 6.79706109e-03 1.33152225e-04 9.99976891e-01 4.24754967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96907232899997 meters 0.0819810106427829 Centerline is valid? [True, True] Translation: X:-2.91, Y:-84.99, Z:42.47 [[ 9.98247801e-01 -5.87830980e-02 -6.77306560e-03 -2.90607917e+00] [ 5.87809412e-02 9.98270772e-01 -5.17239203e-04 -8.49856250e+01] [ 6.79175835e-03 1.18205727e-04 9.99976929e-01 4.24722227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99907232899994 meters 0.08134350948647309 Centerline is valid? [True, True] Translation: X:-2.88, Y:-84.99, Z:42.47 [[ 9.98106262e-01 -6.10061510e-02 -7.88285927e-03 -2.87752517e+00] [ 6.10032568e-02 9.98137382e-01 -6.07299658e-04 -8.49885340e+01] [ 7.90522553e-03 1.25269503e-04 9.99968745e-01 4.24727094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.029072329 meters 0.08126776157985122 Centerline is valid? [True, True] Translation: X:-2.85, Y:-84.99, Z:42.47 [[ 9.97973770e-01 -6.32094947e-02 -7.27420422e-03 -2.84998514e+00] [ 6.32071149e-02 9.98000276e-01 -5.56820253e-04 -8.49892041e+01] [ 7.29485414e-03 9.59105452e-05 9.99973388e-01 4.24696272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05907232899995 meters 0.08022534321554886 Centerline is valid? [True, True] Translation: X:-2.82, Y:-84.99, Z:42.47 [[ 9.97742438e-01 -6.69022948e-02 -5.84041824e-03 -2.82017510e+00] [ 6.69007939e-02 9.97759530e-01 -4.52195394e-04 -8.49934361e+01] [ 5.85758587e-03 6.04459177e-05 9.99982842e-01 4.24723760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.089072329 meters 0.08047377066368526 Centerline is valid? [True, True] Translation: X:-2.79, Y:-84.99, Z:42.47 [[ 9.97639633e-01 -6.84231494e-02 -5.78225932e-03 -2.79246636e+00] [ 6.84217131e-02 9.97656389e-01 -4.46078684e-04 -8.49932760e+01] [ 5.79923006e-03 4.93936862e-05 9.99983183e-01 4.24676831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11907232899995 meters 0.07976185746154055 Centerline is valid? [True, True] Translation: X:-2.76, Y:-85.00, Z:42.47 [[ 9.97454142e-01 -7.10086865e-02 -6.55759426e-03 -2.76335918e+00] [ 7.10068703e-02 9.97475696e-01 -5.09660667e-04 -8.49977682e+01] [ 6.57723124e-03 4.27288985e-05 9.99978369e-01 4.24704500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.149072329 meters 0.07934000731074431 Centerline is valid? [True, True] Translation: X:-2.73, Y:-85.00, Z:42.47 [[ 9.97368832e-01 -7.23043024e-02 -5.24410981e-03 -2.73373203e+00] [ 7.23031635e-02 9.97382618e-01 -4.06687453e-04 -8.49977800e+01] [ 5.25978922e-03 2.64516619e-05 9.99986167e-01 4.24734893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17907232899995 meters 0.07938484322507708 Centerline is valid? [True, True] Translation: X:-2.71, Y:-85.00, Z:42.47 [[ 9.97333254e-01 -7.28252369e-02 -4.78182832e-03 -2.70586769e+00] [ 7.28242975e-02 9.97344717e-01 -3.70500246e-04 -8.49956593e+01] [ 4.79611298e-03 2.12789272e-05 9.99988498e-01 4.24721486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.209072329 meters 0.07957438482589331 Centerline is valid? [True, True] Translation: X:-2.68, Y:-84.99, Z:42.47 [[ 9.97313409e-01 -7.30711649e-02 -5.15450674e-03 -2.67793410e+00] [ 7.30700756e-02 9.97326729e-01 -3.99574878e-04 -8.49931648e+01] [ 5.16992475e-03 2.18611860e-05 9.99986636e-01 4.24678207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23907232899995 meters 0.07936673596718519 Centerline is valid? [True, True] Translation: X:-2.65, Y:-84.99, Z:42.47 [[ 9.97175404e-01 -7.49033284e-02 -5.54120193e-03 -2.64968671e+00] [ 7.49020639e-02 9.97190800e-01 -4.35669965e-04 -8.49912296e+01] [ 5.55826871e-03 1.93919129e-05 9.99984553e-01 4.24701308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.269072329 meters 0.07940892132036387 Centerline is valid? [True, True] Translation: X:-2.62, Y:-84.99, Z:42.47 [[ 9.97161540e-01 -7.50671689e-02 -5.81237047e-03 -2.62186495e+00] [ 7.50658073e-02 9.97178479e-01 -4.52375041e-04 -8.49887567e+01] [ 5.82992926e-03 1.47807106e-05 9.99983006e-01 4.24673347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29907232899996 meters 0.0803327959144028 Centerline is valid? [True, True] Translation: X:-2.59, Y:-84.98, Z:42.46 [[ 9.97180357e-01 -7.46546967e-02 -7.61655284e-03 -2.59403418e+00] [ 7.46523470e-02 9.97209444e-01 -5.92728994e-04 -8.49846915e+01] [ 7.63954842e-03 2.24641646e-05 9.99970818e-01 4.24609861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.329072329 meters 0.08006771543689604 Centerline is valid? [True, True] Translation: X:-2.57, Y:-84.98, Z:42.46 [[ 9.97182677e-01 -7.45803660e-02 -8.02975969e-03 -2.56568026e+00] [ 7.45777482e-02 9.97215006e-01 -6.25368520e-04 -8.49825242e+01] [ 8.05403707e-03 2.47652586e-05 9.99967565e-01 4.24629694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35907232899996 meters 0.07987101418672218 Centerline is valid? [True, True] Translation: X:-2.54, Y:-84.98, Z:42.46 [[ 9.97161518e-01 -7.48894175e-02 -7.77699560e-03 -2.53726252e+00] [ 7.48869190e-02 9.97191844e-01 -6.12387188e-04 -8.49798188e+01] [ 7.80101791e-03 2.82536985e-05 9.99969571e-01 4.24629167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.389072329 meters 0.07994556060987808 Centerline is valid? [True, True] Translation: X:-2.51, Y:-84.97, Z:42.46 [[ 9.97157939e-01 -7.48920055e-02 -8.19946394e-03 -2.50832080e+00] [ 7.48892221e-02 9.97191650e-01 -6.46395947e-04 -8.49743289e+01] [ 8.22484686e-03 3.05073744e-05 9.99966175e-01 4.24625555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41907232899996 meters 0.07993732787939144 Centerline is valid? [True, True] Translation: X:-2.48, Y:-84.97, Z:42.46 [[ 9.97186348e-01 -7.46059507e-02 -7.30335343e-03 -2.47912429e+00] [ 7.46037173e-02 9.97213092e-01 -5.78144790e-04 -8.49701442e+01] [ 7.32613270e-03 3.16607777e-05 9.99973163e-01 4.24625731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.449072329 meters 0.07981470117914177 Centerline is valid? [True, True] Translation: X:-2.45, Y:-84.97, Z:42.46 [[ 9.97185651e-01 -7.46429978e-02 -7.01425814e-03 -2.45099629e+00] [ 7.46409173e-02 9.97210320e-01 -5.58289833e-04 -8.49668729e+01] [ 7.03636303e-03 3.31679485e-05 9.99975244e-01 4.24628653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47907232899996 meters 0.0800206947050339 Centerline is valid? [True, True] Translation: X:-2.42, Y:-84.96, Z:42.46 [[ 9.97129386e-01 -7.53975552e-02 -6.94242253e-03 -2.42395186e+00] [ 7.53955565e-02 9.97153553e-01 -5.49546947e-04 -8.49643216e+01] [ 6.96409578e-03 2.45416003e-05 9.99975750e-01 4.24611504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.509072329 meters 0.07966363362538469 Centerline is valid? [True, True] Translation: X:-2.40, Y:-84.96, Z:42.46 [[ 9.97126064e-01 -7.54639615e-02 -6.69355064e-03 -2.39562151e+00] [ 7.54620663e-02 9.97148529e-01 -5.35604179e-04 -8.49608865e+01] [ 6.71488299e-03 2.89557235e-05 9.99977454e-01 4.24630482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53907232899996 meters 0.07951547204088096 Centerline is valid? [True, True] Translation: X:-2.37, Y:-84.96, Z:42.46 [[ 9.97128781e-01 -7.54027411e-02 -6.97280012e-03 -2.36711791e+00] [ 7.54006788e-02 9.97153161e-01 -5.58546294e-04 -8.49572385e+01] [ 6.99506560e-03 3.11887235e-05 9.99975534e-01 4.24631444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.569072329 meters 0.08001288837540506 Centerline is valid? [True, True] Translation: X:-2.34, Y:-84.95, Z:42.46 [[ 9.97191697e-01 -7.45515181e-02 -7.12668394e-03 -2.33968521e+00] [ 7.45493669e-02 9.97217163e-01 -5.67400846e-04 -8.49520013e+01] [ 7.14915213e-03 3.45176374e-05 9.99974444e-01 4.24571698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59907232899997 meters 0.08011428168439096 Centerline is valid? [True, True] Translation: X:-2.31, Y:-84.94, Z:42.46 [[ 9.97267840e-01 -7.32826471e-02 -9.30098972e-03 -2.31114905e+00] [ 7.32788773e-02 9.97311210e-01 -7.45911521e-04 -8.49442485e+01] [ 9.33064368e-03 6.23074871e-05 9.99956467e-01 4.24582870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.629072329 meters 0.0807008119211448 Centerline is valid? [True, True] Translation: X:-2.28, Y:-84.94, Z:42.45 [[ 9.97324705e-01 -7.24199583e-02 -9.93897976e-03 -2.28389293e+00] [ 7.24156455e-02 9.97374225e-01 -7.93600950e-04 -8.49386299e+01] [ 9.97035478e-03 7.17401984e-05 9.99950292e-01 4.24541979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65907232899997 meters 0.08067056402888333 Centerline is valid? [True, True] Translation: X:-2.26, Y:-84.93, Z:42.46 [[ 9.97482313e-01 -7.03163707e-02 -9.20021933e-03 -2.25585023e+00] [ 7.03125196e-02 9.97524736e-01 -7.41770169e-04 -8.49316371e+01] [ 9.22960494e-03 9.30120221e-05 9.99957402e-01 4.24566522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.689072329 meters 0.08081951405116514 Centerline is valid? [True, True] Translation: X:-2.23, Y:-84.93, Z:42.46 [[ 9.97566642e-01 -6.91052559e-02 -9.23356222e-03 -2.22679561e+00] [ 6.91013137e-02 9.97609369e-01 -7.45679560e-04 -8.49268565e+01] [ 9.26301855e-03 1.05813776e-04 9.99957092e-01 4.24567330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71907232899997 meters 0.0807666707804333 Centerline is valid? [True, True] Translation: X:-2.20, Y:-84.92, Z:42.46 [[ 9.97599253e-01 -6.87946137e-02 -7.93923016e-03 -2.19834033e+00] [ 6.87916675e-02 9.97630839e-01 -6.43901902e-04 -8.49227334e+01] [ 7.96471784e-03 9.62031749e-05 9.99968277e-01 4.24576623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74907232899994 meters 0.08083897441595964 Centerline is valid? [True, True] Translation: X:-2.17, Y:-84.92, Z:42.46 [[ 9.97748790e-01 -6.64160965e-02 -9.28734146e-03 -2.17045010e+00] [ 6.64119990e-02 9.97792005e-01 -7.49238602e-04 -8.49158277e+01] [ 9.31659656e-03 1.30760997e-04 9.99956591e-01 4.24584129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779072329 meters 0.08200999229246506 Centerline is valid? [True, True] Translation: X:-2.14, Y:-84.91, Z:42.45 [[ 9.97795146e-01 -6.55992781e-02 -1.00787880e-02 -2.14280057e+00] [ 6.55944041e-02 9.97846036e-01 -8.13751908e-04 -8.49089470e+01] [ 1.01104602e-02 1.50845610e-04 9.99948877e-01 4.24509482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80907232899995 meters 0.0815492270348605 Centerline is valid? [True, True] Translation: X:-2.11, Y:-84.91, Z:42.45 [[ 9.97812586e-01 -6.53370221e-02 -1.00556716e-02 -2.11444313e+00] [ 6.53321491e-02 9.97863242e-01 -8.12680787e-04 -8.49065845e+01] [ 1.00872832e-02 1.53944481e-04 9.99949110e-01 4.24528936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839072329 meters 0.08354605039754827 Centerline is valid? [True, True] Translation: X:-2.09, Y:-84.90, Z:42.44 [[ 9.97964140e-01 -6.26281294e-02 -1.20537432e-02 -2.08729420e+00] [ 6.26209255e-02 9.98036908e-01 -9.74518513e-04 -8.48962067e+01] [ 1.20911128e-02 2.17717977e-04 9.99926876e-01 4.24429375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86907232899995 meters 0.08239769708689457 Centerline is valid? [True, True] Translation: X:-2.06, Y:-84.90, Z:42.45 [[ 9.97990930e-01 -6.21437105e-02 -1.23394598e-02 -2.05789101e+00] [ 6.21360415e-02 9.98067184e-01 -1.00427900e-03 -8.48958455e+01] [ 1.23780195e-02 2.35536145e-04 9.99923362e-01 4.24486475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899072329 meters 0.08279496264224684 Centerline is valid? [True, True] Translation: X:-2.03, Y:-84.89, Z:42.44 [[ 9.98012199e-01 -6.21582384e-02 -1.03924893e-02 -2.02995636e+00] [ 6.21528268e-02 9.98066288e-01 -8.43203033e-04 -8.48913085e+01] [ 1.04248053e-02 1.95604323e-04 9.99945641e-01 4.24449553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92907232899995 meters 0.08307852345688929 Centerline is valid? [True, True] Translation: X:-2.00, Y:-84.89, Z:42.44 [[ 9.98021009e-01 -6.20635250e-02 -1.01086327e-02 -2.00344564e+00] [ 6.20583552e-02 9.98072182e-01 -8.24591510e-04 -8.48877373e+01] [ 1.01403221e-02 1.95634533e-04 9.99948566e-01 4.24438698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959072329 meters 0.08314337862013553 Centerline is valid? [True, True] Translation: X:-1.97, Y:-84.88, Z:42.44 [[ 9.98039012e-01 -6.17162076e-02 -1.04517757e-02 -1.97477570e+00] [ 6.17106270e-02 9.98093716e-01 -8.55909490e-04 -8.48847155e+01] [ 1.04846752e-02 2.09245428e-04 9.99945012e-01 4.24444398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98907232899995 meters 0.08244398237867188 Centerline is valid? [True, True] Translation: X:-1.95, Y:-84.88, Z:42.45 [[ 9.98079269e-01 -6.09496044e-02 -1.10868756e-02 -1.94515804e+00] [ 6.09432471e-02 9.98140817e-01 -9.10666432e-04 -8.48845655e+01] [ 1.11217678e-02 2.33247090e-04 9.99938124e-01 4.24491359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019072329 meters 0.0835799571449425 Centerline is valid? [True, True] Translation: X:-1.92, Y:-84.88, Z:42.44 [[ 9.98159043e-01 -5.97976999e-02 -1.01370907e-02 -1.91811442e+00] [ 5.97922850e-02 9.98210490e-01 -8.36667955e-04 -8.48768329e+01] [ 1.01689811e-02 2.29007871e-04 9.99948268e-01 4.24447224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04907232899996 meters 0.08419133978639179 Centerline is valid? [True, True] Translation: X:-1.89, Y:-84.87, Z:42.44 [[ 9.98209657e-01 -5.89879845e-02 -9.89440284e-03 -1.88929655e+00] [ 5.89827753e-02 9.98258666e-01 -8.17715416e-04 -8.48717083e+01] [ 9.92540876e-03 2.32652085e-04 9.99950715e-01 4.24432139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079072329 meters 0.08395075274095377 Centerline is valid? [True, True] Translation: X:-1.86, Y:-84.87, Z:42.44 [[ 9.98253525e-01 -5.83978379e-02 -8.92145800e-03 -1.86014878e+00] [ 5.83935558e-02 9.98293366e-01 -7.39930212e-04 -8.48681983e+01] [ 8.94944267e-03 2.17682286e-04 9.99959929e-01 4.24434191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10907232899996 meters 0.08436487419158865 Centerline is valid? [True, True] Translation: X:-1.83, Y:-84.87, Z:42.44 [[ 9.98333456e-01 -5.66131166e-02 -1.11922430e-02 -1.83021351e+00] [ 5.66063319e-02 9.98396150e-01 -9.22303378e-04 -8.48665135e+01] [ 1.12265068e-02 2.87214496e-04 9.99936940e-01 4.24441038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139072329 meters 0.08489516767649134 Centerline is valid? [True, True] Translation: X:-1.80, Y:-84.87, Z:42.44 [[ 9.98330295e-01 -5.67153543e-02 -1.09540112e-02 -1.80219773e+00] [ 5.67088382e-02 9.98390349e-01 -9.04800695e-04 -8.48651076e+01] [ 1.09876951e-02 2.82100697e-04 9.99939594e-01 4.24422485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16907232899996 meters 0.08494639654134109 Centerline is valid? [True, True] Translation: X:-1.77, Y:-84.87, Z:42.44 [[ 9.98334016e-01 -5.62982660e-02 -1.26371246e-02 -1.77282388e+00] [ 5.62895670e-02 9.98413940e-01 -1.04328255e-03 -8.48656557e+01] [ 1.26758164e-02 3.30206188e-04 9.99919604e-01 4.24418978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199072329 meters 0.08489099118462122 Centerline is valid? [True, True] Translation: X:-1.74, Y:-84.86, Z:42.44 [[ 9.98340470e-01 -5.61407470e-02 -1.28266480e-02 -1.74361417e+00] [ 5.61316754e-02 9.98422805e-01 -1.06644529e-03 -8.48636529e+01] [ 1.28662889e-02 3.44694251e-04 9.99917166e-01 4.24413746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22907232899996 meters 0.08522270197274949 Centerline is valid? [True, True] Translation: X:-1.72, Y:-84.86, Z:42.44 [[ 9.98346237e-01 -5.58477080e-02 -1.36317799e-02 -1.71623621e+00] [ 5.58374761e-02 9.98439231e-01 -1.13033991e-03 -8.48610051e+01] [ 1.36736307e-02 3.67306407e-04 9.99906444e-01 4.24385706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259072329 meters 0.08503784014804897 Centerline is valid? [True, True] Translation: X:-1.69, Y:-84.86, Z:42.44 [[ 9.98255158e-01 -5.74927268e-02 -1.34620224e-02 -1.68728271e+00] [ 5.74828051e-02 9.98345865e-01 -1.12311770e-03 -8.48628846e+01] [ 1.35043255e-02 3.47323230e-04 9.99908752e-01 4.24369296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28907232899996 meters 0.08503784014804897 Centerline is valid? [True, True] Translation: X:-1.66, Y:-84.86, Z:42.44 [[ 9.98240292e-01 -5.77503522e-02 -1.34616632e-02 -1.65968231e+00] [ 5.77403957e-02 9.98330995e-01 -1.12743053e-03 -8.48603718e+01] [ 1.35043051e-02 3.48164827e-04 9.99908752e-01 4.24362175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319072329 meters 0.08464050388405203 Centerline is valid? [True, True] Translation: X:-1.63, Y:-84.86, Z:42.44 [[ 9.98158558e-01 -5.90983850e-02 -1.36702025e-02 -1.63061502e+00] [ 5.90882135e-02 9.98252106e-01 -1.14711308e-03 -8.48619641e+01] [ 1.37141010e-02 3.37252890e-04 9.99905900e-01 4.24368152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34907232899997 meters 0.08423834379585066 Centerline is valid? [True, True] Translation: X:-1.60, Y:-84.86, Z:42.44 [[ 9.98077825e-01 -6.04031558e-02 -1.38604863e-02 -1.60172490e+00] [ 6.03927815e-02 9.98174009e-01 -1.16620694e-03 -8.48635946e+01] [ 1.39056198e-02 3.26891962e-04 9.99903259e-01 4.24371228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379072329 meters 0.08354226609601709 Centerline is valid? [True, True] Translation: X:-1.57, Y:-84.87, Z:42.44 [[ 9.97956071e-01 -6.25196926e-02 -1.32275952e-02 -1.57259247e+00] [ 6.25103850e-02 9.98043689e-01 -1.11633303e-03 -8.48655319e+01] [ 1.32715107e-02 2.87189259e-04 9.99911888e-01 4.24375591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40907232899997 meters 0.08270310589754247 Centerline is valid? [True, True] Translation: X:-1.54, Y:-84.87, Z:42.44 [[ 9.97788690e-01 -6.52687962e-02 -1.25584230e-02 -1.54287863e+00] [ 6.52606631e-02 9.97867691e-01 -1.05677336e-03 -8.48705139e+01] [ 1.26006189e-02 2.34865490e-04 9.99920581e-01 4.24386006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439072329 meters 0.08228943278579444 Centerline is valid? [True, True] Translation: X:-1.51, Y:-84.87, Z:42.44 [[ 9.97642956e-01 -6.73983258e-02 -1.28840608e-02 -1.51408434e+00] [ 6.73898482e-02 9.97726123e-01 -1.09150378e-03 -8.48712944e+01] [ 1.29283296e-02 2.20676150e-04 9.99916401e-01 4.24374713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46907232899997 meters 0.08191394510106711 Centerline is valid? [True, True] Translation: X:-1.49, Y:-84.88, Z:42.44 [[ 9.97350377e-01 -7.16580152e-02 -1.25440858e-02 -1.48556187e+00] [ 7.16503499e-02 9.97429248e-01 -1.05999018e-03 -8.48755965e+01] [ 1.25877948e-02 1.58393465e-04 9.99920758e-01 4.24357887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49907232899994 meters 0.08153401960863466 Centerline is valid? [True, True] Translation: X:-1.46, Y:-84.88, Z:42.44 [[ 9.97124332e-01 -7.48000886e-02 -1.21660382e-02 -1.45661976e+00] [ 7.47930301e-02 9.97198542e-01 -1.03476906e-03 -8.48774708e+01] [ 1.22093564e-02 1.21858544e-04 9.99925456e-01 4.24352666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.529072329 meters 0.0814006394887717 Centerline is valid? [True, True] Translation: X:-1.43, Y:-84.88, Z:42.43 [[ 9.96984558e-01 -7.66179190e-02 -1.23079374e-02 -1.42863343e+00] [ 7.66107839e-02 9.97060521e-01 -1.05084516e-03 -8.48780379e+01] [ 1.23522720e-02 1.04755665e-04 9.99923702e-01 4.24348274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55907232899995 meters 0.08123551475105394 Centerline is valid? [True, True] Translation: X:-1.40, Y:-84.88, Z:42.43 [[ 9.96622822e-01 -8.12448029e-02 -1.19260974e-02 -1.40020829e+00] [ 8.12384593e-02 9.96694176e-01 -1.01620070e-03 -8.48815110e+01] [ 1.19692328e-02 4.39110400e-05 9.99928365e-01 4.24300923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.589072329 meters 0.08069895043284989 Centerline is valid? [True, True] Translation: X:-1.37, Y:-84.88, Z:42.43 [[ 9.96439933e-01 -8.34563865e-02 -1.19369791e-02 -1.37232249e+00] [ 8.34501076e-02 9.96511430e-01 -1.02400052e-03 -8.48810558e+01] [ 1.19807955e-02 2.42128103e-05 9.99928227e-01 4.24335297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61907232899995 meters 0.08082122105105806 Centerline is valid? [True, True] Translation: X:-1.34, Y:-84.88, Z:42.43 [[ 9.96261100e-01 -8.55370900e-02 -1.21337040e-02 -1.34394318e+00] [ 8.55307180e-02 9.96334987e-01 -1.04404988e-03 -8.48794220e+01] [ 1.21785388e-02 2.34187082e-06 9.99925839e-01 4.24317776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.649072329 meters 0.081003204245836 Centerline is valid? [True, True] Translation: X:-1.32, Y:-84.88, Z:42.43 [[ 9.96108924e-01 -8.72151413e-02 -1.26700461e-02 -1.31602855e+00] [ 8.72083800e-02 9.96189499e-01 -1.08621071e-03 -8.48770548e+01] [ 1.27165009e-02 -2.29500175e-05 9.99919142e-01 4.24298164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67907232899995 meters 0.08087357251066814 Centerline is valid? [True, True] Translation: X:-1.29, Y:-84.87, Z:42.43 [[ 9.96040021e-01 -8.79809995e-02 -1.27914484e-02 -1.28815902e+00] [ 8.79740660e-02 9.96122153e-01 -1.10480828e-03 -8.48744214e+01] [ 1.28390472e-02 -2.48824579e-05 9.99917576e-01 4.24304310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.709072329 meters 0.08104623346202686 Centerline is valid? [True, True] Translation: X:-1.26, Y:-84.87, Z:42.43 [[ 9.95979504e-01 -8.86029881e-02 -1.32037409e-02 -1.26001928e+00] [ 8.85957067e-02 9.96067020e-01 -1.13652382e-03 -8.48723847e+01] [ 1.32525103e-02 -3.78403268e-05 9.99912181e-01 4.24293274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73907232899995 meters 0.08102599995602151 Centerline is valid? [True, True] Translation: X:-1.23, Y:-84.87, Z:42.43 [[ 9.95882807e-01 -8.97262078e-02 -1.29090286e-02 -1.23178377e+00] [ 8.97192376e-02 9.95966468e-01 -1.11922800e-03 -8.48689842e+01] [ 1.29573837e-02 -4.35682808e-05 9.99916049e-01 4.24296740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.769072329 meters 0.0812762283223733 Centerline is valid? [True, True] Translation: X:-1.20, Y:-84.87, Z:42.43 [[ 9.95836195e-01 -9.02886216e-02 -1.25792714e-02 -1.20412886e+00] [ 9.02820917e-02 9.95915640e-01 -1.08716066e-03 -8.48652843e+01] [ 1.26260513e-02 -5.30489962e-05 9.99920287e-01 4.24260049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79907232899996 meters 0.08121037736709226 Centerline is valid? [True, True] Translation: X:-1.18, Y:-84.86, Z:42.43 [[ 9.95849536e-01 -8.99475087e-02 -1.38977250e-02 -1.17607265e+00] [ 8.99394058e-02 9.95946506e-01 -1.20821893e-03 -8.48567051e+01] [ 1.39500669e-02 -4.67488631e-05 9.99902692e-01 4.24271731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.829072329 meters 0.08131559807419 Centerline is valid? [True, True] Translation: X:-1.15, Y:-84.85, Z:42.43 [[ 9.95933756e-01 -8.89256037e-02 -1.44288123e-02 -1.14798835e+00] [ 8.89167810e-02 9.96038270e-01 -1.25310777e-03 -8.48517979e+01] [ 1.44830826e-02 -3.49512114e-05 9.99895114e-01 4.24255423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85907232899996 meters 0.08157040955893842 Centerline is valid? [True, True] Translation: X:-1.12, Y:-84.85, Z:42.42 [[ 9.96026130e-01 -8.76806128e-02 -1.56223588e-02 -1.12033906e+00] [ 8.76701177e-02 9.96148638e-01 -1.35671223e-03 -8.48466149e+01] [ 1.56811488e-02 -1.82932043e-05 9.99877043e-01 4.24224540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.889072329 meters 0.08156633640095572 Centerline is valid? [True, True] Translation: X:-1.09, Y:-84.84, Z:42.42 [[ 9.96272256e-01 -8.49729641e-02 -1.48723603e-02 -1.09341226e+00] [ 8.49631075e-02 9.96383257e-01 -1.29447265e-03 -8.48368655e+01] [ 1.49285659e-02 2.60452480e-05 9.99888562e-01 4.24212596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91907232899996 meters 0.08148790407610128 Centerline is valid? [True, True] Translation: X:-1.06, Y:-84.83, Z:42.42 [[ 9.96386546e-01 -8.37562873e-02 -1.40973203e-02 -1.06452483e+00] [ 8.37472234e-02 9.96486268e-01 -1.23310224e-03 -8.48301661e+01] [ 1.41510662e-02 4.80350446e-05 9.99899867e-01 4.24212978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.949072329 meters 0.08133163827875606 Centerline is valid? [True, True] Translation: X:-1.04, Y:-84.82, Z:42.42 [[ 9.96454715e-01 -8.30420201e-02 -1.34915994e-02 -1.03552090e+00] [ 8.30336061e-02 9.96546045e-01 -1.18358128e-03 -8.48241381e+01] [ 1.35432870e-02 5.91289973e-05 9.99908284e-01 4.24219181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97907232899996 meters 0.08114491003432976 Centerline is valid? [True, True] Translation: X:-1.01, Y:-84.82, Z:42.42 [[ 9.96539364e-01 -8.21555834e-02 -1.26394709e-02 -1.00690960e+00] [ 8.21480828e-02 9.96619514e-01 -1.11234271e-03 -8.48189706e+01] [ 1.26881285e-02 7.01849977e-05 9.99919500e-01 4.24238273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.009072329 meters 0.08118418759355041 Centerline is valid? [True, True] Translation: X:-0.98, Y:-84.81, Z:42.42 [[ 9.96748172e-01 -7.97586863e-02 -1.14732010e-02 -9.79944277e-01] [ 7.97523577e-02 9.96814197e-01 -1.00880175e-03 -8.48112726e+01] [ 1.15171104e-02 9.05064692e-05 9.99933672e-01 4.24231137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03907232899996 meters 0.08128004036738866 Centerline is valid? [True, True] Translation: X:-0.95, Y:-84.81, Z:42.42 [[ 9.96871883e-01 -7.81417363e-02 -1.18455467e-02 -9.51277261e-01] [ 7.81348078e-02 9.96942253e-01 -1.04727418e-03 -8.48056672e+01] [ 1.18911618e-02 1.18448670e-04 9.99929291e-01 4.24237605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.069072329 meters 0.08265123246533844 Centerline is valid? [True, True] Translation: X:-0.92, Y:-84.79, Z:42.41 [[ 9.97109353e-01 -7.48548536e-02 -1.30264922e-02 -9.23383991e-01] [ 7.48462574e-02 9.97194426e-01 -1.14685362e-03 -8.47939750e+01] [ 1.30757930e-02 1.68554281e-04 9.99914494e-01 4.24140726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09907232899997 meters 0.08232641027650897 Centerline is valid? [True, True] Translation: X:-0.89, Y:-84.79, Z:42.42 [[ 9.97249144e-01 -7.29344981e-02 -1.32175768e-02 -8.94868487e-01] [ 7.29253739e-02 9.97336712e-01 -1.17161050e-03 -8.47894613e+01] [ 1.32678254e-02 2.04490843e-04 9.99911958e-01 4.24187308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.129072329 meters 0.08312525394697719 Centerline is valid? [True, True] Translation: X:-0.87, Y:-84.78, Z:42.42 [[ 9.97428435e-01 -7.04514894e-02 -1.31569360e-02 -8.67250505e-01] [ 7.04422699e-02 9.97515179e-01 -1.16341799e-03 -8.47824526e+01] [ 1.32062079e-02 2.33621748e-04 9.99912767e-01 4.24170759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15907232899997 meters 0.08352528679260121 Centerline is valid? [True, True] Translation: X:-0.84, Y:-84.78, Z:42.42 [[ 9.97622953e-01 -6.76842858e-02 -1.29337403e-02 -8.38945362e-01] [ 6.76750528e-02 9.97706752e-01 -1.15071228e-03 -8.47767699e+01] [ 1.29819652e-02 2.72685425e-04 9.99915694e-01 4.24170278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.189072329 meters 0.08357042461951748 Centerline is valid? [True, True] Translation: X:-0.81, Y:-84.77, Z:42.42 [[ 9.97654542e-01 -6.70387732e-02 -1.38281524e-02 -8.09929227e-01] [ 6.70281153e-02 9.97750325e-01 -1.23328715e-03 -8.47739941e+01] [ 1.38797216e-02 3.03519538e-04 9.99903626e-01 4.24169732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21907232899997 meters 0.08399071998403848 Centerline is valid? [True, True] Translation: X:-0.78, Y:-84.77, Z:42.41 [[ 9.97699244e-01 -6.64886317e-02 -1.32468660e-02 -7.81950987e-01] [ 6.64788374e-02 9.97787139e-01 -1.17882983e-03 -8.47696372e+01] [ 1.32959313e-02 2.95481380e-04 9.99911562e-01 4.24141166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24907232899994 meters 0.08489339559333427 Centerline is valid? [True, True] Translation: X:-0.75, Y:-84.76, Z:42.41 [[ 9.97713089e-01 -6.65772369e-02 -1.16646499e-02 -7.54287369e-01] [ 6.65696183e-02 9.97781240e-01 -1.04062794e-03 -8.47649429e+01] [ 1.17080510e-02 2.61736822e-04 9.99931424e-01 4.24090236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279072329 meters 0.08394058328665947 Centerline is valid? [True, True] Translation: X:-0.73, Y:-84.77, Z:42.41 [[ 9.97680305e-01 -6.70686115e-02 -1.16537354e-02 -7.25565383e-01] [ 6.70609609e-02 9.97748331e-01 -1.04646710e-03 -8.47662773e+01] [ 1.16976801e-02 2.62528922e-04 9.99931545e-01 4.24125398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30907232899995 meters 0.08456219769836935 Centerline is valid? [True, True] Translation: X:-0.70, Y:-84.77, Z:42.41 [[ 9.97584910e-01 -6.84399575e-02 -1.18456306e-02 -6.98147770e-01] [ 6.84321953e-02 9.97655207e-01 -1.05984408e-03 -8.47655352e+01] [ 1.18903908e-02 2.46661951e-04 9.99929276e-01 4.24065213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339072329 meters 0.0844460296595357 Centerline is valid? [True, True] Translation: X:-0.67, Y:-84.77, Z:42.41 [[ 9.97506017e-01 -6.95600899e-02 -1.19640824e-02 -6.68980637e-01] [ 6.95521766e-02 9.97577734e-01 -1.07674154e-03 -8.47651771e+01] [ 1.20100005e-02 2.41928190e-04 9.99927848e-01 4.24058901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36907232899995 meters 0.08398089061696301 Centerline is valid? [True, True] Translation: X:-0.64, Y:-84.77, Z:42.41 [[ 9.97412274e-01 -7.07911216e-02 -1.25448628e-02 -6.40726360e-01] [ 7.07824690e-02 9.97491132e-01 -1.13295039e-03 -8.47660351e+01] [ 1.25935922e-02 2.42062266e-04 9.99920668e-01 4.24056117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399072329 meters 0.08389835303741246 Centerline is valid? [True, True] Translation: X:-0.61, Y:-84.77, Z:42.40 [[ 9.97240681e-01 -7.32322623e-02 -1.21680183e-02 -6.11303798e-01] [ 7.32242776e-02 9.97314892e-01 -1.10102101e-03 -8.47675289e+01] [ 1.22159761e-02 2.06988586e-04 9.99925361e-01 4.24032892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42907232899995 meters 0.0838502226036632 Centerline is valid? [True, True] Translation: X:-0.58, Y:-84.77, Z:42.40 [[ 9.97150604e-01 -7.43336524e-02 -1.28522930e-02 -5.83833905e-01] [ 7.43248754e-02 9.97233407e-01 -1.15987004e-03 -8.47666936e+01] [ 1.29029533e-02 2.01320038e-04 9.99916733e-01 4.24009913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459072329 meters 0.08353710245681442 Centerline is valid? [True, True] Translation: X:-0.55, Y:-84.77, Z:42.40 [[ 9.97002397e-01 -7.63623822e-02 -1.24501930e-02 -5.54253199e-01] [ 7.63542282e-02 9.97080115e-01 -1.12965241e-03 -8.47665756e+01] [ 1.25001028e-02 1.75641282e-04 9.99921855e-01 4.24008007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48907232899995 meters 0.08325338518856033 Centerline is valid? [True, True] Translation: X:-0.53, Y:-84.77, Z:42.40 [[ 9.96837868e-01 -7.84932905e-02 -1.23720599e-02 -5.25434431e-01] [ 7.84853606e-02 9.96914630e-01 -1.12594054e-03 -8.47671173e+01] [ 1.24222663e-02 1.51354584e-04 9.99922829e-01 4.24010565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519072329 meters 0.08327113440489813 Centerline is valid? [True, True] Translation: X:-0.50, Y:-84.77, Z:42.40 [[ 9.96753110e-01 -7.96966397e-02 -1.14753011e-02 -4.96118654e-01] [ 7.96898625e-02 9.96819156e-01 -1.04735317e-03 -8.47657974e+01] [ 1.15222705e-02 1.29487362e-04 9.99933608e-01 4.24004269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54907232899996 meters 0.08290867674758541 Centerline is valid? [True, True] Translation: X:-0.47, Y:-84.77, Z:42.40 [[ 9.96661183e-01 -8.08064027e-02 -1.16966409e-02 -4.68191170e-01] [ 8.07993909e-02 9.96729808e-01 -1.07156665e-03 -8.47662468e+01] [ 1.17449800e-02 1.22907430e-04 9.99931018e-01 4.24024021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579072329 meters 0.08316422798494236 Centerline is valid? [True, True] Translation: X:-0.44, Y:-84.76, Z:42.40 [[ 9.96591227e-01 -8.17740726e-02 -1.09053691e-02 -4.40501462e-01] [ 8.17680724e-02 9.96650887e-01 -9.95689120e-04 -8.47641868e+01] [ 1.09502673e-02 1.00584031e-04 9.99940039e-01 4.23985865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60907232899996 meters 0.08275704880944373 Centerline is valid? [True, True] Translation: X:-0.41, Y:-84.76, Z:42.40 [[ 9.96525372e-01 -8.25794257e-02 -1.08545809e-02 -4.12664498e-01] [ 8.25734452e-02 9.96584481e-01 -9.98746844e-04 -8.47631489e+01] [ 1.08999828e-02 9.89764326e-05 9.99940589e-01 4.24013089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639072329 meters 0.08297595354622962 Centerline is valid? [True, True] Translation: X:-0.38, Y:-84.76, Z:42.40 [[ 9.96364833e-01 -8.45282777e-02 -1.05872865e-02 -3.83370610e-01] [ 8.45226788e-02 9.96421078e-01 -9.75972219e-04 -8.47614334e+01] [ 1.06318926e-02 7.75585831e-05 9.99943477e-01 4.23989254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66907232899996 meters 0.0835522239027119 Centerline is valid? [True, True] Translation: X:-0.36, Y:-84.76, Z:42.39 [[ 9.96353613e-01 -8.47366945e-02 -9.95843174e-03 -3.56185352e-01] [ 8.47317786e-02 9.96403376e-01 -9.15274437e-04 -8.47584014e+01] [ 1.00001723e-02 6.81413590e-05 9.99949995e-01 4.23931073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699072329 meters 0.08314521781433874 Centerline is valid? [True, True] Translation: X:-0.33, Y:-84.76, Z:42.40 [[ 9.96294587e-01 -8.53503310e-02 -1.06026811e-02 -3.26846624e-01] [ 8.53447278e-02 9.96351000e-01 -9.80631318e-04 -8.47572534e+01] [ 1.06476892e-02 7.21147395e-05 9.99943309e-01 4.23950823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72907232899996 meters 0.08356138198906674 Centerline is valid? [True, True] Translation: X:-0.30, Y:-84.75, Z:42.39 [[ 9.96280897e-01 -8.54667941e-02 -1.09453490e-02 -2.99017302e-01] [ 8.54608645e-02 9.96341017e-01 -1.00917765e-03 -8.47543766e+01] [ 1.09915513e-02 7.00254259e-05 9.99939589e-01 4.23912041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759072329 meters 0.08370644890536562 Centerline is valid? [True, True] Translation: X:-0.27, Y:-84.75, Z:42.39 [[ 9.96282819e-01 -8.54219813e-02 -1.11188679e-02 -2.70307275e-01] [ 8.54157912e-02 9.96344860e-01 -1.03127666e-03 -8.47508634e+01] [ 1.11663206e-02 7.77163174e-05 9.99937652e-01 4.23900068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78907232899996 meters 0.08389572212314077 Centerline is valid? [True, True] Translation: X:-0.24, Y:-84.75, Z:42.39 [[ 9.96322347e-01 -8.49547617e-02 -1.11565563e-02 -2.42990937e-01] [ 8.49485323e-02 9.96384806e-01 -1.03191691e-03 -8.47466107e+01] [ 1.12038894e-02 8.03887965e-05 9.99937231e-01 4.23876853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819072329 meters 0.08343165520316387 Centerline is valid? [True, True] Translation: X:-0.21, Y:-84.74, Z:42.39 [[ 9.96350118e-01 -8.48810453e-02 -9.03612162e-03 -2.13861608e-01] [ 8.48769503e-02 9.96391090e-01 -8.36400397e-04 -8.47430264e+01] [ 9.07450561e-03 6.63891882e-05 9.99958824e-01 4.23926115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84907232899997 meters 0.0834130861050845 Centerline is valid? [True, True] Translation: X:-0.19, Y:-84.74, Z:42.39 [[ 9.96338456e-01 -8.50848609e-02 -8.38142076e-03 -1.86355408e-01] [ 8.50813349e-02 9.96373706e-01 -7.76999950e-04 -8.47404520e+01] [ 8.41713820e-03 6.10524629e-05 9.99964573e-01 4.23907618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879072329 meters 0.08342656861751369 Centerline is valid? [True, True] Translation: X:-0.16, Y:-84.74, Z:42.39 [[ 9.96296989e-01 -8.55990349e-02 -8.06938291e-03 -1.57249972e-01] [ 8.55957389e-02 9.96329665e-01 -7.53565459e-04 -8.47375419e+01] [ 8.10427005e-03 6.00702049e-05 9.99967158e-01 4.23901572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90907232899997 meters 0.08356445106944561 Centerline is valid? [True, True] Translation: X:-0.13, Y:-84.73, Z:42.39 [[ 9.96371399e-01 -8.45519462e-02 -9.74701919e-03 -1.28414595e-01] [ 8.45470748e-02 9.96419069e-01 -9.11490716e-04 -8.47318249e+01] [ 9.78918410e-03 8.41013182e-05 9.99952081e-01 4.23901402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939072329 meters 0.0839433040706847 Centerline is valid? [True, True] Translation: X:-0.10, Y:-84.73, Z:42.39 [[ 9.96481807e-01 -8.33076076e-02 -9.15704192e-03 -1.00991982e-01] [ 8.33032805e-02 9.96523876e-01 -8.53606792e-04 -8.47267684e+01] [ 9.19632285e-03 8.77920068e-05 9.99957709e-01 4.23884513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96907232899997 meters 0.084020646842078 Centerline is valid? [True, True] Translation: X:-0.07, Y:-84.72, Z:42.39 [[ 9.96557576e-01 -8.23601391e-02 -9.47656153e-03 -7.22347577e-02] [ 8.23554043e-02 9.96602627e-01 -8.89445314e-04 -8.47228010e+01] [ 9.51762096e-03 1.05937409e-04 9.99954701e-01 4.23901051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99907232899994 meters 0.08509647939499598 Centerline is valid? [True, True] Translation: X:-0.05, Y:-84.72, Z:42.38 [[ 9.96632898e-01 -8.14509429e-02 -9.41330079e-03 -4.52285854e-02] [ 8.14462596e-02 9.96677346e-01 -8.80443344e-04 -8.47156161e+01] [ 9.45373658e-03 1.10800663e-04 9.99955306e-01 4.23817270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.029072329 meters 0.0844217746232994 Centerline is valid? [True, True] Translation: X:-0.02, Y:-84.71, Z:42.39 [[ 9.96761853e-01 -7.99121525e-02 -8.93625460e-03 -1.66541784e-02] [ 7.99078048e-02 9.96801902e-01 -8.43092011e-04 -8.47116350e+01] [ 8.97504888e-03 1.26285467e-04 9.99959715e-01 4.23889445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05907232899995 meters 0.08498404233979777 Centerline is valid? [True, True] Translation: X:0.01, Y:-84.71, Z:42.38 [[ 9.96814613e-01 -7.92670905e-02 -8.79518516e-03 1.11971358e-02] [ 7.92628884e-02 9.96853406e-01 -8.25862753e-04 -8.47062082e+01] [ 8.83297402e-03 1.26100281e-04 9.99960981e-01 4.23836881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.089072329 meters 0.08487090942052623 Centerline is valid? [True, True] Translation: X:0.04, Y:-84.70, Z:42.38 [[ 9.96839269e-01 -7.90751895e-02 -7.65422350e-03 4.00575459e-02] [ 7.90719597e-02 9.96868648e-01 -7.24155539e-04 -8.47030502e+01] [ 7.68751816e-03 1.16632227e-04 9.99970444e-01 4.23837221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11907232899995 meters 0.0845390756457732 Centerline is valid? [True, True] Translation: X:0.07, Y:-84.70, Z:42.39 [[ 9.96822031e-01 -7.91747510e-02 -8.78618594e-03 6.92107911e-02] [ 7.91704853e-02 9.96860743e-01 -8.32798233e-04 -8.47022342e+01] [ 8.82454044e-03 1.34545020e-04 9.99961054e-01 4.23862932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.149072329 meters 0.0850877375418692 Centerline is valid? [True, True] Translation: X:0.10, Y:-84.70, Z:42.38 [[ 9.96729563e-01 -8.02891722e-02 -9.15572766e-03 9.56107531e-02] [ 8.02845864e-02 9.96771605e-01 -8.67899908e-04 -8.46991174e+01] [ 9.19585232e-03 1.29997687e-04 9.99957709e-01 4.23806755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17907232899995 meters 0.0850877375418692 Centerline is valid? [True, True] Translation: X:0.12, Y:-84.70, Z:42.38 [[ 9.96709561e-01 -8.05371436e-02 -9.15534139e-03 1.23163038e-01] [ 8.05325308e-02 9.96751600e-01 -8.71985182e-04 -8.46962866e+01] [ 9.19582837e-03 1.31813155e-04 9.99957709e-01 4.23799628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.209072329 meters 0.08549191449951243 Centerline is valid? [True, True] Translation: X:0.15, Y:-84.69, Z:42.38 [[ 9.96687832e-01 -8.06754975e-02 -1.02386496e-02 1.50720303e-01] [ 8.06697813e-02 9.96740410e-01 -9.70738147e-04 -8.46922515e+01] [ 1.02835905e-02 1.41573278e-04 9.99947112e-01 4.23767609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23907232899995 meters 0.08516747225084861 Centerline is valid? [True, True] Translation: X:0.18, Y:-84.69, Z:42.38 [[ 9.96647121e-01 -8.12710785e-02 -9.46196316e-03 1.79504758e-01] [ 8.12661661e-02 9.96692026e-01 -9.03131968e-04 -8.46901970e+01] [ 9.50406174e-03 1.31166405e-04 9.99954827e-01 4.23782973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.269072329 meters 0.08495807545455208 Centerline is valid? [True, True] Translation: X:0.21, Y:-84.69, Z:42.38 [[ 9.96565362e-01 -8.21628003e-02 -1.03321997e-02 2.08335363e-01] [ 8.21569701e-02 9.96618912e-01 -9.88183217e-04 -8.46879923e+01] [ 1.03784576e-02 1.35926941e-04 9.99946133e-01 4.23782501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29907232899996 meters 0.08520976220521982 Centerline is valid? [True, True] Translation: X:0.24, Y:-84.68, Z:42.38 [[ 9.96554229e-01 -8.23016129e-02 -1.03011657e-02 2.36820253e-01] [ 8.22957888e-02 9.96607458e-01 -9.88718029e-04 -8.46849119e+01] [ 1.03475916e-02 1.37568578e-04 9.99946453e-01 4.23777541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.329072329 meters 0.08515545474461735 Centerline is valid? [True, True] Translation: X:0.27, Y:-84.68, Z:42.38 [[ 9.96596551e-01 -8.17199745e-02 -1.08240862e-02 2.65985834e-01] [ 8.17134945e-02 9.96655318e-01 -1.04031101e-03 -8.46818539e+01] [ 1.08728973e-02 1.52296455e-04 9.99940877e-01 4.23786002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35907232899996 meters 0.08511311154717724 Centerline is valid? [True, True] Translation: X:0.30, Y:-84.68, Z:42.38 [[ 9.96680635e-01 -8.08014593e-02 -9.94164426e-03 2.95088751e-01] [ 8.07959190e-02 9.96730205e-01 -9.58318971e-04 -8.46769455e+01] [ 9.98657069e-03 1.51893676e-04 9.99950121e-01 4.23799945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.389072329 meters 0.08549578584321091 Centerline is valid? [True, True] Translation: X:0.32, Y:-84.67, Z:42.38 [[ 9.96710014e-01 -8.04423155e-02 -9.90868111e-03 3.22503930e-01] [ 8.04368242e-02 9.96759254e-01 -9.52120257e-04 -8.46711925e+01] [ 9.95316035e-03 1.51964954e-04 9.99950455e-01 4.23763984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41907232899996 meters 0.08605888661378339 Centerline is valid? [True, True] Translation: X:0.35, Y:-84.66, Z:42.37 [[ 9.96846186e-01 -7.86349459e-02 -1.06876697e-02 3.50362763e-01] [ 7.86284461e-02 9.96903461e-01 -1.02764420e-03 -8.46636022e+01] [ 1.07353837e-02 1.84048335e-04 9.99942357e-01 4.23736057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.449072329 meters 0.08623233644837007 Centerline is valid? [True, True] Translation: X:0.38, Y:-84.66, Z:42.37 [[ 9.96880436e-01 -7.82071992e-02 -1.06315361e-02 3.79122213e-01] [ 7.82006768e-02 9.96937108e-01 -1.02846244e-03 -8.46589393e+01] [ 1.06794061e-02 1.93860762e-04 9.99942955e-01 4.23728430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47907232899996 meters 0.08710305997776523 Centerline is valid? [True, True] Translation: X:0.41, Y:-84.65, Z:42.37 [[ 9.97001249e-01 -7.66533376e-02 -1.06195487e-02 4.06030221e-01] [ 7.66467495e-02 9.97057783e-01 -1.02657519e-03 -8.46526245e+01] [ 1.06669941e-02 2.09542851e-04 9.99943084e-01 4.23685824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.509072329 meters 0.08678895821068208 Centerline is valid? [True, True] Translation: X:0.44, Y:-84.65, Z:42.37 [[ 9.97105149e-01 -7.53309084e-02 -1.03235391e-02 4.35197338e-01] [ 7.53245627e-02 9.97158566e-01 -1.00268334e-03 -8.46504539e+01] [ 1.03697385e-02 2.22164655e-04 9.99946208e-01 4.23721780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53907232899996 meters 0.0865199139208165 Centerline is valid? [True, True] Translation: X:0.46, Y:-84.65, Z:42.38 [[ 9.97217275e-01 -7.38630123e-02 -1.00976055e-02 4.64015247e-01] [ 7.38568384e-02 9.97268369e-01 -9.83470058e-04 -8.46478592e+01] [ 1.01426647e-02 2.34956111e-04 9.99948534e-01 4.23752702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.569072329 meters 0.08763868317867991 Centerline is valid? [True, True] Translation: X:0.49, Y:-84.64, Z:42.37 [[ 9.97284840e-01 -7.29748535e-02 -9.88018034e-03 4.91164224e-01] [ 7.29689139e-02 9.97333753e-01 -9.60797563e-04 -8.46411873e+01] [ 9.92395140e-03 2.37242816e-04 9.99950728e-01 4.23697785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59907232899997 meters 0.08806209053326008 Centerline is valid? [True, True] Translation: X:0.52, Y:-84.64, Z:42.37 [[ 9.97330244e-01 -7.25382241e-02 -8.40176891e-03 5.18908598e-01] [ 7.25339141e-02 9.97365612e-01 -8.16970517e-04 -8.46377125e+01] [ 8.43889698e-03 2.05376221e-04 9.99964371e-01 4.23686559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.629072329 meters 0.08684417398328355 Centerline is valid? [True, True] Translation: X:0.55, Y:-84.64, Z:42.37 [[ 9.97286385e-01 -7.32017735e-02 -7.83372938e-03 5.48614773e-01] [ 7.31980011e-02 9.97317133e-01 -7.67573567e-04 -8.46402186e+01] [ 7.86890027e-03 1.92077336e-04 9.99969021e-01 4.23726299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65907232899997 meters 0.08656623189230622 Centerline is valid? [True, True] Translation: X:0.58, Y:-84.64, Z:42.37 [[ 9.97244892e-01 -7.37178132e-02 -8.26490530e-03 5.77410565e-01] [ 7.37136169e-02 9.97279120e-01 -8.11620906e-04 -8.46400148e+01] [ 8.30224841e-03 2.00148740e-04 9.99965516e-01 4.23737830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.689072329 meters 0.08676947240002177 Centerline is valid? [True, True] Translation: X:0.61, Y:-84.64, Z:42.37 [[ 9.97203943e-01 -7.41954711e-02 -8.90667939e-03 6.05796822e-01] [ 7.41906495e-02 9.97243696e-01 -8.70987388e-04 -8.46405670e+01] [ 8.94675319e-03 2.07759729e-04 9.99959955e-01 4.23719436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71907232899997 meters 0.08686858184653318 Centerline is valid? [True, True] Translation: X:0.63, Y:-84.64, Z:42.37 [[ 9.97139066e-01 -7.51125774e-02 -8.47254552e-03 6.34020193e-01] [ 7.51082408e-02 9.97175042e-01 -8.29324797e-04 -8.46390053e+01] [ 8.51090366e-03 1.90594165e-04 9.99963763e-01 4.23700615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74907232899994 meters 0.08707300524306262 Centerline is valid? [True, True] Translation: X:0.66, Y:-84.64, Z:42.37 [[ 9.97151125e-01 -7.50799596e-02 -7.25483847e-03 6.61314687e-01] [ 7.50767731e-02 9.97177503e-01 -7.10961929e-04 -8.46360116e+01] [ 7.28774070e-03 1.64266626e-04 9.99973431e-01 4.23682242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779072329 meters 0.08703992581968825 Centerline is valid? [True, True] Translation: X:0.69, Y:-84.64, Z:42.37 [[ 9.97084523e-01 -7.59097046e-02 -7.75697970e-03 6.90129463e-01] [ 7.59060375e-02 9.97114680e-01 -7.66492446e-04 -8.46363762e+01] [ 7.79278255e-03 1.75456163e-04 9.99969620e-01 4.23671862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80907232899995 meters 0.08698938488203231 Centerline is valid? [True, True] Translation: X:0.72, Y:-84.64, Z:42.37 [[ 9.97000877e-01 -7.70390178e-02 -7.36481384e-03 7.19447911e-01] [ 7.70357347e-02 9.97028066e-01 -7.28846293e-04 -8.46355351e+01] [ 7.39907570e-03 1.59306549e-04 9.99972614e-01 4.23662775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839072329 meters 0.08659808536274055 Centerline is valid? [True, True] Translation: X:0.75, Y:-84.64, Z:42.37 [[ 9.96955210e-01 -7.76232459e-02 -7.41217832e-03 7.47590866e-01] [ 7.76199156e-02 9.96982751e-01 -7.36359077e-04 -8.46359009e+01] [ 7.44697252e-03 1.58784363e-04 9.99972258e-01 4.23664580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86907232899995 meters 0.08632637547701524 Centerline is valid? [True, True] Translation: X:0.78, Y:-84.63, Z:42.37 [[ 9.96889233e-01 -7.85136941e-02 -6.88897358e-03 7.76370735e-01] [ 7.85108304e-02 9.96913025e-01 -6.85562795e-04 -8.46345301e+01] [ 6.92153356e-03 1.42571132e-04 9.99976036e-01 4.23663672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899072329 meters 0.08624696608651297 Centerline is valid? [True, True] Translation: X:0.80, Y:-84.63, Z:42.37 [[ 9.96802809e-01 -7.96143834e-02 -6.76085739e-03 8.04911368e-01] [ 7.96116394e-02 9.96825728e-01 -6.74461087e-04 -8.46333178e+01] [ 6.79309339e-03 1.34061766e-04 9.99976918e-01 4.23651952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92907232899995 meters 0.0865861909375007 Centerline is valid? [True, True] Translation: X:0.83, Y:-84.63, Z:42.36 [[ 9.96710240e-01 -8.07476483e-02 -6.96528943e-03 8.32458590e-01] [ 8.07447871e-02 9.96734569e-01 -6.91481132e-04 -8.46312788e+01] [ 6.99838023e-03 1.26795514e-04 9.99975503e-01 4.23618579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959072329 meters 0.08581883325306786 Centerline is valid? [True, True] Translation: X:0.86, Y:-84.63, Z:42.36 [[ 9.96504074e-01 -8.33000251e-02 -6.38244251e-03 8.61819410e-01] [ 8.32976414e-02 9.96524508e-01 -6.38872155e-04 -8.46337267e+01] [ 6.41347845e-03 1.04996298e-04 9.99979428e-01 4.23635111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98907232899995 meters 0.08546876683460602 Centerline is valid? [True, True] Translation: X:0.89, Y:-84.63, Z:42.36 [[ 9.96406782e-01 -8.43674812e-02 -7.46014414e-03 8.90527346e-01] [ 8.43642471e-02 9.96434702e-01 -7.47703712e-04 -8.46335488e+01] [ 7.49662838e-03 1.15647606e-04 9.99971893e-01 4.23639151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019072329 meters 0.08533865211792695 Centerline is valid? [True, True] Translation: X:0.92, Y:-84.63, Z:42.36 [[ 9.96187828e-01 -8.67542205e-02 -9.13879223e-03 9.18993075e-01] [ 8.67495078e-02 9.96229739e-01 -9.11571314e-04 -8.46331972e+01] [ 9.18341925e-03 1.15310519e-04 9.99957825e-01 4.23616892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04907232899996 meters 0.08566271602279901 Centerline is valid? [True, True] Translation: X:0.95, Y:-84.63, Z:42.36 [[ 9.96101936e-01 -8.78143031e-02 -8.34155450e-03 9.46191797e-01] [ 8.78104068e-02 9.96136857e-01 -8.32904025e-04 -8.46299056e+01] [ 8.38247078e-03 9.71820166e-05 9.99964862e-01 4.23577981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079072329 meters 0.08547134690674078 Centerline is valid? [True, True] Translation: X:0.98, Y:-84.63, Z:42.36 [[ 9.96044603e-01 -8.83638823e-02 -9.32588832e-03 9.75202546e-01] [ 8.83589827e-02 9.96088255e-01 -9.36900064e-04 -8.46278950e+01] [ 9.37219595e-03 1.09168249e-04 9.99956074e-01 4.23585535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10907232899996 meters 0.08481385216578848 Centerline is valid? [True, True] Translation: X:1.00, Y:-84.63, Z:42.36 [[ 9.95888544e-01 -9.02388751e-02 -7.93428119e-03 1.00480480e+00] [ 9.02353699e-02 9.95920147e-01 -7.99380690e-04 -8.46271070e+01] [ 7.97404570e-03 8.01412739e-05 9.99968204e-01 4.23612440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139072329 meters 0.08341926626957766 Centerline is valid? [True, True] Translation: X:1.04, Y:-84.63, Z:42.37 [[ 9.95424862e-01 -9.55435729e-02 -8.77552819e-04 1.03521422e+00] [ 9.55435319e-02 9.95425249e-01 -8.86693669e-05 -8.46322449e+01] [ 8.82010021e-04 4.41919660e-06 9.99999611e-01 4.23668713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16907232899996 meters 0.0825856701443047 Centerline is valid? [True, True] Translation: X:1.06, Y:-84.63, Z:42.37 [[ 9.95054497e-01 -9.93071709e-02 2.15252958e-03 1.06431007e+00] [ 9.93069406e-02 9.95056825e-01 2.13847179e-04 -8.46343338e+01] [-2.16312581e-03 9.71530091e-07 9.99997660e-01 4.23732505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199072329 meters 0.08247964161031447 Centerline is valid? [True, True] Translation: X:1.09, Y:-84.64, Z:42.37 [[ 9.94423331e-01 -1.05328686e-01 5.30148465e-03 1.09278074e+00] [ 1.05327361e-01 9.94437463e-01 5.29224899e-04 -8.46385147e+01] [-5.32773750e-03 3.21178008e-05 9.99985807e-01 4.23744633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22907232899996 meters 0.0822106854964957 Centerline is valid? [True, True] Translation: X:1.12, Y:-84.64, Z:42.38 [[ 9.94178845e-01 -1.07497235e-01 7.26421569e-03 1.12184742e+00] [ 1.07494816e-01 9.94205382e-01 7.23749626e-04 -8.46358675e+01] [-7.29992341e-03 6.13289630e-05 9.99973353e-01 4.23784746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259072329 meters 0.0821368030643833 Centerline is valid? [True, True] Translation: X:1.15, Y:-84.63, Z:42.38 [[ 9.94047712e-01 -1.08687243e-01 7.49866672e-03 1.14950930e+00] [ 1.08684689e-01 9.94075992e-01 7.48473587e-04 -8.46329324e+01] [-7.53559409e-03 7.09718034e-05 9.99971604e-01 4.23780715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28907232899996 meters 0.0825478881968936 Centerline is valid? [True, True] Translation: X:1.18, Y:-84.63, Z:42.38 [[ 9.93770347e-01 -1.11115637e-01 8.59139430e-03 1.17701860e+00] [ 1.11112320e-01 9.93807479e-01 8.63979917e-04 -8.46302317e+01] [-8.63419360e-03 9.60121296e-05 9.99962720e-01 4.23780117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319072329 meters 0.08247975891472666 Centerline is valid? [True, True] Translation: X:1.21, Y:-84.63, Z:42.38 [[ 9.93716739e-01 -1.11699557e-01 7.08884842e-03 1.20548305e+00] [ 1.11697332e-01 9.93742020e-01 7.10300593e-04 -8.46261417e+01] [-7.12382681e-03 8.59678655e-05 9.99974622e-01 4.23777577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34907232899997 meters 0.08252887275755753 Centerline is valid? [True, True] Translation: X:1.23, Y:-84.62, Z:42.38 [[ 9.93681117e-01 -1.12040651e-01 6.68801463e-03 1.23413160e+00] [ 1.12038670e-01 9.93703621e-01 6.71308224e-04 -8.46212101e+01] [-6.72111816e-03 8.22499611e-05 9.99977410e-01 4.23771524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379072329 meters 0.0825481456759962 Centerline is valid? [True, True] Translation: X:1.26, Y:-84.62, Z:42.38 [[ 9.93737662e-01 -1.11606191e-01 5.43305509e-03 1.26206055e+00] [ 1.11604859e-01 9.93752512e-01 5.48558200e-04 -8.46164781e+01] [-5.46033463e-03 6.12324054e-05 9.99985090e-01 4.23753347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40907232899997 meters 0.08293085358506036 Centerline is valid? [True, True] Translation: X:1.29, Y:-84.61, Z:42.37 [[ 9.93685762e-01 -1.12124324e-01 4.09172066e-03 1.29050746e+00] [ 1.12123588e-01 9.93694185e-01 4.09606814e-04 -8.46098955e+01] [-4.11184591e-03 5.17579430e-05 9.99991545e-01 4.23748506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439072329 meters 0.08306206851304808 Centerline is valid? [True, True] Translation: X:1.32, Y:-84.61, Z:42.37 [[ 9.93630815e-01 -1.12635519e-01 3.32317199e-03 1.31888212e+00] [ 1.12635038e-01 9.93636371e-01 3.32329463e-04 -8.46058999e+01] [-3.33945666e-03 4.40928075e-05 9.99994423e-01 4.23741454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46907232899997 meters 0.08312693619920705 Centerline is valid? [True, True] Translation: X:1.35, Y:-84.60, Z:42.37 [[ 9.93648434e-01 -1.12463594e-01 3.83801260e-03 1.34618601e+00] [ 1.12462934e-01 9.93655845e-01 3.88096311e-04 -8.46021305e+01] [-3.85731036e-03 4.60028665e-05 9.99992559e-01 4.23729659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49907232899994 meters 0.08272281110907784 Centerline is valid? [True, True] Translation: X:1.37, Y:-84.60, Z:42.37 [[ 9.93777264e-01 -1.11254199e-01 5.40864811e-03 1.37374281e+00] [ 1.11252854e-01 9.93791980e-01 5.49801107e-04 -8.45955393e+01] [-5.43623880e-03 5.53476990e-05 9.99985222e-01 4.23732365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.529072329 meters 0.08233785204750246 Centerline is valid? [True, True] Translation: X:1.40, Y:-84.59, Z:42.38 [[ 9.93806925e-01 -1.10964098e-01 5.89611089e-03 1.40233496e+00] [ 1.10962509e-01 9.93824414e-01 5.96918612e-04 -8.45894822e+01] [-5.92593549e-03 6.10254095e-05 9.99982440e-01 4.23763815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55907232899995 meters 0.08216115196063682 Centerline is valid? [True, True] Translation: X:1.43, Y:-84.58, Z:42.38 [[ 9.93870109e-01 -1.10374320e-01 6.30201799e-03 1.42974268e+00] [ 1.10372467e-01 9.93890088e-01 6.42115051e-04 -8.45848292e+01] [-6.33438623e-03 5.73903172e-05 9.99979936e-01 4.23757881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.589072329 meters 0.08215287984861648 Centerline is valid? [True, True] Translation: X:1.46, Y:-84.58, Z:42.38 [[ 9.93922593e-01 -1.09888944e-01 6.50374354e-03 1.45774537e+00] [ 1.09886972e-01 9.93943870e-01 6.60755673e-04 -8.45769280e+01] [-6.53696576e-03 5.79366944e-05 9.99978632e-01 4.23778060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61907232899995 meters 0.08232139362104492 Centerline is valid? [True, True] Translation: X:1.48, Y:-84.57, Z:42.38 [[ 9.93981833e-01 -1.09374214e-01 6.11527296e-03 1.48491149e+00] [ 1.09372443e-01 9.94000643e-01 6.24275332e-04 -8.45715107e+01] [-6.14686488e-03 4.83240055e-05 9.99981107e-01 4.23756279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.649072329 meters 0.08226039093614287 Centerline is valid? [True, True] Translation: X:1.51, Y:-84.56, Z:42.38 [[ 9.94044171e-01 -1.08840593e-01 5.46910134e-03 1.51292686e+00] [ 1.08839171e-01 9.94059215e-01 5.57793767e-04 -8.45644395e+01] [-5.49732120e-03 4.07808147e-05 9.99984889e-01 4.23761127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67907232899995 meters 0.08241930536238501 Centerline is valid? [True, True] Translation: X:1.54, Y:-84.55, Z:42.38 [[ 9.94209093e-01 -1.07284345e-01 6.19267692e-03 1.54030744e+00] [ 1.07282459e-01 9.94228378e-01 6.36857970e-04 -8.45546202e+01] [-6.22526002e-03 3.11956247e-05 9.99980622e-01 4.23752537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.709072329 meters 0.08222846365312021 Centerline is valid? [True, True] Translation: X:1.57, Y:-84.55, Z:42.38 [[ 9.94304092e-01 -1.06423784e-01 5.77497210e-03 1.56775896e+00] [ 1.06422149e-01 9.94320862e-01 5.90472719e-04 -8.45483631e+01] [-5.80501558e-03 2.74755029e-05 9.99983150e-01 4.23765273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73907232899995 meters 0.08224107979621897 Centerline is valid? [True, True] Translation: X:1.59, Y:-84.54, Z:42.38 [[ 9.94349576e-01 -1.05976268e-01 6.16039008e-03 1.59485696e+00] [ 1.05974364e-01 9.94368659e-01 6.35717539e-04 -8.45430662e+01] [-6.19306979e-03 2.07179522e-05 9.99980823e-01 4.23756381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.769072329 meters 0.08198472978157739 Centerline is valid? [True, True] Translation: X:1.62, Y:-84.54, Z:42.38 [[ 9.94319040e-01 -1.06238081e-01 6.56631712e-03 1.62288981e+00] [ 1.06235940e-01 9.94340721e-01 6.74849417e-04 -8.45364417e+01] [-6.60085121e-03 2.65632498e-05 9.99978214e-01 4.23765655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79907232899996 meters 0.08184326752184605 Centerline is valid? [True, True] Translation: X:1.65, Y:-84.53, Z:42.38 [[ 9.94282927e-01 -1.06618044e-01 5.83559997e-03 1.65120909e+00] [ 1.06616353e-01 9.94300051e-01 6.00939562e-04 -8.45320266e+01] [-5.86640835e-03 2.46664412e-05 9.99982792e-01 4.23786546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.829072329 meters 0.08169797481371038 Centerline is valid? [True, True] Translation: X:1.68, Y:-84.53, Z:42.38 [[ 9.94270906e-01 -1.06741930e-01 5.61470960e-03 1.67868925e+00] [ 1.06740343e-01 9.94286759e-01 5.82506255e-04 -8.45267142e+01] [-5.64480925e-03 2.01470041e-05 9.99984068e-01 4.23779933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85907232899996 meters 0.08148511731669399 Centerline is valid? [True, True] Translation: X:1.71, Y:-84.52, Z:42.38 [[ 9.94290119e-01 -1.06550402e-01 5.84568846e-03 1.70609797e+00] [ 1.06548674e-01 9.94307302e-01 6.07093328e-04 -8.45224359e+01] [-5.87709676e-03 1.92234549e-05 9.99982730e-01 4.23768293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.889072329 meters 0.08128335860434788 Centerline is valid? [True, True] Translation: X:1.73, Y:-84.52, Z:42.38 [[ 9.94222469e-01 -1.07163471e-01 6.13785671e-03 1.73391960e+00] [ 1.07161597e-01 9.94241414e-01 6.34449672e-04 -8.45177195e+01] [-6.17050117e-03 2.69584065e-05 9.99980962e-01 4.23769003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91907232899996 meters 0.08094715164176612 Centerline is valid? [True, True] Translation: X:1.76, Y:-84.51, Z:42.38 [[ 9.94198562e-01 -1.07358802e-01 6.58077534e-03 1.76115192e+00] [ 1.07356637e-01 9.94220341e-01 6.82399094e-04 -8.45110301e+01] [-6.61600225e-03 2.80497142e-05 9.99978114e-01 4.23780384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.949072329 meters 0.08084868214208484 Centerline is valid? [True, True] Translation: X:1.79, Y:-84.51, Z:42.38 [[ 9.94172273e-01 -1.07541920e-01 7.49848529e-03 1.78855056e+00] [ 1.07539065e-01 9.94200551e-01 7.84102777e-04 -8.45075442e+01] [-7.53932213e-03 2.68468600e-05 9.99971579e-01 4.23775481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97907232899996 meters 0.0806283718540118 Centerline is valid? [True, True] Translation: X:1.82, Y:-84.50, Z:42.38 [[ 9.94168873e-01 -1.07487696e-01 8.63984908e-03 1.81706641e+00] [ 1.07483917e-01 9.94206414e-01 9.01961406e-04 -8.45035172e+01] [-8.68674312e-03 3.19428630e-05 9.99962269e-01 4.23788791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.009072329 meters 0.08019212024092995 Centerline is valid? [True, True] Translation: X:1.85, Y:-84.50, Z:42.38 [[ 9.94260886e-01 -1.06554965e-01 9.55663632e-03 1.84561121e+00] [ 1.06550271e-01 9.94306813e-01 1.00044942e-03 -8.44970304e+01] [-9.60883146e-03 2.35544699e-05 9.99953834e-01 4.23804862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03907232899996 meters 0.08028008966735829 Centerline is valid? [True, True] Translation: X:1.87, Y:-84.49, Z:42.38 [[ 9.94261245e-01 -1.06546638e-01 9.61195243e-03 1.87198069e+00] [ 1.06541847e-01 9.94307706e-01 1.01058709e-03 -8.44924607e+01] [-9.66491302e-03 1.92875859e-05 9.99953293e-01 4.23788999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.069072329 meters 0.08028754158690209 Centerline is valid? [True, True] Translation: X:1.90, Y:-84.49, Z:42.38 [[ 9.94329801e-01 -1.06021265e-01 8.23028861e-03 1.90038614e+00] [ 1.06017748e-01 9.94363863e-01 8.63770901e-04 -8.44874506e+01] [-8.27547965e-03 1.36835127e-05 9.99965758e-01 4.23770471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09907232899997 meters 0.08028754158690209 Centerline is valid? [True, True] Translation: X:1.93, Y:-84.48, Z:42.38 [[ 9.94300933e-01 -1.06291669e-01 8.23014553e-03 1.92790472e+00] [ 1.06288149e-01 9.94334994e-01 8.65130651e-04 -8.44843313e+01] [-8.27547789e-03 1.45667221e-05 9.99965758e-01 4.23763357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.129072329 meters 0.080401513877748 Centerline is valid? [True, True] Translation: X:1.96, Y:-84.48, Z:42.37 [[ 9.94355643e-01 -1.05835386e-01 7.46496775e-03 1.95640978e+00] [ 1.05832462e-01 9.94383664e-01 7.86714697e-04 -8.44790865e+01] [-7.50630424e-03 7.76171867e-06 9.99971827e-01 4.23747684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15907232899997 meters 0.08068885618795729 Centerline is valid? [True, True] Translation: X:1.98, Y:-84.47, Z:42.37 [[ 9.94604917e-01 -1.03530667e-01 6.51614614e-03 1.98342736e+00] [ 1.03528365e-01 9.94626262e-01 6.90490189e-04 -8.44703661e+01] [-6.55261699e-03 -1.21589794e-05 9.99978531e-01 4.23744647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.189072329 meters 0.08064362123789193 Centerline is valid? [True, True] Translation: X:2.01, Y:-84.47, Z:42.37 [[ 9.94662815e-01 -1.02984494e-01 6.33075145e-03 2.01087742e+00] [ 1.02982331e-01 9.94682961e-01 6.67580638e-04 -8.44650486e+01] [-6.36584106e-03 -1.20620957e-05 9.99979738e-01 4.23748358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21907232899997 meters 0.08073235128983279 Centerline is valid? [True, True] Translation: X:2.04, Y:-84.46, Z:42.37 [[ 9.94780734e-01 -1.01889764e-01 5.45592731e-03 2.03810766e+00] [ 1.01888117e-01 9.94795695e-01 5.79754290e-04 -8.44599536e+01] [-5.48660403e-03 -2.08342400e-05 9.99984948e-01 4.23731140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24907232899994 meters 0.08079985371233472 Centerline is valid? [True, True] Translation: X:2.07, Y:-84.45, Z:42.37 [[ 9.95084335e-01 -9.89024273e-02 5.04747761e-03 2.06686537e+00] [ 9.89009938e-02 9.95097135e-01 5.33450186e-04 -8.44523202e+01] [-5.07549002e-03 -3.16273721e-05 9.99987119e-01 4.23733751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279072329 meters 0.08084810116097482 Centerline is valid? [True, True] Translation: X:2.10, Y:-84.45, Z:42.37 [[ 9.95239974e-01 -9.73646847e-02 4.18485183e-03 2.09558427e+00] [ 9.73636861e-02 9.95248771e-01 4.42163750e-04 -8.44471945e+01] [-4.20801978e-03 -3.26064391e-05 9.99991146e-01 4.23737546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30907232899995 meters 0.08093309307883241 Centerline is valid? [True, True] Translation: X:2.12, Y:-84.44, Z:42.37 [[ 9.95367677e-01 -9.60523623e-02 4.13892529e-03 2.12256891e+00] [ 9.60513562e-02 9.95376282e-01 4.41628358e-04 -8.44413987e+01] [-4.16220751e-03 -4.20332049e-05 9.99991337e-01 4.23714824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339072329 meters 0.08117916296160083 Centerline is valid? [True, True] Translation: X:2.15, Y:-84.43, Z:42.37 [[ 9.95530639e-01 -9.43593496e-02 3.88075456e-03 2.15000711e+00] [ 9.43584512e-02 9.95538202e-01 4.14358280e-04 -8.44333897e+01] [-3.90253799e-03 -4.63243732e-05 9.99992384e-01 4.23696312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36907232899995 meters 0.08110698192211972 Centerline is valid? [True, True] Translation: X:2.18, Y:-84.43, Z:42.37 [[ 9.95545966e-01 -9.42117981e-02 3.51669435e-03 2.17873794e+00] [ 9.42110708e-02 9.95552176e-01 3.72268203e-04 -8.44295712e+01] [-3.53612477e-03 -3.92985678e-05 9.99993747e-01 4.23691974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399072329 meters 0.08098040372843461 Centerline is valid? [True, True] Translation: X:2.21, Y:-84.43, Z:42.37 [[ 9.95574103e-01 -9.39510246e-02 2.32616101e-03 2.20707027e+00] [ 9.39507011e-02 9.95576820e-01 2.48218166e-04 -8.44276550e+01] [-2.33919233e-03 -2.85751203e-05 9.99997264e-01 4.23697174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42907232899995 meters 0.08088765754797193 Centerline is valid? [True, True] Translation: X:2.24, Y:-84.43, Z:42.37 [[ 9.95589538e-01 -9.38042853e-02 1.49253034e-03 2.23564589e+00] [ 9.38041586e-02 9.95590657e-01 1.54805159e-04 -8.44256929e+01] [-1.50047065e-03 -1.41168441e-05 9.99998874e-01 4.23699087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459072329 meters 0.08089059212885943 Centerline is valid? [True, True] Translation: X:2.26, Y:-84.42, Z:42.37 [[ 9.95658275e-01 -9.30623710e-02 1.99864962e-03 2.26254532e+00] [ 9.30621314e-02 9.95660281e-01 2.12765711e-04 -8.44218919e+01] [-2.00977652e-03 -2.58433477e-05 9.99997980e-01 4.23688208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48907232899995 meters 0.08080236312558384 Centerline is valid? [True, True] Translation: X:2.29, Y:-84.42, Z:42.37 [[ 9.95663094e-01 -9.30137002e-02 1.85851753e-03 2.29168266e+00] [ 9.30134983e-02 9.95664829e-01 1.94992595e-04 -8.44178162e+01] [-1.86859752e-03 -2.12797136e-05 9.99998254e-01 4.23679307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519072329 meters 0.08055713827961665 Centerline is valid? [True, True] Translation: X:2.32, Y:-84.41, Z:42.37 [[ 9.95700321e-01 -9.26011390e-02 2.42900430e-03 2.31952890e+00] [ 9.26007892e-02 9.95703283e-01 2.56290894e-04 -8.44136161e+01] [-2.44230039e-03 -3.02612104e-05 9.99997017e-01 4.23683096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54907232899996 meters 0.08041685608486498 Centerline is valid? [True, True] Translation: X:2.35, Y:-84.41, Z:42.37 [[ 9.95628690e-01 -9.33679531e-02 2.43638832e-03 2.34775851e+00] [ 9.33676017e-02 9.95631671e-01 2.57822584e-04 -8.44108157e+01] [-2.44981774e-03 -2.92158274e-05 9.99996999e-01 4.23668360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579072329 meters 0.0806531601497021 Centerline is valid? [True, True] Translation: X:2.37, Y:-84.41, Z:42.36 [[ 9.95615155e-01 -9.35124130e-02 2.42737085e-03 2.37494285e+00] [ 9.35120578e-02 9.95618113e-01 2.59638359e-04 -8.44071130e+01] [-2.44101380e-03 -3.15114417e-05 9.99997020e-01 4.23636399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60907232899996 meters 0.08060865573337544 Centerline is valid? [True, True] Translation: X:2.40, Y:-84.40, Z:42.36 [[ 9.95698043e-01 -9.26474640e-02 1.36210921e-03 2.40251495e+00] [ 9.26473504e-02 9.95698974e-01 1.46425224e-04 -8.44045414e+01] [-1.36981667e-03 -1.95994991e-05 9.99999062e-01 4.23631109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639072329 meters 0.08061922129088564 Centerline is valid? [True, True] Translation: X:2.43, Y:-84.40, Z:42.36 [[ 9.95761569e-01 -9.19575349e-02 1.64604805e-03 2.43102885e+00] [ 9.19573729e-02 9.95762929e-01 1.73951903e-04 -8.44004371e+01] [-1.65506981e-03 -2.18483659e-05 9.99998630e-01 4.23631247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66907232899996 meters 0.08083775586496557 Centerline is valid? [True, True] Translation: X:2.46, Y:-84.39, Z:42.36 [[ 9.95885077e-01 -9.06182825e-02 1.11355712e-03 2.45972172e+00] [ 9.06182094e-02 9.95885700e-01 1.16035809e-04 -8.43945005e+01] [-1.11949058e-03 -1.46497787e-05 9.99999373e-01 4.23617755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699072329 meters 0.08146909927788527 Centerline is valid? [True, True] Translation: X:2.49, Y:-84.38, Z:42.36 [[ 9.96298035e-01 -8.59654978e-02 3.97280630e-04 2.48773970e+00] [ 8.59654878e-02 9.96298115e-01 4.22420858e-05 -8.43839139e+01] [-3.99441304e-04 -7.93328399e-06 9.99999920e-01 4.23608095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72907232899996 meters 0.0819154016925475 Centerline is valid? [True, True] Translation: X:2.52, Y:-84.38, Z:42.36 [[ 9.96550122e-01 -8.29868963e-02 -1.01495282e-03 2.51671276e+00] [ 8.29868251e-02 9.96550638e-01 -1.12142235e-04 -8.43768299e+01] [ 1.02075821e-03 2.75276463e-05 9.99999479e-01 4.23598142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759072329 meters 0.08296898382432523 Centerline is valid? [True, True] Translation: X:2.54, Y:-84.37, Z:42.36 [[ 9.96860001e-01 -7.91572786e-02 -2.06494095e-03 2.54441084e+00] [ 7.91569764e-02 9.96862138e-01 -2.27783375e-04 -8.43678116e+01] [ 2.07649216e-03 6.36136537e-05 9.99997842e-01 4.23581878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78907232899996 meters 0.08671466595501301 Centerline is valid? [True, True] Translation: X:2.57, Y:-84.35, Z:42.35 [[ 9.97510214e-01 -7.04575745e-02 -3.01704740e-03 2.57193412e+00] [ 7.04568935e-02 9.97514770e-01 -3.31561363e-04 -8.43479898e+01] [ 3.03291035e-03 1.18164059e-04 9.99995394e-01 4.23544910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819072329 meters 0.08749724766239021 Centerline is valid? [True, True] Translation: X:2.60, Y:-84.34, Z:42.36 [[ 9.97898404e-01 -6.46737733e-02 -4.00976177e-03 2.60151199e+00] [ 6.46725256e-02 9.97906444e-01 -4.40165232e-04 -8.43391094e+01] [ 4.02983426e-03 1.79918762e-04 9.99991864e-01 4.23555703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84907232899997 meters 0.09153875976766976 Centerline is valid? [True, True] Translation: X:2.63, Y:-84.32, Z:42.35 [[ 9.98287939e-01 -5.82705507e-02 -5.07293648e-03 2.62862582e+00] [ 5.82684746e-02 9.98300794e-01 -5.56219147e-04 -8.43223992e+01] [ 5.09672771e-03 2.59674595e-04 9.99986978e-01 4.23515390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879072329 meters 0.09780705878084973 Centerline is valid? [True, True] Translation: X:2.66, Y:-84.30, Z:42.35 [[ 9.99044466e-01 -4.31627670e-02 -6.86511464e-03 2.65679833e+00] [ 4.31586041e-02 9.99067949e-01 -7.53458104e-04 -8.42972326e+01] [ 6.89123734e-03 4.56449385e-04 9.99976151e-01 4.23510313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90907232899997 meters 0.10231426369792206 Centerline is valid? [True, False] Translation: X:2.66, Y:-84.29, Z:42.35 [[ 9.99519742e-01 -3.09610343e-02 -1.30366810e-03 2.65877579e+00] [ 3.09547794e-02 9.99510329e-01 -4.57209142e-03 -8.42937815e+01] [ 1.44458641e-03 4.52954087e-03 9.99988698e-01 4.23499313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939072329 meters 0.10583382397729044 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.29, Z:42.35 [[ 9.99803836e-01 -1.91881933e-02 4.90939246e-03 2.66118057e+00] [ 1.92297773e-02 9.99778377e-01 -8.56815000e-03 -8.42901108e+01] [-4.74389711e-03 8.66087576e-03 9.99951241e-01 4.23481251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96907232899997 meters 0.11650789274219914 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.28, Z:42.36 [[ 9.99999704e-01 5.92310010e-06 7.69537369e-04 2.66386998e+00] [-2.82800565e-06 9.99991912e-01 -4.02195853e-03 -8.42840016e+01] [-7.69554968e-04 4.02195516e-03 9.99991616e-01 4.23584005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99907232899994 meters 0.12433316803840566 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.28, Z:42.36 [[ 9.99988731e-01 4.53282070e-03 1.41136061e-03 2.66189317e+00] [-4.53237740e-03 9.99989678e-01 -3.17130306e-04 -8.42803437e+01] [-1.41278354e-03 3.10729913e-04 9.99998954e-01 4.23591582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.029072329 meters 0.1281653613736405 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.27, Z:42.36 [[ 9.99984904e-01 4.80892084e-03 2.65818422e-03 2.65920527e+00] [-4.80449273e-03 9.99987064e-01 -1.66972509e-03 -8.42743144e+01] [-2.66617941e-03 1.65692865e-03 9.99995073e-01 4.23587050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05907232899995 meters 0.1374224243377953 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.27, Z:42.36 [[ 9.99945052e-01 9.59876021e-03 4.21397360e-03 2.65577290e+00] [-9.60134569e-03 9.99953730e-01 5.93749278e-04 -8.42664517e+01] [-4.20807936e-03 -6.34176469e-04 9.99990945e-01 4.23577659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.089072329 meters 0.1451728507704733 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99942025e-01 9.51382708e-03 5.04310155e-03 2.65436046e+00] [-9.51028247e-03 9.99954512e-01 -7.26379571e-04 -8.42619107e+01] [-5.04978280e-03 6.78376139e-04 9.99987020e-01 4.23567026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11907232899995 meters 0.15886945065036417 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99937705e-01 9.56362490e-03 5.75535349e-03 2.65291156e+00] [-9.55451795e-03 9.99953062e-01 -1.60776548e-03 -8.42586415e+01] [-5.77045941e-03 1.55267569e-03 9.99982145e-01 4.23562675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.149072329 meters 0.15935019918139948 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99932233e-01 9.72027358e-03 6.40666306e-03 2.65139802e+00] [-9.70688972e-03 9.99950646e-01 -2.11684887e-03 -8.42564605e+01] [-6.42692322e-03 2.05451664e-03 9.99977237e-01 4.23562395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17907232899995 meters 0.15849181747258784 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99926333e-01 9.92665304e-03 6.98499571e-03 2.64995208e+00] [-9.91050954e-03 9.99948147e-01 -2.34199924e-03 -8.42551368e+01] [-7.00788173e-03 2.27260185e-03 9.99972862e-01 4.23564159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.209072329 meters 0.16116919498274768 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99929442e-01 9.83081077e-03 6.66835248e-03 2.65078575e+00] [-9.81665976e-03 9.99949501e-01 -2.15153741e-03 -8.42562352e+01] [-6.68916709e-03 2.08592465e-03 9.99975452e-01 4.23563970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23907232899995 meters 0.15720701122623457 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99930237e-01 9.89048267e-03 6.45756580e-03 2.65124620e+00] [-9.87908899e-03 9.99949591e-01 -1.79391269e-03 -8.42576698e+01] [-6.47498295e-03 1.72999267e-03 9.99977541e-01 4.23565600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.269072329 meters 0.16242200795919054 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99962669e-01 5.47513657e-03 6.68450168e-03 2.65118586e+00] [-5.43260538e-03 9.99964991e-01 -6.36431922e-03 -8.42571418e+01] [-6.71911318e-03 6.32776737e-03 9.99957406e-01 4.23555861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29907232899996 meters 0.15827366947274646 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99964757e-01 5.37155450e-03 6.45222263e-03 2.65207660e+00] [-5.33141798e-03 9.99966432e-01 -6.22174886e-03 -8.42583414e+01] [-6.48542651e-03 6.18713010e-03 9.99959829e-01 4.23550974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.329072329 meters 0.1531301323031675 Centerline is valid? [False, False] Translation: X:2.65, Y:-84.26, Z:42.36 [[ 9.99969362e-01 5.43987625e-03 5.62871783e-03 2.65394249e+00] [-5.41210479e-03 9.99973165e-01 -4.93741141e-03 -8.42636111e+01] [-5.65542569e-03 4.90679692e-03 9.99971969e-01 4.23556686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35907232899996 meters 0.1517992145378669 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.27, Z:42.36 [[ 9.99971770e-01 5.55600844e-03 5.05860360e-03 2.65516326e+00] [-5.53624485e-03 9.99977021e-01 -3.91258294e-03 -8.42676781e+01] [-5.08022570e-03 3.88446683e-03 9.99979551e-01 4.23562153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.389072329 meters 0.1464708012235879 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.27, Z:42.36 [[ 9.99977159e-01 5.39974292e-03 4.06499490e-03 2.65748518e+00] [-5.38792031e-03 9.99981240e-01 -2.91375040e-03 -8.42727189e+01] [-4.08065214e-03 2.89178198e-03 9.99987493e-01 4.23563896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41907232899996 meters 0.14576802609603484 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.28, Z:42.36 [[ 9.99980931e-01 5.20995537e-03 3.31563352e-03 2.65957772e+00] [-5.20240935e-03 9.99983867e-01 -2.28046277e-03 -8.42767537e+01] [-3.32746113e-03 2.26317000e-03 9.99991903e-01 4.23559729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.449072329 meters 0.13889258219236747 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.28, Z:42.36 [[ 9.99994451e-01 1.38391336e-03 3.03039253e-03 2.65998678e+00] [-1.36876871e-03 9.99986593e-01 -4.99397200e-03 -8.42821138e+01] [-3.03726312e-03 4.98979638e-03 9.99982938e-01 4.23567737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47907232899996 meters 0.14736532094137864 Centerline is valid? [False, False] Translation: X:2.66, Y:-84.29, Z:42.36 [[ 9.99997376e-01 1.22821911e-03 1.93385370e-03 2.66213018e+00] [-1.22151677e-03 9.99993257e-01 -3.46317336e-03 -8.42873151e+01] [-1.93809420e-03 3.46080204e-03 9.99992133e-01 4.23580904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.509072329 meters 0.12497115020058343 Centerline is valid? [False, False] Translation: X:2.67, Y:-84.29, Z:42.36 [[ 9.99999531e-01 8.18783195e-04 5.16804362e-04 2.66524066e+00] [-8.17774976e-04 9.99997768e-01 -1.94807780e-03 -8.42936970e+01] [-5.18398261e-04 1.94765426e-03 9.99997969e-01 4.23590110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53907232899996 meters 0.11069773364184057 Centerline is valid? [False, False] Translation: X:2.67, Y:-84.30, Z:42.36 [[ 9.99989065e-01 -4.44498681e-03 -1.45333984e-03 2.66981352e+00] [ 4.44013377e-03 9.99984613e-01 -3.32557986e-03 -8.43038439e+01] [ 1.46809964e-03 3.31909047e-03 9.99993414e-01 4.23614913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.569072329 meters 0.11223928988809549 Centerline is valid? [False, False] Translation: X:2.67, Y:-84.31, Z:42.36 [[ 9.99988691e-01 -4.21587162e-03 -2.20099436e-03 2.67091679e+00] [ 4.21284847e-03 9.99990179e-01 -1.37637327e-03 -8.43098970e+01] [ 2.20677535e-03 1.36708525e-03 9.99996631e-01 4.23632746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59907232899997 meters 0.10536434866089263 Centerline is valid? [False, False] Translation: X:2.67, Y:-84.32, Z:42.36 [[ 9.99985995e-01 -4.34010361e-03 -3.02868636e-03 2.67279464e+00] [ 4.33973346e-03 9.99990575e-01 -1.28778164e-04 -8.43154186e+01] [ 3.02921673e-03 1.15632669e-04 9.99995405e-01 4.23636228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.629072329 meters 0.10022984765235421 Centerline is valid? [False, False] Translation: X:2.68, Y:-84.32, Z:42.36 [[ 9.99980553e-01 -4.77477299e-03 -4.01182723e-03 2.67549675e+00] [ 4.77725157e-03 9.99988404e-01 6.08462613e-04 -8.43204294e+01] [ 4.00887544e-03 -6.27616288e-04 9.99991767e-01 4.23630945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65907232899997 meters 0.09393790861827771 Centerline is valid? [False, True] Translation: X:2.68, Y:-84.33, Z:42.36 [[ 9.99945772e-01 -9.27912656e-03 -4.72756714e-03 2.67749978e+00] [ 9.26833707e-03 9.99954405e-01 -2.29906955e-03 -8.43260745e+01] [ 4.74868494e-03 2.25512819e-03 9.99986182e-01 4.23630387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.689072329 meters 0.09212202985532235 Centerline is valid? [True, True] Translation: X:2.71, Y:-84.33, Z:42.36 [[ 9.99892960e-01 -1.39776996e-02 -4.32344677e-03 2.70720936e+00] [ 1.39765252e-02 9.99902278e-01 -3.01728855e-04 -8.43313641e+01] [ 4.32724175e-03 2.41269795e-04 9.99990608e-01 4.23635948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71907232899997 meters 0.08728382143154201 Centerline is valid? [True, True] Translation: X:2.74, Y:-84.35, Z:42.36 [[ 9.99722149e-01 -2.33464604e-02 -3.25081730e-03 2.73917449e+00] [ 2.33458464e-02 9.99727423e-01 -2.26689375e-04 -8.43455388e+01] [ 3.25522360e-03 1.50733307e-04 9.99994690e-01 4.23647586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74907232899994 meters 0.08745449262886021 Centerline is valid? [True, True] Translation: X:2.77, Y:-84.35, Z:42.36 [[ 9.99637447e-01 -2.66497285e-02 -3.84263543e-03 2.76780879e+00] [ 2.66488904e-02 9.99644819e-01 -2.69149271e-04 -8.43459646e+01] [ 3.84844335e-03 1.66649720e-04 9.99992581e-01 4.23618544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779072329 meters 0.08546246545027567 Centerline is valid? [True, True] Translation: X:2.80, Y:-84.35, Z:42.36 [[ 9.99539267e-01 -3.01717002e-02 -3.30483151e-03 2.79776747e+00] [ 3.01711000e-02 9.99544722e-01 -2.31346213e-04 -8.43508536e+01] [ 3.31030700e-03 1.31529222e-04 9.99994512e-01 4.23619245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80907232899995 meters 0.0827205208065602 Centerline is valid? [True, True] Translation: X:2.83, Y:-84.36, Z:42.36 [[ 9.99336715e-01 -3.62926246e-02 -2.99574065e-03 2.82912106e+00] [ 3.62921599e-02 9.99341201e-01 -2.09376653e-04 -8.43602360e+01] [ 3.00136589e-03 1.00515878e-04 9.99995491e-01 4.23614940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839072329 meters 0.0810735004125573 Centerline is valid? [True, True] Translation: X:2.86, Y:-84.37, Z:42.36 [[ 9.99216655e-01 -3.95248358e-02 -1.96570873e-03 2.85986719e+00] [ 3.95246399e-02 9.99218587e-01 -1.38439133e-04 -8.43656643e+01] [ 1.96964448e-03 6.06367573e-05 9.99998058e-01 4.23630363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86907232899995 meters 0.08042397275856594 Centerline is valid? [True, True] Translation: X:2.89, Y:-84.37, Z:42.36 [[ 9.99099577e-01 -4.23640351e-02 -2.30751206e-03 2.88939743e+00] [ 4.23637614e-02 9.99102239e-01 -1.67404285e-04 -8.43688202e+01] [ 2.31253238e-03 6.94986597e-05 9.99997324e-01 4.23630080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899072329 meters 0.07942754868105888 Centerline is valid? [True, True] Translation: X:2.92, Y:-84.38, Z:42.36 [[ 9.98883973e-01 -4.71458758e-02 -2.84153276e-03 2.91848772e+00] [ 4.71454949e-02 9.98888013e-01 -2.00939129e-04 -8.43766143e+01] [ 2.84784646e-03 6.67494071e-05 9.99995943e-01 4.23628649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92907232899995 meters 0.07874308478286433 Centerline is valid? [True, True] Translation: X:2.95, Y:-84.38, Z:42.36 [[ 9.98737344e-01 -5.01662377e-02 -2.65837590e-03 2.94802096e+00] [ 5.01659021e-02 9.98740880e-01 -1.92825998e-04 -8.43801900e+01] [ 2.66470204e-03 5.92227001e-05 9.99996448e-01 4.23634868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959072329 meters 0.07909523935327847 Centerline is valid? [True, True] Translation: X:2.98, Y:-84.38, Z:42.36 [[ 9.98623628e-01 -5.23685663e-02 -2.89518040e-03 2.97550357e+00] [ 5.23681889e-02 9.98627824e-01 -2.06066963e-04 -8.43796767e+01] [ 2.90199913e-03 5.41679842e-05 9.99995788e-01 4.23580747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98907232899995 meters 0.07909523935327847 Centerline is valid? [True, True] Translation: X:3.00, Y:-84.38, Z:42.36 [[ 9.98610231e-01 -5.26234352e-02 -2.89484891e-03 3.00311015e+00] [ 5.26230453e-02 9.98614425e-01 -2.10758149e-04 -8.43775051e+01] [ 2.90192870e-03 5.81294791e-05 9.99995788e-01 4.23574278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019072329 meters 0.07799401371351837 Centerline is valid? [True, True] Translation: X:3.03, Y:-84.38, Z:42.36 [[ 9.98459798e-01 -5.54086206e-02 -2.81379621e-03 3.03262394e+00] [ 5.54082617e-02 9.98463761e-01 -2.05387637e-04 -8.43820684e+01] [ 2.82085379e-03 4.91637411e-05 9.99996020e-01 4.23600738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04907232899996 meters 0.0779025620455001 Centerline is valid? [True, True] Translation: X:3.06, Y:-84.39, Z:42.36 [[ 9.98220389e-01 -5.95792604e-02 -2.52316780e-03 3.06042404e+00] [ 5.95789898e-02 9.98223578e-01 -1.82355988e-04 -8.43856561e+01] [ 2.52955023e-03 3.17036765e-05 9.99996800e-01 4.23559816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079072329 meters 0.07757372949600774 Centerline is valid? [True, True] Translation: X:3.09, Y:-84.39, Z:42.36 [[ 9.98095159e-01 -6.16076530e-02 -3.24824334e-03 3.08913776e+00] [ 6.16072047e-02 9.98100444e-01 -2.37991634e-04 -8.43880921e+01] [ 3.25673523e-03 3.74231055e-05 9.99994696e-01 4.23555300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10907232899996 meters 0.07757885002752 Centerline is valid? [True, True] Translation: X:3.12, Y:-84.39, Z:42.35 [[ 9.97945120e-01 -6.39933082e-02 -3.22392603e-03 3.11698424e+00] [ 6.39928918e-02 9.97950327e-01 -2.32260082e-04 -8.43889517e+01] [ 3.23218112e-03 2.54744661e-05 9.99994776e-01 4.23518676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139072329 meters 0.0772616894015746 Centerline is valid? [True, True] Translation: X:3.15, Y:-84.39, Z:42.35 [[ 9.97800662e-01 -6.61612428e-02 -4.06547383e-03 3.14592033e+00] [ 6.61605820e-02 9.97808944e-01 -2.96955110e-04 -8.43917129e+01] [ 4.07621307e-03 2.73278909e-05 9.99991692e-01 4.23532127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16907232899996 meters 0.07750976402014628 Centerline is valid? [True, True] Translation: X:3.17, Y:-84.39, Z:42.35 [[ 9.97766411e-01 -6.66470304e-02 -4.51253793e-03 3.17345548e+00] [ 6.66462384e-02 9.97776615e-01 -3.25821142e-04 -8.43904275e+01] [ 4.52421983e-03 2.43497126e-05 9.99989765e-01 4.23512322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199072329 meters 0.07731268420598982 Centerline is valid? [True, True] Translation: X:3.20, Y:-84.39, Z:42.35 [[ 9.97711863e-01 -6.74846007e-02 -4.10704208e-03 3.20262944e+00] [ 6.74839322e-02 9.97720316e-01 -3.01291046e-04 -8.43897986e+01] [ 4.11801182e-03 2.34423019e-05 9.99991521e-01 4.23515897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22907232899996 meters 0.07765557107296854 Centerline is valid? [True, True] Translation: X:3.23, Y:-84.39, Z:42.35 [[ 9.97749542e-01 -6.66908358e-02 -6.94151626e-03 3.23233709e+00] [ 6.66889651e-02 9.97773687e-01 -5.00880532e-04 -8.43872910e+01] [ 6.95946641e-03 3.68307866e-05 9.99975782e-01 4.23477150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259072329 meters 0.07802924660025248 Centerline is valid? [True, True] Translation: X:3.26, Y:-84.38, Z:42.34 [[ 9.97748696e-01 -6.66329626e-02 -7.58869324e-03 3.26015495e+00] [ 6.66307117e-02 9.97777554e-01 -5.49326023e-04 -8.43845964e+01] [ 7.60843100e-03 4.24492918e-05 9.99971055e-01 4.23447668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28907232899996 meters 0.07820797546040291 Centerline is valid? [True, True] Translation: X:3.29, Y:-84.38, Z:42.34 [[ 9.97736621e-01 -6.67687313e-02 -7.97312283e-03 3.28882177e+00] [ 6.67662093e-02 9.97768477e-01 -5.82365221e-04 -8.43817631e+01] [ 7.99421441e-03 4.87119201e-05 9.99968045e-01 4.23431274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319072329 meters 0.0786204143287642 Centerline is valid? [True, True] Translation: X:3.32, Y:-84.38, Z:42.34 [[ 9.97689819e-01 -6.74406589e-02 -8.17205620e-03 3.31571009e+00] [ 6.74380308e-02 9.97723286e-01 -5.97036277e-04 -8.43781494e+01] [ 8.19371529e-03 4.45496371e-05 9.99966430e-01 4.23372150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34907232899997 meters 0.07815295019541975 Centerline is valid? [True, True] Translation: X:3.34, Y:-84.38, Z:42.34 [[ 9.97704904e-01 -6.72471523e-02 -7.92115445e-03 3.34367736e+00] [ 6.72446434e-02 9.97736347e-01 -5.82951875e-04 -8.43764362e+01] [ 7.94242556e-03 4.89587386e-05 9.99968457e-01 4.23429061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379072329 meters 0.0779300994879939 Centerline is valid? [True, True] Translation: X:3.37, Y:-84.37, Z:42.34 [[ 9.97689233e-01 -6.75556673e-02 -7.24060999e-03 3.37253115e+00] [ 6.75535684e-02 9.97715505e-01 -5.34335887e-04 -8.43744807e+01] [ 7.26016627e-03 4.39721191e-05 9.99973644e-01 4.23435632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40907232899997 meters 0.07761795761447275 Centerline is valid? [True, True] Translation: X:3.40, Y:-84.37, Z:42.34 [[ 9.97708453e-01 -6.74568869e-02 -5.23563162e-03 3.40005880e+00] [ 6.74557906e-02 9.97722189e-01 -3.85894069e-04 -8.43711976e+01] [ 5.24973706e-03 3.18361036e-05 9.99986220e-01 4.23447170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439072329 meters 0.07774144068609326 Centerline is valid? [True, True] Translation: X:3.43, Y:-84.37, Z:42.34 [[ 9.97711121e-01 -6.73929273e-02 -5.54187568e-03 3.42844108e+00] [ 6.73916767e-02 9.97726512e-01 -4.12295318e-04 -8.43666585e+01] [ 5.55706208e-03 3.78753298e-05 9.99984559e-01 4.23447268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46907232899997 meters 0.07813426643985781 Centerline is valid? [True, True] Translation: X:3.46, Y:-84.36, Z:42.34 [[ 9.97738347e-01 -6.70085561e-02 -5.29575253e-03 3.45530416e+00] [ 6.70074089e-02 9.97752400e-01 -3.93968526e-04 -8.43612134e+01] [ 5.31024906e-03 3.82228501e-05 9.99985900e-01 4.23397575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49907232899994 meters 0.07807754411038702 Centerline is valid? [True, True] Translation: X:3.48, Y:-84.36, Z:42.34 [[ 9.97821705e-01 -6.57652273e-02 -5.17500458e-03 3.48331288e+00] [ 6.57640973e-02 9.97835123e-01 -3.88411225e-04 -8.43575522e+01] [ 5.18934529e-03 4.72356464e-05 9.99986534e-01 4.23427672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.529072329 meters 0.07839515303134462 Centerline is valid? [True, True] Translation: X:3.51, Y:-84.35, Z:42.34 [[ 9.97870047e-01 -6.49950184e-02 -5.56933171e-03 3.51054365e+00] [ 6.49937116e-02 9.97885587e-01 -4.15499988e-04 -8.43540494e+01] [ 5.58456127e-03 5.26434534e-05 9.99984405e-01 4.23398936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55907232899995 meters 0.07844102015259388 Centerline is valid? [True, True] Translation: X:3.54, Y:-84.35, Z:42.34 [[ 9.97879742e-01 -6.46870096e-02 -7.18403219e-03 3.53909787e+00] [ 6.46848082e-02 9.97905599e-01 -5.38599981e-04 -8.43516689e+01] [ 7.20382637e-03 7.27602657e-05 9.99974049e-01 4.23398465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.589072329 meters 0.07832374423850799 Centerline is valid? [True, True] Translation: X:3.57, Y:-84.35, Z:42.34 [[ 9.97943613e-01 -6.35801954e-02 -8.13047838e-03 3.56829393e+00] [ 6.35773257e-02 9.97976728e-01 -6.11187842e-04 -8.43479170e+01] [ 8.15288765e-03 9.30169302e-05 9.99966760e-01 4.23407886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61907232899995 meters 0.07896443551460129 Centerline is valid? [True, True] Translation: X:3.60, Y:-84.34, Z:42.33 [[ 9.98001239e-01 -6.26977202e-02 -7.90708678e-03 3.59577520e+00] [ 6.26950009e-02 9.98032558e-01 -5.91550133e-04 -8.43421468e+01] [ 7.92861889e-03 9.46329531e-05 9.99968564e-01 4.23349025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.649072329 meters 0.07858301790922773 Centerline is valid? [True, True] Translation: X:3.62, Y:-84.34, Z:42.34 [[ 9.98041550e-01 -6.20096707e-02 -8.23805231e-03 3.62497836e+00] [ 6.20066490e-02 9.98075543e-01 -6.21948123e-04 -8.43405945e+01] [ 8.26076533e-03 1.09916050e-04 9.99965873e-01 4.23388703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67907232899995 meters 0.079114451813034 Centerline is valid? [True, True] Translation: X:3.65, Y:-84.34, Z:42.34 [[ 9.98150714e-01 -6.03434414e-02 -7.33624857e-03 3.65137462e+00] [ 6.03410101e-02 9.98177668e-01 -5.52497672e-04 -8.43363633e+01] [ 7.35621910e-03 1.08799297e-04 9.99972937e-01 4.23351930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.709072329 meters 0.07904970875435302 Centerline is valid? [True, True] Translation: X:3.68, Y:-84.33, Z:42.33 [[ 9.98145206e-01 -6.04072024e-02 -7.55765588e-03 3.68060701e+00] [ 6.04045922e-02 9.98173811e-01 -5.73366473e-04 -8.43347121e+01] [ 7.57848963e-03 1.15785875e-04 9.99971276e-01 4.23349625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73907232899995 meters 0.07905233741230488 Centerline is valid? [True, True] Translation: X:3.71, Y:-84.33, Z:42.34 [[ 9.98197979e-01 -5.95669434e-02 -7.25072917e-03 3.70867596e+00] [ 5.95644973e-02 9.98224306e-01 -5.53035159e-04 -8.43317633e+01] [ 7.27079670e-03 1.20152540e-04 9.99973560e-01 4.23351445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.769072329 meters 0.07880356308643643 Centerline is valid? [True, True] Translation: X:3.74, Y:-84.33, Z:42.34 [[ 9.98202899e-01 -5.95603627e-02 -6.59814294e-03 3.73751949e+00] [ 5.95583278e-02 9.98224700e-01 -5.04640991e-04 -8.43303617e+01] [ 6.61648586e-03 1.10759740e-04 9.99978105e-01 4.23353051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79907232899996 meters 0.07876328393859462 Centerline is valid? [True, True] Translation: X:3.77, Y:-84.33, Z:42.33 [[ 9.98178233e-01 -5.99832627e-02 -6.49794720e-03 3.76531717e+00] [ 5.99812814e-02 9.98199377e-01 -4.99536889e-04 -8.43294505e+01] [ 6.51621070e-03 1.08871649e-04 9.99978763e-01 4.23343807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.829072329 meters 0.07886483712879289 Centerline is valid? [True, True] Translation: X:3.79, Y:-84.33, Z:42.33 [[ 9.98149420e-01 -6.04794363e-02 -6.32241119e-03 3.79319292e+00] [ 6.04775934e-02 9.98169438e-01 -4.82448682e-04 -8.43290269e+01] [ 6.34001585e-03 9.91916591e-05 9.99979897e-01 4.23336476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85907232899996 meters 0.07846648450412386 Centerline is valid? [True, True] Translation: X:3.82, Y:-84.33, Z:42.33 [[ 9.98009793e-01 -6.26879523e-02 -6.83177018e-03 3.82306350e+00] [ 6.26858188e-02 9.98033171e-01 -5.26189650e-04 -8.43329375e+01] [ 6.85131901e-03 9.68873162e-05 9.99976525e-01 4.23344404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.889072329 meters 0.078689099985139 Centerline is valid? [True, True] Translation: X:3.85, Y:-84.33, Z:42.33 [[ 9.97912182e-01 -6.42020966e-02 -7.02624904e-03 3.85073248e+00] [ 6.41998604e-02 9.97936913e-01 -5.43578749e-04 -8.43324071e+01] [ 7.04665217e-03 9.13596478e-05 9.99975168e-01 4.23309802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91907232899996 meters 0.07799249250330392 Centerline is valid? [True, True] Translation: X:3.88, Y:-84.33, Z:42.33 [[ 9.97819788e-01 -6.56829895e-02 -6.43549918e-03 3.88036178e+00] [ 6.56811354e-02 9.97840538e-01 -4.99251000e-04 -8.43342926e+01] [ 6.45439426e-03 7.54716334e-05 9.99979167e-01 4.23346279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.949072329 meters 0.07731430556916717 Centerline is valid? [True, True] Translation: X:3.91, Y:-84.34, Z:42.33 [[ 9.97573381e-01 -6.94257535e-02 -5.23588860e-03 3.90950723e+00] [ 6.94245658e-02 9.97587120e-01 -4.08471683e-04 -8.43384243e+01] [ 5.25161349e-03 4.39811847e-05 9.99986209e-01 4.23343033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97907232899996 meters 0.07724442414047294 Centerline is valid? [True, True] Translation: X:3.94, Y:-84.34, Z:42.33 [[ 9.97402459e-01 -7.18482723e-02 -5.11472385e-03 3.93748998e+00] [ 7.18471861e-02 9.97415573e-01 -3.96022517e-04 -8.43397936e+01] [ 5.12995875e-03 2.75153158e-05 9.99986841e-01 4.23323582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.009072329 meters 0.07691115917770742 Centerline is valid? [True, True] Translation: X:3.97, Y:-84.34, Z:42.33 [[ 9.97096019e-01 -7.59751275e-02 -5.22574028e-03 3.96595609e+00] [ 7.59740212e-02 9.97109713e-01 -4.10187536e-04 -8.43447336e+01] [ 5.24180044e-03 1.19758568e-05 9.99986262e-01 4.23318551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03907232899996 meters 0.0770738246865856 Centerline is valid? [True, True] Translation: X:3.99, Y:-84.35, Z:42.33 [[ 9.96953346e-01 -7.78647310e-02 -4.59454368e-03 3.99448154e+00] [ 7.78638913e-02 9.96963933e-01 -3.61625069e-04 -8.43451399e+01] [ 4.60875217e-03 2.77427326e-06 9.99989380e-01 4.23278064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.069072329 meters 0.07712472496873715 Centerline is valid? [True, True] Translation: X:4.02, Y:-84.35, Z:42.33 [[ 9.96778640e-01 -8.00530795e-02 -4.88340757e-03 4.02214686e+00] [ 8.00521742e-02 9.96790602e-01 -3.80878293e-04 -8.43456882e+01] [ 4.89822525e-03 -1.12760465e-05 9.99988004e-01 4.23264818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09907232899997 meters 0.07740977967464528 Centerline is valid? [True, True] Translation: X:4.05, Y:-84.35, Z:42.32 [[ 9.96488941e-01 -8.35187556e-02 -5.86574784e-03 4.05146639e+00] [ 8.35174853e-02 9.96506205e-01 -4.61607314e-04 -8.43478361e+01] [ 5.88380699e-03 -2.99059254e-05 9.99982690e-01 4.23237294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.129072329 meters 0.07731918278737666 Centerline is valid? [True, True] Translation: X:4.08, Y:-84.35, Z:42.33 [[ 9.96393424e-01 -8.46014263e-02 -6.53779871e-03 4.07991753e+00] [ 8.45998927e-02 9.96414872e-01 -5.11267852e-04 -8.43467377e+01] [ 6.55761385e-03 -4.36731437e-05 9.99978498e-01 4.23254841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15907232899997 meters 0.07737447037012217 Centerline is valid? [True, True] Translation: X:4.11, Y:-84.35, Z:42.33 [[ 9.96282107e-01 -8.59078933e-02 -6.46503438e-03 4.10760938e+00] [ 8.59063833e-02 9.96303082e-01 -5.11414427e-04 -8.43451170e+01] [ 6.48506821e-03 -4.58746783e-05 9.99978971e-01 4.23253839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.189072329 meters 0.07731234517132517 Centerline is valid? [True, True] Translation: X:4.14, Y:-84.34, Z:42.33 [[ 9.96075103e-01 -8.83251887e-02 -5.74888590e-03 4.13553446e+00] [ 8.83240224e-02 9.96091692e-01 -4.56945585e-04 -8.43437022e+01] [ 5.76677728e-03 -5.26126060e-05 9.99983371e-01 4.23259549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21907232899997 meters 0.07757837726513223 Centerline is valid? [True, True] Translation: X:4.16, Y:-84.34, Z:42.33 [[ 9.95920285e-01 -9.00867750e-02 -5.21141579e-03 4.16355851e+00] [ 9.00858307e-02 9.95933918e-01 -4.16142566e-04 -8.43417834e+01] [ 5.22771469e-03 -5.50298980e-05 9.99986334e-01 4.23254531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24907232899994 meters 0.07786830414290746 Centerline is valid? [True, True] Translation: X:4.19, Y:-84.34, Z:42.32 [[ 9.95761032e-01 -9.18141907e-02 -5.48837608e-03 4.19169844e+00] [ 9.18131919e-02 9.95776154e-01 -4.34200890e-04 -8.43408392e+01] [ 5.50505983e-03 -7.15450005e-05 9.99984844e-01 4.23236118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279072329 meters 0.07771516189310898 Centerline is valid? [True, True] Translation: X:4.22, Y:-84.34, Z:42.32 [[ 9.95597443e-01 -9.35802870e-02 -5.33494577e-03 4.22057479e+00] [ 9.35793432e-02 9.95611734e-01 -4.26800856e-04 -8.43389442e+01] [ 5.35147476e-03 -7.43188807e-05 9.99985678e-01 4.23246750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30907232899995 meters 0.07811411933663794 Centerline is valid? [True, True] Translation: X:4.25, Y:-84.34, Z:42.32 [[ 9.95313060e-01 -9.65125661e-02 -6.10219412e-03 4.24902648e+00] [ 9.65114014e-02 9.95331761e-01 -4.85742002e-04 -8.43385169e+01] [ 6.12058782e-03 -1.05465947e-04 9.99981263e-01 4.23248410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339072329 meters 0.07830170027318845 Centerline is valid? [True, True] Translation: X:4.28, Y:-84.34, Z:42.32 [[ 9.95166865e-01 -9.79417045e-02 -7.09452835e-03 4.27756900e+00] [ 9.79401404e-02 9.95192145e-01 -5.68403733e-04 -8.43358398e+01] [ 7.11608932e-03 -1.29182541e-04 9.99974672e-01 4.23237197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36907232899995 meters 0.07860330079390013 Centerline is valid? [True, True] Translation: X:4.31, Y:-84.33, Z:42.32 [[ 9.95072111e-01 -9.89067211e-02 -6.99677732e-03 4.30619523e+00] [ 9.89052117e-02 9.95096700e-01 -5.62252556e-04 -8.43322975e+01] [ 7.01808058e-03 -1.32535905e-04 9.99975364e-01 4.23222899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399072329 meters 0.07835464773342443 Centerline is valid? [True, True] Translation: X:4.34, Y:-84.33, Z:42.32 [[ 9.95092893e-01 -9.86317123e-02 -7.86889422e-03 4.33516443e+00] [ 9.86297846e-02 9.95123994e-01 -6.33611913e-04 -8.43254296e+01] [ 7.89301968e-03 -1.45604630e-04 9.99968839e-01 4.23218452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42907232899995 meters 0.07896942373623737 Centerline is valid? [True, True] Translation: X:4.36, Y:-84.32, Z:42.32 [[ 9.95083638e-01 -9.87298346e-02 -7.80855590e-03 4.36273733e+00] [ 9.87279169e-02 9.95114265e-01 -6.31617438e-04 -8.43235343e+01] [ 7.83276485e-03 -1.42410281e-04 9.99969313e-01 4.23184494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459072329 meters 0.07811626409073338 Centerline is valid? [True, True] Translation: X:4.39, Y:-84.31, Z:42.32 [[ 9.95129628e-01 -9.81915533e-02 -8.68572287e-03 4.39118286e+00] [ 9.81891531e-02 9.95167521e-01 -7.03374107e-04 -8.43144726e+01] [ 8.71281469e-03 -1.52895358e-04 9.99962031e-01 4.23217512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48907232899995 meters 0.07856423869698922 Centerline is valid? [True, True] Translation: X:4.42, Y:-84.31, Z:42.32 [[ 9.95184827e-01 -9.76331182e-02 -8.65643908e-03 4.41912439e+00] [ 9.76307262e-02 9.95222464e-01 -6.99486745e-04 -8.43109349e+01] [ 8.68337570e-03 -1.49015839e-04 9.99962288e-01 4.23175355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519072329 meters 0.07842552808341863 Centerline is valid? [True, True] Translation: X:4.45, Y:-84.31, Z:42.32 [[ 9.95183734e-01 -9.76252170e-02 -8.86868082e-03 4.44652683e+00] [ 9.76226569e-02 9.95223239e-01 -7.22145666e-04 -8.43058600e+01] [ 8.89681688e-03 -1.47116565e-04 9.99960412e-01 4.23175430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54907232899996 meters 0.07854589584042562 Centerline is valid? [True, True] Translation: X:4.48, Y:-84.30, Z:42.32 [[ 9.95136914e-01 -9.81479205e-02 -8.33719044e-03 4.47500928e+00] [ 9.81456636e-02 9.95171827e-01 -6.80407348e-04 -8.43021338e+01] [ 8.36371761e-03 -1.41160619e-04 9.99965014e-01 4.23175889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579072329 meters 0.07847286046439476 Centerline is valid? [True, True] Translation: X:4.50, Y:-84.30, Z:42.32 [[ 9.95010218e-01 -9.95119181e-02 -7.21411774e-03 4.50409505e+00] [ 9.95102465e-02 9.95036362e-01 -5.91175723e-04 -8.43000266e+01] [ 7.23713850e-03 -1.29652750e-04 9.99973803e-01 4.23187918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60907232899996 meters 0.07845443095499173 Centerline is valid? [True, True] Translation: X:4.53, Y:-84.30, Z:42.32 [[ 9.94931837e-01 -1.00297166e-01 -7.14974503e-03 4.53342912e+00] [ 1.00295531e-01 9.94957517e-01 -5.87770738e-04 -8.42973158e+01] [ 7.17264430e-03 -1.32295656e-04 9.99974268e-01 4.23193428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639072329 meters 0.079092503935661 Centerline is valid? [True, True] Translation: X:4.56, Y:-84.30, Z:42.32 [[ 9.94785791e-01 -1.01726794e-01 -7.27248423e-03 4.56162459e+00] [ 1.01725163e-01 9.94812363e-01 -5.94787644e-04 -8.42977553e+01] [ 7.29526307e-03 -1.48108345e-04 9.99973378e-01 4.23161104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66907232899996 meters 0.08033655584211728 Centerline is valid? [True, True] Translation: X:4.59, Y:-84.30, Z:42.31 [[ 9.94364162e-01 -1.05647061e-01 -8.86636133e-03 4.59123353e+00] [ 1.05644804e-01 9.94403666e-01 -7.23801539e-04 -8.42981677e+01] [ 8.89320971e-03 -2.16962697e-04 9.99960431e-01 4.23137661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699072329 meters 0.08099559888759021 Centerline is valid? [True, True] Translation: X:4.62, Y:-84.30, Z:42.31 [[ 9.94082512e-01 -1.08194656e-01 -9.68898539e-03 4.62129537e+00] [ 1.08192080e-01 9.94129694e-01 -7.91205170e-04 -8.42979785e+01] [ 9.71771225e-03 -2.61748260e-04 9.99952748e-01 4.23118262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72907232899996 meters 0.08157677041648878 Centerline is valid? [True, True] Translation: X:4.65, Y:-84.30, Z:42.31 [[ 9.93774497e-01 -1.10964649e-01 -9.95467416e-03 4.65059879e+00] [ 1.10962060e-01 9.93824310e-01 -8.13773355e-04 -8.42984795e+01] [ 9.98349725e-03 -2.95883941e-04 9.99950120e-01 4.23113408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759072329 meters 0.0853669707133294 Centerline is valid? [True, True] Translation: X:4.68, Y:-84.31, Z:42.31 [[ 9.93060631e-01 -1.17210674e-01 -9.60425969e-03 4.68068357e+00] [ 1.17208556e-01 9.93107012e-01 -7.85008909e-04 -8.43101881e+01] [ 9.63006907e-03 -3.46139972e-04 9.99953570e-01 4.23053220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78907232899996 meters 0.08399888657904188 Centerline is valid? [True, True] Translation: X:4.71, Y:-84.31, Z:42.31 [[ 9.92686948e-01 -1.20328801e-01 -9.67490208e-03 4.70968640e+00] [ 1.20326791e-01 9.92734021e-01 -7.91713999e-04 -8.43064460e+01] [ 9.69987044e-03 -3.78225768e-04 9.99952884e-01 4.23096373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819072329 meters 0.08485748476941322 Centerline is valid? [True, True] Translation: X:4.74, Y:-84.31, Z:42.31 [[ 9.92215799e-01 -1.24117089e-01 -1.01368888e-02 4.73971609e+00] [ 1.24115082e-01 9.92267483e-01 -8.29289268e-04 -8.43069624e+01] [ 1.01614342e-02 -4.35306880e-04 9.99948277e-01 4.23096436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84907232899997 meters 0.10021356846962591 Centerline is valid? [True, False] Translation: X:4.74, Y:-84.31, Z:42.31 [[ 9.91627483e-01 -1.28770560e-01 -9.64766813e-03 4.74078931e+00] [ 1.28723237e-01 9.91665976e-01 -5.37783636e-03 -8.43071135e+01] [ 1.02597712e-02 4.09093127e-03 9.99938999e-01 4.23082452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879072329 meters 0.10308589960060657 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.31, Z:42.31 [[ 9.92257480e-01 -1.23017138e-01 -1.70844278e-02 4.75180331e+00] [ 1.22837662e-01 9.92363704e-01 -1.11887660e-02 -8.43082927e+01] [ 1.83303760e-02 9.00352557e-03 9.99791445e-01 4.23130001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90907232899997 meters 0.10308589960060657 Centerline is valid? [False, False] Translation: X:4.76, Y:-84.31, Z:42.32 [[ 9.93014680e-01 -1.15592127e-01 -2.36707777e-02 4.76014253e+00] [ 1.15335535e-01 9.93254860e-01 -1.19371964e-02 -8.43118237e+01] [ 2.48909609e-02 9.12372941e-03 9.99648537e-01 4.23172656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939072329 meters 0.10820929905272726 Centerline is valid? [False, False] Translation: X:4.78, Y:-84.31, Z:42.32 [[ 9.92971992e-01 -1.13690692e-01 -3.28793260e-02 4.77549905e+00] [ 1.13196860e-01 9.93435298e-01 -1.65160138e-02 -8.43138382e+01] [ 3.45412001e-02 1.26781027e-02 9.99322856e-01 4.23212663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96907232899997 meters 0.09690225080810573 Centerline is valid? [False, True] Translation: X:4.78, Y:-84.32, Z:42.32 [[ 9.92962721e-01 -1.13690564e-01 -3.31585572e-02 4.77611141e+00] [ 1.13208840e-01 9.93441304e-01 -1.60665476e-02 -8.43153071e+01] [ 3.47676951e-02 1.21996410e-02 9.99320958e-01 4.23216178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99907232899994 meters 0.10080425923078314 Centerline is valid? [True, False] Translation: X:4.78, Y:-84.32, Z:42.32 [[ 9.92964896e-01 -1.13589471e-01 -3.34387101e-02 4.77643274e+00] [ 1.13124028e-01 9.93459920e-01 -1.55029485e-02 -8.43167635e+01] [ 3.49809900e-02 1.16111621e-02 9.99320525e-01 4.23223898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.029072329 meters 0.10028132584574577 Centerline is valid? [False, False] Translation: X:4.78, Y:-84.32, Z:42.32 [[ 9.92970531e-01 -1.13460492e-01 -3.37081712e-02 4.77651133e+00] [ 1.13013299e-01 9.93481833e-01 -1.48943750e-02 -8.43179776e+01] [ 3.51783788e-02 1.09802038e-02 9.99320728e-01 4.23235131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05907232899995 meters 0.12307925581277088 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.32, Z:42.32 [[ 9.92824932e-01 -1.18223898e-01 -1.79377936e-02 4.74877342e+00] [ 1.18000711e-01 9.92927990e-01 -1.30322540e-02 -8.43182974e+01] [ 1.93516612e-02 1.08220743e-02 9.99754168e-01 4.23175104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.089072329 meters 0.10839085849922922 Centerline is valid? [False, False] Translation: X:4.76, Y:-84.32, Z:42.32 [[ 9.93282888e-01 -1.12239637e-01 -2.81312835e-02 4.76318791e+00] [ 1.11911528e-01 9.93633353e-01 -1.29834413e-02 -8.43218536e+01] [ 2.94094383e-02 9.74801515e-03 9.99519915e-01 4.23240316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11907232899995 meters 0.13035433207406907 Centerline is valid? [False, False] Translation: X:4.76, Y:-84.32, Z:42.33 [[ 9.93308787e-01 -1.11982865e-01 -2.82398996e-02 4.76270792e+00] [ 1.11671791e-01 9.93668190e-01 -1.23668892e-02 -8.43226934e+01] [ 2.94459696e-02 9.13053953e-03 9.99524671e-01 4.23252474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.149072329 meters 0.13770064564483625 Centerline is valid? [False, False] Translation: X:4.76, Y:-84.32, Z:42.33 [[ 9.93226945e-01 -1.12506700e-01 -2.90254592e-02 4.76443676e+00] [ 1.12196058e-01 9.93612137e-01 -1.21229676e-02 -8.43233436e+01] [ 3.02039636e-02 8.78431599e-03 9.99505156e-01 4.23259082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17907232899995 meters 0.14049712232675912 Centerline is valid? [False, False] Translation: X:4.76, Y:-84.32, Z:42.33 [[ 9.93270329e-01 -1.12094086e-01 -2.91370866e-02 4.76367812e+00] [ 1.11808913e-01 9.93666110e-01 -1.12440310e-02 -8.43247399e+01] [ 3.02129249e-02 7.91057641e-03 9.99512182e-01 4.23276302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.209072329 meters 0.1476086042384771 Centerline is valid? [False, False] Translation: X:4.74, Y:-84.32, Z:42.32 [[ 9.92928061e-01 -1.17971264e-01 -1.32908198e-02 4.73610292e+00] [ 1.17884946e-01 9.93001852e-01 -7.10363508e-03 -8.43229295e+01] [ 1.40358335e-02 5.48661103e-03 9.99886440e-01 4.23246032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23907232899995 meters 0.12212115123861987 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.33, Z:42.33 [[ 9.93674156e-01 -1.10123338e-01 -2.20118739e-02 4.74708257e+00] [ 1.09991230e-01 9.93906994e-01 -7.12858217e-03 -8.43252225e+01] [ 2.26627787e-02 4.66237478e-03 9.99732295e-01 4.23299887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.269072329 meters 0.15442323756825593 Centerline is valid? [False, False] Translation: X:4.76, Y:-84.33, Z:42.34 [[ 9.94410421e-01 -1.01013379e-01 -3.07280442e-02 4.75806582e+00] [ 1.00811465e-01 9.94872941e-01 -8.05474404e-03 -8.43274929e+01] [ 3.13841366e-02 4.91198227e-03 9.99495327e-01 4.23354219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29907232899996 meters 0.15779611167732055 Centerline is valid? [False, False] Translation: X:4.74, Y:-84.33, Z:42.33 [[ 9.94796716e-01 -1.00134424e-01 -1.87774099e-02 4.73688140e+00] [ 1.00079956e-01 9.94972062e-01 -3.82068368e-03 -8.43287845e+01] [ 1.90655802e-02 1.92156122e-03 9.99816389e-01 4.23326221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.329072329 meters 0.18611986108967796 Centerline is valid? [False, False] Translation: X:4.74, Y:-84.33, Z:42.33 [[ 9.94760845e-01 -1.00632418e-01 -1.79993934e-02 4.73504546e+00] [ 1.00577084e-01 9.94921405e-01 -3.95577767e-03 -8.43274692e+01] [ 1.83060612e-02 2.12472624e-03 9.99830172e-01 4.23340019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35907232899996 meters 0.19237440879435877 Centerline is valid? [False, False] Translation: X:4.74, Y:-84.33, Z:42.33 [[ 9.95369249e-01 -9.55060346e-02 -1.08929523e-02 4.74487631e+00] [ 9.54355313e-02 9.95412253e-01 -6.81946609e-03 -8.43292758e+01] [ 1.14942784e-02 5.74831214e-03 9.99917416e-01 4.23349206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.389072329 meters 0.20361232286762806 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.33, Z:42.33 [[ 9.95261052e-01 -9.65477686e-02 -1.15743857e-02 4.74678239e+00] [ 9.64668389e-02 9.95308995e-01 -7.35891490e-03 -8.43272221e+01] [ 1.22305770e-02 6.20749698e-03 9.99905936e-01 4.23349421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41907232899996 meters 0.21060681974155296 Centerline is valid? [False, False] Translation: X:4.74, Y:-84.33, Z:42.33 [[ 9.95138758e-01 -9.82644731e-02 6.55324121e-03 4.73658630e+00] [ 9.83004319e-02 9.95142075e-01 -5.41078691e-03 -8.43254740e+01] [-5.98971793e-03 6.02867021e-03 9.99963889e-01 4.23301018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.449072329 meters 0.2156672553626923 Centerline is valid? [False, False] Translation: X:4.74, Y:-84.33, Z:42.33 [[ 9.95525173e-01 -9.43281811e-02 5.64124602e-03 4.73743368e+00] [ 9.43316606e-02 9.95540764e-01 -3.53342190e-04 -8.43280251e+01] [-5.58276025e-03 8.83909150e-04 9.99984026e-01 4.23312464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47907232899996 meters 0.22913371532827154 Centerline is valid? [False, False] Translation: X:4.74, Y:-84.33, Z:42.33 [[ 9.95376178e-01 -9.59111311e-02 5.22669371e-03 4.73957432e+00] [ 9.59194760e-02 9.95388155e-01 -1.36942736e-03 -8.43250390e+01] [-5.07124569e-03 1.86443709e-03 9.99985403e-01 4.23302691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.509072329 meters 0.23632959666181788 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.33, Z:42.33 [[ 9.95784866e-01 -9.05666756e-02 1.44975195e-02 4.74541365e+00] [ 9.06684228e-02 9.95859789e-01 -6.52061839e-03 -8.43252049e+01] [-1.38469459e-02 7.80760033e-03 9.99873644e-01 4.23271502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53907232899996 meters 0.24392482811060462 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.32, Z:42.33 [[ 9.95267156e-01 -9.60572381e-02 1.47069780e-02 4.74665338e+00] [ 9.62380103e-02 9.95284561e-01 -1.21197448e-02 -8.43202814e+01] [-1.34734389e-02 1.34777542e-02 9.99818392e-01 4.23264720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.569072329 meters 0.24715511976230267 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.32, Z:42.33 [[ 9.95223755e-01 -9.64872501e-02 1.48285934e-02 4.74666135e+00] [ 9.66732841e-02 9.95239100e-01 -1.23858571e-02 -8.43190465e+01] [-1.35629187e-02 1.37602280e-02 9.99813334e-01 4.23263143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59907232899997 meters 0.2517687570034505 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.32, Z:42.33 [[ 9.95149012e-01 -9.72453771e-02 1.48923084e-02 4.74732394e+00] [ 9.74418730e-02 9.95155123e-01 -1.30905434e-02 -8.43168109e+01] [-1.35471621e-02 1.44781758e-02 9.99803409e-01 4.23252629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.629072329 meters 0.21367777366263252 Centerline is valid? [False, False] Translation: X:4.75, Y:-84.31, Z:42.32 [[ 9.95063879e-01 -9.80838581e-02 1.50808796e-02 4.74785476e+00] [ 9.82964930e-02 9.95057701e-01 -1.40702245e-02 -8.43132068e+01] [-1.36262835e-02 1.54831698e-02 9.99787275e-01 4.23239880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65907232899997 meters 0.2160172826999434 Centerline is valid? [False, False] Translation: X:4.71, Y:-84.29, Z:42.32 [[ 9.91789599e-01 -1.21923736e-01 3.85745351e-02 4.70550370e+00] [ 1.22290992e-01 9.92467442e-01 -7.30005121e-03 -8.42930542e+01] [-3.73939207e-02 1.19574330e-02 9.99229060e-01 4.23208346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.689072329 meters 0.2260452583974672 Centerline is valid? [False, False] Translation: X:4.70, Y:-84.29, Z:42.32 [[ 9.91335122e-01 -1.24520987e-01 4.18234439e-02 4.70017853e+00] [ 1.25068803e-01 9.92089967e-01 -1.07374149e-02 -8.42865329e+01] [-4.01555856e-02 1.58751846e-02 9.99067319e-01 4.23208051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71907232899997 meters 0.21919861377519226 Centerline is valid? [False, False] Translation: X:4.65, Y:-84.26, Z:42.32 [[ 9.85803351e-01 -1.52640321e-01 6.99477323e-02 4.65017919e+00] [ 1.53807046e-01 9.88033074e-01 -1.15774435e-02 -8.42611044e+01] [-6.73434882e-02 2.21715366e-02 9.97483472e-01 4.23184431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74907232899994 meters 0.2197001372037405 Centerline is valid? [False, False] Translation: X:4.63, Y:-84.25, Z:42.31 [[ 9.82923367e-01 -1.63510458e-01 8.44155421e-02 4.62615265e+00] [ 1.65379973e-01 9.86106495e-01 -1.56027533e-02 -8.42466483e+01] [-8.06915009e-02 2.92969508e-02 9.96308471e-01 4.23123981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779072329 meters 0.21868243198895612 Centerline is valid? [False, False] Translation: X:4.59, Y:-84.23, Z:42.31 [[ 9.78484913e-01 -1.77865107e-01 1.04552760e-01 4.59165179e+00] [ 1.80544236e-01 9.83425620e-01 -1.66682140e-02 -8.42299284e+01] [-9.98551687e-02 3.51859941e-02 9.94379651e-01 4.23074971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80907232899995 meters 0.21602422496625873 Centerline is valid? [False, False] Translation: X:4.54, Y:-84.19, Z:42.31 [[ 9.69407452e-01 -2.14992821e-01 1.18436813e-01 4.53800197e+00] [ 2.18279657e-01 9.75765347e-01 -1.53616170e-02 -8.41931130e+01] [-1.12263901e-01 4.07440129e-02 9.92842758e-01 4.23082378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839072329 meters 0.21771280457610148 Centerline is valid? [False, False] Translation: X:4.48, Y:-84.17, Z:42.30 [[ 9.62450828e-01 -2.26318031e-01 1.49895136e-01 4.47959836e+00] [ 2.32206680e-01 9.72399462e-01 -2.27891290e-02 -8.41686754e+01] [-1.40600358e-01 5.67400679e-02 9.88439226e-01 4.23011696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86907232899995 meters 0.22274862409184248 Centerline is valid? [False, False] Translation: X:4.43, Y:-84.14, Z:42.30 [[ 9.56491109e-01 -2.42040399e-01 1.62914713e-01 4.43212461e+00] [ 2.49643084e-01 9.67943910e-01 -2.76209549e-02 -8.41435351e+01] [-1.51006918e-01 6.70897293e-02 9.86253456e-01 4.23035887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899072329 meters 0.21150227184464213 Centerline is valid? [False, False] Translation: X:4.39, Y:-84.12, Z:42.30 [[ 9.48113631e-01 -2.58206167e-01 1.85499642e-01 4.39204982e+00] [ 2.68801467e-01 9.62595472e-01 -3.39960080e-02 -8.41210280e+01] [-1.69783136e-01 8.20946544e-02 9.82056085e-01 4.22995620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92907232899995 meters 0.18727356829749292 Centerline is valid? [False, False] Translation: X:4.34, Y:-84.08, Z:42.30 [[ 9.32192851e-01 -3.00739942e-01 2.01424865e-01 4.33632916e+00] [ 3.15111186e-01 9.48090355e-01 -4.27740495e-02 -8.40775907e+01] [-1.78105107e-01 1.03344891e-01 9.78569571e-01 4.23029418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959072329 meters 0.17159159385860612 Centerline is valid? [False, False] Translation: X:4.27, Y:-84.05, Z:42.31 [[ 9.21184919e-01 -3.20363896e-01 2.20873989e-01 4.27246496e+00] [ 3.38250173e-01 9.39855861e-01 -4.75161089e-02 -8.40482591e+01] [-1.92367267e-01 1.18481788e-01 9.74144189e-01 4.23079854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98907232899995 meters 0.20265476550677214 Centerline is valid? [False, False] Translation: X:4.19, Y:-84.00, Z:42.31 [[ 8.98765400e-01 -3.62112057e-01 2.47175272e-01 4.18960047e+00] [ 3.85773883e-01 9.21046928e-01 -5.33953945e-02 -8.39983492e+01] [-2.08324908e-01 1.43343697e-01 9.67498484e-01 4.23148723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019072329 meters 0.16870663762142418 Centerline is valid? [False, False] Translation: X:4.10, Y:-83.96, Z:42.33 [[ 8.86254545e-01 -3.80690078e-01 2.63871079e-01 4.09629895e+00] [ 4.08739048e-01 9.10750897e-01 -5.88659021e-02 -8.39594733e+01] [-2.17911157e-01 1.60024587e-01 9.62760022e-01 4.23283375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04907232899996 meters 0.15819608140418812 Centerline is valid? [False, False] Translation: X:4.00, Y:-83.92, Z:42.35 [[ 8.73971763e-01 -3.98263526e-01 2.78495102e-01 3.99866713e+00] [ 4.30954456e-01 9.00003221e-01 -6.53640569e-02 -8.39177083e+01] [-2.24614369e-01 1.77145045e-01 9.58210842e-01 4.23496781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079072329 meters 0.14403681289046172 Centerline is valid? [False, False] Translation: X:3.88, Y:-83.85, Z:42.38 [[ 8.51056105e-01 -4.34447812e-01 2.94887444e-01 3.87926091e+00] [ 4.74347064e-01 8.76965870e-01 -7.69787324e-02 -8.38506994e+01] [-2.25162982e-01 2.05392213e-01 9.52426202e-01 4.23786372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10907232899996 meters 0.14255591539735427 Centerline is valid? [False, False] Translation: X:3.73, Y:-83.79, Z:42.42 [[ 8.39011151e-01 -4.49184258e-01 3.07072941e-01 3.73218764e+00] [ 4.93596360e-01 8.65801827e-01 -8.21573485e-02 -8.37922886e+01] [-2.28960526e-01 2.20501018e-01 9.48133102e-01 4.24220821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139072329 meters 0.5382629404823569 Centerline is valid? [False, False] Translation: X:3.57, Y:-83.73, Z:42.47 [[ 0.82828426 -0.46401691 0.31405971 3.57199937] [ 0.51193428 0.85454966 -0.08756809 -83.72711354] [ -0.22774654 0.2333092 0.94535619 42.47374848] [ 0. 0. 0. 1. ]] SLAMing on 288.16907232899996 meters 0.5608447383266839 Centerline is valid? [False, False] Translation: X:3.39, Y:-83.63, Z:42.53 [[ 0.80948063 -0.4906774 0.32245433 3.38956234] [ 0.54340232 0.83408974 -0.09491164 -83.63337818] [ -0.22238485 0.25205156 0.94181473 42.53379669] [ 0. 0. 0. 1. ]] SLAMing on 288.199072329 meters 0.5705710874656111 Centerline is valid? [False, False] Translation: X:3.18, Y:-83.55, Z:42.61 [[ 0.80018596 -0.50144121 0.32902757 3.18082333] [ 0.55747906 0.82418095 -0.09971389 -83.55226679] [ -0.2211776 0.26321563 0.939041 42.61107957] [ 0. 0. 0. 1. ]] SLAMing on 288.22907232899996 meters 0.583324009184074 Centerline is valid? [False, False] Translation: X:2.96, Y:-83.47, Z:42.70 [[ 0.79133026 -0.51228064 0.33371389 2.95694177] [ 0.57099387 0.81435556 -0.1038798 -83.46746655] [ -0.21854615 0.27275182 0.93693331 42.69672114] [ 0. 0. 0. 1. ]] SLAMing on 288.259072329 meters 0.6058393430158573 Centerline is valid? [False, False] Translation: X:2.72, Y:-83.36, Z:42.79 [[ 0.77552825 -0.5330642 0.33822848 2.71952963] [ 0.59504067 0.7961968 -0.109532 -83.35724414] [ -0.21090884 0.28620486 0.93466798 42.78896697] [ 0. 0. 0. 1. ]] SLAMing on 288.28907232899996 meters 0.6206480096117547 Centerline is valid? [False, False] Translation: X:2.45, Y:-83.26, Z:42.90 [[ 0.7679364 -0.54089001 0.34309135 2.45439458] [ 0.6059562 0.78707335 -0.11546696 -83.25982795] [ -0.20758314 0.29656961 0.93217794 42.89688388] [ 0. 0. 0. 1. ]] SLAMing on 288.319072329 meters 0.6299799939748933 Centerline is valid? [False, False] Translation: X:2.18, Y:-83.16, Z:43.01 [[ 0.76090771 -0.54844521 0.34673811 2.17737518] [ 0.6162844 0.77805597 -0.12174745 -83.15850433] [ -0.20300985 0.30632786 0.93002701 43.01455329] [ 0. 0. 0. 1. ]] SLAMing on 288.34907232899997 meters 0.645834906784003 Centerline is valid? [False, False] Translation: X:1.89, Y:-83.03, Z:43.14 [[ 0.74781354 -0.56411765 0.35006597 1.88775994] [ 0.63538523 0.76100498 -0.13098486 -83.03131131] [ -0.19251107 0.320379 0.92752185 43.14049269] [ 0. 0. 0. 1. ]] SLAMing on 288.379072329 meters 0.6546219875480103 Centerline is valid? [False, False] Translation: X:1.58, Y:-82.92, Z:43.28 [[ 0.74297022 -0.56901339 0.35244719 1.57851674] [ 0.64273984 0.75346581 -0.138473 -82.9190432 ] [ -0.18676391 0.32941317 0.92553023 43.27766842] [ 0. 0. 0. 1. ]] SLAMing on 288.40907232899997 meters 0.6668991127985463 Centerline is valid? [False, False] Translation: X:1.26, Y:-82.80, Z:43.42 [[ 0.73851959 -0.57325581 0.35491772 1.26057883] [ 0.64935423 0.74642083 -0.14558514 -82.80342909] [ -0.18146045 0.3379848 0.92349249 43.42292643] [ 0. 0. 0. 1. ]] SLAMing on 288.439072329 meters 0.6790219186202675 Centerline is valid? [False, False] Translation: X:0.94, Y:-82.67, Z:43.58 [[ 0.73013232 -0.5818487 0.35827208 0.93985326] [ 0.66097101 0.73435965 -0.15438013 -82.66562833] [ -0.17327468 0.34952538 0.92076484 43.57591492] [ 0. 0. 0. 1. ]] SLAMing on 288.46907232899997 meters 0.684119781325496 Centerline is valid? [False, False] Translation: X:0.59, Y:-82.54, Z:43.74 [[ 0.72699001 -0.58418811 0.36084592 0.59389828] [ 0.66542115 0.72904689 -0.1603288 -82.54274682] [ -0.16941142 0.35667195 0.91874093 43.7422391 ] [ 0. 0. 0. 1. ]] SLAMing on 288.49907232899994 meters 0.6881215808762073 Centerline is valid? [False, False] Translation: X:0.25, Y:-82.42, Z:43.91 [[ 0.72315143 -0.58711672 0.36379384 0.25356532] [ 0.6697785 0.72472388 -0.16177781 -82.42312858] [ -0.16866762 0.36065115 0.91732327 43.9097504 ] [ 0. 0. 0. 1. ]] SLAMing on 288.529072329 meters 0.6887660625682452 Centerline is valid? [False, False] Translation: X:-0.10, Y:-82.28, Z:44.09 [[ 0.72018325 -0.58823836 0.36784741 -0.09854224] [ 0.67367082 0.71965979 -0.16809943 -82.27909348] [ -0.16584245 0.36887046 0.91456594 44.08550535] [ 0. 0. 0. 1. ]] SLAMing on 288.55907232899995 meters 0.6883026215446728 Centerline is valid? [False, False] Translation: X:-0.46, Y:-82.15, Z:44.26 [[ 0.72047474 -0.58586072 0.3710571 -0.46136439] [ 0.67349419 0.71865653 -0.17302706 -82.15195482] [ -0.16529285 0.37456643 0.91234767 44.26459343] [ 0. 0. 0. 1. ]] SLAMing on 288.589072329 meters 0.6873714444211411 Centerline is valid? [False, False] Translation: X:-0.83, Y:-82.02, Z:44.45 [[ 0.72062112 -0.5835546 0.37439182 -0.82916145] [ 0.6728448 0.71889574 -0.17455312 -82.02402943] [ -0.16728741 0.37769425 0.91069313 44.45011336] [ 0. 0. 0. 1. ]] SLAMing on 288.61907232899995 meters 0.6824702696279359 Centerline is valid? [False, False] Translation: X:-1.19, Y:-81.88, Z:44.64 [[ 0.72442427 -0.57512977 0.38004634 -1.19069612] [ 0.66731264 0.72336011 -0.17732453 -81.87736125] [ -0.17292575 0.38206792 0.90781099 44.63643381] [ 0. 0. 0. 1. ]] SLAMing on 288.649072329 meters 0.6942045602760653 Centerline is valid? [False, False] Translation: X:-1.55, Y:-81.75, Z:44.82 [[ 0.72658091 -0.56973285 0.38403731 -1.54899275] [ 0.66289811 0.72826666 -0.17376353 -81.75333812] [ -0.18068278 0.38083087 0.90681949 44.82252782] [ 0. 0. 0. 1. ]] SLAMing on 288.67907232899995 meters 0.6872776380968053 Centerline is valid? [False, False] Translation: X:-1.90, Y:-81.61, Z:45.01 [[ 0.73426139 -0.55663961 0.38860334 -1.90087327] [ 0.65001123 0.74158793 -0.16592996 -81.61250902] [ -0.19582036 0.37443249 0.90634138 45.01007289] [ 0. 0. 0. 1. ]] SLAMing on 288.709072329 meters 0.6878182367261121 Centerline is valid? [False, False] Translation: X:-2.25, Y:-81.49, Z:45.19 [[ 0.73889074 -0.54947785 0.39001868 -2.24564047] [ 0.64208936 0.74969948 -0.1602247 -81.49411203] [ -0.20435688 0.36881539 0.90675988 45.19149059] [ 0. 0. 0. 1. ]] SLAMing on 288.73907232899995 meters 0.6798191401337139 Centerline is valid? [False, False] Translation: X:-2.59, Y:-81.38, Z:45.37 [[ 0.74333642 -0.54263993 0.39114303 -2.59111616] [ 0.63426371 0.7575377 -0.15442208 -81.37587445] [ -0.21251001 0.36287539 0.90728218 45.37323831] [ 0. 0. 0. 1. ]] SLAMing on 288.769072329 meters 0.6816891641772581 Centerline is valid? [False, False] Translation: X:-2.91, Y:-81.27, Z:45.54 [[ 0.7454457 -0.53968575 0.39121606 -2.90880823] [ 0.62825575 0.76496927 -0.14183347 -81.26819794] [ -0.22272276 0.35151289 0.90930372 45.54279244] [ 0. 0. 0. 1. ]] SLAMing on 288.79907232899996 meters 0.6816891641772581 Centerline is valid? [False, False] Translation: X:-3.24, Y:-81.17, Z:45.71 [[ 0.74369235 -0.54047086 0.39346275 -3.23678343] [ 0.62842958 0.76593971 -0.1356931 -81.17350952] [ -0.22803057 0.34817755 0.90927138 45.710334 ] [ 0. 0. 0. 1. ]] SLAMing on 288.829072329 meters 0.6763010738130565 Centerline is valid? [False, False] Translation: X:-3.55, Y:-81.05, Z:45.87 [[ 0.75186459 -0.5293918 0.39299359 -3.549056 ] [ 0.61490675 0.77809874 -0.1282655 -81.04895096] [ -0.23788511 0.3380927 0.91055148 45.87385187] [ 0. 0. 0. 1. ]] SLAMing on 288.85907232899996 meters 0.6649440461034756 Centerline is valid? [False, False] Translation: X:-3.87, Y:-80.95, Z:46.04 [[ 0.75998526 -0.51492956 0.39657276 -3.86714991] [ 0.60037639 0.7899037 -0.12490126 -80.94920147] [ -0.24893894 0.33301604 0.90946672 46.03896436] [ 0. 0. 0. 1. ]] SLAMing on 288.889072329 meters 0.6434366631253318 Centerline is valid? [False, False] Translation: X:-4.16, Y:-80.85, Z:46.19 [[ 0.7793684 -0.48183741 0.40052166 -4.16248867] [ 0.5627673 0.81934584 -0.10938627 -80.84535614] [ -0.27545936 0.3106527 0.9097346 46.19150941] [ 0. 0. 0. 1. ]] SLAMing on 288.91907232899996 meters 0.63560492859133 Centerline is valid? [False, False] Translation: X:-4.44, Y:-80.76, Z:46.34 [[ 0.7854215 -0.46994049 0.40282627 -4.44038104] [ 0.54752818 0.83101885 -0.09808444 -80.7571785 ] [ -0.28866238 0.29759637 0.91000573 46.33619541] [ 0. 0. 0. 1. ]] SLAMing on 288.949072329 meters 0.6282018818237779 Centerline is valid? [False, False] Translation: X:-4.71, Y:-80.67, Z:46.48 [[ 0.79180755 -0.45948684 0.4023837 -4.70956902] [ 0.53515584 0.83945148 -0.09449569 -80.67037913] [ -0.29436207 0.29016039 0.91058109 46.4757549 ] [ 0. 0. 0. 1. ]] SLAMing on 288.97907232899996 meters 0.6234710218589551 Centerline is valid? [False, False] Translation: X:-4.97, Y:-80.59, Z:46.61 [[ 0.79595442 -0.45162992 0.40309674 -4.96776424] [ 0.52459653 0.84689321 -0.08700792 -80.58936072] [ -0.30208451 0.28071748 0.91101188 46.6091057 ] [ 0. 0. 0. 1. ]] SLAMing on 289.009072329 meters 0.610243623927643 Centerline is valid? [False, False] Translation: X:-5.23, Y:-80.50, Z:46.75 [[ 0.8045035 -0.43433288 0.40512845 -5.22630792] [ 0.50782375 0.85675521 -0.08991969 -80.50178242] [ -0.30804083 0.27807455 0.90982712 46.74666539] [ 0. 0. 0. 1. ]] SLAMing on 289.03907232899996 meters 0.23374238340939313 Centerline is valid? [False, False] Translation: X:-5.46, Y:-80.42, Z:46.87 [[ 0.81159302 -0.41878414 0.40735319 -5.4639881 ] [ 0.48997836 0.86765809 -0.08420598 -80.42260077] [ -0.31817916 0.26793524 0.90938041 46.87429979] [ 0. 0. 0. 1. ]] SLAMing on 289.069072329 meters 0.24130766355998354 Centerline is valid? [False, False] Translation: X:-5.70, Y:-80.35, Z:47.00 [[ 8.13062980e-01 -4.15096013e-01 4.08195897e-01 -5.69913526e+00] [ 4.84082437e-01 8.71544315e-01 -7.79403680e-02 -8.03486596e+01] [-3.23408077e-01 2.60970892e-01 9.09561108e-01 4.69955445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09907232899997 meters 0.22136587754845372 Centerline is valid? [False, False] Translation: X:-5.93, Y:-80.28, Z:47.11 [[ 8.14004414e-01 -4.13101849e-01 4.08342598e-01 -5.93110210e+00] [ 4.80093069e-01 8.74204771e-01 -7.26406469e-02 -8.02754095e+01] [-3.26967061e-01 2.55172258e-01 9.09933876e-01 4.71147302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.129072329 meters 0.2177781952506245 Centerline is valid? [False, False] Translation: X:-6.16, Y:-80.20, Z:47.23 [[ 8.14820766e-01 -4.12104388e-01 4.07721832e-01 -6.16093476e+00] [ 4.76941587e-01 8.76347957e-01 -6.73868046e-02 -8.02037851e+01] [-3.29535797e-01 2.49367666e-01 9.10616234e-01 4.72317666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15907232899997 meters 0.21623043661832664 Centerline is valid? [False, False] Translation: X:-6.39, Y:-80.13, Z:47.35 [[ 8.17363844e-01 -4.09577983e-01 4.05169375e-01 -6.38833093e+00] [ 4.71651541e-01 8.79579256e-01 -6.23310162e-02 -8.01341782e+01] [-3.30849166e-01 2.42045879e-01 9.12114369e-01 4.73461179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.189072329 meters 0.21363826003405595 Centerline is valid? [False, False] Translation: X:-6.62, Y:-80.07, Z:47.46 [[ 8.17662597e-01 -4.10346392e-01 4.03786722e-01 -6.61597720e+00] [ 4.70634029e-01 8.80398563e-01 -5.83265057e-02 -8.00654112e+01] [-3.31559179e-01 2.37727174e-01 9.12991951e-01 4.74575356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21907232899997 meters 0.21136365580559613 Centerline is valid? [False, False] Translation: X:-6.84, Y:-80.00, Z:47.57 [[ 8.17848904e-01 -4.10391521e-01 4.03363322e-01 -6.84151483e+00] [ 4.69624191e-01 8.81105069e-01 -5.57402697e-02 -7.99963666e+01] [-3.32530133e-01 2.35016292e-01 9.13340601e-01 4.75674654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24907232899994 meters 0.20916855668815787 Centerline is valid? [False, False] Translation: X:-7.07, Y:-79.92, Z:47.68 [[ 8.19588621e-01 -4.06054738e-01 4.04220289e-01 -7.07094774e+00] [ 4.64225639e-01 8.84122677e-01 -5.31191778e-02 -7.99249282e+01] [-3.35811030e-01 2.31185296e-01 9.13117907e-01 4.76777100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279072329 meters 0.25701653566695914 Centerline is valid? [False, False] Translation: X:-7.30, Y:-79.85, Z:47.79 [[ 8.22910872e-01 -4.00621220e-01 4.02889978e-01 -7.29535262e+00] [ 4.56630431e-01 8.88284193e-01 -4.93947488e-02 -7.98517215e+01] [-3.38092215e-01 2.24619300e-01 9.13914561e-01 4.77861234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30907232899995 meters 0.2495841029474075 Centerline is valid? [False, False] Translation: X:-7.51, Y:-79.78, Z:47.89 [[ 8.24746216e-01 -3.98710758e-01 4.01027942e-01 -7.51085212e+00] [ 4.53257242e-01 8.90130676e-01 -4.71725697e-02 -7.97840023e+01] [-3.38159063e-01 2.20674217e-01 9.14850446e-01 4.78900426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339072329 meters 0.24747970112710935 Centerline is valid? [False, False] Translation: X:-7.73, Y:-79.72, Z:47.99 [[ 8.25613895e-01 -3.98212581e-01 3.99735458e-01 -7.72500214e+00] [ 4.52197134e-01 8.90696422e-01 -4.66651516e-02 -7.97167854e+01] [-3.37460292e-01 2.19286626e-01 9.15441930e-01 4.79932800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36907232899995 meters 0.20421831118973297 Centerline is valid? [False, False] Translation: X:-7.94, Y:-79.65, Z:48.10 [[ 8.26080781e-01 -3.96323409e-01 4.00647350e-01 -7.94177577e+00] [ 4.50607944e-01 8.91471028e-01 -4.72428586e-02 -7.96482578e+01] [-3.38442054e-01 2.19561296e-01 9.15013559e-01 4.80997602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399072329 meters 0.23468338656805926 Centerline is valid? [False, False] Translation: X:-8.16, Y:-79.58, Z:48.21 [[ 8.25470831e-01 -3.95325440e-01 4.02884230e-01 -8.16052301e+00] [ 4.50199230e-01 8.91664965e-01 -4.74788701e-02 -7.95796610e+01] [-3.40468148e-01 2.20570593e-01 9.14018629e-01 4.82075145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42907232899995 meters 0.23632877654627335 Centerline is valid? [False, False] Translation: X:-8.38, Y:-79.51, Z:48.32 [[ 8.24045312e-01 -3.94273233e-01 4.06814382e-01 -8.37884764e+00] [ 4.50745230e-01 8.91294999e-01 -4.92134327e-02 -7.95110690e+01] [-3.43188085e-01 2.23923740e-01 9.12184245e-01 4.83152265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459072329 meters 0.2193249517222734 Centerline is valid? [False, False] Translation: X:-8.60, Y:-79.44, Z:48.42 [[ 8.23538266e-01 -3.94937410e-01 4.07196718e-01 -8.59667840e+00] [ 4.51039640e-01 8.91221995e-01 -4.78184014e-02 -7.94429367e+01] [-3.44017395e-01 2.23042144e-01 9.12087843e-01 4.84219701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48907232899995 meters 0.2683135436289362 Centerline is valid? [False, False] Translation: X:-8.81, Y:-79.37, Z:48.53 [[ 8.24291954e-01 -3.94475795e-01 4.06117743e-01 -8.81190154e+00] [ 4.49573376e-01 8.92057777e-01 -4.60076340e-02 -7.93746819e+01] [-3.44131593e-01 2.20503447e-01 9.12661863e-01 4.85266223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519072329 meters 0.2567235878418756 Centerline is valid? [False, False] Translation: X:-9.03, Y:-79.31, Z:48.63 [[ 8.25902322e-01 -3.93777170e-01 4.03515670e-01 -9.02507925e+00] [ 4.47234081e-01 8.93354128e-01 -4.35898961e-02 -7.93062527e+01] [-3.43317683e-01 2.16466956e-01 9.13933819e-01 4.86283620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54907232899996 meters 0.26478112134524423 Centerline is valid? [False, False] Translation: X:-9.24, Y:-79.24, Z:48.73 [[ 8.26836482e-01 -3.92323738e-01 4.03018011e-01 -9.23915525e+00] [ 4.45788455e-01 8.94043187e-01 -4.42654969e-02 -7.92369786e+01] [-3.42949101e-01 2.16261104e-01 9.14120916e-01 4.87330722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579072329 meters 0.25952430947190985 Centerline is valid? [False, False] Translation: X:-9.45, Y:-79.17, Z:48.84 [[ 8.27138199e-01 -3.91198072e-01 4.03492835e-01 -9.45340707e+00] [ 4.45382797e-01 8.94152469e-01 -4.61034272e-02 -7.91674362e+01] [-3.42748543e-01 2.17842673e-01 9.13820555e-01 4.88373400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60907232899996 meters 0.26247100025346004 Centerline is valid? [False, False] Translation: X:-9.66, Y:-79.10, Z:48.94 [[ 8.28619185e-01 -3.88592241e-01 4.02971856e-01 -9.66162906e+00] [ 4.42660493e-01 8.95471765e-01 -4.67119416e-02 -7.91002884e+01] [-3.42698021e-01 2.17086131e-01 9.14019517e-01 4.89389613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639072329 meters 0.2502785056173436 Centerline is valid? [False, False] Translation: X:-9.87, Y:-79.03, Z:49.04 [[ 8.31152028e-01 -3.83965756e-01 4.02189762e-01 -9.87032414e+00] [ 4.37589527e-01 8.97942901e-01 -4.70526594e-02 -7.90298405e+01] [-3.43076832e-01 2.15101941e-01 9.14346457e-01 4.90399744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66907232899996 meters 0.25064733665314803 Centerline is valid? [False, False] Translation: X:-10.07, Y:-78.96, Z:49.14 [[ 8.33714322e-01 -3.79283323e-01 4.01328530e-01 -1.00745287e+01] [ 4.32218958e-01 9.00553452e-01 -4.68001366e-02 -7.89600573e+01] [-3.43667282e-01 2.12479744e-01 9.14737754e-01 4.91398513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699072329 meters 0.25180370822471376 Centerline is valid? [False, False] Translation: X:-10.27, Y:-78.89, Z:49.24 [[ 8.35464438e-01 -3.72799110e-01 4.03757348e-01 -1.02724058e+01] [ 4.23961090e-01 9.04709267e-01 -4.19301462e-02 -7.88884908e+01] [-3.49651493e-01 2.06208551e-01 9.13904736e-01 4.92421260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72907232899996 meters 0.2407158991597695 Centerline is valid? [False, False] Translation: X:-10.47, Y:-78.82, Z:49.34 [[ 8.35463558e-01 -3.70773490e-01 4.05620097e-01 -1.04680574e+01] [ 4.21512049e-01 9.05936246e-01 -4.00887742e-02 -7.88214916e+01] [-3.52602094e-01 2.04466468e-01 9.13162213e-01 4.93410404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759072329 meters 0.22662260252003766 Centerline is valid? [False, False] Translation: X:-10.66, Y:-78.75, Z:49.44 [[ 8.39209546e-01 -3.64345805e-01 4.03707161e-01 -1.06625648e+01] [ 4.14299204e-01 9.09232723e-01 -4.06451025e-02 -7.87530874e+01] [-3.52254888e-01 2.01365313e-01 9.13984958e-01 4.94394980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78907232899996 meters 0.25009755711173426 Centerline is valid? [False, False] Translation: X:-10.85, Y:-78.69, Z:49.53 [[ 8.39816883e-01 -3.66642194e-01 4.00351226e-01 -1.08480783e+01] [ 4.14536185e-01 9.09286569e-01 -3.68468086e-02 -7.86904593e+01] [-3.50524398e-01 1.96904642e-01 9.15620668e-01 4.95342050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819072329 meters 0.2482236702008748 Centerline is valid? [False, False] Translation: X:-11.04, Y:-78.63, Z:49.63 [[ 8.42207407e-01 -3.63465347e-01 3.98220574e-01 -1.10441400e+01] [ 4.11455046e-01 9.10591902e-01 -3.90785587e-02 -7.86252976e+01] [-3.48412728e-01 1.96762116e-01 9.16456895e-01 4.96288930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84907232899997 meters 0.2311271547873856 Centerline is valid? [False, False] Translation: X:-11.24, Y:-78.56, Z:49.72 [[ 8.44214387e-01 -3.60255541e-01 3.96885392e-01 -1.12384183e+01] [ 4.08675602e-01 9.11725964e-01 -4.17135345e-02 -7.85614169e+01] [-3.46823184e-01 1.97412542e-01 9.16919826e-01 4.97229516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879072329 meters 0.21129161756892792 Centerline is valid? [False, False] Translation: X:-11.42, Y:-78.50, Z:49.81 [[ 8.46855713e-01 -3.54790752e-01 3.96180418e-01 -1.14197936e+01] [ 4.01927537e-01 9.14801313e-01 -3.99100611e-02 -7.84984664e+01] [-3.48266646e-01 1.93033883e-01 9.17304891e-01 4.98131758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90907232899997 meters 0.23166137726744088 Centerline is valid? [False, False] Translation: X:-11.60, Y:-78.44, Z:49.90 [[ 8.48013814e-01 -3.55105378e-01 3.93411669e-01 -1.16012301e+01] [ 3.99857886e-01 9.15901444e-01 -3.51882859e-02 -7.84384375e+01] [-3.47830766e-01 1.87148911e-01 9.18688763e-01 4.99026152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939072329 meters 0.22580142297640848 Centerline is valid? [False, False] Translation: X:-11.79, Y:-78.37, Z:49.99 [[ 8.51205859e-01 -3.49015162e-01 3.91965564e-01 -1.17899879e+01] [ 3.94177016e-01 9.18232238e-01 -3.83931987e-02 -7.83736738e+01] [-3.46515608e-01 1.87184332e-01 9.19178415e-01 4.99930813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96907232899997 meters 0.2226235271995803 Centerline is valid? [False, False] Translation: X:-11.97, Y:-78.31, Z:50.08 [[ 8.52521048e-01 -3.49564251e-01 3.88603522e-01 -1.19699641e+01] [ 3.92503037e-01 9.19110948e-01 -3.42991485e-02 -7.83144983e+01] [-3.45179996e-01 1.81768809e-01 9.20766458e-01 5.00798201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99907232899994 meters 0.22316254313886583 Centerline is valid? [False, False] Translation: X:-12.16, Y:-78.25, Z:50.17 [[ 8.55695396e-01 -3.44586922e-01 3.86063781e-01 -1.21599316e+01] [ 3.87327933e-01 9.21229453e-01 -3.62404056e-02 -7.82522443e+01] [-3.43165356e-01 1.80544035e-01 9.21759942e-01 5.01670163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.029072329 meters 0.2299281650042927 Centerline is valid? [False, False] Translation: X:-12.33, Y:-78.20, Z:50.25 [[ 8.57033395e-01 -3.45313932e-01 3.82429142e-01 -1.23348349e+01] [ 3.85413645e-01 9.22222978e-01 -3.10016182e-02 -7.81951065e+01] [-3.41979652e-01 1.73962832e-01 9.23464591e-01 5.02492544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05907232899995 meters 0.22610090810238406 Centerline is valid? [False, False] Translation: X:-12.51, Y:-78.14, Z:50.33 [[ 8.57791562e-01 -3.47033431e-01 3.79158850e-01 -1.25128183e+01] [ 3.85035655e-01 9.22514366e-01 -2.67355228e-02 -7.81388171e+01] [-3.40501366e-01 1.68923182e-01 9.24945284e-01 5.03327790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.089072329 meters 0.23792938642326766 Centerline is valid? [False, False] Translation: X:-12.70, Y:-78.08, Z:50.42 [[ 8.58941620e-01 -3.45441099e-01 3.78007592e-01 -1.26982938e+01] [ 3.84300906e-01 9.22719776e-01 -3.00171471e-02 -7.80812059e+01] [-3.38425925e-01 1.71051637e-01 9.25315747e-01 5.04159399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11907232899995 meters 0.2194473172767253 Centerline is valid? [False, False] Translation: X:-12.87, Y:-78.03, Z:50.49 [[ 8.59612686e-01 -3.46733973e-01 3.75288666e-01 -1.28722042e+01] [ 3.84279083e-01 9.22803869e-01 -2.76153371e-02 -7.80277655e+01] [-3.36742657e-01 1.67954078e-01 9.26496525e-01 5.04948815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.149072329 meters 0.22071049933892392 Centerline is valid? [False, False] Translation: X:-13.06, Y:-77.97, Z:50.58 [[ 8.57888312e-01 -3.51664376e-01 3.74646247e-01 -1.30586417e+01] [ 3.88697769e-01 9.21010966e-01 -2.55508396e-02 -7.79719711e+01] [-3.36067982e-01 1.67543927e-01 9.26815701e-01 5.05777019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17907232899995 meters 0.22172153157623606 Centerline is valid? [False, False] Translation: X:-13.26, Y:-77.91, Z:50.66 [[ 8.58047364e-01 -3.51454289e-01 3.74479110e-01 -1.32551225e+01] [ 3.89828490e-01 9.20418337e-01 -2.93910547e-02 -7.79125040e+01] [-3.34347827e-01 1.71201543e-01 9.26769422e-01 5.06634960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.209072329 meters 0.2665474357126208 Centerline is valid? [False, False] Translation: X:-13.45, Y:-77.86, Z:50.75 [[ 8.57123730e-01 -3.54752574e-01 3.73482961e-01 -1.34513187e+01] [ 3.94155426e-01 9.18481396e-01 -3.21469256e-02 -7.78558632e+01] [-3.31632947e-01 1.74764228e-01 9.27079853e-01 5.07482771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23907232899995 meters 0.22981295783992342 Centerline is valid? [False, False] Translation: X:-13.63, Y:-77.80, Z:50.83 [[ 8.54919820e-01 -3.59546660e-01 3.73949597e-01 -1.36333623e+01] [ 3.98826903e-01 9.16516275e-01 -3.05780736e-02 -7.78021542e+01] [-3.31736647e-01 1.75282961e-01 9.26944810e-01 5.08271449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.269072329 meters 0.2412190080161081 Centerline is valid? [False, False] Translation: X:-13.83, Y:-77.74, Z:50.91 [[ 8.55288188e-01 -3.58930771e-01 3.73698833e-01 -1.38312746e+01] [ 3.99122936e-01 9.16288955e-01 -3.33981006e-02 -7.77427237e+01] [-3.30428507e-01 1.77716776e-01 9.26948623e-01 5.09131723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29907232899996 meters 0.24452268586834122 Centerline is valid? [False, False] Translation: X:-14.02, Y:-77.69, Z:51.00 [[ 8.53095249e-01 -3.62151896e-01 3.75598856e-01 -1.40168791e+01] [ 4.02175330e-01 9.15031378e-01 -3.11862385e-02 -7.76877549e+01] [-3.32390583e-01 1.77661426e-01 9.26257479e-01 5.09951072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.329072329 meters 0.22132791119884354 Centerline is valid? [False, False] Translation: X:-14.21, Y:-77.63, Z:51.08 [[ 8.54651435e-01 -3.58545026e-01 3.75521490e-01 -1.42087108e+01] [ 3.98882437e-01 9.16414073e-01 -3.28336443e-02 -7.76289558e+01] [-3.32360839e-01 1.77850248e-01 9.26231916e-01 5.10784063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35907232899996 meters 0.22755691569636557 Centerline is valid? [False, False] Translation: X:-14.40, Y:-77.57, Z:51.17 [[ 8.54020830e-01 -3.60897315e-01 3.74701949e-01 -1.44002170e+01] [ 4.00706306e-01 9.15669880e-01 -3.13548716e-02 -7.75682683e+01] [-3.31787399e-01 1.76923147e-01 9.26614980e-01 5.11656067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.389072329 meters 0.22927713051011264 Centerline is valid? [False, False] Translation: X:-14.59, Y:-77.51, Z:51.25 [[ 8.53322290e-01 -3.64293457e-01 3.73003145e-01 -1.45889874e+01] [ 4.03378162e-01 9.14554080e-01 -2.96123780e-02 -7.75105349e+01] [-3.30343953e-01 1.75730225e-01 9.27357407e-01 5.12507072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41907232899996 meters 0.321070710828087 Centerline is valid? [False, False] Translation: X:-14.78, Y:-77.45, Z:51.34 [[ 8.54419011e-01 -3.62909595e-01 3.71839722e-01 -1.47830759e+01] [ 4.03174431e-01 9.14495499e-01 -3.38874684e-02 -7.74507547e+01] [-3.27747664e-01 1.78870365e-01 9.27678210e-01 5.13356800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.449072329 meters 0.249824520012213 Centerline is valid? [False, False] Translation: X:-14.97, Y:-77.39, Z:51.42 [[ 8.53332707e-01 -3.66522833e-01 3.70788759e-01 -1.49678175e+01] [ 4.06323992e-01 9.13152066e-01 -3.24671926e-02 -7.73942559e+01] [-3.26686554e-01 1.78365686e-01 9.28149545e-01 5.14185913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47907232899996 meters 0.2807943874426884 Centerline is valid? [False, False] Translation: X:-15.16, Y:-77.34, Z:51.50 [[ 8.50074720e-01 -3.73907123e-01 3.70899492e-01 -1.51595225e+01] [ 4.15044148e-01 9.09137728e-01 -3.47411255e-02 -7.73371979e+01] [-3.24208768e-01 1.83472216e-01 9.28022963e-01 5.15044522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.509072329 meters 0.27777978244769036 Centerline is valid? [False, False] Translation: X:-15.36, Y:-77.28, Z:51.59 [[ 8.51168630e-01 -3.72298888e-01 3.70007435e-01 -1.53583086e+01] [ 4.14795972e-01 9.09056040e-01 -3.95147913e-02 -7.72754911e+01] [-3.21646180e-01 1.87111344e-01 9.28188063e-01 5.15902548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53907232899996 meters 0.2624682842664121 Centerline is valid? [False, False] Translation: X:-15.56, Y:-77.21, Z:51.68 [[ 8.51240823e-01 -3.73762578e-01 3.68362046e-01 -1.55597365e+01] [ 4.16999002e-01 9.07917109e-01 -4.24070155e-02 -7.72145054e+01] [-3.18592048e-01 1.89705188e-01 9.28714729e-01 5.16765351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.569072329 meters 0.3140856451475857 Centerline is valid? [False, False] Translation: X:-15.75, Y:-77.16, Z:51.76 [[ 8.50407477e-01 -3.76363284e-01 3.67638139e-01 -1.57501486e+01] [ 4.18837750e-01 9.07173608e-01 -4.01370647e-02 -7.71559055e+01] [-3.18405500e-01 1.88113591e-01 9.29102370e-01 5.17612405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59907232899997 meters 0.2725901308140673 Centerline is valid? [False, False] Translation: X:-15.95, Y:-77.09, Z:51.85 [[ 8.50777322e-01 -3.75677633e-01 3.67483693e-01 -1.59528865e+01] [ 4.19163168e-01 9.06876604e-01 -4.33250835e-02 -7.70928739e+01] [-3.16986099e-01 1.90895627e-01 9.29020276e-01 5.18493098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.629072329 meters 0.2984236647291703 Centerline is valid? [False, False] Translation: X:-16.15, Y:-77.03, Z:51.94 [[ 8.47410217e-01 -3.81690220e-01 3.69064358e-01 -1.61510764e+01] [ 4.25177820e-01 9.04174102e-01 -4.11462570e-02 -7.70348997e+01] [-3.17993311e-01 1.91785738e-01 9.28492588e-01 5.19379575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65907232899997 meters 0.2642689747376279 Centerline is valid? [False, False] Translation: X:-16.36, Y:-76.97, Z:52.03 [[ 8.47379219e-01 -3.81752212e-01 3.69071413e-01 -1.63563196e+01] [ 4.26138423e-01 9.03599061e-01 -4.37582088e-02 -7.69726018e+01] [-3.16787790e-01 1.94355307e-01 9.28370352e-01 5.20273876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.689072329 meters 0.25023006108962853 Centerline is valid? [False, False] Translation: X:-16.56, Y:-76.91, Z:52.12 [[ 8.46917524e-01 -3.82881218e-01 3.68961626e-01 -1.65598981e+01] [ 4.28332712e-01 9.02411349e-01 -4.67423234e-02 -7.69106043e+01] [-3.15058401e-01 1.97625227e-01 9.28268536e-01 5.21151031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71907232899997 meters 0.25023006108962853 Centerline is valid? [False, False] Translation: X:-16.76, Y:-76.85, Z:52.20 [[ 8.47793487e-01 -3.80776704e-01 3.69127763e-01 -1.67646571e+01] [ 4.26809041e-01 9.03026942e-01 -4.87481693e-02 -7.68458847e+01] [-3.14770148e-01 1.98875447e-01 9.28099300e-01 5.22040734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74907232899994 meters 0.2717592184205709 Centerline is valid? [False, False] Translation: X:-16.97, Y:-76.78, Z:52.29 [[ 8.46962604e-01 -3.84292841e-01 3.67387206e-01 -1.69692506e+01] [ 4.30515596e-01 9.01207140e-01 -4.98198033e-02 -7.67820815e+01] [-3.11946580e-01 2.00361432e-01 9.28732808e-01 5.22939105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779072329 meters 0.25867467678047573 Centerline is valid? [False, False] Translation: X:-17.17, Y:-76.72, Z:52.38 [[ 8.45433063e-01 -3.89746193e-01 3.65158653e-01 -1.71733885e+01] [ 4.35773439e-01 8.98681460e-01 -4.97307001e-02 -7.67211209e+01] [-3.08778961e-01 2.01170420e-01 9.29616058e-01 5.23818005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80907232899995 meters 0.2673488906159035 Centerline is valid? [False, False] Translation: X:-17.38, Y:-76.65, Z:52.47 [[ 8.44490236e-01 -3.91146368e-01 3.65842534e-01 -1.73848691e+01] [ 4.38250744e-01 8.97333734e-01 -5.22346153e-02 -7.66549910e+01] [-3.07851467e-01 2.04442386e-01 9.29209764e-01 5.24731994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839072329 meters 0.254213960723098 Centerline is valid? [False, False] Translation: X:-17.60, Y:-76.59, Z:52.56 [[ 8.43363967e-01 -3.92959909e-01 3.66496561e-01 -1.75950634e+01] [ 4.40799681e-01 8.96000796e-01 -5.36490059e-02 -7.65896299e+01] [-3.07299302e-01 2.06797205e-01 9.28871388e-01 5.25642877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86907232899995 meters 0.2465245832514745 Centerline is valid? [False, False] Translation: X:-17.81, Y:-76.52, Z:52.66 [[ 8.44083984e-01 -3.91333413e-01 3.66579307e-01 -1.78082367e+01] [ 4.39503784e-01 8.96561716e-01 -5.48954851e-02 -7.65225941e+01] [-3.07178535e-01 2.07449392e-01 9.28765900e-01 5.26570551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899072329 meters 0.2535482383299181 Centerline is valid? [False, False] Translation: X:-18.02, Y:-76.45, Z:52.75 [[ 8.44629440e-01 -3.90133503e-01 3.66601908e-01 -1.80193991e+01] [ 4.39146840e-01 8.96563321e-01 -5.76564364e-02 -7.64543906e+01] [-3.06188117e-01 2.09690393e-01 9.28589671e-01 5.27489390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92907232899995 meters 0.2569003558400109 Centerline is valid? [False, False] Translation: X:-18.23, Y:-76.39, Z:52.84 [[ 8.45458518e-01 -3.90262696e-01 3.64547558e-01 -1.82262035e+01] [ 4.39291595e-01 8.96393098e-01 -5.91802999e-02 -7.63885678e+01] [-3.03682051e-01 2.10177167e-01 9.29302303e-01 5.28393046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959072329 meters 0.23607071378898006 Centerline is valid? [False, False] Translation: X:-18.43, Y:-76.32, Z:52.93 [[ 8.46096589e-01 -3.90148209e-01 3.63187194e-01 -1.84347072e+01] [ 4.39029257e-01 8.96483991e-01 -5.97475180e-02 -7.63194827e+01] [-3.02281118e-01 2.10001975e-01 9.29798524e-01 5.29307223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98907232899995 meters 0.25103122009025014 Centerline is valid? [False, False] Translation: X:-18.64, Y:-76.25, Z:53.02 [[ 8.47504116e-01 -3.88988889e-01 3.61143209e-01 -1.86423836e+01] [ 4.37391393e-01 8.97268314e-01 -5.99861786e-02 -7.62515108e+01] [-3.00708402e-01 2.08799465e-01 9.30578981e-01 5.30216721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019072329 meters 0.2362803669931691 Centerline is valid? [False, False] Translation: X:-18.85, Y:-76.18, Z:53.11 [[ 8.49748578e-01 -3.85675665e-01 3.59418468e-01 -1.88489205e+01] [ 4.33349998e-01 8.99253352e-01 -5.95918458e-02 -7.61825762e+01] [-3.00225137e-01 2.06392079e-01 9.31271806e-01 5.31128967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04907232899996 meters 0.25726166000757694 Centerline is valid? [False, False] Translation: X:-19.05, Y:-76.11, Z:53.20 [[ 8.50803071e-01 -3.83499781e-01 3.59252074e-01 -1.90534044e+01] [ 4.30525819e-01 9.00706443e-01 -5.80983861e-02 -7.61137350e+01] [-3.01299939e-01 2.04097579e-01 9.31430365e-01 5.32042661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079072329 meters 0.2345025532695896 Centerline is valid? [False, False] Translation: X:-19.25, Y:-76.05, Z:53.30 [[ 8.50489290e-01 -3.83803713e-01 3.59670235e-01 -1.92538998e+01] [ 4.29587781e-01 9.01413803e-01 -5.39211781e-02 -7.60457989e+01] [-3.03516566e-01 2.00369323e-01 9.31520171e-01 5.32951026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10907232899996 meters 0.26954728008786627 Centerline is valid? [False, False] Translation: X:-19.46, Y:-75.97, Z:53.38 [[ 8.53220916e-01 -3.77161093e-01 3.60227121e-01 -1.94610804e+01] [ 4.23042654e-01 9.04435912e-01 -5.50508360e-02 -7.59732240e+01] [-3.05039311e-01 1.99361962e-01 9.31238867e-01 5.33842060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139072329 meters 0.2566225234200117 Centerline is valid? [False, False] Translation: X:-19.66, Y:-75.91, Z:53.47 [[ 8.53461375e-01 -3.77207766e-01 3.59608097e-01 -1.96574486e+01] [ 4.21222844e-01 9.05589921e-01 -4.97816276e-02 -7.59065050e+01] [-3.06879452e-01 1.93961842e-01 9.31774547e-01 5.34723722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16907232899996 meters 0.26640574842337905 Centerline is valid? [False, False] Translation: X:-19.86, Y:-75.84, Z:53.56 [[ 8.54808777e-01 -3.74289063e-01 3.59457442e-01 -1.98599249e+01] [ 4.18487240e-01 9.06790826e-01 -5.09787107e-02 -7.58375754e+01] [-3.06871937e-01 1.94005402e-01 9.31767953e-01 5.35603273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199072329 meters 0.2761657123163974 Centerline is valid? [False, False] Translation: X:-20.06, Y:-75.77, Z:53.65 [[ 8.54735590e-01 -3.74523776e-01 3.59386995e-01 -2.00551589e+01] [ 4.18194289e-01 9.07014328e-01 -4.93816202e-02 -7.57713163e+01] [-3.07474563e-01 1.92501817e-01 9.31881132e-01 5.36476557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22907232899996 meters 0.24737398311433811 Centerline is valid? [False, False] Translation: X:-20.25, Y:-75.70, Z:53.73 [[ 8.56644866e-01 -3.70738963e-01 3.58764818e-01 -2.02530023e+01] [ 4.14468044e-01 9.08652095e-01 -5.06715971e-02 -7.57045101e+01] [-3.07206468e-01 1.92104116e-01 9.32051605e-01 5.37325782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259072329 meters 0.28224615219269267 Centerline is valid? [False, False] Translation: X:-20.45, Y:-75.64, Z:53.82 [[ 8.56931229e-01 -3.70104506e-01 3.58736009e-01 -2.04453840e+01] [ 4.12843386e-01 9.09546335e-01 -4.78100684e-02 -7.56391896e+01] [-3.08592301e-01 1.89071729e-01 9.32213856e-01 5.38165763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28907232899996 meters 0.24970288967334275 Centerline is valid? [False, False] Translation: X:-20.64, Y:-75.57, Z:53.90 [[ 8.58128773e-01 -3.67244403e-01 3.58812704e-01 -2.06354414e+01] [ 4.09348893e-01 9.11198343e-01 -4.63795500e-02 -7.55726805e+01] [-3.09916911e-01 1.86679210e-01 9.32256607e-01 5.39000869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319072329 meters 0.263118175271338 Centerline is valid? [False, False] Translation: X:-20.83, Y:-75.51, Z:53.98 [[ 8.59393160e-01 -3.63952768e-01 3.59140334e-01 -2.08316668e+01] [ 4.06417118e-01 9.12433156e-01 -4.78629575e-02 -7.55056663e+01] [-3.10271692e-01 1.87093878e-01 9.32055448e-01 5.39835345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34907232899997 meters 0.24143670318367072 Centerline is valid? [False, False] Translation: X:-21.02, Y:-75.44, Z:54.07 [[ 8.59841010e-01 -3.62480253e-01 3.59557372e-01 -2.10191830e+01] [ 4.04730848e-01 9.13215383e-01 -4.72292863e-02 -7.54419981e+01] [-3.11233640e-01 1.86133638e-01 9.31926977e-01 5.40662304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379072329 meters 0.2586493799986581 Centerline is valid? [False, False] Translation: X:-21.21, Y:-75.38, Z:54.15 [[ 8.58801760e-01 -3.64058498e-01 3.60445485e-01 -2.12087505e+01] [ 4.06292053e-01 9.12568449e-01 -4.63205450e-02 -7.53783568e+01] [-3.12067789e-01 1.86226302e-01 9.31629465e-01 5.41489698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40907232899997 meters 0.25340476642251547 Centerline is valid? [False, False] Translation: X:-21.40, Y:-75.31, Z:54.23 [[ 8.59516085e-01 -3.63741275e-01 3.59060419e-01 -2.14042557e+01] [ 4.06240617e-01 9.12501477e-01 -4.80584684e-02 -7.53124611e+01] [-3.10162314e-01 1.87171952e-01 9.32076177e-01 5.42332665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439072329 meters 0.2432938770813945 Centerline is valid? [False, False] Translation: X:-21.59, Y:-75.25, Z:54.31 [[ 8.59175803e-01 -3.65938966e-01 3.57638942e-01 -2.15901494e+01] [ 4.07456982e-01 9.12085025e-01 -4.56038950e-02 -7.52494015e+01] [-3.09508881e-01 1.84904247e-01 9.32745770e-01 5.43141783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46907232899997 meters 0.24383201729329831 Centerline is valid? [False, False] Translation: X:-21.79, Y:-75.18, Z:54.40 [[ 8.60370093e-01 -3.63801890e-01 3.56947458e-01 -2.17858711e+01] [ 4.05726399e-01 9.12750790e-01 -4.76663920e-02 -7.51827782e+01] [-3.08462951e-01 1.85833745e-01 9.32907513e-01 5.43968617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49907232899994 meters 0.23101311611500436 Centerline is valid? [False, False] Translation: X:-21.97, Y:-75.12, Z:54.48 [[ 8.59477711e-01 -3.65871767e-01 3.56981673e-01 -2.19737531e+01] [ 4.07230840e-01 9.12188529e-01 -4.55536020e-02 -7.51196675e+01] [-3.08967811e-01 1.84526252e-01 9.32999975e-01 5.44775783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.529072329 meters 0.2265329756593544 Centerline is valid? [False, False] Translation: X:-22.17, Y:-75.05, Z:54.56 [[ 8.60493350e-01 -3.63429491e-01 3.57029689e-01 -2.21678686e+01] [ 4.05723539e-01 9.12692137e-01 -4.88003348e-02 -7.50528771e+01] [-3.08122709e-01 1.86847712e-01 9.32817414e-01 5.45582500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55907232899995 meters 0.26883943797598914 Centerline is valid? [False, False] Translation: X:-22.36, Y:-74.99, Z:54.64 [[ 8.60717382e-01 -3.63232610e-01 3.56689864e-01 -2.23554321e+01] [ 4.05252800e-01 9.12931802e-01 -4.82254443e-02 -7.49873915e+01] [-3.08116466e-01 1.86058044e-01 9.32977303e-01 5.46399564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.589072329 meters 0.23253060790740446 Centerline is valid? [False, False] Translation: X:-22.55, Y:-74.92, Z:54.72 [[ 8.59935275e-01 -3.64254163e-01 3.57533534e-01 -2.25469194e+01] [ 4.06299683e-01 9.12500565e-01 -4.75740003e-02 -7.49203633e+01] [-3.08920524e-01 1.86176323e-01 9.32687775e-01 5.47227531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61907232899995 meters 0.2518970373625114 Centerline is valid? [False, False] Translation: X:-22.74, Y:-74.86, Z:54.80 [[ 8.57449851e-01 -3.68202985e-01 3.59452798e-01 -2.27364276e+01] [ 4.10761410e-01 9.10522611e-01 -4.71554741e-02 -7.48560303e+01] [-3.09927114e-01 1.88082793e-01 9.31971055e-01 5.48037344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.649072329 meters 0.24573747878630367 Centerline is valid? [False, False] Translation: X:-22.93, Y:-74.79, Z:54.89 [[ 8.57817143e-01 -3.66542698e-01 3.60272396e-01 -2.29341975e+01] [ 4.09751559e-01 9.10886137e-01 -4.88887027e-02 -7.47869479e+01] [-3.10247334e-01 1.89559743e-01 9.31565186e-01 5.48868584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67907232899995 meters 0.24623188725673514 Centerline is valid? [False, False] Translation: X:-23.13, Y:-74.72, Z:54.97 [[ 8.55864896e-01 -3.69925537e-01 3.61455913e-01 -2.31278581e+01] [ 4.13126053e-01 9.09436061e-01 -4.74648856e-02 -7.47201141e+01] [-3.11162568e-01 1.89950384e-01 9.31180277e-01 5.49700615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.709072329 meters 0.24204927107004068 Centerline is valid? [False, False] Translation: X:-23.32, Y:-74.65, Z:55.05 [[ 8.56797949e-01 -3.67779244e-01 3.61435614e-01 -2.33249924e+01] [ 4.11845731e-01 9.09854670e-01 -5.04734834e-02 -7.46496970e+01] [-3.10290782e-01 1.92101292e-01 9.31029927e-01 5.50537038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73907232899995 meters 0.25419758070972576 Centerline is valid? [False, False] Translation: X:-23.52, Y:-74.58, Z:55.14 [[ 8.55842993e-01 -3.68684391e-01 3.62773471e-01 -2.35170138e+01] [ 4.12907060e-01 9.09405526e-01 -4.98933716e-02 -7.45811582e+01] [-3.11513292e-01 1.92492620e-01 9.30540735e-01 5.51372011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.769072329 meters 0.2195321214222296 Centerline is valid? [False, False] Translation: X:-23.71, Y:-74.51, Z:55.22 [[ 8.54959278e-01 -3.69349196e-01 3.64178259e-01 -2.37093255e+01] [ 4.13834569e-01 9.08998284e-01 -4.96293209e-02 -7.45118930e+01] [-3.12706862e-01 1.93140601e-01 9.30005982e-01 5.52219036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79907232899996 meters 0.24585880899995818 Centerline is valid? [False, False] Translation: X:-23.91, Y:-74.44, Z:55.31 [[ 8.55657262e-01 -3.67439768e-01 3.64470394e-01 -2.39080996e+01] [ 4.13296317e-01 9.09001301e-01 -5.38775381e-02 -7.44404423e+01] [-3.11507312e-01 1.96734978e-01 9.29655067e-01 5.53070884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.829072329 meters 0.23875395905002586 Centerline is valid? [False, False] Translation: X:-24.10, Y:-74.37, Z:55.39 [[ 8.54624124e-01 -3.68884461e-01 3.65433798e-01 -2.41008948e+01] [ 4.14405377e-01 9.08607656e-01 -5.19645070e-02 -7.43710303e+01] [-3.12867047e-01 1.95847852e-01 9.29385727e-01 5.53911795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85907232899996 meters 0.2450586865107569 Centerline is valid? [False, False] Translation: X:-24.30, Y:-74.30, Z:55.48 [[ 8.55376132e-01 -3.68032000e-01 3.64532742e-01 -2.43014387e+01] [ 4.14708157e-01 9.08218828e-01 -5.61756600e-02 -7.42972511e+01] [-3.10401059e-01 1.99226020e-01 9.29494581e-01 5.54781439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.889072329 meters 0.2700579759306682 Centerline is valid? [False, False] Translation: X:-24.50, Y:-74.23, Z:55.56 [[ 8.53411005e-01 -3.73044271e-01 3.64043442e-01 -2.44961832e+01] [ 4.19830439e-01 9.05878599e-01 -5.59139165e-02 -7.42284138e+01] [-3.08920797e-01 2.00554070e-01 9.29702106e-01 5.55648935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91907232899996 meters 0.26872080593281716 Centerline is valid? [False, False] Translation: X:-24.69, Y:-74.16, Z:55.65 [[ 8.54028498e-01 -3.72136048e-01 3.63524535e-01 -2.46941232e+01] [ 4.19392961e-01 9.05959031e-01 -5.78599923e-02 -7.41566071e+01] [-3.07806547e-01 2.01873713e-01 9.29786069e-01 5.56505710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.949072329 meters 0.26313820738765714 Centerline is valid? [False, False] Translation: X:-24.89, Y:-74.08, Z:55.74 [[ 8.52303476e-01 -3.75196510e-01 3.64426075e-01 -2.48913520e+01] [ 4.22126600e-01 9.04825071e-01 -5.56841591e-02 -7.40846861e+01] [-3.08849347e-01 2.01293742e-01 9.29565980e-01 5.57362215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97907232899996 meters 0.2512880739180176 Centerline is valid? [False, False] Translation: X:-25.09, Y:-74.01, Z:55.82 [[ 8.50648122e-01 -3.78160717e-01 3.65229031e-01 -2.50889508e+01] [ 4.24513180e-01 9.03878368e-01 -5.28436844e-02 -7.40128215e+01] [-3.10139215e-01 1.99995918e-01 9.29416645e-01 5.58216004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.009072329 meters 0.22078498071535255 Centerline is valid? [False, False] Translation: X:-25.29, Y:-73.94, Z:55.91 [[ 8.51008907e-01 -3.76960945e-01 3.65628617e-01 -2.52936465e+01] [ 4.24651349e-01 9.03573002e-01 -5.68072276e-02 -7.39359759e+01] [-3.08958041e-01 2.03608142e-01 9.29025647e-01 5.59099960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03907232899996 meters 0.24029415421869274 Centerline is valid? [False, False] Translation: X:-25.50, Y:-73.86, Z:56.00 [[ 8.51020231e-01 -3.76895617e-01 3.65669605e-01 -2.54968646e+01] [ 4.25593615e-01 9.02934594e-01 -5.98263713e-02 -7.38611188e+01] [-3.07627439e-01 2.06540101e-01 9.28819975e-01 5.59979559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.069072329 meters 0.23579475975451825 Centerline is valid? [False, False] Translation: X:-25.70, Y:-73.79, Z:56.09 [[ 8.51678654e-01 -3.75600118e-01 3.65469591e-01 -2.57008787e+01] [ 4.25475289e-01 9.02720357e-01 -6.37709641e-02 -7.37850386e+01] [-3.05964458e-01 2.09810648e-01 9.28636227e-01 5.60868612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09907232899997 meters 0.3286141019028343 Centerline is valid? [False, False] Translation: X:-25.90, Y:-73.71, Z:56.18 [[ 8.49956356e-01 -3.77971474e-01 3.67031004e-01 -2.58994528e+01] [ 4.27981235e-01 9.01616294e-01 -6.26108713e-02 -7.37108891e+01] [-3.07256010e-01 2.10298890e-01 9.28099198e-01 5.61758768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.129072329 meters 0.241468201703962 Centerline is valid? [False, False] Translation: X:-26.10, Y:-73.64, Z:56.26 [[ 8.50263821e-01 -3.78578360e-01 3.65690936e-01 -2.60994337e+01] [ 4.29992684e-01 9.00286172e-01 -6.77576554e-02 -7.36365084e+01] [-3.03574910e-01 2.14856310e-01 9.28266686e-01 5.62640503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15907232899997 meters 0.2919365744856407 Centerline is valid? [False, False] Translation: X:-26.30, Y:-73.56, Z:56.35 [[ 8.49089231e-01 -3.79757779e-01 3.67194099e-01 -2.62989672e+01] [ 4.31344539e-01 8.99700073e-01 -6.69452515e-02 -7.35607272e+01] [-3.04941578e-01 2.15229662e-01 9.27732088e-01 5.63538001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.189072329 meters 0.3092357214668033 Centerline is valid? [False, False] Translation: X:-26.51, Y:-73.48, Z:56.44 [[ 8.49613689e-01 -3.76594549e-01 3.69233159e-01 -2.65061531e+01] [ 4.29423074e-01 9.00405486e-01 -6.97551770e-02 -7.34813326e+01] [-3.06190142e-01 2.17822191e-01 9.26715215e-01 5.64447552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21907232899997 meters 0.6059430960395272 Centerline is valid? [False, False] Translation: X:-26.71, Y:-73.40, Z:56.54 [[ 8.48064684e-01 -3.77381753e-01 3.71980246e-01 -2.67068210e+01] [ 4.29973582e-01 9.00363598e-01 -6.68439191e-02 -7.34046448e+01] [-3.09691797e-01 2.16629646e-01 9.25830755e-01 5.65359325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24907232899994 meters 0.6095264780722646 Centerline is valid? [False, False] Translation: X:-26.91, Y:-73.33, Z:56.63 [[ 8.44666317e-01 -3.80370159e-01 3.76639556e-01 -2.69101496e+01] [ 4.34306050e-01 8.98284327e-01 -6.68096041e-02 -7.33265894e+01] [-3.12917031e-01 2.20008660e-01 9.23947575e-01 5.66298657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279072329 meters 0.6097783515990273 Centerline is valid? [False, False] Translation: X:-27.12, Y:-73.24, Z:56.73 [[ 8.43955590e-01 -3.80252885e-01 3.78347334e-01 -2.71234263e+01] [ 4.36019584e-01 8.97136268e-01 -7.09467421e-02 -7.32437327e+01] [-3.12451412e-01 2.24842747e-01 9.22940873e-01 5.67263855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30907232899995 meters 0.610622771424186 Centerline is valid? [False, False] Translation: X:-27.33, Y:-73.17, Z:56.82 [[ 8.45071248e-01 -3.79404354e-01 3.76705352e-01 -2.73280225e+01] [ 4.35060595e-01 8.97515007e-01 -7.20353423e-02 -7.31656464e+01] [-3.10768184e-01 2.24764651e-01 9.23528011e-01 5.68196237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339072329 meters 0.6094962016602805 Centerline is valid? [False, False] Translation: X:-27.54, Y:-73.08, Z:56.92 [[ 0.84582203 -0.37750646 0.376927 -27.53618284] [ 0.4339147 0.89787269 -0.07444908 -73.08280534] [ -0.31032745 0.22652483 0.92324611 56.91531765] [ 0. 0. 0. 1. ]] SLAMing on 292.36907232899995 meters 0.6111855871222527 Centerline is valid? [False, False] Translation: X:-27.74, Y:-73.00, Z:57.01 [[ 8.45440044e-01 -3.77583931e-01 3.77705583e-01 -2.77362740e+01] [ 4.33696074e-01 8.98100923e-01 -7.29551065e-02 -7.30020303e+01] [-3.11671057e-01 2.25488597e-01 9.23047152e-01 5.70106323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399072329 meters 0.6087048808038465 Centerline is valid? [False, False] Translation: X:-27.94, Y:-72.92, Z:57.11 [[ 8.45869485e-01 -3.75973580e-01 3.78349946e-01 -2.79376176e+01] [ 4.30896935e-01 8.99739380e-01 -6.92595103e-02 -7.29207697e+01] [-3.14376599e-01 2.21614338e-01 9.23067949e-01 5.71063857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42907232899995 meters 0.6087228773838956 Centerline is valid? [False, False] Translation: X:-28.14, Y:-72.84, Z:57.20 [[ 8.45407626e-01 -3.76923977e-01 3.78436601e-01 -2.81386350e+01] [ 4.31587799e-01 8.99484985e-01 -6.82549189e-02 -7.28376462e+01] [-3.14671125e-01 2.21031849e-01 9.23107255e-01 5.72025839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459072329 meters 0.6087931536751223 Centerline is valid? [False, False] Translation: X:-28.34, Y:-72.75, Z:57.30 [[ 8.47315607e-01 -3.73320378e-01 3.77740860e-01 -2.83431723e+01] [ 4.28165450e-01 9.00986709e-01 -6.99806967e-02 -7.27546879e+01] [-3.14214275e-01 2.21031322e-01 9.23262988e-01 5.72972468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48907232899995 meters 0.6061421043445583 Centerline is valid? [False, False] Translation: X:-28.54, Y:-72.67, Z:57.39 [[ 8.47748458e-01 -3.70504412e-01 3.79537921e-01 -2.85433485e+01] [ 4.25297700e-01 9.02417935e-01 -6.90198297e-02 -7.26724549e+01] [-3.16929676e-01 2.19928059e-01 9.22598087e-01 5.73945122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519072329 meters 0.605864775567448 Centerline is valid? [False, False] Translation: X:-28.74, Y:-72.59, Z:57.49 [[ 8.47922241e-01 -3.68757468e-01 3.80848792e-01 -2.87417845e+01] [ 4.23440461e-01 9.03363316e-01 -6.80653729e-02 -7.25919684e+01] [-3.18945213e-01 2.18980931e-01 9.22128680e-01 5.74891512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54907232899996 meters 0.24126577109467495 Centerline is valid? [False, False] Translation: X:-28.94, Y:-72.51, Z:57.58 [[ 8.49779909e-01 -3.65312543e-01 3.80027435e-01 -2.89435689e+01] [ 4.20160957e-01 9.04761621e-01 -6.97938323e-02 -7.25095084e+01] [-3.18337676e-01 2.18982087e-01 9.22338316e-01 5.75837914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579072329 meters 0.22923139339576504 Centerline is valid? [False, False] Translation: X:-29.14, Y:-72.43, Z:57.68 [[ 8.49210901e-01 -3.66992468e-01 3.79680620e-01 -2.91371189e+01] [ 4.21344540e-01 9.04325597e-01 -6.82934331e-02 -7.24322935e+01] [-3.18291728e-01 2.17971884e-01 9.22593428e-01 5.76756948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60907232899996 meters 0.22923139339576504 Centerline is valid? [False, False] Translation: X:-29.33, Y:-72.35, Z:57.77 [[ 8.48817618e-01 -3.67097218e-01 3.80457992e-01 -2.93349776e+01] [ 4.21303762e-01 9.04420014e-01 -6.72872819e-02 -7.23522115e+01] [-3.19392849e-01 2.17403014e-01 9.22347081e-01 5.77692153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639072329 meters 0.6060418016580587 Centerline is valid? [False, False] Translation: X:-29.53, Y:-72.27, Z:57.86 [[ 8.47907091e-01 -3.68615013e-01 3.81020389e-01 -2.95328317e+01] [ 4.22866818e-01 9.03732148e-01 -6.67222460e-02 -7.22727262e+01] [-3.19745554e-01 2.17695145e-01 9.22155955e-01 5.78634160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66907232899996 meters 0.6067701536859589 Centerline is valid? [False, False] Translation: X:-29.74, Y:-72.19, Z:57.96 [[ 8.48341693e-01 -3.67123209e-01 3.81493016e-01 -2.97371415e+01] [ 4.22135283e-01 9.03914281e-01 -6.88532904e-02 -7.21897273e+01] [-3.19559344e-01 2.19452779e-01 9.21803831e-01 5.79581482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699072329 meters 0.6091731610022316 Centerline is valid? [False, False] Translation: X:-29.93, Y:-72.11, Z:58.05 [[ 8.45833846e-01 -3.71031594e-01 3.83276220e-01 -2.99348326e+01] [ 4.26403402e-01 9.01985549e-01 -6.78395699e-02 -7.21097273e+01] [-3.20538988e-01 2.20811289e-01 9.21139040e-01 5.80519212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72907232899996 meters 0.6093834068031004 Centerline is valid? [False, False] Translation: X:-30.14, Y:-72.03, Z:58.15 [[ 8.46891003e-01 -3.68390006e-01 3.83489807e-01 -3.01403198e+01] [ 4.24722844e-01 9.02539195e-01 -7.09472202e-02 -7.20271178e+01] [-3.19978335e-01 2.22961444e-01 9.20815975e-01 5.81470853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759072329 meters 0.6075607228657695 Centerline is valid? [False, False] Translation: X:-30.34, Y:-71.94, Z:58.24 [[ 0.84799333 -0.36641818 0.38294259 -30.3449942 ] [ 0.42334325 0.90298836 -0.07343374 -71.94346551] [ -0.31888524 0.22438748 0.92084877 58.24339715] [ 0. 0. 0. 1. ]] SLAMing on 292.78907232899996 meters 0.6084537377667361 Centerline is valid? [False, False] Translation: X:-30.54, Y:-71.86, Z:58.33 [[ 8.49088887e-01 -3.67285240e-01 3.79670402e-01 -3.05429237e+01] [ 4.22680034e-01 9.03471890e-01 -7.12750563e-02 -7.18631602e+01] [-3.16843259e-01 2.20997956e-01 9.22372079e-01 5.83339691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819072329 meters 0.6093877010798079 Centerline is valid? [False, False] Translation: X:-30.74, Y:-71.78, Z:58.43 [[ 0.85055735 -0.36512068 0.37846939 -30.74334902] [ 0.42063117 0.90429748 -0.0729074 -71.78086064] [ -0.31562892 0.22120794 0.92273801 58.42642961] [ 0. 0. 0. 1. ]] SLAMing on 292.84907232899997 meters 0.6089308257609968 Centerline is valid? [False, False] Translation: X:-30.94, Y:-71.70, Z:58.52 [[ 8.48651725e-01 -3.67734456e-01 3.80212598e-01 -3.09443694e+01] [ 4.23142147e-01 9.03290829e-01 -7.08265646e-02 -7.17000562e+01] [-3.17397184e-01 2.20991061e-01 9.22183267e-01 5.85216070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879072329 meters 0.6083543786944514 Centerline is valid? [False, False] Translation: X:-31.15, Y:-71.62, Z:58.62 [[ 0.84931389 -0.36558996 0.38080166 -31.14764289] [ 0.42181066 0.9037283 -0.07315006 -71.61700364] [ -0.31739831 0.22275356 0.92175874 58.61613578] [ 0. 0. 0. 1. ]] SLAMing on 292.90907232899997 meters 0.6105278413627696 Centerline is valid? [False, False] Translation: X:-31.35, Y:-71.53, Z:58.71 [[ 0.84796275 -0.36757493 0.38190031 -31.34814217] [ 0.42437223 0.90248922 -0.07363029 -71.53371941] [ -0.31759626 0.22450362 0.92126583 58.71184731] [ 0. 0. 0. 1. ]] SLAMing on 292.939072329 meters 0.6112920758483408 Centerline is valid? [False, False] Translation: X:-31.55, Y:-71.45, Z:58.81 [[ 0.84866995 -0.36593879 0.38190066 -31.5500581 ] [ 0.4233891 0.9027688 -0.07582988 -71.45142612] [ -0.31701891 0.22604712 0.92108725 58.80570838] [ 0. 0. 0. 1. ]] SLAMing on 292.96907232899997 meters 0.6110618150425475 Centerline is valid? [False, False] Translation: X:-31.75, Y:-71.37, Z:58.90 [[ 0.84784297 -0.36624348 0.38344232 -31.75195148] [ 0.42329371 0.90301 -0.07345321 -71.36732282] [ -0.31935049 0.22458551 0.92063924 58.90151418] [ 0. 0. 0. 1. ]] SLAMing on 292.99907232899994 meters 0.6116712890552909 Centerline is valid? [False, False] Translation: X:-31.96, Y:-71.28, Z:59.00 [[ 0.84867939 -0.36622401 0.38160616 -31.95630776] [ 0.42277793 0.90325615 -0.0733972 -71.28012116] [ -0.31780829 0.22362536 0.92140631 58.99659527] [ 0. 0. 0. 1. ]] SLAMing on 293.029072329 meters 0.6120798589894463 Centerline is valid? [False, False] Translation: X:-32.16, Y:-71.19, Z:59.09 [[ 0.85094441 -0.361709 0.38086771 -32.15755859] [ 0.41848218 0.90508776 -0.07542429 -71.19401592] [ -0.31743705 0.22356823 0.92154814 59.09167608] [ 0. 0. 0. 1. ]] SLAMing on 293.05907232899995 meters 0.6111687957513066 Centerline is valid? [False, False] Translation: X:-32.36, Y:-71.11, Z:59.19 [[ 0.8513565 -0.359933 0.38162855 -32.35531572] [ 0.41645685 0.90610087 -0.07446414 -71.1082619 ] [ -0.31899186 0.22232736 0.92131142 59.18849338] [ 0. 0. 0. 1. ]] SLAMing on 293.089072329 meters 0.6066748514442813 Centerline is valid? [False, False] Translation: X:-32.55, Y:-71.02, Z:59.28 [[ 0.85526002 -0.3519454 0.38034818 -32.55217142] [ 0.40811109 0.9097758 -0.07585074 -71.02091721] [ -0.31933625 0.22009641 0.92172769 59.28292815] [ 0. 0. 0. 1. ]] SLAMing on 293.11907232899995 meters 0.2368751111850025 Centerline is valid? [False, False] Translation: X:-32.74, Y:-70.94, Z:59.37 [[ 0.85616505 -0.34992335 0.38017767 -32.74041375] [ 0.40468657 0.91159192 -0.07231146 -70.93916485] [ -0.32126343 0.21576334 0.92208242 59.37420953] [ 0. 0. 0. 1. ]] SLAMing on 293.149072329 meters 0.28671301929083787 Centerline is valid? [False, False] Translation: X:-32.93, Y:-70.86, Z:59.47 [[ 8.57725700e-01 -3.46642476e-01 3.79665139e-01 -3.29283223e+01] [ 3.99907999e-01 9.13954570e-01 -6.89973630e-02 -7.08577183e+01] [-3.23079272e-01 2.11011938e-01 9.22547422e-01 5.94650783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17907232899995 meters 0.2748747918545102 Centerline is valid? [False, False] Translation: X:-33.11, Y:-70.77, Z:59.55 [[ 8.60060828e-01 -3.40348966e-01 3.80076248e-01 -3.31136000e+01] [ 3.92338297e-01 9.17430504e-01 -6.62716413e-02 -7.07742256e+01] [-3.26138059e-01 2.06116110e-01 9.22577973e-01 5.95540208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.209072329 meters 0.27863779618345713 Centerline is valid? [False, False] Translation: X:-33.29, Y:-70.70, Z:59.64 [[ 8.61219499e-01 -3.37594656e-01 3.79908966e-01 -3.32937843e+01] [ 3.89180502e-01 9.18811024e-01 -6.57635039e-02 -7.06950206e+01] [-3.26863139e-01 2.04489974e-01 9.22683228e-01 5.96407654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23907232899995 meters 0.2267276131544777 Centerline is valid? [False, False] Translation: X:-33.47, Y:-70.62, Z:59.73 [[ 8.62510591e-01 -3.35384377e-01 3.78936407e-01 -3.34724485e+01] [ 3.86173026e-01 9.20163257e-01 -6.45753323e-02 -7.06170836e+01] [-3.27025801e-01 2.02031927e-01 9.23166955e-01 5.97277351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.269072329 meters 0.22276393758448906 Centerline is valid? [False, False] Translation: X:-33.65, Y:-70.54, Z:59.81 [[ 8.64489569e-01 -3.28439483e-01 3.80506626e-01 -3.36514594e+01] [ 3.78979137e-01 9.23177988e-01 -6.41655321e-02 -7.05372121e+01] [-3.30200847e-01 1.99674506e-01 9.22549452e-01 5.98145799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29907232899996 meters 0.22559685788761114 Centerline is valid? [False, False] Translation: X:-33.83, Y:-70.46, Z:59.90 [[ 8.65857941e-01 -3.25725330e-01 3.79727580e-01 -3.38266860e+01] [ 3.75454126e-01 9.24703116e-01 -6.29153888e-02 -7.04595790e+01] [-3.30642141e-01 1.97046076e-01 9.22956455e-01 5.98988746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.329072329 meters 0.28525853543422375 Centerline is valid? [False, False] Translation: X:-34.00, Y:-70.38, Z:59.98 [[ 8.67625850e-01 -3.23249883e-01 3.77802724e-01 -3.39972922e+01] [ 3.71711786e-01 9.26338061e-01 -6.10585453e-02 -7.03844118e+01] [-3.30235875e-01 1.93409697e-01 9.23870638e-01 5.99795157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35907232899996 meters 0.2983383625996278 Centerline is valid? [False, False] Translation: X:-34.16, Y:-70.31, Z:60.06 [[ 8.71723055e-01 -3.16962668e-01 3.73675771e-01 -3.41641867e+01] [ 3.62992806e-01 9.29987628e-01 -5.79589044e-02 -7.03074063e+01] [-3.29143035e-01 1.86165730e-01 9.25746825e-01 6.00579664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.389072329 meters 0.26392949529673243 Centerline is valid? [False, False] Translation: X:-34.33, Y:-70.23, Z:60.13 [[ 8.74501225e-01 -3.12304041e-01 3.71098093e-01 -3.43283432e+01] [ 3.57549380e-01 9.32081198e-01 -5.81642607e-02 -7.02337795e+01] [-3.27728621e-01 1.83550610e-01 9.26770265e-01 6.01342108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41907232899996 meters 0.2753991523218989 Centerline is valid? [False, False] Translation: X:-34.49, Y:-70.16, Z:60.21 [[ 8.78723647e-01 -3.04601909e-01 3.67508407e-01 -3.44878018e+01] [ 3.49007531e-01 9.35239724e-01 -5.93329688e-02 -7.01599424e+01] [-3.25635526e-01 1.80400485e-01 9.28125622e-01 6.02093179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.449072329 meters 0.2662747069704582 Centerline is valid? [False, False] Translation: X:-34.64, Y:-70.09, Z:60.28 [[ 8.82100890e-01 -3.00497196e-01 3.62766392e-01 -3.46409970e+01] [ 3.43923184e-01 9.37075274e-01 -6.00564288e-02 -7.00911728e+01] [-3.21892628e-01 1.77739602e-01 9.29942885e-01 6.02792195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47907232899996 meters 0.2711734000010205 Centerline is valid? [False, False] Translation: X:-34.79, Y:-70.03, Z:60.35 [[ 8.83982464e-01 -3.00681075e-01 3.58002647e-01 -3.47861700e+01] [ 3.41160301e-01 9.38440511e-01 -5.42130695e-02 -7.00253340e+01] [-3.19663343e-01 1.70059694e-01 9.32145401e-01 6.03474827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.509072329 meters 0.277754989650964 Centerline is valid? [False, False] Translation: X:-34.94, Y:-69.96, Z:60.42 [[ 8.86751955e-01 -2.99278663e-01 3.52282914e-01 -3.49402596e+01] [ 3.39133288e-01 9.39077981e-01 -5.58673233e-02 -6.99556560e+01] [-3.14101230e-01 1.69011321e-01 9.34224593e-01 6.04156019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53907232899996 meters 0.28174098670706016 Centerline is valid? [False, False] Translation: X:-35.08, Y:-69.89, Z:60.48 [[ 8.95228721e-01 -2.84236775e-01 3.43183614e-01 -3.50821249e+01] [ 3.21265531e-01 9.45387743e-01 -5.50497367e-02 -6.98856942e+01] [-3.08794423e-01 1.59535171e-01 9.37653739e-01 6.04796141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.569072329 meters 0.2840017793391109 Centerline is valid? [False, False] Translation: X:-35.22, Y:-69.82, Z:60.54 [[ 8.98780090e-01 -2.74028943e-01 3.42202407e-01 -3.52183376e+01] [ 3.09232873e-01 9.49575305e-01 -5.17858196e-02 -6.98209587e+01] [-3.10756142e-01 1.52364297e-01 9.38198135e-01 6.05411449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59907232899997 meters 0.28295476717449847 Centerline is valid? [False, False] Translation: X:-35.34, Y:-69.76, Z:60.60 [[ 9.04913508e-01 -2.56792122e-01 3.39395563e-01 -3.53428054e+01] [ 2.89846181e-01 9.55785041e-01 -4.96401774e-02 -6.97583079e+01] [-3.11641996e-01 1.43292575e-01 9.39333010e-01 6.05986146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.629072329 meters 0.2823269688444749 Centerline is valid? [False, False] Translation: X:-35.46, Y:-69.70, Z:60.65 [[ 9.09018629e-01 -2.51441761e-01 3.32358501e-01 -3.54611815e+01] [ 2.82299359e-01 9.58163668e-01 -4.72171357e-02 -6.97026470e+01] [-3.06581481e-01 1.36745848e-01 9.41970471e-01 6.06520082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65907232899997 meters 0.2764816106816273 Centerline is valid? [False, False] Translation: X:-35.56, Y:-69.65, Z:60.70 [[ 9.19583038e-01 -2.30100113e-01 3.18466599e-01 -3.55569991e+01] [ 2.55595198e-01 9.65951253e-01 -4.01157182e-02 -6.96486988e+01] [-2.98392580e-01 1.18288268e-01 9.47084872e-01 6.06951676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.689072329 meters 0.28838293386448205 Centerline is valid? [False, False] Translation: X:-35.64, Y:-69.60, Z:60.73 [[ 9.24622254e-01 -2.20854474e-01 3.10317562e-01 -3.56447107e+01] [ 2.42493751e-01 9.69609832e-01 -3.24585196e-02 -6.96045346e+01] [-2.93718350e-01 1.05261939e-01 9.50078657e-01 6.07335937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71907232899997 meters 0.2814676036692277 Centerline is valid? [False, False] Translation: X:-35.73, Y:-69.56, Z:60.77 [[ 9.29754273e-01 -2.09818901e-01 3.02544245e-01 -3.57269765e+01] [ 2.28732575e-01 9.73084409e-01 -2.80738693e-02 -6.95620030e+01] [-2.88510660e-01 9.53035241e-02 9.52721805e-01 6.07695317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74907232899994 meters 0.28033734997553506 Centerline is valid? [False, False] Translation: X:-35.80, Y:-69.52, Z:60.80 [[ 9.35209098e-01 -1.97917614e-01 2.93619757e-01 -3.58025687e+01] [ 2.14918982e-01 9.76273062e-01 -2.64714908e-02 -6.95218381e+01] [-2.81413885e-01 8.78608385e-02 9.55555701e-01 6.08030284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779072329 meters 0.2863522281507741 Centerline is valid? [False, False] Translation: X:-35.86, Y:-69.48, Z:60.83 [[ 9.43835509e-01 -1.75377702e-01 2.80030702e-01 -3.58615860e+01] [ 1.89654968e-01 9.81544969e-01 -2.45044262e-02 -6.94804184e+01] [-2.70565196e-01 7.62373613e-02 9.59678248e-01 6.08345352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80907232899995 meters 0.28942873335103325 Centerline is valid? [False, False] Translation: X:-35.91, Y:-69.45, Z:60.86 [[ 9.50042334e-01 -1.68967027e-01 2.62430385e-01 -3.59074372e+01] [ 1.80260080e-01 9.83427901e-01 -1.93873071e-02 -6.94499562e+01] [-2.54805547e-01 6.57244848e-02 9.64756148e-01 6.08603111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839072329 meters 0.3162733870714978 Centerline is valid? [False, False] Translation: X:-35.95, Y:-69.42, Z:60.88 [[ 9.55868834e-01 -1.62214738e-01 2.44951324e-01 -3.59475532e+01] [ 1.71057193e-01 9.85145107e-01 -1.51180424e-02 -6.94219689e+01] [-2.38860229e-01 5.63515513e-02 9.69417502e-01 6.08814661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86907232899995 meters 0.2807496334029266 Centerline is valid? [False, False] Translation: X:-35.97, Y:-69.39, Z:60.90 [[ 9.66132240e-01 -1.39445265e-01 2.17125571e-01 -3.59739624e+01] [ 1.46140494e-01 9.89149987e-01 -1.50086475e-02 -6.93903789e+01] [-2.12676870e-01 4.62311764e-02 9.76028292e-01 6.08999320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899072329 meters 0.2761803774893676 Centerline is valid? [False, False] Translation: X:-35.98, Y:-69.37, Z:60.92 [[ 9.72370733e-01 -1.32072456e-01 1.92489021e-01 -3.59836217e+01] [ 1.36563825e-01 9.90578809e-01 -1.01953381e-02 -6.93741611e+01] [-1.89329022e-01 3.62006854e-02 9.81246163e-01 6.09161582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92907232899995 meters 0.3080436181013485 Centerline is valid? [False, False] Translation: X:-35.99, Y:-69.35, Z:60.93 [[ 9.81110347e-01 -1.14167847e-01 1.56167186e-01 -3.59921273e+01] [ 1.17597190e-01 9.92977995e-01 -1.28686430e-02 -6.93488169e+01] [-1.53601394e-01 3.09903811e-02 9.87646803e-01 6.09339145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959072329 meters 0.3058921796056979 Centerline is valid? [False, False] Translation: X:-36.00, Y:-69.34, Z:60.95 [[ 9.85508116e-01 -1.08530278e-01 1.30364610e-01 -3.59963222e+01] [ 1.11343373e-01 9.93676709e-01 -1.44654937e-02 -6.93366250e+01] [-1.27970333e-01 2.87710969e-02 9.91360589e-01 6.09451807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98907232899995 meters 0.3001741026377487 Centerline is valid? [False, False] Translation: X:-36.00, Y:-69.33, Z:60.96 [[ 9.89153891e-01 -1.03126832e-01 1.04591756e-01 -3.60006554e+01] [ 1.05299126e-01 9.94320573e-01 -1.54496858e-02 -6.93252850e+01] [-1.02404458e-01 2.62955373e-02 9.94395229e-01 6.09553616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019072329 meters 0.2901900420319442 Centerline is valid? [False, False] Translation: X:-36.02, Y:-69.31, Z:60.96 [[ 9.90416550e-01 -9.72820733e-02 9.80370122e-02 -3.60152213e+01] [ 9.96440409e-02 9.94832449e-01 -1.94798265e-02 -6.93131838e+01] [-9.56353630e-02 2.90619466e-02 9.94992101e-01 6.09595275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04907232899996 meters 0.2856375442729221 Centerline is valid? [False, False] Translation: X:-36.02, Y:-69.31, Z:60.96 [[ 9.91422507e-01 -9.80082594e-02 8.64626740e-02 -3.60219767e+01] [ 9.99956613e-02 9.94807370e-01 -1.89516519e-02 -6.93077391e+01] [-8.41562868e-02 2.74349865e-02 9.96074817e-01 6.09601034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079072329 meters 0.28125192482488304 Centerline is valid? [False, False] Translation: X:-36.03, Y:-69.30, Z:60.96 [[ 9.92095669e-01 -1.00088755e-01 7.56863580e-02 -3.60302669e+01] [ 1.01896640e-01 9.94585701e-01 -2.04048753e-02 -6.93016413e+01] [-7.32342709e-02 2.79557740e-02 9.96922874e-01 6.09607825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10907232899996 meters 0.2998764893054331 Centerline is valid? [False, False] Translation: X:-36.05, Y:-69.30, Z:60.96 [[ 9.90854042e-01 -1.08618497e-01 8.00642804e-02 -3.60463840e+01] [ 1.10635476e-01 9.93635162e-01 -2.11886000e-02 -6.92972076e+01] [-7.72532103e-02 2.98527597e-02 9.96564476e-01 6.09588114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139072329 meters 0.2734069742505509 Centerline is valid? [False, False] Translation: X:-36.06, Y:-69.29, Z:60.96 [[ 9.89864115e-01 -1.14861268e-01 8.35219932e-02 -3.60595993e+01] [ 1.16992821e-01 9.92909130e-01 -2.10746087e-02 -6.92933982e+01] [-8.05090933e-02 3.06324725e-02 9.96283061e-01 6.09572397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16907232899996 meters 0.3319867216070694 Centerline is valid? [False, False] Translation: X:-36.09, Y:-69.29, Z:60.95 [[ 9.87259020e-01 -1.30543349e-01 9.09838479e-02 -3.60901279e+01] [ 1.33009844e-01 9.90880006e-01 -2.15683777e-02 -6.92850894e+01] [-8.73384675e-02 3.33953229e-02 9.95618775e-01 6.09546494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199072329 meters 0.27731430859787615 Centerline is valid? [False, False] Translation: X:-36.11, Y:-69.28, Z:60.96 [[ 9.87032744e-01 -1.34883330e-01 8.70221241e-02 -3.61094426e+01] [ 1.38053732e-01 9.89924403e-01 -3.14776705e-02 -6.92780203e+01] [-8.18995112e-02 4.30832205e-02 9.95708947e-01 6.09551357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22907232899996 meters 0.3183843562646201 Centerline is valid? [False, False] Translation: X:-36.13, Y:-69.27, Z:60.96 [[ 9.86689558e-01 -1.39744680e-01 8.31573188e-02 -3.61288012e+01] [ 1.43536026e-01 9.88775398e-01 -4.14803759e-02 -6.92714773e+01] [-7.64272492e-02 5.28643249e-02 9.95672757e-01 6.09551209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259072329 meters 0.3104717745037898 Centerline is valid? [False, False] Translation: X:-36.17, Y:-69.26, Z:60.95 [[ 9.83937747e-01 -1.55403643e-01 8.78419992e-02 -3.61656191e+01] [ 1.59011198e-01 9.86633269e-01 -3.56403086e-02 -6.92635612e+01] [-8.11292050e-02 4.90357066e-02 9.95496636e-01 6.09527467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28907232899996 meters 0.3050296868540189 Centerline is valid? [False, False] Translation: X:-36.19, Y:-69.25, Z:60.95 [[ 9.84859796e-01 -1.50804950e-01 8.54929754e-02 -3.61932543e+01] [ 1.54076772e-01 9.87506935e-01 -3.30212332e-02 -6.92544644e+01] [-7.94451406e-02 4.56937666e-02 9.95791419e-01 6.09521518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319072329 meters 0.2585216024336509 Centerline is valid? [False, False] Translation: X:-36.22, Y:-69.24, Z:60.95 [[ 9.85278325e-01 -1.48920175e-01 8.39607251e-02 -3.62232111e+01] [ 1.52084982e-01 9.87829159e-01 -3.26145944e-02 -6.92438512e+01] [-7.80818813e-02 4.49036183e-02 9.95935181e-01 6.09522194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34907232899997 meters 0.27542728183532983 Centerline is valid? [False, False] Translation: X:-36.25, Y:-69.23, Z:60.95 [[ 9.85701202e-01 -1.47292605e-01 8.18414811e-02 -3.62498088e+01] [ 1.50476131e-01 9.88023170e-01 -3.41635627e-02 -6.92340010e+01] [-7.58292394e-02 4.59902542e-02 9.96059648e-01 6.09521813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379072329 meters 0.3031810221402412 Centerline is valid? [False, False] Translation: X:-36.27, Y:-69.23, Z:60.95 [[ 9.86318815e-01 -1.45149803e-01 7.81455666e-02 -3.62709195e+01] [ 1.48439803e-01 9.88189126e-01 -3.80509564e-02 -6.92270540e+01] [-7.16995103e-02 4.91302867e-02 9.96215536e-01 6.09534310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40907232899997 meters 0.29213340110689895 Centerline is valid? [False, False] Translation: X:-36.29, Y:-69.22, Z:60.95 [[ 9.87182197e-01 -1.41480202e-01 7.38556815e-02 -3.62909498e+01] [ 1.44714252e-01 9.88647548e-01 -4.04204332e-02 -6.92200047e+01] [-6.72985473e-02 5.05903018e-02 9.96449460e-01 6.09541635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439072329 meters 0.29437364360751983 Centerline is valid? [False, False] Translation: X:-36.31, Y:-69.21, Z:60.95 [[ 9.87945898e-01 -1.38264489e-01 6.96120254e-02 -3.63110103e+01] [ 1.41424111e-01 9.89028098e-01 -4.26924183e-02 -6.92133214e+01] [-6.29454037e-02 5.20226183e-02 9.96660184e-01 6.09541146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46907232899997 meters 0.2983946281286969 Centerline is valid? [False, False] Translation: X:-36.33, Y:-69.20, Z:60.96 [[ 9.88776538e-01 -1.34486596e-01 6.50716032e-02 -3.63308708e+01] [ 1.37540665e-01 9.89475032e-01 -4.49636039e-02 -6.92049443e+01] [-5.83397247e-02 5.34089481e-02 9.96867073e-01 6.09550996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49907232899994 meters 0.2768884828598953 Centerline is valid? [False, False] Translation: X:-36.35, Y:-69.20, Z:60.96 [[ 9.89564773e-01 -1.30779938e-01 6.04827971e-02 -3.63505064e+01] [ 1.33696816e-01 9.89908047e-01 -4.69810687e-02 -6.91970651e+01] [-5.37282263e-02 5.45771680e-02 9.97062992e-01 6.09553987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.529072329 meters 0.2768884828598953 Centerline is valid? [False, False] Translation: X:-36.37, Y:-69.19, Z:60.95 [[ 9.90410629e-01 -1.26564660e-01 5.53910929e-02 -3.63689226e+01] [ 1.29253649e-01 9.90449573e-01 -4.79910068e-02 -6.91901246e+01] [-4.87881189e-02 5.46903041e-02 9.97310729e-01 6.09544848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55907232899995 meters 0.2810389507372457 Centerline is valid? [False, False] Translation: X:-36.39, Y:-69.18, Z:60.96 [[ 9.91418926e-01 -1.20482951e-01 5.07185549e-02 -3.63891974e+01] [ 1.22904034e-01 9.91272859e-01 -4.76730170e-02 -6.91809393e+01] [-4.45321412e-02 5.34974463e-02 9.97574514e-01 6.09550696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.589072329 meters 0.27663052564942375 Centerline is valid? [False, False] Translation: X:-36.41, Y:-69.18, Z:60.95 [[ 9.91632460e-01 -1.14467342e-01 5.96849475e-02 -3.64072262e+01] [ 1.17386352e-01 9.91929062e-01 -4.79289079e-02 -6.91754211e+01] [-5.37169393e-02 5.45340591e-02 9.97065959e-01 6.09493135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61907232899995 meters 0.33261968363105177 Centerline is valid? [False, False] Translation: X:-36.43, Y:-69.17, Z:60.95 [[ 9.92593547e-01 -1.08473203e-01 5.46956502e-02 -3.64258240e+01] [ 1.11123196e-01 9.92647565e-01 -4.79838212e-02 -6.91653875e+01] [-4.90885452e-02 5.37063868e-02 9.97349457e-01 6.09489936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.649072329 meters 0.26619657880908454 Centerline is valid? [False, False] Translation: X:-36.44, Y:-69.16, Z:60.95 [[ 9.93605872e-01 -1.01392393e-01 4.96684456e-02 -3.64444898e+01] [ 1.03758590e-01 9.93461384e-01 -4.76301755e-02 -6.91552695e+01] [-4.45143452e-02 5.24791499e-02 9.97629396e-01 6.09497743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67907232899995 meters 0.33147488918188767 Centerline is valid? [False, False] Translation: X:-36.46, Y:-69.14, Z:60.95 [[ 9.94623584e-01 -9.34589937e-02 4.46020561e-02 -3.64633758e+01] [ 9.55371339e-02 9.94316322e-01 -4.69862562e-02 -6.91439228e+01] [-3.99572642e-02 5.09947911e-02 9.97899268e-01 6.09516046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.709072329 meters 0.32688122460195285 Centerline is valid? [False, False] Translation: X:-36.48, Y:-69.13, Z:60.95 [[ 9.95364012e-01 -8.14629324e-02 5.11299701e-02 -3.64786106e+01] [ 8.38646511e-02 9.95380935e-01 -4.67280890e-02 -6.91336509e+01] [-4.70871903e-02 5.07994552e-02 9.97598222e-01 6.09494929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73907232899995 meters 0.32255598027054183 Centerline is valid? [False, False] Translation: X:-36.48, Y:-69.13, Z:60.95 [[ 9.95587616e-01 -8.30548398e-02 4.36714235e-02 -3.64805298e+01] [ 8.44312272e-02 9.95957025e-01 -3.06752786e-02 -6.91332997e+01] [-4.09471307e-02 3.42271593e-02 9.98574902e-01 6.09537684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.769072329 meters 0.3134747313291422 Centerline is valid? [False, False] Translation: X:-36.49, Y:-69.13, Z:60.95 [[ 9.95935892e-01 -7.50481706e-02 4.97942945e-02 -3.64949953e+01] [ 7.68452964e-02 9.96421012e-01 -3.52131644e-02 -6.91275894e+01] [-4.69733978e-02 3.88965116e-02 9.98138548e-01 6.09516605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79907232899996 meters 0.31304927258874743 Centerline is valid? [False, False] Translation: X:-36.51, Y:-69.12, Z:60.95 [[ 9.95912243e-01 -7.34099103e-02 5.26287841e-02 -3.65087470e+01] [ 7.49370478e-02 9.96804754e-01 -2.76536098e-02 -6.91225604e+01] [-5.04305732e-02 3.14844142e-02 9.98231180e-01 6.09517235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.829072329 meters 0.3540527324172803 Centerline is valid? [False, False] Translation: X:-36.52, Y:-69.12, Z:60.95 [[ 9.96440274e-01 -7.35992030e-02 4.11088496e-02 -3.65164036e+01] [ 7.46609392e-02 9.96897640e-01 -2.49166524e-02 -6.91160040e+01] [-3.91474694e-02 2.78971813e-02 9.98843943e-01 6.09538647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85907232899996 meters 0.29650467409168035 Centerline is valid? [False, False] Translation: X:-36.53, Y:-69.11, Z:60.95 [[ 9.96666984e-01 -6.69106361e-02 4.66678629e-02 -3.65288606e+01] [ 6.83612476e-02 9.97203092e-01 -3.02114828e-02 -6.91116185e+01] [-4.45158676e-02 3.33010608e-02 9.98453493e-01 6.09500495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.889072329 meters 0.29569331616500394 Centerline is valid? [False, False] Translation: X:-36.54, Y:-69.11, Z:60.95 [[ 9.96523456e-01 -6.69380651e-02 4.96013852e-02 -3.65438624e+01] [ 6.81618457e-02 9.97399727e-01 -2.34039867e-02 -6.91080195e+01] [-4.79057905e-02 2.67035437e-02 9.98494845e-01 6.09501061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91907232899996 meters 0.2840838310281011 Centerline is valid? [False, False] Translation: X:-36.56, Y:-69.10, Z:60.95 [[ 9.96909726e-01 -6.72079527e-02 4.06704850e-02 -3.65555403e+01] [ 6.82578397e-02 9.97354439e-01 -2.49998075e-02 -6.91026899e+01] [-3.88827029e-02 2.76986307e-02 9.98859811e-01 6.09496663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.949072329 meters 0.28940960870789373 Centerline is valid? [False, False] Translation: X:-36.56, Y:-69.10, Z:60.95 [[ 9.96938086e-01 -7.22224017e-02 2.99729477e-02 -3.65623127e+01] [ 7.29577362e-02 9.97041149e-01 -2.42098148e-02 -6.91034303e+01] [-2.81357713e-02 2.63224448e-02 9.99257478e-01 6.09512216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97907232899996 meters 0.2954037306481483 Centerline is valid? [False, False] Translation: X:-36.58, Y:-69.10, Z:60.95 [[ 9.97090732e-01 -6.70597816e-02 3.62361418e-02 -3.65754160e+01] [ 6.81772686e-02 9.97205791e-01 -3.05363650e-02 -6.91016353e+01] [-3.40871285e-02 3.29180077e-02 9.98876605e-01 6.09464949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.009072329 meters 0.28942339177358406 Centerline is valid? [False, False] Translation: X:-36.58, Y:-69.11, Z:60.95 [[ 9.97324761e-01 -6.29462288e-02 3.71630770e-02 -3.65779679e+01] [ 6.39075924e-02 9.97635757e-01 -2.52728168e-02 -6.91054290e+01] [-3.54843859e-02 2.75802088e-02 9.98989585e-01 6.09457938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03907232899996 meters 0.26710577406026936 Centerline is valid? [False, False] Translation: X:-36.59, Y:-69.11, Z:60.95 [[ 9.96935892e-01 -6.67426888e-02 4.07951050e-02 -3.65944351e+01] [ 6.76545387e-02 9.97479398e-01 -2.13942529e-02 -6.91052579e+01] [-3.92643668e-02 2.40886726e-02 9.98938459e-01 6.09457745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.069072329 meters 0.312838042766449 Centerline is valid? [False, False] Translation: X:-36.61, Y:-69.10, Z:60.94 [[ 9.96708152e-01 -6.44611338e-02 4.91693162e-02 -3.66118572e+01] [ 6.59685779e-02 9.97380306e-01 -2.96761112e-02 -6.91026104e+01] [-4.71275519e-02 3.28220518e-02 9.98349491e-01 6.09431347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09907232899997 meters 0.3092052533744183 Centerline is valid? [False, False] Translation: X:-36.62, Y:-69.10, Z:60.95 [[ 9.96117688e-01 -7.54638572e-02 4.53294418e-02 -3.66156524e+01] [ 7.64848489e-02 9.96844787e-01 -2.12259009e-02 -6.91046469e+01] [-4.35846293e-02 2.46105108e-02 9.98746566e-01 6.09482192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.129072329 meters 0.29233082670970656 Centerline is valid? [False, False] Translation: X:-36.63, Y:-69.10, Z:60.94 [[ 9.95693487e-01 -7.44630101e-02 5.52244598e-02 -3.66349996e+01] [ 7.61301763e-02 9.96684089e-01 -2.87232025e-02 -6.91021512e+01] [-5.29025243e-02 3.28037535e-02 9.98060738e-01 6.09439560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15907232899997 meters 0.28927560878696257 Centerline is valid? [False, False] Translation: X:-36.64, Y:-69.11, Z:60.95 [[ 9.94822472e-01 -8.74237730e-02 5.18202076e-02 -3.66382654e+01] [ 8.86221132e-02 9.95837714e-01 -2.12924558e-02 -6.91093668e+01] [-4.97430502e-02 2.57746298e-02 9.98429415e-01 6.09475627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.189072329 meters 0.282050814016958 Centerline is valid? [False, False] Translation: X:-36.66, Y:-69.10, Z:60.95 [[ 9.95059402e-01 -8.74484436e-02 4.70059185e-02 -3.66565627e+01] [ 8.87114504e-02 9.95731248e-01 -2.54864695e-02 -6.91040555e+01] [-4.45765098e-02 2.95305143e-02 9.98569418e-01 6.09457572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21907232899997 meters 0.26609401115000825 Centerline is valid? [False, False] Translation: X:-36.67, Y:-69.10, Z:60.94 [[ 9.94890502e-01 -9.17662191e-02 4.20933597e-02 -3.66734772e+01] [ 9.31892243e-02 9.95095167e-01 -3.31870160e-02 -6.91012414e+01] [-3.88414518e-02 3.69400945e-02 9.98562352e-01 6.09422052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24907232899994 meters 0.26936354710021965 Centerline is valid? [False, False] Translation: X:-36.69, Y:-69.10, Z:60.93 [[ 9.94767702e-01 -8.82692698e-02 5.14369116e-02 -3.66913304e+01] [ 9.02475759e-02 9.95213297e-01 -3.74949139e-02 -6.90998217e+01] [-4.78810497e-02 4.19407859e-02 9.97972132e-01 6.09337634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279072329 meters 0.2643699813176138 Centerline is valid? [False, False] Translation: X:-36.70, Y:-69.10, Z:60.93 [[ 9.94948437e-01 -9.11484432e-02 4.20662491e-02 -3.67012391e+01] [ 9.28179934e-02 9.94895160e-01 -3.96035408e-02 -6.90953022e+01] [-3.82417065e-02 4.33079858e-02 9.98329600e-01 6.09323021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30907232899995 meters 0.27757487838012473 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.09, Z:60.92 [[ 9.94911149e-01 -8.70187975e-02 5.07891129e-02 -3.67174735e+01] [ 8.92686460e-02 9.95041924e-01 -4.38483659e-02 -6.90930647e+01] [-4.67216645e-02 4.81591035e-02 9.97746354e-01 6.09235637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339072329 meters 0.2880014297753433 Centerline is valid? [False, False] Translation: X:-36.73, Y:-69.09, Z:60.92 [[ 9.94805935e-01 -8.63180527e-02 5.39476100e-02 -3.67322768e+01] [ 8.83559787e-02 9.95416202e-01 -3.66033605e-02 -6.90886638e+01] [-5.05407942e-02 4.11798342e-02 9.97872662e-01 6.09234743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36907232899995 meters 0.2705671685259356 Centerline is valid? [False, False] Translation: X:-36.75, Y:-69.08, Z:60.92 [[ 9.95396586e-01 -8.23624457e-02 4.90108569e-02 -3.67508831e+01] [ 8.43323371e-02 9.95651288e-01 -3.95799101e-02 -6.90771930e+01] [-4.55378246e-02 4.35309075e-02 9.98013711e-01 6.09249818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399072329 meters 0.29756893642440807 Centerline is valid? [False, False] Translation: X:-36.75, Y:-69.08, Z:60.93 [[ 9.95665396e-01 -7.88188804e-02 4.93761317e-02 -3.67531965e+01] [ 8.06351869e-02 9.96095555e-01 -3.59390012e-02 -6.90764462e+01] [-4.63506735e-02 3.97646735e-02 9.98133451e-01 6.09262271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42907232899995 meters 0.28087163343028354 Centerline is valid? [False, False] Translation: X:-36.76, Y:-69.07, Z:60.93 [[ 9.95870052e-01 -7.59975982e-02 4.96709634e-02 -3.67559553e+01] [ 7.77219603e-02 9.96403439e-01 -3.37562291e-02 -6.90720883e+01] [-4.69269265e-02 3.74773423e-02 9.98195027e-01 6.09289355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459072329 meters 0.26405122728984365 Centerline is valid? [False, False] Translation: X:-36.77, Y:-69.06, Z:60.93 [[ 9.95939880e-01 -7.04827618e-02 5.59994178e-02 -3.67706266e+01] [ 7.27822774e-02 9.96539713e-01 -4.01415143e-02 -6.90639830e+01] [-5.29763589e-02 4.40543002e-02 9.97623538e-01 6.09276873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48907232899995 meters 0.26790707879131104 Centerline is valid? [False, False] Translation: X:-36.77, Y:-69.06, Z:60.93 [[ 9.95975532e-01 -7.37568642e-02 5.09182229e-02 -3.67744018e+01] [ 7.50862626e-02 9.96870928e-01 -2.47064142e-02 -6.90630430e+01] [-4.89366284e-02 2.84302431e-02 9.98397179e-01 6.09330569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519072329 meters 0.2690063908222512 Centerline is valid? [False, False] Translation: X:-36.79, Y:-69.06, Z:60.93 [[ 9.96160041e-01 -6.71174313e-02 5.62176492e-02 -3.67872581e+01] [ 6.88929855e-02 9.97164949e-01 -3.02625476e-02 -6.90579471e+01] [-5.40271248e-02 3.40193424e-02 9.97959796e-01 6.09292879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54907232899996 meters 0.29359407721564 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.05, Z:60.93 [[ 9.96793215e-01 -6.52252316e-02 4.63568386e-02 -3.67978749e+01] [ 6.65681543e-02 9.97387815e-01 -2.80397323e-02 -6.90491270e+01] [-4.44068479e-02 3.10357041e-02 9.98531330e-01 6.09298032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579072329 meters 0.28635191644297125 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.04, Z:60.93 [[ 9.97271270e-01 -5.43718393e-02 4.99371405e-02 -3.68093357e+01] [ 5.59298986e-02 9.97973280e-01 -3.03509199e-02 -6.90423619e+01] [-4.81856966e-02 3.30610796e-02 9.98291092e-01 6.09258981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60907232899996 meters 0.25615218407834656 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.04, Z:60.93 [[ 9.97199646e-01 -6.03320296e-02 4.41917641e-02 -3.68124719e+01] [ 6.12244457e-02 9.97940765e-01 -1.91258211e-02 -6.90410567e+01] [-4.29468633e-02 2.17778783e-02 9.98839973e-01 6.09301425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639072329 meters 0.2751669308853653 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.04, Z:60.92 [[ 9.97882464e-01 -5.02647581e-02 4.12800466e-02 -3.68173575e+01] [ 5.12109904e-02 9.98441230e-01 -2.21933446e-02 -6.90388249e+01] [-4.01001574e-02 2.42603415e-02 9.98901103e-01 6.09236750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66907232899996 meters 0.2846583530428942 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.03, Z:60.92 [[ 9.98134711e-01 -5.20529062e-02 3.18997469e-02 -3.68284123e+01] [ 5.28309645e-02 9.98313747e-01 -2.40530946e-02 -6.90304213e+01] [-3.05939224e-02 2.56935230e-02 9.99201609e-01 6.09239381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699072329 meters 0.28110269777559155 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.03, Z:60.92 [[ 9.98283955e-01 -4.58996388e-02 3.63643697e-02 -3.68398516e+01] [ 4.70092248e-02 9.98435735e-01 -3.02690589e-02 -6.90259052e+01] [-3.49181474e-02 3.19265767e-02 9.98880081e-01 6.09183132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72907232899996 meters 0.27693572264465044 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.03, Z:60.92 [[ 9.98422900e-01 -4.19669282e-02 3.72892748e-02 -3.68425883e+01] [ 4.29318420e-02 9.98753454e-01 -2.54636153e-02 -6.90286127e+01] [-3.61741623e-02 2.70243539e-02 9.98980037e-01 6.09184083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759072329 meters 0.27454882721008295 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.92 [[ 9.98516434e-01 -3.84621155e-02 3.85434385e-02 -3.68459746e+01] [ 3.92957507e-02 9.99004627e-01 -2.11092093e-02 -6.90304539e+01] [-3.76931686e-02 2.25924858e-02 9.99033936e-01 6.09184179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78907232899996 meters 0.25847101809905826 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.92 [[ 9.98285594e-01 -4.78469820e-02 3.37126061e-02 -3.68488362e+01] [ 4.82517789e-02 9.98771313e-01 -1.12973376e-02 -6.90337074e+01] [-3.31306404e-02 1.29046626e-02 9.99367715e-01 6.09232667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819072329 meters 0.2665795152671802 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.92 [[ 9.98218122e-01 -4.51166630e-02 3.90521122e-02 -3.68613370e+01] [ 4.59472349e-02 9.98730651e-01 -2.06382770e-02 -6.90308655e+01] [-3.80714112e-02 2.23958387e-02 9.99024021e-01 6.09178571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84907232899997 meters 0.29476939678770814 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.03, Z:60.92 [[ 9.98340084e-01 -5.01158604e-02 2.83809319e-02 -3.68685621e+01] [ 5.07146074e-02 9.98496878e-01 -2.07849137e-02 -6.90265939e+01] [-2.72966181e-02 2.21897403e-02 9.99381063e-01 6.09184522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879072329 meters 0.28452087688387756 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.91 [[ 9.98132614e-01 -4.93863391e-02 3.59482079e-02 -3.68826128e+01] [ 5.04635564e-02 9.98284148e-01 -2.97016752e-02 -6.90265090e+01] [-3.44196691e-02 3.14602852e-02 9.98912177e-01 6.09102955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90907232899997 meters 0.27916333341099525 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.91 [[ 9.97978574e-01 -5.56435958e-02 3.07010894e-02 -3.68843715e+01] [ 5.61971118e-02 9.98266835e-01 -1.74702971e-02 -6.90277923e+01] [-2.96757692e-02 1.91602948e-02 9.99375921e-01 6.09137985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939072329 meters 0.2747193321805931 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.91 [[ 9.98146545e-01 -4.91354672e-02 3.59051666e-02 -3.68957780e+01] [ 4.99763837e-02 9.98487595e-01 -2.29103597e-02 -6.90231985e+01] [-3.47251522e-02 2.46623067e-02 9.99092555e-01 6.09068480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96907232899997 meters 0.26983539781072224 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.90 [[ 9.98303635e-01 -4.24046886e-02 3.98960448e-02 -3.69067922e+01] [ 4.35700390e-02 9.98634944e-01 -2.88079799e-02 -6.90172096e+01] [-3.86199910e-02 3.04973833e-02 9.98788469e-01 6.09014140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99907232899994 meters 0.2609717991964286 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.91 [[ 9.98750484e-01 -4.32254589e-02 2.50804673e-02 -3.69033796e+01] [ 4.36424866e-02 9.98913819e-01 -1.63253078e-02 -6.90173673e+01] [-2.43475564e-02 1.73994830e-02 9.99552127e-01 6.09055158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.029072329 meters 0.2614489268158228 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.01, Z:60.90 [[ 9.99052477e-01 -3.35600107e-02 2.77105528e-02 -3.69130450e+01] [ 3.41098873e-02 9.99225581e-01 -1.96151334e-02 -6.90117153e+01] [-2.70308091e-02 2.05417515e-02 9.99423520e-01 6.08991065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05907232899995 meters 0.26352667639333893 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.00, Z:60.90 [[ 9.99493335e-01 -2.55499594e-02 1.89808380e-02 -3.69212361e+01] [ 2.59714616e-02 9.99413870e-01 -2.23024381e-02 -6.89982262e+01] [-1.83998863e-02 2.27840983e-02 9.99571073e-01 6.09014258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.089072329 meters 0.2553985262027657 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.00, Z:60.90 [[ 9.99659948e-01 -1.75358894e-02 1.92997513e-02 -3.69225288e+01] [ 1.78162972e-02 9.99736791e-01 -1.44543290e-02 -6.89961979e+01] [-1.90412019e-02 1.47932639e-02 9.99709254e-01 6.09017470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11907232899995 meters 0.2716312714870785 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.98, Z:60.91 [[ 9.99921374e-01 -8.12188278e-03 9.55407351e-03 -3.69318491e+01] [ 8.25543368e-03 9.99867592e-01 -1.40230464e-02 -6.89770225e+01] [-9.43891494e-03 1.41008168e-02 9.99856027e-01 6.09068710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.149072329 meters 0.2848554183226609 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.97, Z:60.91 [[ 9.99947823e-01 -4.37543058e-03 9.23074428e-03 -3.69317829e+01] [ 4.47563416e-03 9.99930981e-01 -1.08628347e-02 -6.89739645e+01] [-9.18257761e-03 1.09035813e-02 9.99898391e-01 6.09080662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17907232899995 meters 0.2700442276153954 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.97, Z:60.91 [[ 9.99956555e-01 -4.66152264e-04 9.30966657e-03 -3.69322662e+01] [ 5.33438055e-04 9.99973747e-01 -7.22634406e-03 -6.89720951e+01] [-9.30605359e-03 7.23099625e-03 9.99930553e-01 6.09085512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.209072329 meters 0.2809817263938231 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.97, Z:60.91 [[ 9.99954871e-01 3.42081953e-03 8.86306438e-03 -3.69316397e+01] [-3.38601479e-03 9.99986510e-01 -3.93897616e-03 -6.89692746e+01] [-8.87641934e-03 3.90878793e-03 9.99952964e-01 6.09094523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23907232899995 meters 0.2817801073016285 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.97, Z:60.91 [[ 9.99957468e-01 3.39315636e-03 8.57605982e-03 -3.69309800e+01] [-3.35771892e-03 9.99985780e-01 -4.14316127e-03 -6.89685582e+01] [-8.58999626e-03 4.11418906e-03 9.99954642e-01 6.09095850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.269072329 meters 0.27690056416495745 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.97, Z:60.91 [[ 9.99962304e-01 3.33293014e-03 8.01766120e-03 -3.69298561e+01] [-3.29691783e-03 9.99984437e-01 -4.50065456e-03 -6.89674121e+01] [-8.03253679e-03 4.47405133e-03 9.99957730e-01 6.09100196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29907232899996 meters 0.3101079106538911 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99970379e-01 3.57109815e-03 6.81818961e-03 -3.69267616e+01] [-3.53680460e-03 9.99981069e-01 -5.03516475e-03 -6.89644076e+01] [-6.83604160e-03 5.01090100e-03 9.99964079e-01 6.09100885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.329072329 meters 0.3092561828621262 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99974162e-01 3.44648765e-03 6.30845330e-03 -3.69256980e+01] [-3.41178119e-03 9.99979032e-01 -5.50409829e-03 -6.89628639e+01] [-6.32729083e-03 5.48243302e-03 9.99964954e-01 6.09104950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35907232899996 meters 0.3046304023509313 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99977235e-01 3.23696886e-03 5.92040543e-03 -3.69250834e+01] [-3.20106667e-03 9.99976493e-01 -6.06360123e-03 -6.89612189e+01] [-5.93989394e-03 6.04451158e-03 9.99964090e-01 6.09111699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.389072329 meters 0.2674919709103445 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99976971e-01 3.28426762e-03 5.93886193e-03 -3.69251617e+01] [-3.24874699e-03 9.99976837e-01 -5.98083880e-03 -6.89614693e+01] [-5.95836704e-03 5.96140721e-03 9.99964479e-01 6.09112329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41907232899996 meters 0.2674919709103445 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99976971e-01 3.28426762e-03 5.93886193e-03 -3.69251617e+01] [-3.24874699e-03 9.99976837e-01 -5.98083880e-03 -6.89614693e+01] [-5.95836704e-03 5.96140721e-03 9.99964479e-01 6.09112329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.449072329 meters 0.29780895076431896 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99975544e-01 3.32539610e-03 6.15244222e-03 -3.69256714e+01] [-3.28949602e-03 9.99977560e-01 -5.83604083e-03 -6.89619308e+01] [-6.17171131e-03 5.81565967e-03 9.99964043e-01 6.09112134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47907232899996 meters 0.3028801165815545 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99974096e-01 3.40744714e-03 6.34008600e-03 -3.69260549e+01] [-3.37173958e-03 9.99978443e-01 -5.63422087e-03 -6.89625031e+01] [-6.35914764e-03 5.61269780e-03 9.99964029e-01 6.09111034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.509072329 meters 0.29346791731128835 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.96, Z:60.91 [[ 9.99969536e-01 3.65145282e-03 6.89883794e-03 -3.69270828e+01] [-3.61720918e-03 9.99981109e-01 -4.96965720e-03 -6.89644614e+01] [-6.91685408e-03 4.94455126e-03 9.99963854e-01 6.09105365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53907232899996 meters 0.31698250528032884 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.97, Z:60.91 [[ 9.99964656e-01 3.98987018e-03 7.40055377e-03 -3.69277303e+01] [-3.95919594e-03 9.99983531e-01 -4.15488675e-03 -6.89665589e+01] [-7.41700935e-03 4.12543965e-03 9.99963984e-01 6.09095628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.569072329 meters 0.28013284526783216 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.97, Z:60.91 [[ 9.99967620e-01 5.93337892e-04 8.02534842e-03 -3.69280498e+01] [-5.41907386e-04 9.99979314e-01 -6.40916465e-03 -6.89717198e+01] [-8.02898521e-03 6.40460813e-03 9.99947257e-01 6.09073711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59907232899997 meters 0.27682994654155135 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.98, Z:60.91 [[ 9.99957073e-01 6.46198329e-04 9.24306650e-03 -3.69305152e+01] [-5.97023634e-04 9.99985660e-01 -5.32194117e-03 -6.89752848e+01] [-9.24637298e-03 5.31619439e-03 9.99943120e-01 6.09062143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.629072329 meters 0.26408382794069984 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.98, Z:60.91 [[ 9.99946707e-01 1.06958235e-03 1.02683828e-02 -3.69325005e+01] [-1.02975989e-03 9.99991932e-01 -3.88266627e-03 -6.89795467e+01] [-1.02724528e-02 3.87188538e-03 9.99939741e-01 6.09051146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65907232899997 meters 0.29692667507961273 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99915885e-01 -3.50226883e-03 1.24882508e-02 -3.69366599e+01] [ 3.56671784e-03 9.99980418e-01 -5.14223895e-03 -6.89873294e+01] [-1.24699968e-02 5.18634848e-03 9.99908796e-01 6.09014281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.689072329 meters 0.2967876471145261 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99903764e-01 -3.10632543e-03 1.35208502e-02 -3.69386348e+01] [ 3.15795779e-03 9.99987797e-01 -3.79904737e-03 -6.89912097e+01] [-1.35088841e-02 3.84138003e-03 9.99901372e-01 6.09003724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71907232899997 meters 0.28851875625064344 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99884152e-01 -3.26132704e-03 1.48675985e-02 -3.69416753e+01] [ 3.30696960e-03 9.99989892e-01 -3.04638516e-03 -6.89942347e+01] [-1.48575129e-02 3.09519894e-03 9.99884830e-01 6.08998557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74907232899994 meters 0.2584841138704285 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99847125e-01 -7.15109234e-03 1.59558007e-02 -3.69436382e+01] [ 7.23998900e-03 9.99958552e-01 -5.52064118e-03 -6.89992280e+01] [-1.59156608e-02 5.63531704e-03 9.99857457e-01 6.08983622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779072329 meters 0.2466349990324734 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99836721e-01 -7.04525219e-03 1.66401825e-02 -3.69449532e+01] [ 7.13020146e-03 9.99961822e-01 -5.05126838e-03 -6.90005398e+01] [-1.66039598e-02 5.16909147e-03 9.99848783e-01 6.08977714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80907232899995 meters 0.24815943355148437 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99825625e-01 -6.84503360e-03 1.73742840e-02 -3.69462712e+01] [ 6.92107277e-03 9.99966717e-01 -4.32018579e-03 -6.90025236e+01] [-1.73441339e-02 4.43968114e-03 9.99839722e-01 6.08969499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839072329 meters 0.24492800343797164 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99811467e-01 -6.69199448e-03 1.82276447e-02 -3.69479239e+01] [ 6.75915976e-03 9.99970584e-01 -3.62569128e-03 -6.90045958e+01] [-1.82028454e-02 3.74821128e-03 9.99827289e-01 6.08961844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86907232899995 meters 0.2508665381629626 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99807779e-01 -6.60053129e-03 1.84617811e-02 -3.69484683e+01] [ 6.66387109e-03 9.99972113e-01 -3.37144796e-03 -6.90053826e+01] [-1.84390129e-02 3.49382683e-03 9.99823882e-01 6.08961317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899072329 meters 0.24217510333342457 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99943400e-01 -5.42824006e-03 9.15041577e-03 -3.69560947e+01] [ 5.54070657e-03 9.99908870e-01 -1.23106518e-02 -6.89939992e+01] [-9.08275672e-03 1.23606548e-02 9.99882352e-01 6.08986967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92907232899995 meters 0.23767723585658918 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99952104e-01 -1.25402842e-03 9.70654107e-03 -3.69573662e+01] [ 1.33219044e-03 9.99966709e-01 -8.05023736e-03 -6.89939585e+01] [-9.69612270e-03 8.06278275e-03 9.99920485e-01 6.08985462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959072329 meters 0.23283256843190553 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99954503e-01 -1.29423243e-03 9.45073930e-03 -3.69567176e+01] [ 1.37203423e-03 9.99965187e-01 -8.23051330e-03 -6.89932839e+01] [-9.43975809e-03 8.24310558e-03 9.99921468e-01 6.08985741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98907232899995 meters 0.2579657688009318 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99948745e-01 3.14885760e-03 9.62243625e-03 -3.69569920e+01] [-3.11435214e-03 9.99988675e-01 -3.59882105e-03 -6.89941156e+01] [-9.63365945e-03 3.56866894e-03 9.99947227e-01 6.08983359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019072329 meters 0.24940317765038833 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99948347e-01 3.03698630e-03 9.69953683e-03 -3.69572864e+01] [-3.00040210e-03 9.99988339e-01 -3.78407446e-03 -6.89936541e+01] [-9.71091591e-03 3.75477649e-03 9.99945798e-01 6.08984962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04907232899996 meters 0.24422701879771527 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99946519e-01 3.17471144e-03 9.84278408e-03 -3.69576756e+01] [-3.14044051e-03 9.99988960e-01 -3.49533547e-03 -6.89945762e+01] [-9.85377210e-03 3.46423786e-03 9.99945450e-01 6.08985330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079072329 meters 0.23092681712513682 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99946587e-01 3.20226826e-03 9.82698353e-03 -3.69577908e+01] [-3.16853239e-03 9.99989040e-01 -3.44663396e-03 -6.89948629e+01] [-9.83791288e-03 3.41531275e-03 9.99945774e-01 6.08987187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10907232899996 meters 0.2893402036305028 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99942619e-01 3.34300351e-03 1.01775453e-02 -3.69584685e+01] [-3.31187950e-03 9.99989793e-01 -3.07342558e-03 -6.89959067e+01] [-1.01877159e-02 3.03954242e-03 9.99943484e-01 6.08984338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139072329 meters 0.24038484274919594 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99935437e-01 3.68479605e-03 1.07491538e-02 -3.69594603e+01] [-3.66094599e-03 9.99990795e-01 -2.23761899e-03 -6.89982964e+01] [-1.07573000e-02 2.19812245e-03 9.99939723e-01 6.08976881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16907232899996 meters 0.25547102847004133 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99927495e-01 3.96740738e-03 1.13694734e-02 -3.69605350e+01] [-3.95094252e-03 9.99991114e-01 -1.47025895e-03 -6.90004298e+01] [-1.13752055e-02 1.42523221e-03 9.99934285e-01 6.08969124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199072329 meters 0.2370550941411721 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99926916e-01 8.03043873e-05 1.20894680e-02 -3.69615983e+01] [-2.29012346e-05 9.99988727e-01 -4.74825867e-03 -6.90032261e+01] [-1.20897130e-02 4.74763478e-03 9.99915646e-01 6.08956700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22907232899996 meters 0.260355509077995 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99926825e-01 2.57438487e-04 1.20945973e-02 -3.69613924e+01] [-2.03946067e-04 9.99990194e-01 -4.42386115e-03 -6.90040284e+01] [-1.20956175e-02 4.42107078e-03 9.99917072e-01 6.08953303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259072329 meters 0.24459304290899095 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.89 [[ 9.99919924e-01 2.44981952e-04 1.26524889e-02 -3.69624895e+01] [-1.90892091e-04 9.99990839e-01 -4.27606799e-03 -6.90044344e+01] [-1.26534205e-02 4.27331032e-03 9.99910811e-01 6.08949330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28907232899996 meters 0.24879153947800242 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99906393e-01 4.28966532e-04 1.36755951e-02 -3.69643979e+01] [-3.84916917e-04 9.99994730e-01 -3.22350765e-03 -6.90074942e+01] [-1.36769058e-02 3.21794193e-03 9.99901289e-01 6.08937570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319072329 meters 0.2523613743045128 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99897612e-01 6.29367044e-04 1.42957617e-02 -3.69656726e+01] [-5.92082014e-04 9.99996413e-01 -2.61220038e-03 -6.90093083e+01] [-1.42973545e-02 2.60346866e-03 9.99894398e-01 6.08933325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34907232899997 meters 0.2510328063343064 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99891481e-01 8.94448812e-04 1.47046161e-02 -3.69664051e+01] [-8.65342791e-04 9.99997654e-01 -1.98562332e-03 -6.90110953e+01] [-1.47063577e-02 1.97268331e-03 9.99889910e-01 6.08928480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379072329 meters 0.2431785539456055 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99887060e-01 1.12847172e-03 1.49864258e-02 -3.69667868e+01] [-1.10688003e-03 9.99998338e-01 -1.44896617e-03 -6.90125687e+01] [-1.49880360e-02 1.43221435e-03 9.99886647e-01 6.08923116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40907232899997 meters 0.2462271751857882 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99876638e-01 9.98296300e-04 1.56751817e-02 -3.69681125e+01] [-9.74813821e-04 9.99998391e-01 -1.50563657e-03 -6.90124195e+01] [-1.56766596e-02 1.49017045e-03 9.99876003e-01 6.08918016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439072329 meters 0.24460429095438108 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99867297e-01 1.12275984e-03 1.62520115e-02 -3.69692800e+01] [-1.10671232e-03 9.99998891e-01 -9.96377860e-04 -6.90139157e+01] [-1.62531121e-02 9.78259336e-04 9.99867431e-01 6.08913628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46907232899997 meters 0.24444241007675624 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99857826e-01 -2.87537547e-03 1.66150481e-02 -3.69698808e+01] [ 2.95389738e-03 9.99984576e-01 -4.70334383e-03 -6.90156312e+01] [-1.66012679e-02 4.75175429e-03 9.99850898e-01 6.08909270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49907232899994 meters 0.2464806661268664 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99951792e-01 -9.80802430e-03 4.65601479e-04 -3.69635764e+01] [ 9.80765994e-03 9.99951601e-01 7.78492142e-04 -6.90158345e+01] [-4.73214414e-04 -7.73888152e-04 9.99999589e-01 6.08985842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.529072329 meters 0.24088774291517884 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99951916e-01 -9.73462592e-03 1.18416201e-03 -3.69652883e+01] [ 9.73320300e-03 9.99951909e-01 1.20150697e-03 -6.90173366e+01] [-1.19580128e-03 -1.18992351e-03 9.99998577e-01 6.08985290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55907232899995 meters 0.23982416193340095 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99951860e-01 -9.69729578e-03 1.49642831e-03 -3.69661655e+01] [ 9.69523539e-03 9.99952051e-01 1.37803197e-03 -6.90179915e+01] [-1.50971974e-03 -1.36345740e-03 9.99997931e-01 6.08986858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.589072329 meters 0.23579716387312422 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99951125e-01 -9.75165999e-03 1.62857767e-03 -3.69665046e+01] [ 9.74949943e-03 9.99951589e-01 1.32936397e-03 -6.90178693e+01] [-1.64146234e-03 -1.31342119e-03 9.99997790e-01 6.08987030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61907232899995 meters 0.2317324158236358 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99951403e-01 -9.67664967e-03 1.88534436e-03 -3.69669142e+01] [ 9.67373529e-03 9.99952009e-01 1.54884270e-03 -6.90184169e+01] [-1.90024149e-03 -1.53052911e-03 9.99997023e-01 6.08983602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.649072329 meters 0.22728499694213775 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99953510e-01 -9.42176647e-03 2.05158639e-03 -3.69668331e+01] [ 9.41756421e-03 9.99953556e-01 2.04841532e-03 -6.90196085e+01] [-2.07079079e-03 -2.02899914e-03 9.99995797e-01 6.08976207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67907232899995 meters 0.2298379880931462 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99953872e-01 -9.33744791e-03 2.25058109e-03 -3.69671758e+01] [ 9.33236799e-03 9.99953905e-01 2.25718987e-03 -6.90201542e+01] [-2.27155375e-03 -2.23608250e-03 9.99994920e-01 6.08974138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.709072329 meters 0.2252258424222027 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99953446e-01 -9.37448991e-03 2.28594318e-03 -3.69672704e+01] [ 9.36945987e-03 9.99953683e-01 2.20129335e-03 -6.90199995e+01] [-2.30647330e-03 -2.17977282e-03 9.99994964e-01 6.08974135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73907232899995 meters 0.22070821584314726 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99953544e-01 -9.36091527e-03 2.29859672e-03 -3.69673437e+01] [ 9.35579838e-03 9.99953754e-01 2.22684591e-03 -6.90201152e+01] [-2.31933573e-03 -2.20523726e-03 9.99994879e-01 6.08974678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.769072329 meters 0.23555486759577432 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99952850e-01 -9.33942026e-03 2.65966856e-03 -3.69682077e+01] [ 9.33308101e-03 9.99953599e-01 2.38599305e-03 -6.90206595e+01] [-2.68182894e-03 -2.36105764e-03 9.99993617e-01 6.08974216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79907232899996 meters 0.22758856047657128 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99953409e-01 -9.16848728e-03 3.01980232e-03 -3.69689927e+01] [ 9.16000983e-03 9.99954100e-01 2.80925622e-03 -6.90219711e+01] [-3.04542034e-03 -2.78146391e-03 9.99991494e-01 6.08972357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.829072329 meters 0.22434898361101474 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99953913e-01 -8.98742335e-03 3.37621995e-03 -3.69697667e+01] [ 8.97640594e-03 9.99954383e-01 3.26434055e-03 -6.90233603e+01] [-3.40540395e-03 -3.23388378e-03 9.99988973e-01 6.08970421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85907232899996 meters 0.22144676883185588 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99953265e-01 -8.91196674e-03 3.74757522e-03 -3.69706411e+01] [ 8.89874405e-03 9.99954174e-01 3.53032734e-03 -6.90242261e+01] [-3.77886564e-03 -3.49681364e-03 9.99986746e-01 6.08969426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.889072329 meters 0.2285621529321888 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99951225e-01 -8.89818854e-03 4.28611936e-03 -3.69717641e+01] [ 8.88212312e-03 9.99953511e-01 3.75280726e-03 -6.90249106e+01] [-4.31931329e-03 -3.71455438e-03 9.99983773e-01 6.08966343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91907232899996 meters 0.22657184651443918 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.90 [[ 9.99951652e-01 -8.78452184e-03 4.41885666e-03 -3.69721217e+01] [ 8.76679203e-03 9.99953507e-01 4.01580265e-03 -6.90257515e+01] [-4.45392812e-03 -3.97686930e-03 9.99982173e-01 6.08966582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.949072329 meters 0.21846723795245632 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.90 [[ 9.99948014e-01 -8.70773867e-03 5.30515668e-03 -3.69741325e+01] [ 8.68325615e-03 9.99951625e-01 4.62054110e-03 -6.90278301e+01] [-5.34513450e-03 -4.57423486e-03 9.99975253e-01 6.08963558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97907232899996 meters 0.2556526201899311 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.90 [[ 9.99948012e-01 -8.71725519e-03 5.28979630e-03 -3.69742231e+01] [ 8.69293789e-03 9.99951623e-01 4.60273076e-03 -6.90278644e+01] [-5.32966358e-03 -4.55650760e-03 9.99975416e-01 6.08965287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.009072329 meters 0.24752345094154643 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.90 [[ 9.99946195e-01 -8.98290458e-03 5.18794894e-03 -3.69741021e+01] [ 8.96178564e-03 9.99951520e-01 4.07976866e-03 -6.90263600e+01] [-5.22434560e-03 -4.03305586e-03 9.99978220e-01 6.08967483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03907232899996 meters 0.22807316470266079 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.90 [[ 9.99945540e-01 -9.14012847e-03 5.03735060e-03 -3.69737627e+01] [ 9.12135691e-03 9.99951417e-01 3.73693587e-03 -6.90253224e+01] [-5.07126194e-03 -3.69078488e-03 9.99980330e-01 6.08968055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.069072329 meters 0.24940778897976623 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99974729e-01 -5.01622164e-03 5.03782295e-03 -3.69739066e+01] [ 4.97713139e-03 9.99957643e-01 7.74214546e-03 -6.90244194e+01] [-5.07644588e-03 -7.71687590e-03 9.99957339e-01 6.08968463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09907232899997 meters 0.2413847540090413 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99975505e-01 -5.18481364e-03 4.70176633e-03 -3.69732240e+01] [ 5.15034320e-03 9.99959988e-01 7.31408942e-03 -6.90231607e+01] [-4.73950039e-03 -7.28969455e-03 9.99962198e-01 6.08970802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.129072329 meters 0.23308134252738813 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99980756e-01 -5.13826025e-03 3.47634154e-03 -3.69703747e+01] [ 5.11580061e-03 9.99966183e-01 6.43904485e-03 -6.90200899e+01] [-3.50930947e-03 -6.42113667e-03 9.99973227e-01 6.08974916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15907232899997 meters 0.2479004205281515 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99982512e-01 -5.31901668e-03 2.58534566e-03 -3.69686680e+01] [ 5.30425479e-03 9.99969781e-01 5.68353762e-03 -6.90178942e+01] [-2.61549837e-03 -5.66972490e-03 9.99980507e-01 6.08983091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.189072329 meters 0.24784443785326957 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99995498e-01 -2.63457947e-03 -1.43613233e-03 -3.69599585e+01] [ 2.63834258e-03 9.99993075e-01 2.62474279e-03 -6.90142345e+01] [ 1.42920729e-03 -2.62851998e-03 9.99995524e-01 6.09042556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21907232899997 meters 0.23685985423343422 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99994504e-01 -2.83301715e-03 -1.72218112e-03 -3.69594375e+01] [ 2.83675149e-03 9.99993622e-01 2.16981718e-03 -6.90128834e+01] [ 1.71602301e-03 -2.17469066e-03 9.99996163e-01 6.09046074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24907232899994 meters 0.25173357445331596 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99993142e-01 -2.63818819e-03 -2.59921370e-03 -3.69571923e+01] [ 2.64343121e-03 9.99994474e-01 2.01579121e-03 -6.90116739e+01] [ 2.59388130e-03 -2.02264823e-03 9.99994590e-01 6.09045960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279072329 meters 0.25054536877514205 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.91 [[ 9.99991017e-01 -2.85912265e-03 -3.12908097e-03 -3.69560829e+01] [ 2.86350900e-03 9.99994923e-01 1.39821785e-03 -6.90097293e+01] [ 3.12506741e-03 -1.40716544e-03 9.99994127e-01 6.09050272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30907232899995 meters 0.24746390125559434 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.91 [[ 9.99988855e-01 -2.87519291e-03 -3.74477408e-03 -3.69545882e+01] [ 2.87929121e-03 9.99995261e-01 1.08947399e-03 -6.90084437e+01] [ 3.74162389e-03 -1.10024414e-03 9.99992395e-01 6.09051542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339072329 meters 0.24746390125559434 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.91 [[ 9.99988855e-01 -2.87519291e-03 -3.74477408e-03 -3.69545882e+01] [ 2.87929121e-03 9.99995261e-01 1.08947399e-03 -6.90084437e+01] [ 3.74162389e-03 -1.10024414e-03 9.99992395e-01 6.09051542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36907232899995 meters 0.24373418103893946 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.91 [[ 9.99987681e-01 -3.00730025e-03 -3.94890069e-03 -3.69540497e+01] [ 3.01036465e-03 9.99995172e-01 7.70298066e-04 -6.90073736e+01] [ 3.94656511e-03 -7.82176208e-04 9.99991906e-01 6.09051749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399072329 meters 0.24243082730839732 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99985274e-01 -2.98126118e-03 -4.53475767e-03 -3.69524240e+01] [ 2.98381251e-03 9.99995394e-01 5.55954929e-04 -6.90062264e+01] [ 4.53307933e-03 -5.69477608e-04 9.99989563e-01 6.09049882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42907232899995 meters 0.2314229768649501 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.91 [[ 9.99982895e-01 -3.08802224e-03 -4.96736839e-03 -3.69513705e+01] [ 3.08890545e-03 9.99995215e-01 1.70141242e-04 -6.90048700e+01] [ 4.96681922e-03 -1.85482063e-04 9.99987648e-01 6.09051094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459072329 meters 0.24268546980190756 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.91 [[ 9.99979279e-01 -3.05905170e-03 -5.66421395e-03 -3.69495136e+01] [ 3.05845678e-03 9.99995316e-01 -1.13690558e-04 -6.90034756e+01] [ 5.66453520e-03 9.63644491e-05 9.99983952e-01 6.09050005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48907232899995 meters 0.22288041942188536 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99977587e-01 -3.04109681e-03 -5.96468481e-03 -3.69487247e+01] [ 3.03981549e-03 9.99995355e-01 -2.23872280e-04 -6.90029937e+01] [ 5.96533792e-03 2.05735721e-04 9.99982186e-01 6.09049874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519072329 meters 0.2482831635763931 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99973729e-01 -2.97775612e-03 -6.60860143e-03 -3.69470648e+01] [ 2.97520969e-03 9.99995496e-01 -3.95118968e-04 -6.90020289e+01] [ 6.60974823e-03 3.75446613e-04 9.99978085e-01 6.09049148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54907232899996 meters 0.2324291118776187 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99969360e-01 -2.53435226e-03 -7.40649633e-03 -3.69442249e+01] [ 2.53343854e-03 9.99996782e-01 -1.32746733e-04 -6.90011541e+01] [ 7.40680893e-03 1.13978762e-04 9.99972563e-01 6.09037702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579072329 meters 0.24156504364713063 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99968938e-01 -2.48109956e-03 -7.48117326e-03 -3.69439591e+01] [ 2.48058662e-03 9.99996920e-01 -7.78423795e-05 -6.90012046e+01] [ 7.48134336e-03 5.92822632e-05 9.99972013e-01 6.09036994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60907232899996 meters 0.2618550980255557 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99964659e-01 -2.55713846e-03 -8.00883046e-03 -3.69429200e+01] [ 2.55332982e-03 9.99996622e-01 -4.85742707e-04 -6.89998858e+01] [ 8.01004552e-03 4.65276355e-04 9.99967811e-01 6.09042491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639072329 meters 0.23528744790225964 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99966528e-01 -2.50086617e-03 -7.79023889e-03 -3.69434784e+01] [ 2.49846225e-03 9.99996828e-01 -3.18297940e-04 -6.90004358e+01] [ 7.79101020e-03 2.98823668e-04 9.99969605e-01 6.09042687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66907232899996 meters 0.24604523321744698 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99968154e-01 -2.43629213e-03 -7.59967515e-03 -3.69438893e+01] [ 2.43528521e-03 9.99997025e-01 -1.41745250e-04 -6.90009567e+01] [ 7.59999788e-03 1.23233359e-04 9.99971112e-01 6.09041681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699072329 meters 0.2470484118453054 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99968140e-01 -2.56775973e-03 -7.55819596e-03 -3.69439173e+01] [ 2.56514613e-03 9.99996647e-01 -3.55471254e-04 -6.90002286e+01] [ 7.55908338e-03 3.36072052e-04 9.99971373e-01 6.09041174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72907232899996 meters 0.23727955872863477 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99965801e-01 -2.61993412e-03 -7.84425479e-03 -3.69430874e+01] [ 2.61567332e-03 9.99996426e-01 -5.53384224e-04 -6.89993965e+01] [ 7.84567658e-03 5.32847291e-04 9.99969080e-01 6.09040029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759072329 meters 0.23953482606900917 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99965654e-01 -2.71983047e-03 -7.82895539e-03 -3.69428796e+01] [ 2.71432598e-03 9.99996062e-01 -7.13634115e-04 -6.89986862e+01] [ 7.83086552e-03 6.92359268e-04 9.99969099e-01 6.09037001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78907232899996 meters 0.2336764839069954 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99964262e-01 -2.74007374e-03 -7.99797443e-03 -3.69425574e+01] [ 2.73356702e-03 9.99995924e-01 -8.24363651e-04 -6.89983201e+01] [ 8.00020065e-03 8.02471190e-04 9.99967676e-01 6.09039096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819072329 meters 0.24033310161723423 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99964204e-01 -2.68876669e-03 -8.02258993e-03 -3.69423486e+01] [ 2.68280841e-03 9.99996117e-01 -7.53357069e-04 -6.89983969e+01] [ 8.02458438e-03 7.31807030e-04 9.99967535e-01 6.09037121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84907232899997 meters 0.25745608072658155 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99960686e-01 -2.53201487e-03 -8.49796756e-03 -3.69409507e+01] [ 2.52613685e-03 9.99996563e-01 -7.02359685e-04 -6.89980576e+01] [ 8.49971673e-03 6.80865043e-04 9.99963645e-01 6.09033938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879072329 meters 0.26421261317806516 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99955961e-01 -2.72244711e-03 -8.98129830e-03 -3.69398095e+01] [ 2.71126867e-03 9.99995535e-01 -1.25657674e-03 -6.89962394e+01] [ 8.98467917e-03 1.23217069e-03 9.99958878e-01 6.09035666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90907232899997 meters 0.2507100186287047 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99948968e-01 -2.79737884e-03 -9.70751886e-03 -3.69380666e+01] [ 2.78109104e-03 9.99994703e-01 -1.69094729e-03 -6.89945115e+01] [ 9.71219766e-03 1.66386350e-03 9.99951451e-01 6.09036747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939072329 meters 0.26346175536151656 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99947762e-01 1.32337550e-03 -1.01351537e-02 -3.69370249e+01] [-1.30346839e-03 9.99997209e-01 1.97051854e-03 -6.89923223e+01] [ 1.01377332e-02 -1.95720475e-03 9.99946696e-01 6.09037886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96907232899997 meters 0.2737090589090537 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99943858e-01 1.16736876e-03 -1.05317329e-02 -3.69362243e+01] [-1.15150921e-03 9.99998194e-01 1.51182104e-03 -6.89909204e+01] [ 1.05334787e-02 -1.49960878e-03 9.99943397e-01 6.09041472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99907232899994 meters 0.2635477643426062 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99940802e-01 1.16954201e-03 -1.08177564e-02 -3.69358252e+01] [-1.15466506e-03 9.99998379e-01 1.38137814e-03 -6.89905837e+01] [ 1.08193544e-02 -1.36880548e-03 9.99940532e-01 6.09046766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.029072329 meters 0.2657997680565285 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.91 [[ 9.99939598e-01 1.06268202e-03 -1.09394527e-02 -3.69357511e+01] [-1.05015980e-03 9.99998787e-01 1.15036459e-03 -6.89899847e+01] [ 1.09406619e-02 -1.13880694e-03 9.99939501e-01 6.09050594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05907232899995 meters 0.2667982769751848 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.91 [[ 9.99937514e-01 9.36834990e-04 -1.11396047e-02 -3.69353400e+01] [-9.27370801e-04 9.99999205e-01 8.54733386e-04 -6.89890775e+01] [ 1.11403966e-02 -8.44349433e-04 9.99937587e-01 6.09052361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.089072329 meters 0.2612221121827495 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.91 [[ 9.99937084e-01 9.22266917e-04 -1.11793332e-02 -3.69351714e+01] [-9.13250977e-04 9.99999254e-01 8.11560922e-04 -6.89888550e+01] [ 1.11800733e-02 -8.01300324e-04 9.99937180e-01 6.09051696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11907232899995 meters 0.265771429231744 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99940798e-01 9.82855764e-04 -1.08367266e-02 -3.69358066e+01] [-9.71724222e-04 9.99998995e-01 1.03242275e-03 -6.89894558e+01] [ 1.08377304e-02 -1.02183131e-03 9.99940748e-01 6.09048603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.149072329 meters 0.2629458621491503 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99946276e-01 1.02918609e-03 -1.03143861e-02 -3.69369141e+01] [-1.01625273e-03 9.99998691e-01 1.25907722e-03 -6.89901675e+01] [ 1.03156684e-02 -1.24852756e-03 9.99946013e-01 6.09046374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17907232899995 meters 0.2649011620284364 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99955572e-01 1.22699243e-03 -9.34599021e-03 -3.69390897e+01] [-1.20749930e-03 9.99997085e-01 2.09107838e-03 -6.89930475e+01] [ 9.34852870e-03 -2.07970020e-03 9.99954139e-01 6.09042492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.209072329 meters 0.2517080334412664 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.99, Z:60.90 [[ 9.99959486e-01 1.40428293e-03 -8.89126552e-03 -3.69399570e+01] [-1.38138000e-03 9.99995714e-01 2.58150800e-03 -6.89944632e+01] [ 8.89485257e-03 -2.56912120e-03 9.99957140e-01 6.09038081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23907232899995 meters 0.24016567845858933 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99962873e-01 1.57135910e-03 -8.47256954e-03 -3.69407213e+01] [-1.54591260e-03 9.99994278e-01 3.00911155e-03 -6.89956521e+01] [ 8.47724945e-03 -2.99590197e-03 9.99959580e-01 6.09033842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.269072329 meters 0.24964856844884378 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99962404e-01 -2.31553527e-03 -8.35641475e-03 -3.69404678e+01] [ 2.31189871e-03 9.99997229e-01 -4.44814822e-04 -6.89978766e+01] [ 8.35742157e-03 4.25478914e-04 9.99964986e-01 6.09025864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29907232899996 meters 0.2424271463456133 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99966567e-01 -1.91770710e-03 -7.94904746e-03 -3.69409671e+01] [ 1.92106542e-03 9.99998069e-01 4.14866518e-04 -6.90001722e+01] [ 7.94823652e-03 -4.30123288e-04 9.99968320e-01 6.09017573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.329072329 meters 0.23780670172167698 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99972504e-01 -1.68291980e-03 -7.22217858e-03 -3.69422751e+01] [ 1.69086248e-03 9.99997972e-01 1.09379808e-03 -6.90020892e+01] [ 7.22032317e-03 -1.10597971e-03 9.99973322e-01 6.09009801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35907232899996 meters 0.2353486148902513 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.90 [[ 9.99962363e-01 -5.45620808e-03 -6.74558979e-03 -3.69428669e+01] [ 5.44291298e-03 9.99983212e-01 -1.98772138e-03 -6.90055053e+01] [ 6.75632196e-03 1.95093091e-03 9.99975273e-01 6.09000888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.389072329 meters 0.24982129116186833 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99969091e-01 -5.82324194e-03 -5.28263269e-03 -3.69463321e+01] [ 5.81822920e-03 9.99982610e-01 -9.63782419e-04 -6.90098904e+01] [ 5.28815316e-03 9.33017062e-04 9.99985582e-01 6.08993771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41907232899996 meters 0.24980111140155903 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99974558e-01 -5.48906221e-03 -4.55555383e-03 -3.69476592e+01] [ 5.48886827e-03 9.99984935e-01 -5.50739130e-05 -6.90124503e+01] [ 4.55578751e-03 3.00676769e-05 9.99989622e-01 6.08985671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.449072329 meters 0.24549354558213324 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99978062e-01 -5.30730536e-03 -3.96328322e-03 -3.69487630e+01] [ 5.30927226e-03 9.99985788e-01 4.85923484e-04 -6.90139705e+01] [ 3.96064795e-03 -5.06954974e-04 9.99992028e-01 6.08980057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47907232899996 meters 0.23813371933844954 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99981339e-01 -5.06489162e-03 -3.41603302e-03 -3.69497640e+01] [ 5.06887823e-03 9.99986481e-01 1.15938252e-03 -6.90158433e+01] [ 3.41011469e-03 -1.17667634e-03 9.99993493e-01 6.08974182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.509072329 meters 0.24968263948641392 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99984641e-01 -4.99338072e-03 -2.40497809e-03 -3.69518849e+01] [ 4.99755874e-03 9.99986008e-01 1.73437600e-03 -6.90177005e+01] [ 2.39628404e-03 -1.74636838e-03 9.99995604e-01 6.08968580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53907232899996 meters 0.2453862406995542 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99985870e-01 -4.89571749e-03 -2.07183914e-03 -3.69525252e+01] [ 4.89988962e-03 9.99985968e-01 2.01346873e-03 -6.90184727e+01] [ 2.06195269e-03 -2.02359207e-03 9.99995827e-01 6.08965811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.569072329 meters 0.22441926955533445 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99987879e-01 -4.79727038e-03 -1.10844903e-03 -3.69544786e+01] [ 4.80008937e-03 9.99985216e-01 2.55467771e-03 -6.90201810e+01] [ 1.09617716e-03 -2.55996740e-03 9.99996122e-01 6.08960030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59907232899997 meters 0.22866061210380906 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99990917e-01 -4.24778313e-03 -3.48271220e-04 -3.69558836e+01] [ 4.24908328e-03 9.99983670e-01 3.82152558e-03 -6.90239200e+01] [ 3.32032521e-04 -3.82297070e-03 9.99992637e-01 6.08951624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.629072329 meters 0.23403482577315698 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99991047e-01 -4.23108536e-03 -6.78617456e-05 -3.69566394e+01] [ 4.23132068e-03 9.99983226e-01 3.95519919e-03 -6.90244543e+01] [ 5.11258219e-05 -3.95545093e-03 9.99992176e-01 6.08952437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65907232899997 meters 0.25582343572665084 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99990528e-01 -4.35185794e-03 -6.73525385e-05 -3.69567722e+01] [ 4.35207968e-03 9.99983515e-01 3.74545292e-03 -6.90239140e+01] [ 5.10517492e-05 -3.74571057e-03 9.99992983e-01 6.08954297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.689072329 meters 0.24602793521256033 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99990376e-01 -4.38039568e-03 -2.44750857e-04 -3.69563679e+01] [ 4.38125721e-03 9.99983785e-01 3.63794764e-03 -6.90235692e+01] [ 2.28811238e-04 -3.63898494e-03 9.99993353e-01 6.08955014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71907232899997 meters 0.24121037670977485 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99989827e-01 -4.49076218e-03 -4.21883369e-04 -3.69560119e+01] [ 4.49216445e-03 9.99984185e-01 3.38385239e-03 -6.90228232e+01] [ 4.06680621e-04 -3.38571313e-03 9.99994186e-01 6.08956474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74907232899994 meters 0.24902161228311837 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99989863e-01 -4.40969959e-03 -9.10274537e-04 -3.69549265e+01] [ 4.41276351e-03 9.99984511e-01 3.39182404e-03 -6.90227532e+01] [ 8.95303513e-04 -3.39580649e-03 9.99993833e-01 6.08958006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779072329 meters 0.24587685150805852 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99989189e-01 -4.53035266e-03 -1.04803370e-03 -3.69546953e+01] [ 4.53359682e-03 9.99984874e-01 3.11408189e-03 -6.90219568e+01] [ 1.03390996e-03 -3.11879958e-03 9.99994602e-01 6.08960051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80907232899995 meters 0.23960473286983552 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99988227e-01 -4.68965465e-03 -1.24606498e-03 -3.69545787e+01] [ 4.69307965e-03 9.99985178e-01 2.76009500e-03 -6.90211060e+01] [ 1.23310262e-03 -2.76591039e-03 9.99995415e-01 6.08965863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839072329 meters 0.23675626510656317 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99987714e-01 -4.70289115e-03 -1.56680751e-03 -3.69540230e+01] [ 4.70703072e-03 9.99985413e-01 2.64891047e-03 -6.90208217e+01] [ 1.55432712e-03 -2.65625293e-03 9.99995264e-01 6.08969573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86907232899995 meters 0.22523631174128214 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99985416e-01 -5.03675251e-03 -1.94905204e-03 -3.69533336e+01] [ 5.04043365e-03 9.99985514e-01 1.88840374e-03 -6.90186019e+01] [ 1.93951238e-03 -1.89820027e-03 9.99996318e-01 6.08974531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899072329 meters 0.2447355848165603 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99985744e-01 -5.03584287e-03 -1.77528374e-03 -3.69537170e+01] [ 5.03928641e-03 9.99985420e-01 1.94060517e-03 -6.90187269e+01] [ 1.76548527e-03 -1.94952367e-03 9.99996541e-01 6.08974243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92907232899995 meters 0.23984410419692204 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99986096e-01 -4.95450507e-03 -1.80576179e-03 -3.69536439e+01] [ 4.95825255e-03 9.99985551e-01 2.07675882e-03 -6.90191063e+01] [ 1.79544639e-03 -2.08568337e-03 9.99996213e-01 6.08974391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959072329 meters 0.23404136592106722 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99987218e-01 -4.86785942e-03 -1.36688892e-03 -3.69545393e+01] [ 4.87108229e-03 9.99985341e-01 2.36446728e-03 -6.90199395e+01] [ 1.35535899e-03 -2.37109529e-03 9.99996270e-01 6.08971636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98907232899995 meters 0.24286990581235207 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99988443e-01 -4.71918313e-03 -9.18647518e-04 -3.69553798e+01] [ 4.72172980e-03 9.99984960e-01 2.79005049e-03 -6.90211167e+01] [ 9.05466943e-04 -2.79435585e-03 9.99995686e-01 6.08967607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019072329 meters 0.22859700961037172 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99989419e-01 -4.58782303e-03 -3.36373111e-04 -3.69565573e+01] [ 4.58888415e-03 9.99984271e-01 3.22475068e-03 -6.90224054e+01] [ 3.21573234e-04 -3.22626014e-03 9.99994744e-01 6.08963587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04907232899996 meters 0.2185836656728121 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99989773e-01 -4.48717270e-03 -5.65740478e-04 -3.69558742e+01] [ 4.48903419e-03 9.99984369e-01 3.33317612e-03 -6.90225618e+01] [ 5.50775098e-04 -3.33568166e-03 9.99994285e-01 6.08961912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079072329 meters 0.23368463184548846 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99989538e-01 -4.47597842e-03 -9.43539049e-04 -3.69549308e+01] [ 4.47900357e-03 9.99984757e-01 3.22881446e-03 -6.90221409e+01] [ 9.29072562e-04 -3.23300679e-03 9.99994342e-01 6.08961785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10907232899996 meters 0.23457673174386784 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99987418e-01 -4.66194534e-03 -1.85220602e-03 -3.69529659e+01] [ 4.66657427e-03 9.99985980e-01 2.50273431e-03 -6.90197603e+01] [ 1.84051244e-03 -2.51134628e-03 9.99995153e-01 6.08966739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139072329 meters 0.24159514659510725 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99986166e-01 -4.81610414e-03 -2.11475926e-03 -3.69525566e+01] [ 4.82060717e-03 9.99986114e-01 2.12942577e-03 -6.90187351e+01] [ 2.10447436e-03 -2.13959073e-03 9.99995497e-01 6.08970842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16907232899996 meters 0.2580649376945928 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99984928e-01 -4.90184400e-03 -2.47309976e-03 -3.69518514e+01] [ 4.90637469e-03 9.99986291e-01 1.82926046e-03 -6.90178772e+01] [ 2.46409911e-03 -1.84136684e-03 9.99995269e-01 6.08974017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199072329 meters 0.2530760752637457 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99983158e-01 -4.97363170e-03 -2.99115344e-03 -3.69507611e+01] [ 4.97820678e-03 9.99986447e-01 1.52404145e-03 -6.90168881e+01] [ 2.98353288e-03 -1.53890636e-03 9.99994365e-01 6.08977526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22907232899996 meters 0.2530760752637457 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99983158e-01 -4.97363170e-03 -2.99115344e-03 -3.69507611e+01] [ 4.97820678e-03 9.99986447e-01 1.52404145e-03 -6.90168881e+01] [ 2.98353288e-03 -1.53890636e-03 9.99994365e-01 6.08977526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259072329 meters 0.2535417208477599 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99980992e-01 -5.21471820e-03 -3.28967222e-03 -3.69502077e+01] [ 5.21790982e-03 9.99985924e-01 9.62359421e-04 -6.90152551e+01] [ 3.28460748e-03 -9.79506342e-04 9.99994126e-01 6.08981063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28907232899996 meters 0.2478830154301222 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99979727e-01 -5.35929680e-03 -3.43846720e-03 -3.69498950e+01] [ 5.36158407e-03 9.99985411e-01 6.56326718e-04 -6.90143335e+01] [ 3.43489959e-03 -6.74749043e-04 9.99993873e-01 6.08982328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319072329 meters 0.24221056523076792 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99977100e-01 -5.42763264e-03 -4.04222718e-03 -3.69484048e+01] [ 5.42891773e-03 9.99985216e-01 3.07011351e-04 -6.90129527e+01] [ 4.04050108e-03 -3.28949239e-04 9.99991783e-01 6.08982848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34907232899997 meters 0.2409374095662454 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99975740e-01 -5.53032549e-03 -4.23494814e-03 -3.69480796e+01] [ 5.53063342e-03 9.99984704e-01 6.10043093e-05 -6.90122662e+01] [ 4.23454599e-03 -8.44247751e-05 9.99991031e-01 6.08985373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379072329 meters 0.23416417049122273 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99972161e-01 -5.67524190e-03 -4.84447925e-03 -3.69468241e+01] [ 5.67291442e-03 9.99983787e-01 -4.94045494e-04 -6.90105161e+01] [ 4.84720453e-03 4.66549424e-04 9.99988143e-01 6.08990547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40907232899997 meters 0.24483100892671503 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99971169e-01 -5.76553380e-03 -4.94155746e-03 -3.69467034e+01] [ 5.76221577e-03 9.99983163e-01 -6.85429069e-04 -6.90099938e+01] [ 4.94542613e-03 6.56934987e-04 9.99987556e-01 6.08992555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439072329 meters 0.2279190709892098 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99969853e-01 -5.94415259e-03 -4.99610739e-03 -3.69466965e+01] [ 5.93910338e-03 9.99981838e-01 -1.02485773e-03 -6.90090372e+01] [ 5.00210856e-03 9.95154430e-04 9.99986994e-01 6.08994889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46907232899997 meters 0.2558053856058559 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99984494e-01 -1.75639878e-03 -5.28454599e-03 -3.69463060e+01] [ 1.77173327e-03 9.99994230e-01 2.89848084e-03 -6.90079378e+01] [ 5.27942461e-03 -2.90779870e-03 9.99981836e-01 6.08999418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49907232899994 meters 0.25339250564257026 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99984364e-01 -1.78155397e-03 -5.30074075e-03 -3.69462021e+01] [ 1.79666442e-03 9.99994333e-01 2.84723442e-03 -6.90077492e+01] [ 5.29563821e-03 -2.85671355e-03 9.99981898e-01 6.08998438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.529072329 meters 0.23818698502150057 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99984934e-01 -1.68481223e-03 -5.22430406e-03 -3.69461860e+01] [ 1.70066768e-03 9.99993957e-01 3.03198426e-03 -6.90081793e+01] [ 5.21916416e-03 -3.04082338e-03 9.99981757e-01 6.08995375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55907232899995 meters 0.2438225793417433 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99983621e-01 -1.67476129e-03 -5.47292429e-03 -3.69455958e+01] [ 1.69094198e-03 9.99994210e-01 2.95321036e-03 -6.90078692e+01] [ 5.46794668e-03 -2.96241638e-03 9.99980663e-01 6.08995942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.589072329 meters 0.23145752671016281 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99982224e-01 -1.75147464e-03 -5.69947126e-03 -3.69452044e+01] [ 1.76721344e-03 9.99994636e-01 2.75758451e-03 -6.90073538e+01] [ 5.69461085e-03 -2.76760767e-03 9.99979956e-01 6.08998383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61907232899995 meters 0.24702598186884533 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99978857e-01 -2.13942899e-03 -6.14065031e-03 -3.69442925e+01] [ 2.15085844e-03 9.99995966e-01 1.85527722e-03 -6.90045728e+01] [ 6.13665631e-03 -1.86844567e-03 9.99979425e-01 6.09002829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.649072329 meters 0.2334088752729311 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99978533e-01 -2.07006848e-03 -6.21673603e-03 -3.69441063e+01] [ 2.08228696e-03 9.99995912e-01 1.95958831e-03 -6.90048680e+01] [ 6.21265413e-03 -1.97249128e-03 9.99978756e-01 6.09002750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67907232899995 meters 0.2377482955830387 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.00, Z:60.90 [[ 9.99980151e-01 -2.15187941e-03 -5.92169758e-03 -3.69448063e+01] [ 2.16320243e-03 9.99995843e-01 1.90638389e-03 -6.90047423e+01] [ 5.91757065e-03 -1.91915588e-03 9.99980649e-01 6.09002293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.709072329 meters 0.22800935371953446 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99986377e-01 -2.15457696e-03 -4.75438070e-03 -3.69472885e+01] [ 2.16644172e-03 9.99994549e-01 2.49180449e-03 -6.90069786e+01] [ 4.74898600e-03 -2.50207064e-03 9.99985593e-01 6.08995952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73907232899995 meters 0.2365366468092918 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99988736e-01 -1.87874234e-03 -4.35878387e-03 -3.69479803e+01] [ 1.89244034e-03 9.99993278e-01 3.14062809e-03 -6.90087867e+01] [ 4.35285414e-03 -3.14884145e-03 9.99985569e-01 6.08991195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.769072329 meters 0.24097783724544683 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99991196e-01 -1.67896647e-03 -3.84572267e-03 -3.69488269e+01] [ 1.69302017e-03 9.99991891e-01 3.65403649e-03 -6.90101677e+01] [ 3.83955648e-03 -3.66051521e-03 9.99985929e-01 6.08984593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79907232899996 meters 0.2557698217720152 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99993139e-01 -1.36811580e-03 -3.44229589e-03 -3.69494402e+01] [ 1.38314418e-03 9.99989507e-01 4.36721419e-03 -6.90121086e+01] [ 3.43628491e-03 -4.37194542e-03 9.99984539e-01 6.08978344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.829072329 meters 0.2552263394918882 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99992958e-01 -1.40074936e-03 -3.48165223e-03 -3.69493645e+01] [ 1.41569436e-03 9.99989780e-01 4.29375049e-03 -6.90118872e+01] [ 3.47560218e-03 -4.29864921e-03 9.99984721e-01 6.08978729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85907232899996 meters 0.22338899029922793 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99977104e-01 -5.63784442e-03 -3.74243127e-03 -3.69488571e+01] [ 5.63817313e-03 9.99984102e-01 7.72872853e-05 -6.90121975e+01] [ 3.74193604e-03 -9.83859912e-05 9.99992994e-01 6.08981839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.889072329 meters 0.24841128448423583 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99979412e-01 -5.56920298e-03 -3.18733742e-03 -3.69500708e+01] [ 5.57046073e-03 9.99984410e-01 3.85864725e-04 -6.90131766e+01] [ 3.18513877e-03 -4.03611719e-04 9.99994846e-01 6.08979627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91907232899996 meters 0.21466584008826883 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99982585e-01 -5.40960832e-03 -2.35901284e-03 -3.69518488e+01] [ 5.41212982e-03 9.99984788e-01 1.06380471e-03 -6.90153959e+01] [ 2.35322219e-03 -1.07655347e-03 9.99996652e-01 6.08975635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.949072329 meters 0.23648081860973377 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99981714e-01 -5.48001872e-03 -2.55756446e-03 -3.69513688e+01] [ 5.48222051e-03 9.99984607e-01 8.54680150e-04 -6.90147002e+01] [ 2.55284143e-03 -8.68685654e-04 9.99996364e-01 6.08976233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97907232899996 meters 0.23984835845518376 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99982049e-01 -5.51390450e-03 -2.34496374e-03 -3.69517586e+01] [ 5.51594791e-03 9.99984412e-01 8.65829907e-04 -6.90146700e+01] [ 2.34015309e-03 -8.78749063e-04 9.99996876e-01 6.08974419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.009072329 meters 0.2156774795585529 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99983173e-01 -5.49928126e-03 -1.84691383e-03 -3.69526943e+01] [ 5.50126065e-03 9.99984297e-01 1.06836469e-03 -6.90152114e+01] [ 1.84100959e-03 -1.07850707e-03 9.99997724e-01 6.08970029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03907232899996 meters 0.2254845101557617 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99984132e-01 -5.29319107e-03 -1.92831827e-03 -3.69522258e+01] [ 5.29588337e-03 9.99985005e-01 1.39377343e-03 -6.90159622e+01] [ 1.92091185e-03 -1.40396347e-03 9.99997169e-01 6.08966222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.069072329 meters 0.23379925645290853 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99984485e-01 -5.26467690e-03 -1.82012073e-03 -3.69523351e+01] [ 5.26736950e-03 9.99985035e-01 1.47774002e-03 -6.90161344e+01] [ 1.81231367e-03 -1.48730434e-03 9.99997252e-01 6.08963797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09907232899997 meters 0.24420031818829926 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99985415e-01 -5.11137985e-03 -1.74468365e-03 -3.69523679e+01] [ 5.11445356e-03 9.99985369e-01 1.76186634e-03 -6.90168778e+01] [ 1.73565255e-03 -1.77076374e-03 9.99996926e-01 6.08961673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.129072329 meters 0.2424143624509272 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99983938e-01 -5.29356656e-03 -2.02546618e-03 -3.69520373e+01] [ 5.29627805e-03 9.99985083e-01 1.33568635e-03 -6.90157632e+01] [ 2.01836542e-03 -1.34639233e-03 9.99997057e-01 6.08967732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15907232899997 meters 0.23877640890240912 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99983068e-01 -5.33606556e-03 -2.32150004e-03 -3.69515257e+01] [ 5.33875013e-03 9.99985086e-01 1.15173798e-03 -6.90152757e+01] [ 2.31531967e-03 -1.16411239e-03 9.99996642e-01 6.08971350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.189072329 meters 0.2363418394999803 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99982484e-01 -5.43278261e-03 -2.34882687e-03 -3.69515245e+01] [ 5.43504555e-03 9.99984771e-01 9.58128442e-04 -6.90147080e+01] [ 2.34358580e-03 -9.70877640e-04 9.99996782e-01 6.08972730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21907232899997 meters 0.23462980409844 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99982067e-01 -5.39768009e-03 -2.59428639e-03 -3.69508493e+01] [ 5.40009569e-03 9.99984992e-01 9.25021181e-04 -6.90144650e+01] [ 2.58925448e-03 -9.39013988e-04 9.99996207e-01 6.08972036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24907232899994 meters 0.262316046926476 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99981158e-01 -5.41403356e-03 -2.89344046e-03 -3.69500027e+01] [ 5.41627284e-03 9.99985038e-01 7.66639127e-04 -6.90137600e+01] [ 2.88924655e-03 -7.82296345e-04 9.99995520e-01 6.08971113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279072329 meters 0.2508207706138629 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99983265e-01 -5.30164983e-03 -2.31580395e-03 -3.69510604e+01] [ 5.30442346e-03 9.99985220e-01 1.19320151e-03 -6.90149336e+01] [ 2.30944378e-03 -1.20546555e-03 9.99996607e-01 6.08965608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30907232899995 meters 0.24830852336879414 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99984997e-01 -5.15015067e-03 -1.86611762e-03 -3.69518863e+01] [ 5.15319148e-03 9.99985396e-01 1.62835751e-03 -6.90161294e+01] [ 1.85770408e-03 -1.63794954e-03 9.99996933e-01 6.08961190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339072329 meters 0.24938940256589515 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99986130e-01 -4.99785933e-03 -1.66189954e-03 -3.69522257e+01] [ 5.00113208e-03 9.99985552e-01 1.97099012e-03 -6.90170682e+01] [ 1.65202480e-03 -1.97927416e-03 9.99996677e-01 6.08958602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36907232899995 meters 0.24601251122890797 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99986839e-01 -4.98810558e-03 -1.19984652e-03 -3.69532191e+01] [ 4.99069534e-03 9.99985202e-01 2.16518847e-03 -6.90176671e+01] [ 1.18902858e-03 -2.17114804e-03 9.99996936e-01 6.08956504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399072329 meters 0.24626897013702842 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99986822e-01 -4.97855319e-03 -1.25317435e-03 -3.69530758e+01] [ 4.98125661e-03 9.99985253e-01 2.16345725e-03 -6.90176182e+01] [ 1.24238498e-03 -2.16967113e-03 9.99996874e-01 6.08956613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42907232899995 meters 0.24633215276765602 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99986196e-01 -5.11706499e-03 -1.19314045e-03 -3.69531813e+01] [ 5.11936070e-03 9.99985035e-01 1.92904030e-03 -6.90168818e+01] [ 1.18325157e-03 -1.93512179e-03 9.99997428e-01 6.08956353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459072329 meters 0.2438869710519025 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99987319e-01 -4.99512759e-03 -6.41333367e-04 -3.69542327e+01] [ 4.99661223e-03 9.99984792e-01 2.33457029e-03 -6.90180190e+01] [ 6.29662137e-04 -2.33774518e-03 9.99997069e-01 6.08951924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48907232899995 meters 0.2795139430795937 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988610e-01 -4.76799843e-03 -2.16801839e-04 -3.69548987e+01] [ 4.76860996e-03 9.99984386e-01 2.91357108e-03 -6.90195556e+01] [ 2.02906551e-04 -2.91457174e-03 9.99995732e-01 6.08945959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519072329 meters 0.2808179703684755 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99988974e-01 -4.69359516e-03 1.51504932e-04 -3.69556479e+01] [ 4.69309025e-03 9.99983942e-01 3.17669304e-03 -6.90203121e+01] [-1.66412610e-04 -3.17594699e-03 9.99994943e-01 6.08943415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54907232899996 meters 0.26657828254129023 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99989350e-01 -4.61498113e-03 4.34102249e-05 -3.69553480e+01] [ 4.61481412e-03 9.99983983e-01 3.27679998e-03 -6.90205773e+01] [-5.85318997e-05 -3.27656475e-03 9.99994630e-01 6.08942772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579072329 meters 0.26983626061233634 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988933e-01 -4.68597103e-03 -4.18086618e-04 -3.69544063e+01] [ 4.68719151e-03 9.99984612e-01 2.96762719e-03 -6.90196637e+01] [ 4.04173969e-04 -2.96955401e-03 9.99995509e-01 6.08945963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60907232899996 meters 0.26429678269466134 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988124e-01 -4.82083602e-03 -7.15021135e-04 -3.69538045e+01] [ 4.82268291e-03 9.99984980e-01 2.60415750e-03 -6.90185880e+01] [ 7.02456179e-04 -2.60757489e-03 9.99996354e-01 6.08948394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639072329 meters 0.257456645037257 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988265e-01 -4.83673333e-03 -2.76938959e-04 -3.69545221e+01] [ 4.83746777e-03 9.99984612e-01 2.71574433e-03 -6.90187755e+01] [ 2.63799367e-04 -2.71705215e-03 9.99996274e-01 6.08943073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66907232899996 meters 0.2564308767020859 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988738e-01 -4.73905487e-03 -2.54261114e-04 -3.69543784e+01] [ 4.73976999e-03 9.99984592e-01 2.88977263e-03 -6.90191606e+01] [ 2.40562405e-04 -2.89094522e-03 9.99995792e-01 6.08940152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699072329 meters 0.2617284354361526 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988688e-01 -4.73579648e-03 -4.43105941e-04 -3.69538790e+01] [ 4.73702485e-03 9.99984822e-01 2.81346128e-03 -6.90188282e+01] [ 4.29775236e-04 -2.81552845e-03 9.99995944e-01 6.08940191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72907232899996 meters 0.25345017178201423 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988387e-01 -4.81284264e-03 -2.48359253e-04 -3.69545060e+01] [ 4.81351060e-03 9.99984598e-01 2.76287755e-03 -6.90188120e+01] [ 2.35058133e-04 -2.76404095e-03 9.99996152e-01 6.08942447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759072329 meters 0.2459888849549101 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99988378e-01 -4.82069947e-03 -6.55891793e-05 -3.69549478e+01] [ 4.82086517e-03 9.99984409e-01 2.81814424e-03 -6.90189976e+01] [ 5.20027303e-05 -2.81842768e-03 9.99996027e-01 6.08942208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78907232899996 meters 0.24055362709625003 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99988907e-01 -4.66595083e-03 6.43585855e-04 -3.69565195e+01] [ 4.66374613e-03 9.99983393e-01 3.38563919e-03 -6.90208144e+01] [-6.59372393e-04 -3.38260011e-03 9.99994062e-01 6.08939642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819072329 meters 0.24550410722747323 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99988529e-01 -4.72938093e-03 7.58305038e-04 -3.69568781e+01] [ 4.72683018e-03 9.99983281e-01 3.33097585e-03 -6.90207366e+01] [-7.74045813e-04 -3.32735326e-03 9.99994165e-01 6.08940457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84907232899997 meters 0.2281064864870478 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99988779e-01 -4.61148022e-03 1.08478248e-03 -3.69574689e+01] [ 4.60746560e-03 9.99982634e-01 3.67469030e-03 -6.90216905e+01] [-1.10170940e-03 -3.66965096e-03 9.99992660e-01 6.08936897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879072329 meters 0.2230803747866278 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99989079e-01 -4.54000913e-03 1.10876727e-03 -3.69573328e+01] [ 4.53575593e-03 9.99982460e-01 3.80882610e-03 -6.90219781e+01] [-1.12603993e-03 -3.80375541e-03 9.99992132e-01 6.08933916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90907232899997 meters 0.2520946641717514 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99988415e-01 -4.56754342e-03 1.51892481e-03 -3.69581604e+01] [ 4.56156633e-03 9.99981930e-01 3.91553116e-03 -6.90222931e+01] [-1.53678173e-03 -3.90855713e-03 9.99991181e-01 6.08930918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939072329 meters 0.22499392109237282 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99967590e-01 -7.98108088e-03 1.05902586e-03 -3.69559380e+01] [ 7.98016987e-03 9.99967787e-01 8.61688378e-04 -6.90246541e+01] [-1.06586895e-03 -8.53209244e-04 9.99999068e-01 6.08915825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96907232899997 meters 0.23690430798617404 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99989487e-01 -4.27961596e-03 1.64646084e-03 -3.69583633e+01] [ 4.27210117e-03 9.99980564e-01 4.54096645e-03 -6.90242537e+01] [-1.66586243e-03 -4.53388486e-03 9.99988334e-01 6.08927158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99907232899994 meters 0.2353637906674249 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.90 [[ 9.99985169e-01 -5.01698133e-03 -2.11923924e-03 -3.69488937e+01] [ 5.01512742e-03 9.99987038e-01 -8.79209422e-04 -6.90259270e+01] [ 2.12362275e-03 8.68568128e-04 9.99997368e-01 6.08967519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.029072329 meters 0.24274439788256053 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.90 [[ 9.99984488e-01 -5.15250647e-03 -2.11554391e-03 -3.69490977e+01] [ 5.15014986e-03 9.99986113e-01 -1.11788960e-03 -6.90253259e+01] [ 2.12127446e-03 1.10697689e-03 9.99997137e-01 6.08970488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05907232899995 meters 0.24542398324062523 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.90 [[ 9.99984273e-01 -5.12426308e-03 -2.27955156e-03 -3.69488723e+01] [ 5.12171618e-03 9.99986255e-01 -1.12171941e-03 -6.90253792e+01] [ 2.28526821e-03 1.11002655e-03 9.99996773e-01 6.08973423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.089072329 meters 0.3404059794816129 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99997359e-01 -1.47308846e-03 -1.76431303e-03 -3.69511893e+01] [ 1.47714940e-03 9.99996258e-01 2.30262095e-03 -6.90240924e+01] [ 1.76091446e-03 -2.30522102e-03 9.99995793e-01 6.08988576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11907232899995 meters 0.22976777127772346 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99997850e-01 -1.63039346e-03 -1.28166674e-03 -3.69523625e+01] [ 1.63318913e-03 9.99996283e-01 2.18326401e-03 -6.90238776e+01] [ 1.27810240e-03 -2.18535252e-03 9.99996795e-01 6.08989167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.149072329 meters 0.22976777127772346 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99997850e-01 -1.63039346e-03 -1.28166674e-03 -3.69523625e+01] [ 1.63318913e-03 9.99996283e-01 2.18326401e-03 -6.90238776e+01] [ 1.27810240e-03 -2.18535252e-03 9.99996795e-01 6.08989167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17907232899995 meters 0.2535102188022923 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99997927e-01 -1.60080758e-03 -1.25848519e-03 -3.69523602e+01] [ 1.60362656e-03 9.99996201e-01 2.24216804e-03 -6.90240068e+01] [ 1.25489113e-03 -2.24418153e-03 9.99996694e-01 6.08988434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.209072329 meters 0.24829093438480898 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99998051e-01 -1.55085412e-03 -1.22182076e-03 -3.69524475e+01] [ 1.55371454e-03 9.99996047e-01 2.34365562e-03 -6.90243158e+01] [ 1.21818126e-03 -2.34554942e-03 9.99996507e-01 6.08988367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23907232899995 meters 0.24475167447949608 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99995497e-01 -2.53864305e-03 -1.60053523e-03 -3.69484373e+01] [ 2.54169745e-03 9.99994947e-01 1.90922857e-03 -6.90270728e+01] [ 1.59568029e-03 -1.91328804e-03 9.99996897e-01 6.08949992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.269072329 meters 0.24227602497401893 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99994248e-01 -2.34547803e-03 -2.44984430e-03 -3.69462187e+01] [ 2.35019362e-03 9.99995388e-01 1.92374981e-03 -6.90263609e+01] [ 2.44532089e-03 -1.92949635e-03 9.99995149e-01 6.08947115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29907232899996 meters 0.30310981257769676 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99992641e-01 -2.43359327e-03 -2.96560142e-03 -3.69450834e+01] [ 2.43815641e-03 9.99995848e-01 1.53604555e-03 -6.90251230e+01] [ 2.96185099e-03 -1.54326484e-03 9.99994423e-01 6.08949738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.329072329 meters 0.3051084193806934 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.90 [[ 9.99991711e-01 -2.53848573e-03 -3.18326601e-03 -3.69447094e+01] [ 2.54251011e-03 9.99995973e-01 1.26082020e-03 -6.90243522e+01] [ 3.18005262e-03 -1.26890324e-03 9.99994139e-01 6.08952641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35907232899996 meters 0.2845745618385751 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.90 [[ 9.99991807e-01 -2.53952832e-03 -3.15222596e-03 -3.69448768e+01] [ 2.54352554e-03 9.99995965e-01 1.26470021e-03 -6.90244277e+01] [ 3.14900150e-03 -1.27270761e-03 9.99994232e-01 6.08953962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.389072329 meters 0.28485375988604444 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.90 [[ 9.99991994e-01 -2.52026577e-03 -3.10814845e-03 -3.69448974e+01] [ 2.52434593e-03 9.99995956e-01 1.30950440e-03 -6.90245053e+01] [ 3.10483558e-03 -1.31733995e-03 9.99994312e-01 6.08952720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41907232899996 meters 0.2432323881010144 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.90 [[ 9.99991232e-01 -2.43999338e-03 -3.40323869e-03 -3.69440053e+01] [ 2.44450695e-03 9.99996137e-01 1.32273142e-03 -6.90242864e+01] [ 3.39999809e-03 -1.33103906e-03 9.99993334e-01 6.08950509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.449072329 meters 0.27800376892773204 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.89 [[ 9.99991586e-01 -2.42676584e-03 -3.30726364e-03 -3.69440180e+01] [ 2.43131516e-03 9.99996103e-01 1.37222819e-03 -6.90242924e+01] [ 3.30392067e-03 -1.38025764e-03 9.99993589e-01 6.08947332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47907232899996 meters 0.27109318842565816 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.89 [[ 9.99991671e-01 -2.31153966e-03 -3.36362089e-03 -3.69436083e+01] [ 2.31672848e-03 9.99996131e-01 1.53955324e-03 -6.90245527e+01] [ 3.36004914e-03 -1.54733301e-03 9.99993158e-01 6.08943664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.509072329 meters 0.22657931896860004 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.89 [[ 9.99992834e-01 -2.30877176e-03 -3.00027716e-03 -3.69442805e+01] [ 2.31380695e-03 9.99995919e-01 1.67585690e-03 -6.90248740e+01] [ 2.99639575e-03 -1.68278695e-03 9.99994095e-01 6.08940404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53907232899996 meters 0.2657369790968205 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.89 [[ 9.99993733e-01 -2.18345448e-03 -2.78684489e-03 -3.69446601e+01] [ 2.18896581e-03 9.99995652e-01 1.97611059e-03 -6.90256935e+01] [ 2.78251802e-03 -1.98219851e-03 9.99994164e-01 6.08938304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.569072329 meters 0.25837921599403385 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99995352e-01 -2.11812894e-03 -2.19309682e-03 -3.69458866e+01] [ 2.12316728e-03 9.99995107e-01 2.29759169e-03 -6.90266810e+01] [ 2.18821949e-03 -2.30223732e-03 9.99994956e-01 6.08934956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59907232899997 meters 0.25384401707524323 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99995635e-01 -2.15957979e-03 -2.01638085e-03 -3.69461580e+01] [ 2.16416721e-03 9.99995069e-01 2.27567176e-03 -6.90265308e+01] [ 2.01145641e-03 -2.28002561e-03 9.99995378e-01 6.08932727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.629072329 meters 0.25090403441821674 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99997006e-01 -2.07836658e-03 -1.29177345e-03 -3.69476052e+01] [ 2.08189904e-03 9.99994081e-01 2.73927909e-03 -6.90278993e+01] [ 1.28607258e-03 -2.74196023e-03 9.99995414e-01 6.08927766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65907232899997 meters 0.23966731552449755 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99997116e-01 -1.92791297e-03 -1.43200194e-03 -3.69472169e+01] [ 1.93213410e-03 9.99993776e-01 2.95219894e-03 -6.90284793e+01] [ 1.42630144e-03 -2.95495724e-03 9.99994617e-01 6.08927206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.689072329 meters 0.24447252554676138 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99997262e-01 -1.85711397e-03 -1.42362292e-03 -3.69471556e+01] [ 1.86148920e-03 9.99993530e-01 3.07817112e-03 -6.90287866e+01] [ 1.41789719e-03 -3.08081275e-03 9.99994249e-01 6.08926141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71907232899997 meters 0.23485396798644353 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99996327e-01 -2.08215674e-03 -1.73531961e-03 -3.69466606e+01] [ 2.08654883e-03 9.99994615e-01 2.53304179e-03 -6.90272774e+01] [ 1.73003607e-03 -2.53665331e-03 9.99995286e-01 6.08930950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74907232899994 meters 0.2458689206301899 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99995459e-01 -2.27910581e-03 -1.97149893e-03 -3.69463796e+01] [ 2.28323921e-03 9.99995195e-01 2.09687189e-03 -6.90261196e+01] [ 1.96671046e-03 -2.10136377e-03 9.99995858e-01 6.08935793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779072329 meters 0.23097016024534817 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99994538e-01 -2.32782169e-03 -2.34637099e-03 -3.69454876e+01] [ 2.33208692e-03 9.99995630e-01 1.81670573e-03 -6.90251714e+01] [ 2.34213177e-03 -1.82216775e-03 9.99995597e-01 6.08936965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80907232899995 meters 0.22092012406828515 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99994689e-01 -2.20875041e-03 -2.39634845e-03 -3.69452845e+01] [ 2.21355001e-03 9.99995546e-01 2.00207822e-03 -6.90256444e+01] [ 2.39191569e-03 -2.00737203e-03 9.99995125e-01 6.08935956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839072329 meters 0.22365908296044826 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99996076e-01 -2.07719909e-03 -1.87994992e-03 -3.69462291e+01] [ 2.08172456e-03 9.99994933e-01 2.40848562e-03 -6.90267842e+01] [ 1.87493749e-03 -2.41238971e-03 9.99995332e-01 6.08930978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86907232899995 meters 0.2496813122958765 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99996345e-01 -1.96547159e-03 -1.85633388e-03 -3.69462207e+01] [ 1.97031851e-03 9.99994646e-01 2.61280851e-03 -6.90273412e+01] [ 1.85118854e-03 -2.61645653e-03 9.99994864e-01 6.08930115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899072329 meters 0.24019180390448816 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99996496e-01 -1.97909552e-03 -1.75800071e-03 -3.69463266e+01] [ 1.98370181e-03 9.99994594e-01 2.62232013e-03 -6.90272773e+01] [ 1.75280138e-03 -2.62579830e-03 9.99995016e-01 6.08928252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92907232899995 meters 0.24570496421635482 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99997536e-01 -1.86161433e-03 -1.20910754e-03 -3.69473870e+01] [ 1.86530643e-03 9.99993580e-01 3.05965716e-03 -6.90285126e+01] [ 1.20340387e-03 -3.06190498e-03 9.99994588e-01 6.08923704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959072329 meters 0.2291874578858395 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99983271e-01 -5.76952356e-03 -4.13344263e-04 -3.69486538e+01] [ 5.76946595e-03 9.99983347e-01 -1.40425945e-04 -6.90315878e+01] [ 4.14147571e-04 1.38038820e-04 9.99999905e-01 6.08913271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98907232899995 meters 0.24604939124325537 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99984701e-01 -5.53112848e-03 6.18470844e-05 -3.69494616e+01] [ 5.53109693e-03 9.99984579e-01 4.99025088e-04 -6.90333225e+01] [-6.46063025e-05 -4.98675372e-04 9.99999874e-01 6.08907431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019072329 meters 0.23831688249534108 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99985028e-01 -5.44500133e-03 5.44103223e-04 -3.69503707e+01] [ 5.44454770e-03 9.99984832e-01 8.31745264e-04 -6.90342094e+01] [-5.48623825e-04 -8.28770415e-04 9.99999506e-01 6.08903410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04907232899996 meters 0.23913517589655367 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.89 [[ 9.99984638e-01 -5.44772462e-03 1.02309125e-03 -3.69513606e+01] [ 5.44667997e-03 9.99984645e-01 1.02110448e-03 -6.90347407e+01] [-1.02863824e-03 -1.01551634e-03 9.99998955e-01 6.08900643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079072329 meters 0.2322541714254679 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.89 [[ 9.99984380e-01 -5.38833445e-03 1.48486174e-03 -3.69522750e+01] [ 5.38640261e-03 9.99984646e-01 1.30196467e-03 -6.90355256e+01] [-1.49185436e-03 -1.29394627e-03 9.99998050e-01 6.08897214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10907232899996 meters 0.23857720742688585 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.04, Z:60.89 [[ 9.99980773e-01 -5.48655848e-03 2.88973454e-03 -3.69552371e+01] [ 5.47903512e-03 9.99981597e-01 2.60499000e-03 -6.90398040e+01] [-2.90397379e-03 -2.58910695e-03 9.99992432e-01 6.08884263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139072329 meters 0.24160522888125405 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.04, Z:60.89 [[ 9.99979588e-01 -5.29897412e-03 3.56991403e-03 -3.69564831e+01] [ 5.28738823e-03 9.99980750e-01 3.24708524e-03 -6.90415696e+01] [-3.58705153e-03 -3.22814344e-03 9.99988356e-01 6.08877345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16907232899996 meters 0.22168321882442232 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.04, Z:60.89 [[ 9.99976358e-01 -5.12190090e-03 4.58804755e-03 -3.69584054e+01] [ 5.10279525e-03 9.99978301e-01 4.16629542e-03 -6.90442384e+01] [-4.60928735e-03 -4.14278505e-03 9.99980796e-01 6.08866863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199072329 meters 0.2248714572494084 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.89 [[ 9.99974709e-01 -5.08234537e-03 4.97514218e-03 -3.69593243e+01] [ 5.06043173e-03 9.99977483e-01 4.40734814e-03 -6.90450494e+01] [-4.99742982e-03 -4.38206031e-03 9.99977911e-01 6.08865801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22907232899996 meters 0.22187625703412148 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.04, Z:60.89 [[ 9.99972292e-01 -5.23155821e-03 5.29592723e-03 -3.69600963e+01] [ 5.20901588e-03 9.99977353e-01 4.26142391e-03 -6.90447002e+01] [-5.31810118e-03 -4.23371926e-03 9.99976896e-01 6.08865294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259072329 meters 0.2393316433106694 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.04, Z:60.89 [[ 9.99969501e-01 -5.38682954e-03 5.65492412e-03 -3.69611304e+01] [ 5.36344362e-03 9.99977036e-01 4.14254842e-03 -6.90446106e+01] [-5.67710947e-03 -4.11209221e-03 9.99975430e-01 6.08867520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28907232899996 meters 0.2247042033119743 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.04, Z:60.89 [[ 9.99967838e-01 -5.43435839e-03 5.89829354e-03 -3.69617464e+01] [ 5.40985778e-03 9.99976706e-01 4.16188364e-03 -6.90447273e+01] [-5.92077332e-03 -4.12984085e-03 9.99973944e-01 6.08867514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319072329 meters 0.23702609650297102 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.89 [[ 9.99956666e-01 -5.94618857e-03 7.16307885e-03 -3.69649295e+01] [ 5.91467967e-03 9.99972775e-01 4.41197496e-03 -6.90465548e+01] [-7.18911827e-03 -4.36941646e-03 9.99964612e-01 6.08867169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34907232899997 meters 0.23145875842272504 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99947547e-01 -6.13620922e-03 8.20060559e-03 -3.69673573e+01] [ 6.09873569e-03 9.99970883e-01 4.58682758e-03 -6.90475816e+01] [-8.22851255e-03 -4.53657366e-03 9.99955855e-01 6.08865576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379072329 meters 0.23335218167354024 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99948817e-01 -5.97990866e-03 8.16114434e-03 -3.69671170e+01] [ 5.94042828e-03 9.99970578e-01 4.85330136e-03 -6.90482950e+01] [-8.18992653e-03 -4.80457226e-03 9.99954920e-01 6.08863295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40907232899997 meters 0.23118974556528543 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99936036e-01 -6.42020642e-03 9.31150817e-03 -3.69698784e+01] [ 6.37511443e-03 9.99967848e-01 4.86423302e-03 -6.90492845e+01] [-9.34243816e-03 -4.80455995e-03 9.99944816e-01 6.08860992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439072329 meters 0.255770684485955 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99934426e-01 -6.27014319e-03 9.58274034e-03 -3.69704566e+01] [ 6.21995194e-03 9.99966829e-01 5.25853059e-03 -6.90504807e+01] [-9.61539422e-03 -5.19858158e-03 9.99940258e-01 6.08859077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46907232899997 meters 0.2342144890578137 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99931607e-01 -6.46567855e-03 9.74552856e-03 -3.69710160e+01] [ 6.41740908e-03 9.99967027e-01 4.97614665e-03 -6.90497756e+01] [-9.77738138e-03 -4.91326528e-03 9.99940130e-01 6.08861292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49907232899994 meters 0.269372655242037 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99928631e-01 -6.74834597e-03 9.85868204e-03 -3.69713531e+01] [ 6.70409220e-03 9.99967334e-01 4.51498488e-03 -6.90484548e+01] [-9.88882868e-03 -4.44856914e-03 9.99941209e-01 6.08861902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.529072329 meters 0.23902244072750983 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99928859e-01 -6.84850824e-03 9.76602825e-03 -3.69711605e+01] [ 6.80675557e-03 9.99967579e-01 4.30214609e-03 -6.90478389e+01] [-9.79517491e-03 -4.23536507e-03 9.99943056e-01 6.08862246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55907232899995 meters 0.2325024926271042 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99929720e-01 -6.82238098e-03 9.69588358e-03 -3.69711495e+01] [ 6.78064733e-03 9.99967634e-01 4.33063990e-03 -6.90480581e+01] [-9.72511504e-03 -4.26459118e-03 9.99943616e-01 6.08864267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.589072329 meters 0.22823672584158353 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99928019e-01 -6.83301241e-03 9.86241755e-03 -3.69716926e+01] [ 6.79005505e-03 9.99967343e-01 4.38259405e-03 -6.90483430e+01] [-9.89204179e-03 -4.31531223e-03 9.99941761e-01 6.08865865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61907232899995 meters 0.22566146408271867 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99922079e-01 -6.79418113e-03 1.04725551e-02 -3.69731126e+01] [ 6.74513594e-03 9.99966152e-01 4.71143915e-03 -6.90495377e+01] [-1.05042110e-02 -4.64043323e-03 9.99934062e-01 6.08864061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.649072329 meters 0.23302416724545766 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99924437e-01 -6.77162625e-03 1.02599332e-02 -3.69728433e+01] [ 6.72387765e-03 9.99966437e-01 4.68125907e-03 -6.90495789e+01] [-1.02912886e-02 -4.61191881e-03 9.99936408e-01 6.08867817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67907232899995 meters 0.26493510810439946 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99925509e-01 -6.87934295e-03 1.00822131e-02 -3.69725636e+01] [ 6.83509752e-03 9.99966888e-01 4.41637112e-03 -6.90488666e+01] [-1.01122610e-02 -4.34712923e-03 9.99939420e-01 6.08870136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.709072329 meters 0.2373716543871979 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99925679e-01 -6.98681283e-03 9.99106394e-03 -3.69726247e+01] [ 6.94519556e-03 9.99967086e-01 4.19409623e-03 -6.90483591e+01] [-1.00200385e-02 -4.12439463e-03 9.99941292e-01 6.08874340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73907232899995 meters 0.23854082409231755 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99920672e-01 -7.37195365e-03 1.02128962e-02 -3.69737625e+01] [ 7.33562521e-03 9.99966650e-01 3.59002061e-03 -6.90470760e+01] [-1.02390210e-02 -3.51481784e-03 9.99941403e-01 6.08883584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.769072329 meters 0.2450131928745744 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99918065e-01 -7.54684074e-03 1.03396729e-02 -3.69742770e+01] [ 7.51276510e-03 9.99966232e-01 3.33050801e-03 -6.90464389e+01] [-1.03644585e-02 -3.25255559e-03 9.99940998e-01 6.08886534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79907232899996 meters 0.24145522252156082 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.89 [[ 9.99920436e-01 -7.64447746e-03 1.00341111e-02 -3.69736197e+01] [ 7.61434084e-03 9.99966395e-01 3.03819187e-03 -6.90455709e+01] [-1.00569993e-02 -2.96154700e-03 9.99945041e-01 6.08887992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.829072329 meters 0.2330699671196855 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99925334e-01 -7.78786745e-03 9.41672242e-03 -3.69720146e+01] [ 7.76435718e-03 9.99966655e-01 2.53063762e-03 -6.90436900e+01] [-9.43611669e-03 -2.45733388e-03 9.99952459e-01 6.08886904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85907232899996 meters 0.3190981027747912 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99925049e-01 -7.87270013e-03 9.37645800e-03 -3.69718749e+01] [ 7.85091355e-03 9.99966401e-01 2.35808653e-03 -6.90431448e+01] [-9.39470747e-03 -2.28429603e-03 9.99953260e-01 6.08886216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.889072329 meters 0.23423288245231397 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99927742e-01 -7.71483941e-03 9.21909244e-03 -3.69713868e+01] [ 7.69144847e-03 9.99967118e-01 2.56999544e-03 -6.90436921e+01] [-9.23861640e-03 -2.49890157e-03 9.99954201e-01 6.08884723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91907232899996 meters 0.2327969758649025 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99942892e-01 -4.33174893e-03 9.76973771e-03 -3.69738543e+01] [ 4.27607641e-03 9.99974543e-01 5.71217421e-03 -6.90417554e+01] [-9.79423270e-03 -5.67007185e-03 9.99935960e-01 6.08898856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.949072329 meters 0.24395214176444033 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99950474e-01 -4.36271909e-03 8.94513690e-03 -3.69721426e+01] [ 4.31529160e-03 9.99976567e-01 5.31450437e-03 -6.90405141e+01] [-8.96811298e-03 -5.27564030e-03 9.99945869e-01 6.08903278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97907232899996 meters 0.27319680822692083 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99958205e-01 -4.51045095e-03 7.95257832e-03 -3.69701206e+01] [ 4.47494199e-03 9.99979964e-01 4.47724264e-03 -6.90379963e+01] [-7.97261336e-03 -4.44146819e-03 9.99958355e-01 6.08911160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.009072329 meters 0.27505675087657666 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99959576e-01 -4.64768677e-03 7.69716431e-03 -3.69697596e+01] [ 4.61606403e-03 9.99980854e-01 4.12104534e-03 -6.90370701e+01] [-7.71617027e-03 -4.08534814e-03 9.99961885e-01 6.08915324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03907232899996 meters 0.27505675087657666 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99959576e-01 -4.64768677e-03 7.69716431e-03 -3.69697596e+01] [ 4.61606403e-03 9.99980854e-01 4.12104534e-03 -6.90370701e+01] [-7.71617027e-03 -4.08534814e-03 9.99961885e-01 6.08915324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.069072329 meters 0.2307941661907362 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99964889e-01 -4.65287405e-03 6.96934138e-03 -3.69682632e+01] [ 4.62626077e-03 9.99981965e-01 3.82988751e-03 -6.90361695e+01] [-6.98703567e-03 -3.79751105e-03 9.99968380e-01 6.08919645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09907232899997 meters 0.2606956788274028 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99966638e-01 -4.83832145e-03 6.58135539e-03 -3.69675345e+01] [ 4.81646575e-03 9.99982847e-01 3.33265731e-03 -6.90347601e+01] [-6.59736697e-03 -3.30084725e-03 9.99972789e-01 6.08923165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.129072329 meters 0.24373578695127673 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99967312e-01 -5.00276876e-03 6.35191996e-03 -3.69671050e+01] [ 4.98413116e-03 9.99983238e-01 2.94661488e-03 -6.90336470e+01] [-6.36655472e-03 -2.91485976e-03 9.99975485e-01 6.08925402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15907232899997 meters 0.24732905524902588 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99969208e-01 -5.26900980e-03 5.81556372e-03 -3.69662664e+01] [ 5.25613200e-03 9.99983706e-01 2.22743680e-03 -6.90316909e+01] [-5.82720535e-03 -2.19680084e-03 9.99980609e-01 6.08933639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.189072329 meters 0.24694556792302724 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99969494e-01 -5.36404274e-03 5.67791796e-03 -3.69662442e+01] [ 5.35272477e-03 9.99983661e-01 2.00665526e-03 -6.90311997e+01] [-5.68858897e-03 -1.97620171e-03 9.99981867e-01 6.08938503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21907232899997 meters 0.24869098486834257 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99970008e-01 -5.37379734e-03 5.57725119e-03 -3.69662865e+01] [ 5.36296707e-03 9.99983708e-01 1.95500763e-03 -6.90312032e+01] [-5.58766614e-03 -1.92503838e-03 9.99982536e-01 6.08943002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24907232899994 meters 0.2392836624041974 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99967741e-01 -5.33545108e-03 6.00419067e-03 -3.69671906e+01] [ 5.32244711e-03 9.99983460e-01 2.17971429e-03 -6.90319146e+01] [-6.01572112e-03 -2.14768698e-03 9.99979599e-01 6.08940465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279072329 meters 0.2377802192604302 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99967979e-01 -5.27079284e-03 6.02159635e-03 -3.69672579e+01] [ 5.25699699e-03 9.99983526e-01 2.30459661e-03 -6.90323181e+01] [-6.03364421e-03 -2.27286730e-03 9.99979214e-01 6.08940744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30907232899995 meters 0.23171630726117112 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99972628e-01 -5.03800371e-03 5.41862965e-03 -3.69656159e+01] [ 5.02452608e-03 9.99984257e-01 2.49801969e-03 -6.90325226e+01] [-5.43112937e-03 -2.47072527e-03 9.99982199e-01 6.08937521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339072329 meters 0.22825259615680887 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99974594e-01 -5.14617283e-03 4.93238631e-03 -3.69645690e+01] [ 5.13584103e-03 9.99984596e-01 2.10506898e-03 -6.90313649e+01] [-4.94314338e-03 -2.07968354e-03 9.99985620e-01 6.08939835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36907232899995 meters 0.22839718253169883 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99978722e-01 -5.14907756e-03 4.00530406e-03 -3.69624640e+01] [ 5.14263422e-03 9.99985469e-01 1.61734158e-03 -6.90295581e+01] [-4.01357367e-03 -1.59670935e-03 9.99990671e-01 6.08942517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399072329 meters 0.2301146155829312 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99980128e-01 -5.36077356e-03 3.31753908e-03 -3.69610528e+01] [ 5.35779094e-03 9.99985235e-01 9.07280486e-04 -6.90274173e+01] [-3.32235382e-03 -8.89487775e-04 9.99994085e-01 6.08947211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42907232899995 meters 0.22331186533697397 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.90 [[ 9.99981092e-01 -5.53326700e-03 2.68301196e-03 -3.69598527e+01] [ 5.53252880e-03 9.99984656e-01 2.82480545e-04 -6.90256345e+01] [-2.68453383e-03 -2.67631363e-04 9.99996361e-01 6.08953776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459072329 meters 0.23097395976548685 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.90 [[ 9.99981114e-01 -5.56067117e-03 2.61721690e-03 -3.69596918e+01] [ 5.56016750e-03 9.99984522e-01 1.99682094e-04 -6.90253617e+01] [-2.61828676e-03 -1.85126158e-04 9.99996555e-01 6.08954064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48907232899995 meters 0.24017188488117538 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.90 [[ 9.99981459e-01 -5.52572452e-03 2.55903206e-03 -3.69594069e+01] [ 5.52516374e-03 9.99984711e-01 2.26153652e-04 -6.90253318e+01] [-2.56024260e-03 -2.12010388e-04 9.99996700e-01 6.08952250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519072329 meters 0.2180373323664957 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99981966e-01 -5.42671435e-03 2.57265411e-03 -3.69591496e+01] [ 5.42571577e-03 9.99985203e-01 3.94971889e-04 -6.90256246e+01] [-2.57475944e-03 -3.81006276e-04 9.99996613e-01 6.08948215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54907232899996 meters 0.2548355809838499 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99982781e-01 -5.37419194e-03 2.35713755e-03 -3.69585991e+01] [ 5.37325131e-03 9.99985482e-01 4.05210855e-04 -6.90255993e+01] [-2.35928101e-03 -3.92538386e-04 9.99997140e-01 6.08948262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579072329 meters 0.2565305204713984 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.90 [[ 9.99982843e-01 -5.40264663e-03 2.26401095e-03 -3.69584800e+01] [ 5.40194442e-03 9.99985359e-01 3.16164329e-04 -6.90253717e+01] [-2.26568592e-03 -3.03928843e-04 9.99997387e-01 6.08950131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60907232899996 meters 0.2557684231828449 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99986166e-01 -4.99299663e-03 1.65443024e-03 -3.69565878e+01] [ 4.99179268e-03 9.99987274e-01 7.31047368e-04 -6.90258264e+01] [-1.65805930e-03 -7.22778682e-04 9.99998364e-01 6.08944052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639072329 meters 0.24378823084861556 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99986570e-01 -4.96342982e-03 1.49147422e-03 -3.69560948e+01] [ 4.96237511e-03 9.99987435e-01 7.10028789e-04 -6.90256697e+01] [-1.49497966e-03 -7.02617999e-04 9.99998636e-01 6.08942989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66907232899996 meters 0.2447893179635978 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99986940e-01 -5.01116980e-03 1.00435893e-03 -3.69546911e+01] [ 5.01077337e-03 9.99987367e-01 3.96838729e-04 -6.90242410e+01] [-1.00633486e-03 -3.91800931e-04 9.99999417e-01 6.08941042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699072329 meters 0.2414590960101806 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99986622e-01 -5.10346415e-03 8.43261594e-04 -3.69542763e+01] [ 5.10333558e-03 9.99986966e-01 1.54544737e-04 -6.90234511e+01] [-8.44039317e-04 -1.50239222e-04 9.99999633e-01 6.08941288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72907232899996 meters 0.23939420391584088 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99986352e-01 -5.18916390e-03 6.07117375e-04 -3.69537671e+01] [ 5.18923388e-03 9.99986529e-01 -1.13748592e-04 -6.90226339e+01] [-6.06518937e-04 1.16897513e-04 9.99999809e-01 6.08942835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759072329 meters 0.2321743820060306 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99986373e-01 -5.20115131e-03 4.48376506e-04 -3.69533402e+01] [ 5.20124440e-03 9.99986452e-01 -2.06704257e-04 -6.90222945e+01] [-4.47295332e-04 2.09033557e-04 9.99999878e-01 6.08942601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78907232899996 meters 0.2318854818603687 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99985256e-01 -5.43010829e-03 -4.40140359e-05 -3.69523991e+01] [ 5.43006751e-03 9.99984871e-01 -8.79027945e-04 -6.90203344e+01] [ 4.87865870e-05 8.78775986e-04 9.99999613e-01 6.08948066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819072329 meters 0.236363694045773 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99984617e-01 -5.54619713e-03 -7.35263208e-05 -3.69524270e+01] [ 5.54611246e-03 9.99984009e-01 -1.10568453e-03 -6.90196847e+01] [ 7.96574895e-05 1.10525974e-03 9.99999386e-01 6.08949937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84907232899997 meters 0.22564251073615857 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99984095e-01 -5.63383775e-03 -2.65077545e-04 -3.69520922e+01] [ 5.63347458e-03 9.99983219e-01 -1.35141272e-03 -6.90189925e+01] [ 2.72686736e-04 1.34989792e-03 9.99999052e-01 6.08952457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879072329 meters 0.22156019835472854 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99983572e-01 -5.73187917e-03 -3.80859626e-05 -3.69526673e+01] [ 5.73181817e-03 9.99982529e-01 -1.44483226e-03 -6.90187392e+01] [ 4.63669011e-05 1.44459023e-03 9.99998956e-01 6.08952787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90907232899997 meters 0.24163938403119736 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.90 [[ 9.99983422e-01 -5.75770883e-03 7.08909176e-05 -3.69528817e+01] [ 5.75780588e-03 9.99982366e-01 -1.45475132e-03 -6.90186582e+01] [-6.25136330e-05 1.45513538e-03 9.99998939e-01 6.08952269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939072329 meters 0.25272027490802546 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99983825e-01 -5.67256409e-03 4.15629802e-04 -3.69535009e+01] [ 5.67304948e-03 9.99983216e-01 -1.17612374e-03 -6.90193850e+01] [-4.08951189e-04 1.17846260e-03 9.99999222e-01 6.08948713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96907232899997 meters 0.23896591662460961 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.89 [[ 9.99985320e-01 -5.33940306e-03 9.22128794e-04 -3.69542966e+01] [ 5.33975604e-03 9.99985671e-01 -3.80754842e-04 -6.90215750e+01] [-9.20082578e-04 3.85673195e-04 9.99999502e-01 6.08941333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99907232899994 meters 0.23850934580144456 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99984943e-01 -5.29287918e-03 1.44890739e-03 -3.69553055e+01] [ 5.29302963e-03 9.99985987e-01 -1.00023393e-04 -6.90223181e+01] [-1.44835768e-03 1.07690997e-04 9.99998945e-01 6.08936970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.029072329 meters 0.21965086738395945 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99984604e-01 -5.27917603e-03 1.70945548e-03 -3.69558014e+01] [ 5.27915655e-03 9.99986065e-01 1.59086632e-05 -6.90226069e+01] [-1.70951564e-03 -6.88393517e-06 9.99998539e-01 6.08934748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05907232899995 meters 0.2254118977596554 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99983989e-01 -5.27013680e-03 2.06079135e-03 -3.69566158e+01] [ 5.26983272e-03 9.99986103e-01 1.52962009e-04 -6.90230586e+01] [-2.06156885e-03 -1.42099534e-04 9.99997865e-01 6.08934000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.089072329 meters 0.25098074763876016 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99984122e-01 -5.22957702e-03 2.09947640e-03 -3.69566974e+01] [ 5.22909008e-03 9.99986300e-01 2.37357072e-04 -6.90233018e+01] [-2.10068892e-03 -2.26374952e-04 9.99997768e-01 6.08933880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11907232899995 meters 0.23415371058807505 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99984116e-01 -5.12227832e-03 2.35175233e-03 -3.69569941e+01] [ 5.12108770e-03 9.99986756e-01 5.12013569e-04 -6.90239516e+01] [-2.35434386e-03 -4.99961906e-04 9.99997104e-01 6.08928910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.149072329 meters 0.23411074207230864 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99984047e-01 -5.04843703e-03 2.53371520e-03 -3.69571593e+01] [ 5.04666911e-03 9.99987018e-01 7.03665761e-04 -6.90243798e+01] [-2.53723472e-03 -6.90867712e-04 9.99996543e-01 6.08924643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17907232899995 meters 0.23168230777981186 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99984309e-01 -4.90870106e-03 2.69915738e-03 -3.69572985e+01] [ 4.90598053e-03 9.99987452e-01 1.01361688e-03 -6.90251594e+01] [-2.70409905e-03 -1.00035896e-03 9.99995844e-01 6.08920489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.209072329 meters 0.3342607752766157 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99983986e-01 -4.71674553e-03 3.12744834e-03 -3.69580419e+01] [ 4.71199056e-03 9.99987734e-01 1.52602804e-03 -6.90265669e+01] [-3.13460787e-03 -1.51126709e-03 9.99993945e-01 6.08915444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23907232899995 meters 0.24103614421002076 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99983111e-01 -4.58388094e-03 3.57304850e-03 -3.69589154e+01] [ 4.57705084e-03 9.99987687e-01 1.91739881e-03 -6.90276941e+01] [-3.58179363e-03 -1.90101240e-03 9.99991778e-01 6.08911601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.269072329 meters 0.2287324763703825 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99981837e-01 -4.51208321e-03 3.99592720e-03 -3.69598567e+01] [ 4.50328396e-03 9.99987422e-01 2.20832315e-03 -6.90285857e+01] [-4.00584107e-03 -2.19028824e-03 9.99989578e-01 6.08909921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29907232899996 meters 0.22218147267447264 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99978524e-01 -4.50337048e-03 4.76136888e-03 -3.69615162e+01] [ 4.49131121e-03 9.99986687e-01 2.54039773e-03 -6.90296792e+01] [-4.77274584e-03 -2.51895838e-03 9.99985438e-01 6.08906960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.329072329 meters 0.22720257985361944 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.89 [[ 9.99951199e-01 -8.60381892e-03 4.85538206e-03 -3.69615634e+01] [ 8.61062999e-03 9.99961971e-01 -1.38362921e-03 -6.90308207e+01] [-4.84329291e-03 1.42536959e-03 9.99987255e-01 6.08905536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35907232899996 meters 0.24605886160704973 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99969532e-01 -4.93795260e-03 6.04572867e-03 -3.69651777e+01] [ 4.92245222e-03 9.99984567e-01 2.57605739e-03 -6.90314661e+01] [-6.05835582e-03 -2.54621910e-03 9.99978406e-01 6.08913511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.389072329 meters 0.2280851566983987 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99961950e-01 -4.95743499e-03 7.17784047e-03 -3.69675927e+01] [ 4.93467897e-03 9.99982754e-01 3.18456311e-03 -6.90335239e+01] [-7.19350395e-03 -3.14902160e-03 9.99969168e-01 6.08906795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41907232899996 meters 0.2827512320396122 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.89 [[ 9.99956990e-01 -4.95624016e-03 7.83918681e-03 -3.69690053e+01] [ 4.92939958e-03 9.99981935e-01 3.43952250e-03 -6.90343199e+01] [-7.85609229e-03 -3.40073208e-03 9.99963358e-01 6.08903244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.449072329 meters 0.2733266744563835 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99954380e-01 -4.90131185e-03 8.19844998e-03 -3.69697054e+01] [ 4.87116643e-03 9.99981317e-01 3.69290203e-03 -6.90350263e+01] [-8.21639687e-03 -3.65279754e-03 9.99959573e-01 6.08899934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47907232899996 meters 0.22617701444204028 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99949454e-01 -5.02188412e-03 8.71030114e-03 -3.69710863e+01] [ 4.98991942e-03 9.99980751e-01 3.68761668e-03 -6.90352651e+01] [-8.72865226e-03 -3.64396659e-03 9.99955265e-01 6.08901597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.509072329 meters 0.2617437518831675 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99947844e-01 -5.10981792e-03 8.84306758e-03 -3.69715305e+01] [ 5.07831207e-03 9.99980691e-01 3.58156929e-03 -6.90350383e+01] [-8.86119800e-03 -3.53647463e-03 9.99954485e-01 6.08903119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53907232899996 meters 0.23241100668250061 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99947556e-01 -5.05654312e-03 8.90601240e-03 -3.69715775e+01] [ 5.02367252e-03 9.99980502e-01 3.70934465e-03 -6.90353909e+01] [-8.92459520e-03 -3.66440923e-03 9.99953461e-01 6.08901153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.569072329 meters 0.2688338752631008 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99947711e-01 -4.97454001e-03 8.93467786e-03 -3.69717083e+01] [ 4.94010164e-03 9.99980300e-01 3.87240369e-03 -6.90359344e+01] [-8.95376528e-03 -3.82806300e-03 9.99952587e-01 6.08901881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59907232899997 meters 0.27412965213178236 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99949561e-01 -5.02187480e-03 8.69810644e-03 -3.69713499e+01] [ 4.98985803e-03 9.99980710e-01 3.69868767e-03 -6.90355197e+01] [-8.71651300e-03 -3.65509879e-03 9.99955330e-01 6.08905365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.629072329 meters 0.23721532217443791 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99943462e-01 -5.22560525e-03 9.26096142e-03 -3.69728910e+01] [ 5.19307185e-03 9.99980273e-01 3.53353391e-03 -6.90354192e+01] [-9.27924358e-03 -3.48524129e-03 9.99950873e-01 6.08907794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65907232899997 meters 0.23602167602190618 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99940726e-01 -5.24426119e-03 9.54156008e-03 -3.69736926e+01] [ 5.20996895e-03 9.99979893e-01 3.61530079e-03 -6.90358020e+01] [-9.56032781e-03 -3.56537527e-03 9.99947943e-01 6.08909453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.689072329 meters 0.22931550281183036 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99940345e-01 -5.20889886e-03 9.60071578e-03 -3.69738981e+01] [ 5.17350267e-03 9.99979743e-01 3.70798360e-03 -6.90361399e+01] [-9.61983581e-03 -3.65809308e-03 9.99947037e-01 6.08910037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71907232899997 meters 0.22995438238920796 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99939343e-01 -5.15198760e-03 9.73486010e-03 -3.69742359e+01] [ 5.11448879e-03 9.99979421e-01 3.87298988e-03 -6.90366723e+01] [-9.75461336e-03 -3.82296613e-03 9.99945115e-01 6.08909804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74907232899994 meters 0.23276049072205932 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.89 [[ 9.99937803e-01 -5.16219178e-03 9.88644103e-03 -3.69745290e+01] [ 5.12358274e-03 9.99979165e-01 3.92660530e-03 -6.90368443e+01] [-9.90650494e-03 -3.87570708e-03 9.99943418e-01 6.08907991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779072329 meters 0.21251254500019331 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99934279e-01 -5.30893814e-03 1.01613525e-02 -3.69752357e+01] [ 5.27092810e-03 9.99979025e-01 3.76378069e-03 -6.90364224e+01] [-1.01811210e-02 -3.70997357e-03 9.99941289e-01 6.08908495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80907232899995 meters 0.2376777222508773 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99934929e-01 -5.34111783e-03 1.00801569e-02 -3.69751751e+01] [ 5.30422184e-03 9.99979148e-01 3.68345091e-03 -6.90362728e+01] [-1.00996205e-02 -3.62974383e-03 9.99942410e-01 6.08910407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839072329 meters 0.2346972873699661 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99928460e-01 -5.39536136e-03 1.06754449e-02 -3.69765687e+01] [ 5.35470743e-03 9.99978317e-01 3.83309702e-03 -6.90368707e+01] [-1.06958944e-02 -3.77565891e-03 9.99935669e-01 6.08908922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86907232899995 meters 0.2236729270519682 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99924981e-01 -5.39618431e-03 1.09960834e-02 -3.69773436e+01] [ 5.35287188e-03 9.99977814e-01 3.96452843e-03 -6.90373303e+01] [-1.10172328e-02 -3.90537039e-03 9.99931682e-01 6.08908289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899072329 meters 0.23870561373458427 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99914246e-01 -5.56278096e-03 1.18556546e-02 -3.69794962e+01] [ 5.51497985e-03 9.99976547e-01 4.06081132e-03 -6.90380909e+01] [-1.18779660e-02 -3.99507939e-03 9.99921474e-01 6.08908271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92907232899995 meters 0.23931230718936167 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99911695e-01 -5.61379395e-03 1.20452136e-02 -3.69799899e+01] [ 5.56545523e-03 9.99976340e-01 4.04288073e-03 -6.90380859e+01] [-1.20676245e-02 -3.97548663e-03 9.99919281e-01 6.08908463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959072329 meters 0.23931230718936167 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99911695e-01 -5.61379395e-03 1.20452136e-02 -3.69799899e+01] [ 5.56545523e-03 9.99976340e-01 4.04288073e-03 -6.90380859e+01] [-1.20676245e-02 -3.97548663e-03 9.99919281e-01 6.08908463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98907232899995 meters 0.23126936521715138 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99910601e-01 -5.60975892e-03 1.21375412e-02 -3.69802731e+01] [ 5.56041779e-03 9.99976156e-01 4.09510120e-03 -6.90382920e+01] [-1.21602243e-02 -4.02724531e-03 9.99917952e-01 6.08909096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019072329 meters 0.2460257135323226 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99905991e-01 -5.79227447e-03 1.24281627e-02 -3.69811862e+01] [ 5.74456095e-03 9.99976006e-01 3.87141620e-03 -6.90378344e+01] [-1.24502888e-02 -3.79965791e-03 9.99915273e-01 6.08912141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04907232899996 meters 0.22243951748189877 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99907271e-01 -5.87883197e-03 1.22837104e-02 -3.69810620e+01] [ 5.83420065e-03 9.99976261e-01 3.66605514e-03 -6.90373373e+01] [-1.23049709e-02 -3.59404956e-03 9.99917832e-01 6.08915665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079072329 meters 0.23893833754591784 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99903234e-01 -5.92883146e-03 1.25845511e-02 -3.69818741e+01] [ 5.88266561e-03 9.99975843e-01 3.70230696e-03 -6.90375809e+01] [-1.26061974e-02 -3.62791800e-03 9.99913957e-01 6.08916459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10907232899996 meters 0.241273321265551 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99904318e-01 -5.93327416e-03 1.24960752e-02 -3.69817540e+01] [ 5.88790425e-03 9.99975952e-01 3.66439817e-03 -6.90375155e+01] [-1.25175166e-02 -3.59047186e-03 9.99915207e-01 6.08917935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139072329 meters 0.21380398946280774 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99905126e-01 -5.95928934e-03 1.24187919e-02 -3.69816221e+01] [ 5.91508281e-03 9.99976050e-01 3.59334369e-03 -6.90373398e+01] [-1.24399083e-02 -3.51954460e-03 9.99916427e-01 6.08918706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16907232899996 meters 0.21921978571127781 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99907192e-01 -6.01019577e-03 1.22264262e-02 -3.69814120e+01] [ 5.96860081e-03 9.99976286e-01 3.43570262e-03 -6.90370008e+01] [-1.22467855e-02 -3.36240911e-03 9.99919352e-01 6.08922683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199072329 meters 0.22873382023249056 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99903220e-01 -6.20696827e-03 1.24508799e-02 -3.69821002e+01] [ 6.16797160e-03 9.99975960e-01 3.16800012e-03 -6.90363440e+01] [-1.24702442e-02 -3.09089684e-03 9.99917466e-01 6.08924591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22907232899996 meters 0.2306010168812637 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99908052e-01 -6.03174070e-03 1.21451729e-02 -3.69813547e+01] [ 5.99104336e-03 9.99976326e-01 3.38450609e-03 -6.90369638e+01] [-1.21652998e-02 -3.31143263e-03 9.99920517e-01 6.08924426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259072329 meters 0.2816459859804529 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.89 [[ 9.99909586e-01 -6.27512887e-03 1.18929534e-02 -3.69809483e+01] [ 6.24170932e-03 9.99976473e-01 2.84506725e-03 -6.90354435e+01] [-1.19105268e-02 -2.77057766e-03 9.99925229e-01 6.08927835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28907232899996 meters 0.2213207750580929 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99916589e-01 -6.49035170e-03 1.11665258e-02 -3.69795207e+01] [ 6.46665519e-03 9.99976765e-01 2.15690243e-03 -6.90334627e+01] [-1.11802654e-02 -2.08451245e-03 9.99935326e-01 6.08933328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319072329 meters 0.2527675194635345 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99925660e-01 -6.59118535e-03 1.02581760e-02 -3.69778051e+01] [ 6.57624070e-03 9.99977266e-01 1.48990265e-03 -6.90315257e+01] [-1.02677630e-02 -1.42233165e-03 9.99946274e-01 6.08942526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34907232899997 meters 0.2370303168245746 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99926822e-01 -6.67365554e-03 1.00902576e-02 -3.69776216e+01] [ 6.66101223e-03 9.99976988e-01 1.28610914e-03 -6.90310304e+01] [-1.00986084e-02 -1.21880370e-03 9.99948265e-01 6.08946002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379072329 meters 0.2336250896514684 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99927147e-01 -6.88530250e-03 9.91428998e-03 -3.69777084e+01] [ 6.87735585e-03 9.99976002e-01 8.35405542e-04 -6.90299885e+01] [-9.91980408e-03 -7.67160581e-04 9.99950503e-01 6.08954137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40907232899997 meters 0.21534349345459305 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99925896e-01 -6.89293058e-03 1.00344182e-02 -3.69781564e+01] [ 6.88452833e-03 9.99975921e-01 8.71644391e-04 -6.90301972e+01] [-1.00401848e-02 -8.02497562e-04 9.99949274e-01 6.08956498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439072329 meters 0.2551217973619187 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99923645e-01 -6.92614920e-03 1.02338982e-02 -3.69786881e+01] [ 6.91741389e-03 9.99975679e-01 8.88717566e-04 -6.90302983e+01] [-1.02398047e-02 -8.17857599e-04 9.99947237e-01 6.08956905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46907232899997 meters 0.25230212212726916 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99915666e-01 -6.80634569e-03 1.10605218e-02 -3.69803060e+01] [ 6.79006253e-03 9.99975809e-01 1.50907366e-03 -6.90321487e+01] [-1.10705255e-02 -1.43384476e-03 9.99937692e-01 6.08949394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49907232899994 meters 0.26804646614875444 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99917877e-01 -6.58751950e-03 1.09928970e-02 -3.69801309e+01] [ 6.56725975e-03 9.99976672e-01 1.87806762e-03 -6.90332700e+01] [-1.10050123e-02 -1.80572018e-03 9.99937813e-01 6.08948973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.529072329 meters 0.24223747944074303 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99918623e-01 -6.52907911e-03 1.09598189e-02 -3.69799777e+01] [ 6.50781236e-03 9.99976874e-01 1.97497176e-03 -6.90335298e+01] [-1.09724602e-02 -1.90348660e-03 9.99937989e-01 6.08947652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55907232899995 meters 0.25542770765035616 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99920303e-01 -6.48156068e-03 1.08340824e-02 -3.69797091e+01] [ 6.46005003e-03 9.99977095e-01 2.01927913e-03 -6.90336867e+01] [-1.08469224e-02 -1.94912949e-03 9.99939271e-01 6.08948130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.589072329 meters 0.24948785956514122 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99912785e-01 -6.70395766e-03 1.13788871e-02 -3.69809840e+01] [ 6.68363546e-03 9.99976002e-01 1.82304597e-03 -6.90332347e+01] [-1.13908357e-02 -1.74683464e-03 9.99933597e-01 6.08947419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61907232899995 meters 0.23619062317715317 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99911512e-01 -6.67257488e-03 1.15085146e-02 -3.69813770e+01] [ 6.65068849e-03 9.99976004e-01 1.93898030e-03 -6.90336532e+01] [-1.15211764e-02 -1.86226918e-03 9.99931895e-01 6.08948239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.649072329 meters 0.24611531742468318 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99905636e-01 -6.77598950e-03 1.19501124e-02 -3.69824843e+01] [ 6.75337070e-03 9.99975329e-01 1.93210820e-03 -6.90337576e+01] [-1.19629095e-02 -1.85122234e-03 9.99926728e-01 6.08948474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67907232899995 meters 0.2330202375946904 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99899488e-01 -6.86448333e-03 1.24053608e-02 -3.69836677e+01] [ 6.84070064e-03 9.99974684e-01 1.95854747e-03 -6.90340069e+01] [-1.24184912e-02 -1.87348925e-03 9.99921132e-01 6.08949229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.709072329 meters 0.23824694981723832 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99900360e-01 -6.92192767e-03 1.23027166e-02 -3.69835664e+01] [ 6.90010950e-03 9.99974547e-01 1.81500628e-03 -6.90336476e+01] [-1.23149668e-02 -1.72993535e-03 9.99922671e-01 6.08951664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73907232899995 meters 0.23775883923086985 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99904112e-01 -7.06278074e-03 1.19115186e-02 -3.69829142e+01] [ 7.04654432e-03 9.99974186e-01 1.40450539e-03 -6.90325596e+01] [-1.19211308e-02 -1.32043567e-03 9.99928069e-01 6.08956543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.769072329 meters 0.22082382851920382 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99905260e-01 -7.15859098e-03 1.17569544e-02 -3.69826733e+01] [ 7.14526176e-03 9.99973782e-01 1.17534530e-03 -6.90319377e+01] [-1.17650599e-02 -1.09122743e-03 9.99930194e-01 6.08958678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79907232899996 meters 0.23566205228783213 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99905096e-01 -7.29069291e-03 1.16895099e-02 -3.69825663e+01] [ 7.28059227e-03 9.99973085e-01 9.06399785e-04 -6.90311622e+01] [-1.16958036e-02 -8.21207209e-04 9.99931265e-01 6.08959602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.829072329 meters 0.2328257618289131 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99904175e-01 -7.19605769e-03 1.18261342e-02 -3.69830174e+01] [ 7.18320485e-03 9.99973563e-01 1.12893410e-03 -6.90319745e+01] [-1.18339454e-02 -1.04387638e-03 9.99929432e-01 6.08960597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85907232899996 meters 0.23808709639750442 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99907000e-01 -7.26809668e-03 1.15398030e-02 -3.69825362e+01] [ 7.25839091e-03 9.99973268e-01 8.82728432e-04 -6.90313442e+01] [-1.15459103e-02 -7.98885936e-04 9.99933025e-01 6.08964072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.889072329 meters 0.23922363665999985 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99912174e-01 -7.33474368e-03 1.10383816e-02 -3.69815422e+01] [ 7.32883755e-03 9.99972978e-01 5.75409477e-04 -6.90304848e+01] [-1.10423038e-02 -4.94460436e-04 9.99938910e-01 6.08967630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91907232899996 meters 0.22860868221726724 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99924261e-01 -7.13263019e-03 1.00298619e-02 -3.69790075e+01] [ 7.12851399e-03 9.99974492e-01 4.46085414e-04 -6.90294135e+01] [-1.00327879e-02 -3.74553617e-04 9.99949600e-01 6.08966281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.949072329 meters 0.23070163948008462 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99926049e-01 -7.14782879e-03 9.83898515e-03 -3.69786380e+01] [ 7.14481822e-03 9.99974417e-01 3.41099309e-04 -6.90291468e+01] [-9.84117156e-03 -2.70776324e-04 9.99951538e-01 6.08967809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97907232899996 meters 0.23697707717692973 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.90 [[ 9.99952555e-01 -3.18680780e-03 9.20503423e-03 -3.69777143e+01] [ 3.15190952e-03 9.99987800e-01 3.80323869e-03 -6.90268338e+01] [-9.21704212e-03 -3.77404481e-03 9.99950400e-01 6.08976892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.009072329 meters 0.2474769703514188 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.90 [[ 9.99955535e-01 -3.55204887e-03 8.73566991e-03 -3.69769659e+01] [ 3.52660014e-03 9.99989498e-01 2.92687787e-03 -6.90244274e+01] [-8.74597459e-03 -2.89594051e-03 9.99957560e-01 6.08983538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03907232899996 meters 0.2452321772710913 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.90 [[ 9.99957005e-01 -3.76261614e-03 8.47529913e-03 -3.69765837e+01] [ 3.74200286e-03 9.99990005e-01 2.44670545e-03 -6.90231164e+01] [-8.48442044e-03 -2.41488566e-03 9.99961091e-01 6.08987583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.069072329 meters 0.2987969647565168 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99963887e-01 -3.96654181e-03 7.51606216e-03 -3.69747185e+01] [ 3.95456828e-03 9.99990889e-01 1.60725131e-03 -6.90206728e+01] [-7.52236891e-03 -1.57747048e-03 9.99970462e-01 6.08996182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09907232899997 meters 0.24960570798499804 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99966053e-01 -4.21263186e-03 7.08143953e-03 -3.69740161e+01] [ 4.20585050e-03 9.99990683e-01 9.72243187e-04 -6.90189521e+01] [-7.08546926e-03 -9.42426706e-04 9.99974454e-01 6.09002202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.129072329 meters 0.24510788825066784 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99970064e-01 -4.29463075e-03 6.43641080e-03 -3.69726833e+01] [ 4.29111754e-03 9.99990637e-01 5.59543929e-04 -6.90177097e+01] [-6.43875357e-03 -5.31907784e-04 9.99979130e-01 6.09006409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15907232899997 meters 0.23921471172888828 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99976288e-01 -4.36141019e-03 5.32938613e-03 -3.69703201e+01] [ 4.36219975e-03 9.99990476e-01 -1.36537972e-04 -6.90153969e+01] [-5.32873987e-03 1.59782581e-04 9.99985789e-01 6.09012831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.189072329 meters 0.2505472428583198 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.90 [[ 9.99977615e-01 -4.35605254e-03 5.07890772e-03 -3.69696842e+01] [ 4.35734567e-03 9.99990477e-01 -2.43569521e-04 -6.90149955e+01] [-5.07779835e-03 2.65694625e-04 9.99987073e-01 6.09012874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21907232899997 meters 0.3002742312222669 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99978047e-01 -4.26890426e-03 5.06769453e-03 -3.69695628e+01] [ 4.26944206e-03 9.99990881e-01 -9.53096682e-05 -6.90153768e+01] [-5.06724145e-03 1.16943804e-04 9.99987155e-01 6.09011493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24907232899994 meters 0.27001404865578044 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99977571e-01 -4.31978122e-03 5.11834930e-03 -3.69698231e+01] [ 4.32072323e-03 9.99990651e-01 -1.73002564e-04 -6.90152345e+01] [-5.11755412e-03 1.95113654e-04 9.99986886e-01 6.09013612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279072329 meters 0.22830788245152508 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99978337e-01 -4.12790283e-03 5.12695973e-03 -3.69697260e+01] [ 4.12709492e-03 9.99991469e-01 1.68151688e-04 -6.90161852e+01] [-5.12761011e-03 -1.46988596e-04 9.99986843e-01 6.09011813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30907232899995 meters 0.2673853292118543 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99976708e-01 -4.13455166e-03 5.43045261e-03 -3.69703165e+01] [ 4.13318575e-03 9.99991424e-01 2.62725790e-04 -6.90164154e+01] [-5.43149229e-03 -2.40274601e-04 9.99985220e-01 6.09009351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339072329 meters 0.2890739764045597 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99980378e-01 -4.00265563e-03 4.81888367e-03 -3.69686910e+01] [ 4.00147329e-03 9.99991962e-01 2.54970556e-04 -6.90159747e+01] [-4.81986550e-03 -2.35682919e-04 9.99988357e-01 6.09007792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36907232899995 meters 0.24808094996245217 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99981156e-01 -4.12331010e-03 4.54815514e-03 -3.69681220e+01] [ 4.12367560e-03 9.99991495e-01 -7.09873516e-05 -6.90150155e+01] [-4.54782375e-03 8.97411303e-05 9.99989655e-01 6.09009497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399072329 meters 0.249374038854207 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.90 [[ 9.99981888e-01 -4.14553628e-03 4.36331914e-03 -3.69676467e+01] [ 4.14642444e-03 9.99991385e-01 -1.94524993e-04 -6.90145868e+01] [-4.36247514e-03 2.12613643e-04 9.99990462e-01 6.09009729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42907232899995 meters 0.2466932937627786 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.90 [[ 9.99983207e-01 -4.29609240e-03 3.88965431e-03 -3.69668607e+01] [ 4.29874745e-03 9.99990533e-01 -6.74491568e-04 -6.90132838e+01] [-3.88671981e-03 6.91200883e-04 9.99992208e-01 6.09016566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459072329 meters 0.24553826170457144 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.90 [[ 9.99983697e-01 -4.40042088e-03 3.63897403e-03 -3.69663672e+01] [ 4.40398288e-03 9.99989831e-01 -9.71416268e-04 -6.90124243e+01] [-3.63466238e-03 9.87426410e-04 9.99992907e-01 6.09018842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48907232899995 meters 0.24213351838000607 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99986370e-01 -4.40848094e-03 2.79723002e-03 -3.69643848e+01] [ 4.41240601e-03 9.99989287e-01 -1.39858433e-03 -6.90107504e+01] [-2.79103442e-03 1.41090779e-03 9.99995110e-01 6.09021504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519072329 meters 0.2403405116737092 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99987387e-01 -4.39637605e-03 2.42845729e-03 -3.69633996e+01] [ 4.40013307e-03 9.99989128e-01 -1.54390875e-03 -6.90101459e+01] [-2.42164329e-03 1.55457481e-03 9.99995859e-01 6.09020836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54907232899996 meters 0.25883325782988176 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988437e-01 -4.33286293e-03 2.08614693e-03 -3.69625438e+01] [ 4.33617187e-03 9.99989344e-01 -1.58424560e-03 -6.90099011e+01] [-2.07926038e-03 1.59327318e-03 9.99996569e-01 6.09021300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579072329 meters 0.25445436792074133 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989074e-01 -4.14137481e-03 2.16820444e-03 -3.69626801e+01] [ 4.14402066e-03 9.99990673e-01 -1.21723239e-03 -6.90109542e+01] [-2.16314320e-03 1.22620417e-03 9.99996909e-01 6.09020177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60907232899996 meters 0.2323610368203788 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988492e-01 -4.25914867e-03 2.20798127e-03 -3.69629564e+01] [ 4.26226777e-03 9.99989923e-01 -1.40987113e-03 -6.90104697e+01] [-2.20195417e-03 1.41926591e-03 9.99996569e-01 6.09023096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639072329 meters 0.23629269986577958 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989249e-01 -4.15602513e-03 2.05644310e-03 -3.69626842e+01] [ 4.15867399e-03 9.99990526e-01 -1.28548575e-03 -6.90108611e+01] [-2.05108111e-03 1.29402401e-03 9.99997059e-01 6.09024839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66907232899996 meters 0.24482887820973798 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989756e-01 -4.07706236e-03 1.96610390e-03 -3.69624638e+01] [ 4.07938888e-03 9.99990982e-01 -1.18075756e-03 -6.90111545e+01] [-1.96127214e-03 1.18876597e-03 9.99997370e-01 6.09024985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699072329 meters 0.25005512120878354 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990143e-01 -4.11907095e-03 1.65731586e-03 -3.69616762e+01] [ 4.12137165e-03 9.99990545e-01 -1.38719372e-03 -6.90104159e+01] [-1.65158624e-03 1.39401046e-03 9.99997664e-01 6.09025179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72907232899996 meters 0.2525278485563654 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99991061e-01 -4.02644918e-03 1.29033218e-03 -3.69607376e+01] [ 4.02821368e-03 9.99990951e-01 -1.36780942e-03 -6.90103193e+01] [-1.28481308e-03 1.37299493e-03 9.99998232e-01 6.09025009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759072329 meters 0.24607156118418805 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99991310e-01 -3.98631377e-03 1.22072662e-03 -3.69604355e+01] [ 3.98794244e-03 9.99991157e-01 -1.33466575e-03 -6.90103033e+01] [-1.21539543e-03 1.33952234e-03 9.99998364e-01 6.09023419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78907232899996 meters 0.2409849672953744 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99991277e-01 -3.98307163e-03 1.25711657e-03 -3.69604071e+01] [ 3.98473101e-03 9.99991189e-01 -1.32025919e-03 -6.90102450e+01] [-1.25184681e-03 1.32525694e-03 9.99998338e-01 6.09021870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819072329 meters 0.25246968311360246 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990973e-01 -3.94150172e-03 1.58713211e-03 -3.69610065e+01] [ 3.94326765e-03 9.99991608e-01 -1.11106688e-03 -6.90107802e+01] [-1.58273952e-03 1.11731533e-03 9.99998123e-01 6.09018512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84907232899997 meters 0.25246968311360246 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990973e-01 -3.94150172e-03 1.58713211e-03 -3.69610065e+01] [ 3.94326765e-03 9.99991608e-01 -1.11106688e-03 -6.90107802e+01] [-1.58273952e-03 1.11731533e-03 9.99998123e-01 6.09018512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879072329 meters 0.25457143540080485 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990636e-01 -3.95902345e-03 1.74768517e-03 -3.69613920e+01] [ 3.96091778e-03 9.99991570e-01 -1.08178596e-03 -6.90108815e+01] [-1.74338762e-03 1.08869827e-03 9.99997888e-01 6.09018349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90907232899997 meters 0.2498083560340816 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990783e-01 -3.97184993e-03 1.63063531e-03 -3.69609898e+01] [ 3.97375110e-03 9.99991427e-01 -1.16432953e-03 -6.90105249e+01] [-1.62599679e-03 1.17079853e-03 9.99997993e-01 6.09016980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939072329 meters 0.2453396331164494 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989992e-01 -3.96716726e-03 2.06839126e-03 -3.69618665e+01] [ 3.96918107e-03 9.99991652e-01 -9.70418816e-04 -6.90110462e+01] [-2.06452418e-03 9.78618923e-04 9.99997390e-01 6.09013836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96907232899997 meters 0.24466684365068664 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989342e-01 -3.80393985e-03 2.61643416e-03 -3.69630105e+01] [ 3.80513694e-03 9.99992658e-01 -4.52702403e-04 -6.90125665e+01] [-2.61469290e-03 4.62653468e-04 9.99996475e-01 6.09010385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99907232899994 meters 0.22212080323175076 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988942e-01 -3.69823599e-03 2.90484877e-03 -3.69635926e+01] [ 3.69865621e-03 9.99993150e-01 -1.39301689e-04 -6.90134587e+01] [-2.90431370e-03 1.50044186e-04 9.99995771e-01 6.09008267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.029072329 meters 0.22869874091563272 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988499e-01 -3.58846738e-03 3.18186337e-03 -3.69642500e+01] [ 3.58797239e-03 9.99993550e-01 1.61259065e-04 -6.90143928e+01] [-3.18242152e-03 -1.49840772e-04 9.99994925e-01 6.09007664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05907232899995 meters 0.23829418247172635 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988337e-01 -3.57742473e-03 3.24453298e-03 -3.69642182e+01] [ 3.57679649e-03 9.99993583e-01 1.99414421e-04 -6.90144007e+01] [-3.24522555e-03 -1.87807061e-04 9.99994717e-01 6.09004878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.089072329 meters 0.2263916263614241 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988135e-01 -3.49570201e-03 3.39275364e-03 -3.69642358e+01] [ 3.49438424e-03 9.99993817e-01 3.94259303e-04 -6.90147802e+01] [-3.39411087e-03 -3.82399040e-04 9.99994167e-01 6.08999513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11907232899995 meters 0.22648172278071133 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.90 [[ 9.99992698e-01 -2.83417332e-03 2.56359764e-03 -3.69611133e+01] [ 2.83144980e-03 9.99995424e-01 1.06538623e-03 -6.90150374e+01] [-2.56660540e-03 -1.05811975e-03 9.99996146e-01 6.08982002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.149072329 meters 0.21748671292394858 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99994810e-01 -2.61817331e-03 1.87766234e-03 -3.69591280e+01] [ 2.61603992e-03 9.99995931e-01 1.13775076e-03 -6.90146072e+01] [-1.88063353e-03 -1.13283281e-03 9.99997590e-01 6.08977238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17907232899995 meters 0.22028379529036696 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99995844e-01 -2.57613596e-03 1.29409511e-03 -3.69577925e+01] [ 2.57487725e-03 9.99996211e-01 9.73382320e-04 -6.90139598e+01] [-1.29659777e-03 -9.70046139e-04 9.99998689e-01 6.08979032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.209072329 meters 0.22569262654838945 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99996110e-01 -2.70800031e-03 6.69114847e-04 -3.69564852e+01] [ 2.70771314e-03 9.99996242e-01 4.29716291e-04 -6.90122362e+01] [-6.70276004e-04 -4.27902848e-04 9.99999684e-01 6.08983929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23907232899995 meters 0.24642842873731718 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99995748e-01 -2.91453191e-03 1.02257453e-04 -3.69554236e+01] [ 2.91455838e-03 9.99995719e-01 -2.59670154e-04 -6.90102640e+01] [-1.01500198e-04 2.59967085e-04 9.99999961e-01 6.08990550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.269072329 meters 0.24620230181125366 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99994953e-01 -3.13976170e-03 -4.86437238e-04 -3.69544265e+01] [ 3.13926553e-03 9.99994555e-01 -1.01741687e-03 -6.90081682e+01] [ 4.89629036e-04 1.01588468e-03 9.99999364e-01 6.08999493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29907232899996 meters 0.24085133564039088 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99995096e-01 -3.06551555e-03 -6.40344589e-04 -3.69540035e+01] [ 3.06490856e-03 9.99994855e-01 -9.46757694e-04 -6.90082960e+01] [ 6.43243594e-04 9.44790454e-04 9.99999347e-01 6.08999133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.329072329 meters 0.24588087084900037 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99994959e-01 -3.00812151e-03 -1.01689085e-03 -3.69530466e+01] [ 3.00708126e-03 9.99994956e-01 -1.02295253e-03 -6.90079227e+01] [ 1.01996289e-03 1.01988950e-03 9.99998960e-01 6.08999205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35907232899996 meters 0.2445603616515242 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99994878e-01 -3.05896789e-03 -9.42065860e-04 -3.69530476e+01] [ 3.05793397e-03 9.99994723e-01 -1.09699738e-03 -6.90075825e+01] [ 9.45416569e-04 1.09411099e-03 9.99998955e-01 6.08996602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.389072329 meters 0.23413250967257396 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99994611e-01 -2.86260160e-03 -1.60721968e-03 -3.69511580e+01] [ 2.86092821e-03 9.99995364e-01 -1.04250294e-03 -6.90071662e+01] [ 1.61019650e-03 1.03789918e-03 9.99998165e-01 6.08993083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41907232899996 meters 0.23469633574734938 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99993722e-01 -2.97236800e-03 -1.92884943e-03 -3.69504172e+01] [ 2.96969334e-03 9.99994627e-01 -1.38804689e-03 -6.90060557e+01] [ 1.93296485e-03 1.38231009e-03 9.99997176e-01 6.08994656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.449072329 meters 0.23004102307981025 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99993223e-01 -3.02795719e-03 -2.09436952e-03 -3.69501012e+01] [ 3.02468840e-03 9.99994205e-01 -1.56216254e-03 -6.90055479e+01] [ 2.09908755e-03 1.55581714e-03 9.99996587e-01 6.08996364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47907232899996 meters 0.24508406716876838 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99992538e-01 -3.12933086e-03 -2.26521601e-03 -3.69497981e+01] [ 3.12520826e-03 9.99993458e-01 -1.82121726e-03 -6.90048079e+01] [ 2.27090038e-03 1.81412440e-03 9.99995776e-01 6.08998538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.509072329 meters 0.23449905461198556 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99992621e-01 -3.11254885e-03 -2.25146023e-03 -3.69497720e+01] [ 3.10851018e-03 9.99993557e-01 -1.79507982e-03 -6.90048316e+01] [ 2.25703300e-03 1.78806789e-03 9.99995854e-01 6.08997836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53907232899996 meters 0.24247405637141414 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99991914e-01 -3.01686958e-03 -2.65891507e-03 -3.69485800e+01] [ 3.01206741e-03 9.99993829e-01 -1.80822398e-03 -6.90044418e+01] [ 2.66435383e-03 1.80020053e-03 9.99994830e-01 6.08995560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.569072329 meters 0.2555295712147536 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99991856e-01 -2.94323117e-03 -2.76142838e-03 -3.69481915e+01] [ 2.93848177e-03 9.99994199e-01 -1.72239252e-03 -6.90045934e+01] [ 2.76648176e-03 1.71426408e-03 9.99994704e-01 6.08993679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59907232899997 meters 0.2593247544452132 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99993154e-01 -2.84837403e-03 -2.36192777e-03 -3.69486058e+01] [ 2.84501275e-03 9.99994937e-01 -1.42524630e-03 -6.90051612e+01] [ 2.36597545e-03 1.41851683e-03 9.99996195e-01 6.08985045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.629072329 meters 0.2523624387776099 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99993498e-01 -2.90404713e-03 -2.13767657e-03 -3.69489233e+01] [ 2.90093502e-03 9.99994730e-01 -1.45749782e-03 -6.90049467e+01] [ 2.14189795e-03 1.45128709e-03 9.99996653e-01 6.08981574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65907232899997 meters 0.24336227417701958 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99994496e-01 -2.66429620e-03 -1.97713522e-03 -3.69490081e+01] [ 2.66238004e-03 9.99995984e-01 -9.71157928e-04 -6.90062115e+01] [ 1.97971473e-03 9.65888698e-04 9.99997574e-01 6.08976795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.689072329 meters 0.23358979148256367 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99995076e-01 -2.56744625e-03 -1.80445218e-03 -3.69490187e+01] [ 2.56610108e-03 9.99996428e-01 -7.47393816e-04 -6.90066241e+01] [ 1.80636463e-03 7.42759730e-04 9.99998093e-01 6.08970617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71907232899997 meters 0.2696027441188542 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99995615e-01 -2.52862372e-03 -1.54164242e-03 -3.69495737e+01] [ 2.52772817e-03 9.99996636e-01 -5.82576987e-04 -6.90070937e+01] [ 1.54311035e-03 5.78677579e-04 9.99998642e-01 6.08969162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74907232899994 meters 0.24602239578144097 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99996582e-01 -2.47335249e-03 -8.47109217e-04 -3.69511736e+01] [ 2.47315744e-03 9.99996915e-01 -2.31222657e-04 -6.90083625e+01] [ 8.47678498e-04 2.29126832e-04 9.99999614e-01 6.08968033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779072329 meters 0.2604368104589469 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99996839e-01 -2.39175715e-03 -7.75639276e-04 -3.69513237e+01] [ 2.39171368e-03 9.99997138e-01 -5.69756083e-05 -6.90088813e+01] [ 7.75773328e-04 5.51203211e-05 9.99999698e-01 6.08967509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80907232899995 meters 0.2393602079409448 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99996467e-01 -2.56112464e-03 -7.11277230e-04 -3.69515996e+01] [ 2.56088530e-03 9.99996664e-01 -3.37197687e-04 -6.90081225e+01] [ 7.12138463e-04 3.35374996e-04 9.99999690e-01 6.08969327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839072329 meters 0.24856559681084558 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99995889e-01 -2.61687751e-03 -1.17226446e-03 -3.69503804e+01] [ 2.61614296e-03 9.99996381e-01 -6.27699689e-04 -6.90069633e+01] [ 1.17390283e-03 6.24630297e-04 9.99999116e-01 6.08969184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86907232899995 meters 0.2470048363724928 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99995583e-01 -2.66731558e-03 -1.31125987e-03 -3.69499655e+01] [ 2.66629743e-03 9.99996143e-01 -7.77606245e-04 -6.90064192e+01] [ 1.31332893e-03 7.74106602e-04 9.99998838e-01 6.08968568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899072329 meters 0.23879649247807005 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99996669e-01 -2.54651173e-03 -4.22108008e-04 -3.69516717e+01] [ 2.54644602e-03 9.99996746e-01 -1.56147137e-04 -6.90082556e+01] [ 4.22504264e-04 1.55071742e-04 9.99999899e-01 6.08961018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92907232899995 meters 0.2395624150506181 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99996877e-01 -2.49584211e-03 1.28237817e-04 -3.69528052e+01] [ 2.49582431e-03 9.99996876e-01 1.38842292e-04 -6.90091073e+01] [-1.28583945e-04 -1.38521800e-04 9.99999982e-01 6.08957719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959072329 meters 0.2556663867818145 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.90 [[ 9.99997025e-01 -2.32126656e-03 7.49714976e-04 -3.69540321e+01] [ 2.32073234e-03 9.99997053e-01 7.12642742e-04 -6.90107372e+01] [-7.51367001e-04 -7.10900734e-04 9.99999465e-01 6.08952907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98907232899995 meters 0.2254286349913479 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99996121e-01 -2.28655814e-03 1.59078077e-03 -3.69557881e+01] [ 2.28482596e-03 9.99996796e-01 1.08985293e-03 -6.90119433e+01] [-1.59326768e-03 -1.08621404e-03 9.99998141e-01 6.08948911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019072329 meters 0.23644018753079912 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99992543e-01 -2.50869469e-03 2.93618603e-03 -3.69588735e+01] [ 2.50291531e-03 9.99994927e-01 1.97035100e-03 -6.90153931e+01] [-2.94111415e-03 -1.96298728e-03 9.99993748e-01 6.08941633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04907232899996 meters 0.24984415415630057 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99991214e-01 -2.32307371e-03 3.48941855e-03 -3.69598244e+01] [ 2.31423062e-03 9.99994106e-01 2.53615997e-03 -6.90169145e+01] [-3.49528967e-03 -2.52806237e-03 9.99990696e-01 6.08934836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079072329 meters 0.24437681064802028 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99988582e-01 -2.21541935e-03 4.23414443e-03 -3.69612745e+01] [ 2.20224154e-03 9.99992725e-01 3.11440558e-03 -6.90186296e+01] [-4.24101335e-03 -3.10504541e-03 9.99986186e-01 6.08927675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10907232899996 meters 0.2409399734025913 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99987109e-01 -2.17578953e-03 4.58771072e-03 -3.69621384e+01] [ 2.16049556e-03 9.99992102e-01 3.33600707e-03 -6.90193679e+01] [-4.59493293e-03 -3.32605234e-03 9.99983912e-01 6.08927217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139072329 meters 0.22962111378983244 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99985293e-01 -2.19660960e-03 4.95862480e-03 -3.69631934e+01] [ 2.17947476e-03 9.99991645e-01 3.45832628e-03 -6.90199339e+01] [-4.96617996e-03 -3.44746823e-03 9.99981726e-01 6.08928954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16907232899996 meters 0.24155063431356408 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99984550e-01 -2.27613658e-03 5.07138204e-03 -3.69639465e+01] [ 2.25903397e-03 9.99991751e-01 3.37555746e-03 -6.90200659e+01] [-5.07902343e-03 -3.36404889e-03 9.99981443e-01 6.08935691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199072329 meters 0.23280743815246754 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.89 [[ 9.99982687e-01 -2.40975108e-03 5.36833764e-03 -3.69647638e+01] [ 2.39230235e-03 9.99991843e-01 3.25435691e-03 -6.90198318e+01] [-5.37613604e-03 -3.24145788e-03 9.99980295e-01 6.08937025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22907232899996 meters 0.21627463454501863 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99980466e-01 -2.49428934e-03 5.73113168e-03 -3.69657696e+01] [ 2.47550107e-03 9.99991547e-01 3.28304097e-03 -6.90201590e+01] [-5.73927208e-03 -3.26878941e-03 9.99978188e-01 6.08938166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259072329 meters 0.25845154869295545 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99981587e-01 -2.41746140e-03 5.56609307e-03 -3.69652776e+01] [ 2.39882841e-03 9.99991505e-01 3.35183386e-03 -6.90202696e+01] [-5.57414872e-03 -3.33842004e-03 9.99978892e-01 6.08936903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28907232899996 meters 0.22938689288475997 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99980006e-01 -2.58078335e-03 5.77299324e-03 -3.69659755e+01] [ 2.56259731e-03 9.99991738e-01 3.15537421e-03 -6.90198785e+01] [-5.78108888e-03 -3.14051726e-03 9.99978358e-01 6.08939256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319072329 meters 0.23548420372130333 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99978018e-01 -2.76803447e-03 6.02512799e-03 -3.69666238e+01] [ 2.75052221e-03 9.99991975e-01 2.91288628e-03 -6.90192327e+01] [-6.03314261e-03 -2.89625000e-03 9.99977606e-01 6.08939684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34907232899997 meters 0.24769667892759742 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99977233e-01 -2.80213220e-03 6.13847384e-03 -3.69669799e+01] [ 2.78436055e-03 9.99991914e-01 2.90176101e-03 -6.90192665e+01] [-6.14655532e-03 -2.88460322e-03 9.99976949e-01 6.08940614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379072329 meters 0.24426519163096527 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99976142e-01 -2.79232850e-03 6.31804201e-03 -3.69674690e+01] [ 2.77346208e-03 9.99991675e-01 2.99291254e-03 -6.90196433e+01] [-6.32634661e-03 -2.97531829e-03 9.99975562e-01 6.08940836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40907232899997 meters 0.22261971950972237 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99977539e-01 -2.90832389e-03 6.03839086e-03 -3.69670287e+01] [ 2.89219091e-03 9.99992230e-01 2.67875074e-03 -6.90188181e+01] [-6.04613461e-03 -2.66122640e-03 9.99978181e-01 6.08944698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439072329 meters 0.2328373375075497 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99978506e-01 -3.17538417e-03 5.73629246e-03 -3.69666873e+01] [ 3.16343231e-03 9.99992809e-01 2.09142387e-03 -6.90172614e+01] [-5.74289229e-03 -2.07323255e-03 9.99981360e-01 6.08950986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46907232899997 meters 0.24896775130844587 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99977488e-01 -3.22815762e-03 5.88233970e-03 -3.69671194e+01] [ 3.21610253e-03 9.99992711e-01 2.05767743e-03 -6.90172369e+01] [-5.88893933e-03 -2.03871290e-03 9.99980582e-01 6.08951771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49907232899994 meters 0.2460202746136629 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99976045e-01 -3.13809531e-03 6.16946412e-03 -3.69676119e+01] [ 3.12377596e-03 9.99992408e-01 2.32927203e-03 -6.90179558e+01] [-6.17672676e-03 -2.30994421e-03 9.99978256e-01 6.08948328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.529072329 meters 0.2523541246391035 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99975549e-01 -3.09658830e-03 6.26992097e-03 -3.69676028e+01] [ 3.08135046e-03 9.99992279e-01 2.43851101e-03 -6.90181586e+01] [-6.27742363e-03 -2.41913157e-03 9.99977371e-01 6.08944239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55907232899995 meters 0.2439958146947758 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99974310e-01 -2.88262004e-03 6.56272100e-03 -3.69682397e+01] [ 2.86333517e-03 9.99991561e-01 2.94604939e-03 -6.90197523e+01] [-6.57115796e-03 -2.92718244e-03 9.99974125e-01 6.08942014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.589072329 meters 0.2455066300556927 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99977360e-01 -3.04313135e-03 6.00149827e-03 -3.69672630e+01] [ 3.02862824e-03 9.99992475e-01 2.42419222e-03 -6.90183578e+01] [-6.00883025e-03 -2.40596103e-03 9.99979052e-01 6.08948419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61907232899995 meters 0.24471111748831087 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99979998e-01 -3.43203923e-03 5.31269710e-03 -3.69662991e+01] [ 3.42472904e-03 9.99993177e-01 1.38447137e-03 -6.90156783e+01] [-5.31741241e-03 -1.36624912e-03 9.99984929e-01 6.08960954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.649072329 meters 0.24320866797406712 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.90 [[ 9.99981020e-01 -3.73746871e-03 4.89797744e-03 -3.69656262e+01] [ 3.73419977e-03 9.99992799e-01 6.76381388e-04 -6.90137112e+01] [-4.90047012e-03 -6.58078524e-04 9.99987776e-01 6.08966634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67907232899995 meters 0.244058442287155 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99983613e-01 -3.81451017e-03 4.26885093e-03 -3.69642525e+01] [ 3.81325789e-03 9.99992684e-01 3.01453615e-04 -6.90124723e+01] [-4.26996960e-03 -2.85170446e-04 9.99990843e-01 6.08969552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.709072329 meters 0.22684786164469556 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989023e-01 -3.64990055e-03 2.93788982e-03 -3.69610228e+01] [ 3.65079288e-03 9.99993291e-01 -2.98427506e-04 -6.90096922e+01] [-2.93678088e-03 3.09149857e-04 9.99995640e-01 6.08971285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73907232899995 meters 0.2388757986219821 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989765e-01 -3.78622673e-03 2.47670635e-03 -3.69600218e+01] [ 3.78816261e-03 9.99992523e-01 -7.77410540e-04 -6.90082265e+01] [-2.47374438e-03 7.86784749e-04 9.99996631e-01 6.08974297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.769072329 meters 0.2388757986219821 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989765e-01 -3.78622673e-03 2.47670635e-03 -3.69600218e+01] [ 3.78816261e-03 9.99992523e-01 -7.77410540e-04 -6.90082265e+01] [-2.47374438e-03 7.86784749e-04 9.99996631e-01 6.08974297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79907232899996 meters 0.2606867286687526 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990223e-01 -3.98611390e-03 1.91422398e-03 -3.69589031e+01] [ 3.98879322e-03 9.99991068e-01 -1.39791747e-03 -6.90064123e+01] [-1.90863463e-03 1.40553925e-03 9.99997191e-01 6.08979306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.829072329 meters 0.22405024042536023 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99989353e-01 -4.29243967e-03 1.69391752e-03 -3.69588042e+01] [ 4.29593636e-03 9.99988638e-01 -2.06605159e-03 -6.90046713e+01] [-1.68502987e-03 2.07330656e-03 9.99996431e-01 6.08987130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85907232899996 meters 0.22729538392334675 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99989621e-01 -4.28145769e-03 1.55815323e-03 -3.69585140e+01] [ 4.28472839e-03 9.99988612e-01 -2.10183959e-03 -6.90045586e+01] [-1.54913654e-03 2.10849404e-03 9.99996577e-01 6.08988003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.889072329 meters 0.2511147061198214 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989220e-01 -4.23118174e-03 1.91220661e-03 -3.69593137e+01] [ 4.23478593e-03 9.99989257e-01 -1.88472847e-03 -6.90052113e+01] [-1.90421144e-03 1.89280594e-03 9.99996396e-01 6.08986880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91907232899996 meters 0.24437877613090556 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988751e-01 -4.18709976e-03 2.22840498e-03 -3.69598974e+01] [ 4.19087268e-03 9.99989788e-01 -1.69113346e-03 -6.90057028e+01] [-2.22130128e-03 1.70045340e-03 9.99996087e-01 6.08983948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.949072329 meters 0.2547839663406392 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988078e-01 -4.20368416e-03 2.48444438e-03 -3.69603303e+01] [ 4.20775617e-03 9.99989809e-01 -1.63605569e-03 -6.90057788e+01] [-2.47754160e-03 1.64649012e-03 9.99995575e-01 6.08980967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97907232899996 meters 0.22783731488544565 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99989049e-01 -4.21713501e-03 2.02939150e-03 -3.69591711e+01] [ 4.22089070e-03 9.99989381e-01 -1.84993651e-03 -6.90048954e+01] [-2.02156852e-03 1.85848209e-03 9.99996230e-01 6.08980977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.009072329 meters 0.23237455176636726 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99988949e-01 -4.24925100e-03 2.01119724e-03 -3.69590466e+01] [ 4.25311017e-03 9.99989115e-01 -1.91847194e-03 -6.90046180e+01] [-2.00302328e-03 1.92700458e-03 9.99996137e-01 6.08980084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03907232899996 meters 0.21431507693396928 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988220e-01 -4.16349334e-03 2.49516737e-03 -3.69599694e+01] [ 4.16749387e-03 9.99990036e-01 -1.60026197e-03 -6.90054930e+01] [-2.48847983e-03 1.61064171e-03 9.99995607e-01 6.08975959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.069072329 meters 0.2336932074355679 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988230e-01 -4.10724859e-03 2.58267823e-03 -3.69600416e+01] [ 4.11106297e-03 9.99990464e-01 -1.47333795e-03 -6.90057987e+01] [-2.57660224e-03 1.48393817e-03 9.99995580e-01 6.08973725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09907232899997 meters 0.23336809177676193 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99987949e-01 -4.04161612e-03 2.78682471e-03 -3.69604441e+01] [ 4.04520285e-03 9.99990996e-01 -1.28260031e-03 -6.90063262e+01] [-2.78161584e-03 1.29385812e-03 9.99995294e-01 6.08972251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.129072329 meters 0.2269034676079939 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99987513e-01 -4.03633224e-03 2.94637974e-03 -3.69607080e+01] [ 4.03995598e-03 9.99991089e-01 -1.22498204e-03 -6.90064314e+01] [-2.94140905e-03 1.23686999e-03 9.99994909e-01 6.08970423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15907232899997 meters 0.21659380389202668 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99986255e-01 -3.77736116e-03 3.63621690e-03 -3.69621888e+01] [ 3.77913782e-03 9.99992743e-01 -4.81853909e-04 -6.90087264e+01] [-3.63437038e-03 4.95589051e-04 9.99993273e-01 6.08967044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.189072329 meters 0.2433917068081851 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99984967e-01 -3.78984377e-03 3.96262828e-03 -3.69629425e+01] [ 3.79142873e-03 9.99992735e-01 -3.92541570e-04 -6.90090176e+01] [-3.96111183e-03 4.07559692e-04 9.99992072e-01 6.08966139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21907232899997 meters 0.20452817379538044 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99984360e-01 -3.64852682e-03 4.23896830e-03 -3.69632609e+01] [ 3.64872665e-03 9.99993343e-01 -3.94090422e-05 -6.90098546e+01] [-4.23879629e-03 5.48752625e-05 9.99991015e-01 6.08960829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24907232899994 meters 0.2350965090043199 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99982644e-01 -3.56864066e-03 4.68790062e-03 -3.69640535e+01] [ 3.56733442e-03 9.99993596e-01 2.86974394e-04 -6.90106888e+01] [-4.68889471e-03 -2.70246104e-04 9.99988971e-01 6.08955818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279072329 meters 0.25574233058175205 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99959780e-01 -7.36812167e-03 5.11353399e-03 -3.69643895e+01] [ 7.38333097e-03 9.99968356e-01 -2.96184614e-03 -6.90135236e+01] [-5.09154893e-03 2.99948193e-03 9.99982539e-01 6.08945630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30907232899995 meters 0.2464157907610539 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99959018e-01 -7.09595188e-03 5.62232515e-03 -3.69653188e+01] [ 7.10878699e-03 9.99972164e-01 -2.26619670e-03 -6.90154774e+01] [-5.60608783e-03 2.30607174e-03 9.99981627e-01 6.08940327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339072329 meters 0.2319105993171946 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99957838e-01 -7.04699485e-03 5.88741256e-03 -3.69659251e+01] [ 7.05934776e-03 9.99972919e-01 -2.08005008e-03 -6.90160393e+01] [-5.87259502e-03 2.12152368e-03 9.99980506e-01 6.08939567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36907232899995 meters 0.24573807046228727 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99954645e-01 -7.15596875e-03 6.28496482e-03 -3.69669997e+01] [ 7.16949463e-03 9.99972026e-01 -2.13221412e-03 -6.90160473e+01] [-6.26953094e-03 2.17717743e-03 9.99977976e-01 6.08941385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399072329 meters 0.24074265188845673 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99955193e-01 -7.02528591e-03 6.34488727e-03 -3.69671029e+01] [ 7.03730462e-03 9.99973482e-01 -1.87390153e-03 -6.90167960e+01] [-6.33155432e-03 1.91846847e-03 9.99978115e-01 6.08940677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42907232899995 meters 0.24031080371571656 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99953613e-01 -7.07756322e-03 6.53299883e-03 -3.69674341e+01] [ 7.09013921e-03 9.99973052e-01 -1.90384638e-03 -6.90166365e+01] [-6.51934818e-03 1.95007794e-03 9.99976847e-01 6.08938776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459072329 meters 0.2431728213815005 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99950065e-01 -7.06610775e-03 7.06668186e-03 -3.69684935e+01] [ 7.07814799e-03 9.99973538e-01 -1.68024823e-03 -6.90172603e+01] [-7.05462205e-03 1.73018335e-03 9.99973619e-01 6.08934836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48907232899995 meters 0.25454600308513764 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99946914e-01 -7.04679976e-03 7.51747164e-03 -3.69693861e+01] [ 7.05812171e-03 9.99973995e-01 -1.48061856e-03 -6.90177903e+01] [-7.50684253e-03 1.53359919e-03 9.99970647e-01 6.08931495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519072329 meters 0.23881666546904062 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99939445e-01 -6.83225255e-03 8.62708309e-03 -3.69716892e+01] [ 6.83669544e-03 9.99976512e-01 -4.85607790e-04 -6.90209192e+01] [-8.62356266e-03 5.44559124e-04 9.99962668e-01 6.08924160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54907232899996 meters 0.2723573234805772 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99937094e-01 -6.84805471e-03 8.88327125e-03 -3.69722005e+01] [ 6.85216984e-03 9.99976430e-01 -4.32891908e-04 -6.90210418e+01] [-8.88009741e-03 4.93734360e-04 9.99960449e-01 6.08922357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579072329 meters 0.26075447968746907 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99935514e-01 -6.74698286e-03 9.13490591e-03 -3.69727802e+01] [ 6.74857364e-03 9.99977218e-01 -1.43329308e-04 -6.90219157e+01] [-9.13373075e-03 2.04967651e-04 9.99958266e-01 6.08921664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60907232899996 meters 0.2686767964800017 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99933869e-01 -6.82465040e-03 9.25646570e-03 -3.69731538e+01] [ 6.82724550e-03 9.99976663e-01 -2.48785438e-04 -6.90216525e+01] [-9.25455181e-03 3.11965149e-04 9.99957127e-01 6.08922901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639072329 meters 0.24973971534919692 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99934386e-01 -6.85105473e-03 9.18077422e-03 -3.69729093e+01] [ 6.85438739e-03 9.99976453e-01 -3.31588804e-04 -6.90213193e+01] [-9.17828631e-03 3.94495630e-04 9.99957801e-01 6.08922451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66907232899996 meters 0.25652299632289893 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99932913e-01 -6.82315164e-03 9.36027243e-03 -3.69731145e+01] [ 6.82544968e-03 9.99976684e-01 -2.13586362e-04 -6.90215472e+01] [-9.35859685e-03 2.77460102e-04 9.99956169e-01 6.08918787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699072329 meters 0.24225829494113454 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99934092e-01 -6.73158442e-03 9.30039131e-03 -3.69727169e+01] [ 6.73266453e-03 9.99977332e-01 -8.48321340e-05 -6.90217512e+01] [-9.29960943e-03 1.47442958e-04 9.99956747e-01 6.08915185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72907232899996 meters 0.2540703137785616 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99934813e-01 -6.70601675e-03 9.24113126e-03 -3.69724832e+01] [ 6.70690222e-03 9.99977506e-01 -6.48306022e-05 -6.90217495e+01] [-9.24048864e-03 1.26805740e-04 9.99957298e-01 6.08913911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759072329 meters 0.2474087613600855 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99932406e-01 -6.64163437e-03 9.54316010e-03 -3.69730804e+01] [ 6.64052557e-03 9.99977941e-01 1.47870588e-04 -6.90223418e+01] [-9.54393169e-03 -8.44889946e-05 9.99954452e-01 6.08911661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78907232899996 meters 0.2864176183499897 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99932461e-01 -6.55326253e-03 9.59838332e-03 -3.69733300e+01] [ 6.55041955e-03 9.99978492e-01 3.27601764e-04 -6.90229551e+01] [-9.60032374e-03 -2.64706200e-04 9.99953881e-01 6.08913258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819072329 meters 0.23580913634351872 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99931493e-01 -6.66655016e-03 9.62114164e-03 -3.69735340e+01] [ 6.66566283e-03 9.99977776e-01 1.24290821e-04 -6.90224340e+01] [-9.62175641e-03 -6.01510203e-05 9.99953708e-01 6.08915607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84907232899997 meters 0.23204053246515574 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99926777e-01 -6.71828567e-03 1.00650254e-02 -3.69745258e+01] [ 6.71658821e-03 9.99977423e-01 2.02441910e-04 -6.90226955e+01] [-1.00661583e-02 -1.34824456e-04 9.99949326e-01 6.08914226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879072329 meters 0.216559259127982 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99914159e-01 -6.75772067e-03 1.12253283e-02 -3.69770311e+01] [ 6.74920487e-03 9.99976907e-01 7.96332797e-04 -6.90247021e+01] [-1.12304505e-02 -7.20502398e-04 9.99936677e-01 6.08908538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90907232899997 meters 0.2560901563604925 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99908953e-01 -6.62140632e-03 1.17576606e-02 -3.69779705e+01] [ 6.60727743e-03 9.99977403e-01 1.24011383e-03 -6.90258690e+01] [-1.17656062e-02 -1.16231479e-03 9.99930107e-01 6.08902592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939072329 meters 0.24370138648879414 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99898334e-01 -6.46321750e-03 1.27102019e-02 -3.69799535e+01] [ 6.43736694e-03 9.99977130e-01 2.07370450e-03 -6.90284044e+01] [-1.27233140e-02 -1.99167344e-03 9.99917072e-01 6.08895491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96907232899997 meters 0.24864314890860945 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99895981e-01 -6.40454244e-03 1.29231674e-02 -3.69804852e+01] [ 6.37571695e-03 9.99977097e-01 2.27049582e-03 -6.90290487e+01] [-1.29374129e-02 -2.18786519e-03 9.99913915e-01 6.08895209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99907232899994 meters 0.24605740475315388 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99893934e-01 -6.43607897e-03 1.30650960e-02 -3.69810364e+01] [ 6.40680870e-03 9.99976875e-01 2.28096125e-03 -6.90292449e+01] [-1.30794743e-02 -2.19701374e-03 9.99912046e-01 6.08897953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.029072329 meters 0.27386814717480634 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99891658e-01 -6.55732707e-03 1.31785109e-02 -3.69816835e+01] [ 6.53007853e-03 9.99976454e-01 2.10961776e-03 -6.90290261e+01] [-1.31920341e-02 -2.02333249e-03 9.99910934e-01 6.08903140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05907232899995 meters 0.23938421546619282 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99892367e-01 -6.54032970e-03 1.31330979e-02 -3.69817965e+01] [ 6.51290104e-03 9.99976522e-01 2.13019893e-03 -6.90292278e+01] [-1.31467217e-02 -2.04443508e-03 9.99911488e-01 6.08906418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.089072329 meters 0.22301184031819032 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99896322e-01 -6.77207438e-03 1.27076444e-02 -3.69810591e+01] [ 6.75287170e-03 9.99975993e-01 1.55341330e-03 -6.90276168e+01] [-1.27178592e-02 -1.46743915e-03 9.99918048e-01 6.08911375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11907232899995 meters 0.24658608590161427 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99897713e-01 -6.83773085e-03 1.25621976e-02 -3.69808024e+01] [ 6.82086143e-03 9.99975778e-01 1.38522654e-03 -6.90271622e+01] [-1.25713651e-02 -1.29939984e-03 9.99920133e-01 6.08912889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.149072329 meters 0.2479453870559733 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99901837e-01 -6.79878574e-03 1.22512583e-02 -3.69800774e+01] [ 6.78296782e-03 9.99976108e-01 1.33221547e-03 -6.90269592e+01] [-1.22600230e-02 -1.24898481e-03 9.99924063e-01 6.08913743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17907232899995 meters 0.24520284459308672 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99907506e-01 -6.78806291e-03 1.17856695e-02 -3.69790555e+01] [ 6.77458231e-03 9.99976352e-01 1.18335979e-03 -6.90264548e+01] [-1.17934235e-02 -1.10340734e-03 9.99929846e-01 6.08915532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.209072329 meters 0.24229495338895282 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99910006e-01 -6.85840100e-03 1.15300148e-02 -3.69784252e+01] [ 6.84791441e-03 9.99976103e-01 9.48737912e-04 -6.90257016e+01] [-1.15362461e-02 -8.69695977e-04 9.99933077e-01 6.08915722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23907232899995 meters 0.2872120541179902 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99913119e-01 -6.87288773e-03 1.12480373e-02 -3.69777575e+01] [ 6.86415437e-03 9.99976109e-01 8.14856246e-04 -6.90252669e+01] [-1.12533690e-02 -7.37577186e-04 9.99936407e-01 6.08916072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.269072329 meters 0.2397633815678791 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99919332e-01 -6.73816205e-03 1.07669540e-02 -3.69766972e+01] [ 6.72903578e-03 9.99976969e-01 8.83620466e-04 -6.90254031e+01] [-1.07726600e-02 -8.11097968e-04 9.99941644e-01 6.08917820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29907232899996 meters 0.23839593910203066 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99924395e-01 -6.89687306e-03 1.01802600e-02 -3.69758737e+01] [ 6.89408157e-03 9.99976188e-01 3.09273954e-04 -6.90240492e+01] [-1.01821506e-02 -2.39067028e-04 9.99948132e-01 6.08928068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.329072329 meters 0.26695387683528354 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99925931e-01 -7.04560177e-03 9.92429013e-03 -3.69757339e+01] [ 7.04653366e-03 9.99975171e-01 -5.89364343e-05 -6.90232272e+01] [-9.92362848e-03 1.28863913e-04 9.99950751e-01 6.08935818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35907232899996 meters 0.23827669046688899 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99930069e-01 -7.15613982e-03 9.41529324e-03 -3.69750366e+01] [ 7.16095638e-03 9.99974246e-01 -4.77954808e-04 -6.90222764e+01] [-9.41163044e-03 5.45343888e-04 9.99955561e-01 6.08944926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.389072329 meters 0.24344090085995976 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99930110e-01 -7.34735326e-03 9.26233374e-03 -3.69749386e+01] [ 7.35583588e-03 9.99972556e-01 -8.82084316e-04 -6.90212111e+01] [-9.25559856e-03 9.50154874e-04 9.99956715e-01 6.08949419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41907232899996 meters 0.22889479415522898 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.90 [[ 9.99934487e-01 -7.32206257e-03 8.79824553e-03 -3.69738148e+01] [ 7.33147279e-03 9.99972586e-01 -1.03778042e-03 -6.90206077e+01] [-8.79040565e-03 1.10221653e-03 9.99960756e-01 6.08950141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.449072329 meters 0.24946460048739316 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99938471e-01 -7.24458267e-03 8.40055937e-03 -3.69723998e+01] [ 7.25380445e-03 9.99973121e-01 -1.06780925e-03 -6.90199345e+01] [-8.39259773e-03 1.12867956e-03 9.99964145e-01 6.08943739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47907232899996 meters 0.24290357554213254 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99940203e-01 -7.19746314e-03 8.23326082e-03 -3.69717642e+01] [ 7.20638368e-03 9.99973478e-01 -1.05432265e-03 -6.90197713e+01] [-8.22545401e-03 1.11359164e-03 9.99965550e-01 6.08940768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.509072329 meters 0.24307281637187905 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99945037e-01 -7.08787498e-03 7.72565040e-03 -3.69701570e+01] [ 7.09674039e-03 9.99974190e-01 -1.12071949e-03 -6.90189805e+01] [-7.71750748e-03 1.17548483e-03 9.99969529e-01 6.08936031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53907232899996 meters 0.23885979394740423 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99948517e-01 -7.02929684e-03 7.31788975e-03 -3.69692193e+01] [ 7.03815000e-03 9.99974530e-01 -1.18474737e-03 -6.90186934e+01] [-7.30937542e-03 1.23619078e-03 9.99972522e-01 6.08937700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.569072329 meters 0.2379724216957062 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99950728e-01 -7.09929836e-03 6.93846194e-03 -3.69683402e+01] [ 7.10991135e-03 9.99973590e-01 -1.50612122e-03 -6.90176734e+01] [-6.92758630e-03 1.55537886e-03 9.99974794e-01 6.08939304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59907232899997 meters 0.2307446367369832 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99957465e-01 -7.10050833e-03 5.88645772e-03 -3.69660308e+01] [ 7.11294105e-03 9.99972511e-01 -2.09384904e-03 -6.90156415e+01] [-5.87142851e-03 2.13563000e-03 9.99980483e-01 6.08944711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.629072329 meters 0.23147161935764143 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99959295e-01 -7.23874354e-03 5.38605785e-03 -3.69649064e+01] [ 7.25278809e-03 9.99970337e-01 -2.59262643e-03 -6.90140681e+01] [-5.36713073e-03 2.63158483e-03 9.99982134e-01 6.08947217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65907232899997 meters 0.23147161935764143 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99959295e-01 -7.23874354e-03 5.38605785e-03 -3.69649064e+01] [ 7.25278809e-03 9.99970337e-01 -2.59262643e-03 -6.90140681e+01] [-5.36713073e-03 2.63158483e-03 9.99982134e-01 6.08947217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.689072329 meters 0.24078026178953502 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99981680e-01 -3.22741165e-03 5.12085079e-03 -3.69646081e+01] [ 3.22187320e-03 9.99994216e-01 1.08942999e-03 -6.90122636e+01] [-5.12433721e-03 -1.07291130e-03 9.99986295e-01 6.08952213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71907232899997 meters 0.23626299062984454 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99982650e-01 -3.43208794e-03 4.78748838e-03 -3.69641820e+01] [ 3.42930996e-03 9.99993947e-01 5.88346679e-04 -6.90109661e+01] [-4.78947866e-03 -5.71918690e-04 9.99988367e-01 6.08958629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74907232899994 meters 0.2337579709861493 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99987392e-01 -3.36434845e-03 3.72794935e-03 -3.69619907e+01] [ 3.36390587e-03 9.99994334e-01 1.24983410e-04 -6.90094140e+01] [-3.72834871e-03 -1.12441364e-04 9.99993043e-01 6.08965991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779072329 meters 0.26009951709987206 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989312e-01 -3.31691626e-03 3.22097390e-03 -3.69606937e+01] [ 3.31699605e-03 9.99994499e-01 -1.94284867e-05 -6.90087176e+01] [-3.22089174e-03 3.01122367e-05 9.99994812e-01 6.08966001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80907232899995 meters 0.23970702378528191 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989290e-01 -3.29281443e-03 3.25227155e-03 -3.69606406e+01] [ 3.29275495e-03 9.99994579e-01 2.36443800e-05 -6.90087373e+01] [-3.25233178e-03 -1.29351935e-05 9.99994711e-01 6.08964429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839072329 meters 0.23457864300793718 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989624e-01 -3.10760802e-03 3.33083301e-03 -3.69604304e+01] [ 3.10640690e-03 9.99995108e-01 3.65719606e-04 -6.90094848e+01] [-3.33195323e-03 -3.55368889e-04 9.99994386e-01 6.08958534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86907232899995 meters 0.25470069972667014 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989177e-01 -3.04784662e-03 3.51517869e-03 -3.69607278e+01] [ 3.04599173e-03 9.99995219e-01 5.32915102e-04 -6.90099012e+01] [-3.51678612e-03 -5.22202129e-04 9.99993680e-01 6.08956275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899072329 meters 0.24416232539048807 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99987731e-01 -3.02513432e-03 3.92245736e-03 -3.69617426e+01] [ 3.02229256e-03 9.99995166e-01 7.30211125e-04 -6.90106376e+01] [-3.92464738e-03 -7.18347353e-04 9.99992041e-01 6.08956414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92907232899995 meters 0.2520569749759935 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99986581e-01 -3.02442446e-03 4.20607820e-03 -3.69625368e+01] [ 3.02091099e-03 9.99995083e-01 8.41434152e-04 -6.90111065e+01] [-4.20860237e-03 -8.28716673e-04 9.99990800e-01 6.08957742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959072329 meters 0.23961302875208293 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99986903e-01 -3.18633823e-03 4.00502962e-03 -3.69622072e+01] [ 3.18447385e-03 9.99994818e-01 4.71801216e-04 -6.90100688e+01] [-4.00651218e-03 -4.59041124e-04 9.99991869e-01 6.08960612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98907232899995 meters 0.24548837251328182 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99986586e-01 -3.19853142e-03 4.07394648e-03 -3.69620756e+01] [ 3.19666093e-03 9.99994782e-01 4.65563024e-04 -6.90098221e+01] [-4.07541434e-03 -4.52533754e-04 9.99991593e-01 6.08956525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019072329 meters 0.24062205377082807 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99988470e-01 -2.97834113e-03 3.76698365e-03 -3.69609842e+01] [ 2.97557970e-03 9.99995300e-01 7.38453173e-04 -6.90102703e+01] [-3.76916531e-03 -7.27235699e-04 9.99992632e-01 6.08951547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04907232899996 meters 0.2358464275514406 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99989318e-01 -2.86697941e-03 3.62564569e-03 -3.69604394e+01] [ 2.86384369e-03 9.99995521e-01 8.69769290e-04 -6.90104860e+01] [-3.62812307e-03 -8.59376717e-04 9.99993049e-01 6.08948896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079072329 meters 0.24540852567081511 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99989398e-01 -2.78324702e-03 3.66837313e-03 -3.69604036e+01] [ 2.77947959e-03 9.99995605e-01 1.03170178e-03 -6.90108956e+01] [-3.67122849e-03 -1.02149467e-03 9.99992739e-01 6.08946762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10907232899996 meters 0.24399327439089769 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99988952e-01 -2.77610436e-03 3.79325395e-03 -3.69608286e+01] [ 2.77198180e-03 9.99995562e-01 1.09163692e-03 -6.90111814e+01] [-3.79626761e-03 -1.08111003e-03 9.99992210e-01 6.08948514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139072329 meters 0.2474912981432852 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990948e-01 -2.73805747e-03 3.25682154e-03 -3.69596656e+01] [ 2.73497176e-03 9.99995807e-01 9.51538254e-04 -6.90106799e+01] [-3.25941325e-03 -9.42622326e-04 9.99994244e-01 6.08951248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16907232899996 meters 0.23082375684661124 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99990769e-01 -2.89779457e-03 3.17250136e-03 -3.69596511e+01] [ 2.89577888e-03 9.99995603e-01 6.39773463e-04 -6.90098638e+01] [-3.17434134e-03 -6.30580694e-04 9.99994763e-01 6.08954189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199072329 meters 0.2314460849062658 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99989951e-01 -2.87122466e-03 3.44299757e-03 -3.69601511e+01] [ 2.86855639e-03 9.99995582e-01 7.79671524e-04 -6.90102258e+01] [-3.44522097e-03 -7.69787256e-04 9.99993769e-01 6.08951505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22907232899996 meters 0.22428714519053142 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99989347e-01 -2.78325871e-03 3.68220671e-03 -3.69605483e+01] [ 2.77951255e-03 9.99995615e-01 1.02209328e-03 -6.90108616e+01] [-3.68503531e-03 -1.01184765e-03 9.99992698e-01 6.08948518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259072329 meters 0.24808125152047292 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99987698e-01 -2.76915353e-03 4.11526835e-03 -3.69612337e+01] [ 2.76427976e-03 9.99995472e-01 1.18953149e-03 -6.90111947e+01] [-4.11854371e-03 -1.17814110e-03 9.99990825e-01 6.08942721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28907232899996 meters 0.2378044135089413 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99985610e-01 -2.84072276e-03 4.55079322e-03 -3.69622361e+01] [ 2.83515382e-03 9.99995225e-01 1.22971344e-03 -6.90113961e+01] [-4.55426476e-03 -1.21679355e-03 9.99988889e-01 6.08941646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319072329 meters 0.24232573316643832 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99984702e-01 -2.89333003e-03 4.71430816e-03 -3.69627173e+01] [ 2.88770598e-03 9.99995111e-01 1.19934519e-03 -6.90113673e+01] [-4.71775521e-03 -1.18571330e-03 9.99988168e-01 6.08942785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34907232899997 meters 0.22753365233710532 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99978994e-01 -2.89114055e-03 5.80118328e-03 -3.69651663e+01] [ 2.88082313e-03 9.99994255e-01 1.78607086e-03 -6.90135002e+01] [-5.80631373e-03 -1.76932116e-03 9.99981578e-01 6.08940108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379072329 meters 0.23839388943498216 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99976318e-01 -2.77422659e-03 6.29810904e-03 -3.69662453e+01] [ 2.76036866e-03 9.99993753e-01 2.20795825e-03 -6.90148000e+01] [-6.30419507e-03 -2.19052086e-03 9.99977729e-01 6.08937565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40907232899997 meters 0.23102811899734313 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99974504e-01 -2.41553507e-03 6.71983396e-03 -3.69671530e+01] [ 2.39540990e-03 9.99992627e-01 3.00132996e-03 -6.90172495e+01] [-6.72703423e-03 -2.98515668e-03 9.99972918e-01 6.08934845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439072329 meters 0.26109755773038107 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99975579e-01 -2.41249400e-03 6.55912068e-03 -3.69667318e+01] [ 2.39315328e-03 9.99992771e-01 2.95492824e-03 -6.90170756e+01] [-6.56620201e-03 -2.93915910e-03 9.99974123e-01 6.08934238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46907232899997 meters 0.21898968640785316 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99974040e-01 -2.38162367e-03 6.80053794e-03 -3.69671036e+01] [ 2.36059732e-03 9.99992414e-01 3.09822037e-03 -6.90174102e+01] [-6.80786514e-03 -3.08208660e-03 9.99972076e-01 6.08930568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49907232899994 meters 0.23987836869064977 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99973146e-01 -2.33717982e-03 6.94585895e-03 -3.69672036e+01] [ 2.31477061e-03 9.99992096e-01 3.23255955e-03 -6.90176782e+01] [-6.95335912e-03 -3.21639467e-03 9.99970652e-01 6.08926442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.529072329 meters 0.24953620656684966 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99972841e-01 -2.28137815e-03 7.00797634e-03 -3.69673389e+01] [ 2.25786562e-03 9.99991802e-01 3.36119183e-03 -6.90180699e+01] [-7.01558704e-03 -3.34527748e-03 9.99969795e-01 6.08925982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55907232899995 meters 0.24100711002228567 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99969658e-01 -2.40110124e-03 7.41070317e-03 -3.69683778e+01] [ 2.37656222e-03 9.99991670e-01 3.31832662e-03 -6.90181003e+01] [-7.41860908e-03 -3.30061393e-03 9.99967035e-01 6.08926229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.589072329 meters 0.24760532840018093 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99965758e-01 -2.39898447e-03 7.92014405e-03 -3.69697034e+01] [ 2.37118230e-03 9.99991001e-01 3.51783645e-03 -6.90189319e+01] [-7.92851201e-03 -3.49893589e-03 9.99962447e-01 6.08927307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61907232899995 meters 0.25322649041913714 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99956902e-01 -2.66914858e-03 8.89211912e-03 -3.69721226e+01] [ 2.63820552e-03 9.99990431e-01 3.48974426e-03 -6.90195337e+01] [-8.90134867e-03 -3.46613462e-03 9.99954375e-01 6.08928159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.649072329 meters 0.2847465957764582 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99932773e-01 -6.44342556e-03 9.64006455e-03 -3.69732884e+01] [ 6.43945528e-03 9.99979168e-01 4.42835280e-04 -6.90230838e+01] [-9.64271711e-03 -3.80728745e-04 9.99953435e-01 6.08918078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67907232899995 meters 0.23644976643895246 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99933953e-01 -6.21442473e-03 9.66799763e-03 -3.69732548e+01] [ 6.20630269e-03 9.99980362e-01 8.69870367e-04 -6.90243225e+01] [-9.67321352e-03 -8.09810395e-04 9.99952885e-01 6.08916404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.709072329 meters 0.24138054298881834 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99933420e-01 -6.18751824e-03 9.74008190e-03 -3.69734052e+01] [ 6.17863752e-03 9.99980469e-01 9.41598289e-04 -6.90245303e+01] [-9.74571782e-03 -8.81355162e-04 9.99952121e-01 6.08915998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73907232899995 meters 0.2588399859440512 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99931778e-01 -6.28123411e-03 9.84810851e-03 -3.69737796e+01] [ 6.27355609e-03 9.99979993e-01 8.10342681e-04 -6.90242162e+01] [-9.85300143e-03 -7.48504737e-04 9.99951178e-01 6.08917606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.769072329 meters 0.25214208217522427 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99930586e-01 -6.34866116e-03 9.92562571e-03 -3.69739744e+01] [ 6.34187333e-03 9.99979634e-01 7.15194956e-04 -6.90239488e+01] [-9.92996410e-03 -6.52198251e-04 9.99950484e-01 6.08917659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79907232899996 meters 0.2595317508155194 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99931522e-01 -6.27777363e-03 9.87626270e-03 -3.69738614e+01] [ 6.26991544e-03 9.99980002e-01 8.26425327e-04 -6.90242905e+01] [-9.88125330e-03 -7.64445403e-04 9.99950887e-01 6.08917720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.829072329 meters 0.2520284227530864 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99934959e-01 -6.27082797e-03 9.52655753e-03 -3.69731469e+01] [ 6.26445160e-03 9.99980134e-01 6.99018639e-04 -6.90239084e+01] [-9.53075170e-03 -6.39294515e-04 9.99954377e-01 6.08920321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85907232899996 meters 0.25352722822922685 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99934017e-01 -6.25832624e-03 9.63296870e-03 -3.69734050e+01] [ 6.25129063e-03 9.99980171e-01 7.60305569e-04 -6.90241036e+01] [-9.63753593e-03 -7.00036915e-04 9.99953313e-01 6.08920185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.889072329 meters 0.24914619925541037 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99933734e-01 -6.31783846e-03 9.62354370e-03 -3.69734428e+01] [ 6.31191083e-03 9.99979871e-01 6.46199224e-04 -6.90238033e+01] [-9.62743257e-03 -5.85413453e-04 9.99953484e-01 6.08921043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91907232899996 meters 0.23674520104593236 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99930095e-01 -6.39880028e-03 9.94285828e-03 -3.69742979e+01] [ 6.39303800e-03 9.99979378e-01 6.11215348e-04 -6.90238120e+01] [-9.94656428e-03 -5.47607550e-04 9.99950382e-01 6.08922010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.949072329 meters 0.24037080781262282 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99926259e-01 -6.46357005e-03 1.02810364e-02 -3.69750787e+01] [ 6.45759995e-03 9.99978961e-01 6.13781029e-04 -6.90238636e+01] [-1.02847874e-02 -5.47344947e-04 9.99946960e-01 6.08921411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97907232899996 meters 0.2266169981343856 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99926359e-01 -6.51903073e-03 1.02361744e-02 -3.69752007e+01] [ 6.51425727e-03 9.99978657e-01 4.99605407e-04 -6.90236593e+01] [-1.02392128e-02 -4.32887542e-04 9.99947484e-01 6.08925012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.009072329 meters 0.22794955894252728 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99925421e-01 -6.63331359e-03 1.02543760e-02 -3.69754732e+01] [ 6.63056649e-03 9.99977972e-01 3.01870378e-04 -6.90231958e+01] [-1.02561525e-02 -2.33855543e-04 9.99947377e-01 6.08928524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03907232899996 meters 0.22865068861515242 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99926969e-01 -6.83958169e-03 9.96372625e-03 -3.69749632e+01] [ 6.84187322e-03 9.99976575e-01 -1.95918416e-04 -6.90217874e+01] [-9.96215285e-03 2.64074660e-04 9.99950342e-01 6.08931925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.069072329 meters 0.22428925590934193 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99927319e-01 -6.77865457e-03 9.97028699e-03 -3.69748791e+01] [ 6.77985252e-03 9.99977013e-01 -8.63571137e-05 -6.90220508e+01] [-9.96947241e-03 1.53947913e-04 9.99950292e-01 6.08930429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09907232899997 meters 0.23816428220884633 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99927719e-01 -6.62890879e-03 1.00306704e-02 -3.69746981e+01] [ 6.62731345e-03 9.99978021e-01 1.92277135e-04 -6.90226450e+01] [-1.00317245e-02 -1.25786840e-04 9.99949673e-01 6.08925515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.129072329 meters 0.23840673819422803 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99925652e-01 -6.56238889e-03 1.02774486e-02 -3.69751078e+01] [ 6.55865377e-03 9.99978413e-01 3.97090958e-04 -6.90231692e+01] [-1.02798326e-02 -3.29655208e-04 9.99947107e-01 6.08922399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15907232899997 meters 0.23410346474071844 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99931168e-01 -6.37594991e-03 9.84913965e-03 -3.69738379e+01] [ 6.37046613e-03 9.99979535e-01 5.88050341e-04 -6.90233935e+01] [-9.85268748e-03 -5.25266254e-04 9.99951323e-01 6.08918434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.189072329 meters 0.26331379170452707 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99931917e-01 -6.56383987e-03 9.64767833e-03 -3.69734765e+01] [ 6.56252874e-03 9.99978452e-01 1.67551837e-04 -6.90221803e+01] [-9.64857023e-03 -1.04227263e-04 9.99953446e-01 6.08920637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21907232899997 meters 0.24100551497892983 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99937948e-01 -6.56962507e-03 8.99663867e-03 -3.69719528e+01] [ 6.57084982e-03 9.99978406e-01 -1.06581667e-04 -6.90211634e+01] [-8.99574419e-03 1.65690615e-04 9.99959524e-01 6.08921629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24907232899994 meters 0.24171030693963805 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99943022e-01 -6.87959084e-03 8.16240077e-03 -3.69702986e+01] [ 6.88961487e-03 9.99975546e-01 -1.20059065e-03 -6.90179692e+01] [-8.15394159e-03 1.25675804e-03 9.99965966e-01 6.08929519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279072329 meters 0.236870359747104 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99945027e-01 -7.08651227e-03 7.72812954e-03 -3.69694600e+01] [ 7.10049208e-03 9.99973202e-01 -1.78301685e-03 -6.90163088e+01] [-7.71528707e-03 1.83779235e-03 9.99968548e-01 6.08933745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30907232899995 meters 0.2792803227400942 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99971030e-01 -3.37109402e-03 6.82461811e-03 -3.69679518e+01] [ 3.36500802e-03 9.99993931e-01 9.03058478e-04 -6.90117556e+01] [-6.82762099e-03 -8.80067421e-04 9.99976304e-01 6.08945980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339072329 meters 0.22550675004385698 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.90 [[ 9.99974312e-01 -3.56113895e-03 6.22034389e-03 -3.69667594e+01] [ 3.55929183e-03 9.99993618e-01 3.07993035e-04 -6.90100269e+01] [-6.22140100e-03 -2.85845105e-04 9.99980606e-01 6.08951061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36907232899995 meters 0.28567128980026457 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99979678e-01 -3.60318258e-03 5.25926335e-03 -3.69647839e+01] [ 3.60482360e-03 9.99993457e-01 -3.02579057e-04 -6.90080277e+01] [-5.25813869e-03 3.21531625e-04 9.99986124e-01 6.08958373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399072329 meters 0.2866533172111367 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99981484e-01 -3.74378447e-03 4.79738016e-03 -3.69638931e+01] [ 3.74754065e-03 9.99992678e-01 -7.74216552e-04 -6.90066544e+01] [-4.79444654e-03 7.92180594e-04 9.99988193e-01 6.08962845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42907232899995 meters 0.25305599974227294 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.90 [[ 9.99981519e-01 -3.86190079e-03 4.69554739e-03 -3.69638102e+01] [ 3.86678326e-03 9.99991992e-01 -1.03117433e-03 -6.90059557e+01] [-4.69152750e-03 1.04931194e-03 9.99988444e-01 6.08965649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459072329 meters 0.24608622640320515 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99982399e-01 -3.99141215e-03 4.38973001e-03 -3.69632478e+01] [ 3.99760956e-03 9.99991024e-01 -1.40392949e-03 -6.90048676e+01] [-4.38408695e-03 1.42145321e-03 9.99989380e-01 6.08969201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48907232899995 meters 0.2554547389342078 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99983167e-01 -4.00423587e-03 4.19898504e-03 -3.69627402e+01] [ 4.01064678e-03 9.99990803e-01 -1.51946879e-03 -6.90044327e+01] [-4.19286211e-03 1.53628386e-03 9.99990030e-01 6.08968936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519072329 meters 0.2683649025138521 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99983695e-01 -3.91600239e-03 4.15625108e-03 -3.69624511e+01] [ 3.92178590e-03 9.99991352e-01 -1.38428511e-03 -6.90047219e+01] [-4.15079428e-03 1.40056246e-03 9.99990405e-01 6.08966121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54907232899996 meters 0.2897990673863711 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99985640e-01 -3.92382101e-03 3.65013389e-03 -3.69610056e+01] [ 3.92978289e-03 9.99990954e-01 -1.62759656e-03 -6.90035500e+01] [-3.64371448e-03 1.64191742e-03 9.99992014e-01 6.08963469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579072329 meters 0.2897990673863711 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99985640e-01 -3.92382101e-03 3.65013389e-03 -3.69610056e+01] [ 3.92978289e-03 9.99990954e-01 -1.62759656e-03 -6.90035500e+01] [-3.64371448e-03 1.64191742e-03 9.99992014e-01 6.08963469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60907232899996 meters 0.2581183128865734 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99985214e-01 -4.07184375e-03 3.60438945e-03 -3.69608653e+01] [ 4.07879206e-03 9.99989834e-01 -1.92248901e-03 -6.90026250e+01] [-3.59652473e-03 1.93716214e-03 9.99991656e-01 6.08963440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639072329 meters 0.2577264582552289 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99986758e-01 -4.06625524e-03 3.15418094e-03 -3.69598404e+01] [ 4.07285465e-03 9.99989525e-01 -2.08867916e-03 -6.90020237e+01] [-3.14565480e-03 2.10149803e-03 9.99992844e-01 6.08965073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66907232899996 meters 0.27338734121551306 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99988754e-01 -4.04046403e-03 2.48327863e-03 -3.69579947e+01] [ 4.04641203e-03 9.99988945e-01 -2.39488258e-03 -6.90004209e+01] [-2.47357475e-03 2.40490402e-03 9.99994049e-01 6.08963304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699072329 meters 0.2730510516360885 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99989198e-01 -4.16387791e-03 2.06566583e-03 -3.69571236e+01] [ 4.16969246e-03 9.99987335e-01 -2.81858103e-03 -6.89991230e+01] [-2.05390344e-03 2.82716378e-03 9.99993894e-01 6.08966587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72907232899996 meters 0.26481833207826694 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99986776e-01 -4.36665376e-03 2.71670948e-03 -3.69583627e+01] [ 4.37501029e-03 9.99985694e-01 -3.07767219e-03 -6.89984339e+01] [-2.70323148e-03 3.08951713e-03 9.99991574e-01 6.08962469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759072329 meters 0.257865581678539 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99986901e-01 -4.06843470e-03 3.10569079e-03 -3.69589315e+01] [ 4.07581894e-03 9.99988873e-01 -2.37503176e-03 -6.90003341e+01] [-3.09599357e-03 2.38765889e-03 9.99992357e-01 6.08955892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78907232899996 meters 0.2574102957361998 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99987137e-01 -3.92549666e-03 3.21188302e-03 -3.69591316e+01] [ 3.93222020e-03 9.99990085e-01 -2.08970343e-03 -6.90011519e+01] [-3.20364805e-03 2.10230638e-03 9.99992658e-01 6.08954889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819072329 meters 0.24825546400460252 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99988668e-01 -4.02670522e-03 2.53973323e-03 -3.69577558e+01] [ 4.03324158e-03 9.99988554e-01 -2.57379351e-03 -6.89995724e+01] [-2.52934025e-03 2.58400770e-03 9.99993463e-01 6.08960440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84907232899997 meters 0.2480178080405352 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99989384e-01 -4.14007119e-03 2.02277160e-03 -3.69566177e+01] [ 4.14620685e-03 9.99986788e-01 -3.03857482e-03 -6.89980568e+01] [-2.01016496e-03 3.04692939e-03 9.99993338e-01 6.08963655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879072329 meters 0.2487084872793343 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99989621e-01 -4.35797767e-03 1.32878991e-03 -3.69550363e+01] [ 4.36299841e-03 9.99983265e-01 -3.79923505e-03 -6.89954662e+01] [-1.31221069e-03 3.80499313e-03 9.99991900e-01 6.08967583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90907232899997 meters 0.32857702708035846 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99997769e-01 -2.02434966e-04 2.10241334e-03 -3.69567288e+01] [ 2.01483484e-04 9.99999877e-01 4.52768620e-04 -6.89955612e+01] [-2.10250474e-03 -4.52344009e-04 9.99997687e-01 6.08965068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939072329 meters 0.31902753814093704 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.90 [[ 9.99998950e-01 -2.37402973e-04 1.42971354e-03 -3.69551832e+01] [ 2.37291515e-04 9.99999969e-01 7.81275786e-05 -6.89941451e+01] [-1.42973204e-03 -7.77882377e-05 9.99998975e-01 6.08967558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96907232899997 meters 0.2427009625734373 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.99, Z:60.90 [[ 9.99999471e-01 -2.84263350e-04 9.88083961e-04 -3.69542378e+01] [ 2.84424904e-04 9.99999946e-01 -1.63364995e-04 -6.89933571e+01] [-9.88037469e-04 1.63645944e-04 9.99999499e-01 6.08970437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99907232899994 meters 0.3114836319851747 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.99, Z:60.90 [[ 9.99999851e-01 -3.51612996e-04 4.17882057e-04 -3.69530995e+01] [ 3.51848768e-04 9.99999779e-01 -5.64267123e-04 -6.89921474e+01] [-4.17683561e-04 5.64414070e-04 9.99999753e-01 6.08975441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.029072329 meters 0.30735328708155923 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.99, Z:60.90 [[ 9.99999907e-01 -4.31190317e-04 2.96725715e-05 -3.69524827e+01] [ 4.31216243e-04 9.99999520e-01 -8.79360571e-04 -6.89913047e+01] [-2.92933855e-05 8.79373284e-04 9.99999613e-01 6.08981511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05907232899995 meters 0.3003006825346905 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.99, Z:60.90 [[ 9.99999890e-01 -4.43614311e-04 1.50672021e-04 -3.69528595e+01] [ 4.43743778e-04 9.99999531e-01 -8.60324963e-04 -6.89914066e+01] [-1.50290298e-04 8.60391728e-04 9.99999619e-01 6.08982900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.089072329 meters 0.23281813846596666 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.99, Z:60.90 [[ 9.99999839e-01 -4.70015428e-04 3.18965208e-04 -3.69534126e+01] [ 4.70287036e-04 9.99999526e-01 -8.51989071e-04 -6.89915534e+01] [-3.18564609e-04 8.52138938e-04 9.99999586e-01 6.08985044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11907232899995 meters 0.25893552670151526 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.99, Z:60.90 [[ 9.99999744e-01 -2.62983599e-04 6.65859153e-04 -3.69539327e+01] [ 2.63212824e-04 9.99999906e-01 -3.44190548e-04 -6.89929008e+01] [-6.65768574e-04 3.44365723e-04 9.99999719e-01 6.08979545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.149072329 meters 0.25015471294521 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.99, Z:60.90 [[ 9.99990221e-01 -4.38338154e-03 5.85843887e-04 -3.69534891e+01] [ 4.38588408e-03 9.99980960e-01 -4.34092621e-03 -6.89936881e+01] [-5.66804797e-04 4.34345321e-03 9.99990407e-01 6.08976559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17907232899995 meters 0.2584456651111175 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.00, Z:60.90 [[ 9.99990959e-01 -4.06927291e-03 1.23380741e-03 -3.69546509e+01] [ 4.07353533e-03 9.99985675e-01 -3.47208347e-03 -6.89961092e+01] [-1.21966088e-03 3.47707804e-03 9.99993211e-01 6.08968856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.209072329 meters 0.2638240270080506 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99990971e-01 -3.74290790e-03 2.01192263e-03 -3.69561099e+01] [ 3.74809120e-03 9.99989651e-01 -2.57872615e-03 -6.89986563e+01] [-2.00224987e-03 2.58624374e-03 9.99994651e-01 6.08961226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23907232899995 meters 0.2623834697586527 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.90 [[ 9.99990553e-01 -3.52244715e-03 2.54667586e-03 -3.69570585e+01] [ 3.52743172e-03 9.99991867e-01 -1.95544936e-03 -6.90003628e+01] [-2.53976718e-03 1.96441411e-03 9.99994845e-01 6.08954863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.269072329 meters 0.25125754838669445 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.89 [[ 9.99988432e-01 -3.27374182e-03 3.52391860e-03 -3.69590470e+01] [ 3.27739720e-03 9.99994097e-01 -1.03203030e-03 -6.90031698e+01] [-3.52051919e-03 1.04356764e-03 9.99993258e-01 6.08947537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29907232899996 meters 0.24388803033792208 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.89 [[ 9.99987669e-01 -3.08150272e-03 3.89428981e-03 -3.69597529e+01] [ 3.08358565e-03 9.99995106e-01 -5.28975565e-04 -6.90045945e+01] [-3.89264071e-03 5.40977418e-04 9.99992277e-01 6.08944044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.329072329 meters 0.24823556170308628 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.89 [[ 9.99988703e-01 -3.06509530e-03 3.63314860e-03 -3.69589839e+01] [ 3.06739213e-03 9.99995099e-01 -6.26783246e-04 -6.90040876e+01] [-3.63120965e-03 6.37920457e-04 9.99993204e-01 6.08942656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35907232899996 meters 0.24623807756366872 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.00, Z:60.89 [[ 9.99988928e-01 -2.94558021e-03 3.66973903e-03 -3.69589059e+01] [ 2.94707792e-03 9.99995576e-01 -4.02782729e-04 -6.90046394e+01] [-3.66853637e-03 4.13593276e-04 9.99993185e-01 6.08940131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.389072329 meters 0.27055998348397803 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99988227e-01 -2.79594059e-03 3.96599284e-03 -3.69594203e+01] [ 2.79606298e-03 9.99996091e-01 -2.53149082e-05 -6.90056441e+01] [-3.96590656e-03 3.64037759e-05 9.99992135e-01 6.08936816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41907232899996 meters 0.248030731410277 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99987018e-01 -2.69021161e-03 4.32731388e-03 -3.69602202e+01] [ 2.68896816e-03 9.99996342e-01 2.93142095e-04 -6.90065963e+01] [-4.32808667e-03 -2.81502280e-04 9.99990594e-01 6.08935386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.449072329 meters 0.2601003372583243 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99966664e-01 -6.82705879e-03 4.47902499e-03 -3.69605388e+01] [ 6.84344685e-03 9.99969908e-01 -3.65377786e-03 -6.90077501e+01] [-4.45394565e-03 3.68430803e-03 9.99983294e-01 6.08935237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47907232899996 meters 0.2518058478440109 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.89 [[ 9.99976296e-01 -3.66022632e-03 5.83184326e-03 -3.69646830e+01] [ 3.66140859e-03 9.99993279e-01 -1.92064332e-04 -6.90080506e+01] [-5.83110106e-03 2.13412540e-04 9.99982976e-01 6.08947452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.509072329 meters 0.2560248879051153 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99974560e-01 -3.58679041e-03 6.16558671e-03 -3.69653983e+01] [ 3.58642157e-03 9.99993566e-01 7.08771106e-05 -6.90088274e+01] [-6.16580127e-03 -4.87629143e-05 9.99980990e-01 6.08945555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53907232899996 meters 0.23070231817328177 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99972680e-01 -3.42341531e-03 6.55132909e-03 -3.69660781e+01] [ 3.42006237e-03 9.99994015e-01 5.22930170e-04 -6.90100585e+01] [-6.55308009e-03 -5.00509930e-04 9.99978403e-01 6.08941192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.569072329 meters 0.26515972050203485 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99971897e-01 -3.24184246e-03 6.75988088e-03 -3.69663665e+01] [ 3.23559972e-03 9.99994329e-01 9.34230668e-04 -6.90111665e+01] [-6.76287117e-03 -9.12332144e-04 9.99976715e-01 6.08937482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59907232899997 meters 0.2997377276505464 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.01, Z:60.89 [[ 9.99962630e-01 -3.28890630e-03 7.99507786e-03 -3.69691119e+01] [ 3.27465960e-03 9.99993028e-01 1.79437148e-03 -6.90143382e+01] [-8.00092364e-03 -1.76812327e-03 9.99966429e-01 6.08930461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.629072329 meters 0.2919037554119244 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99958812e-01 -2.99335095e-03 8.56825438e-03 -3.69702064e+01] [ 2.97106196e-03 9.99992173e-01 2.61289278e-03 -6.90167053e+01] [-8.57600862e-03 -2.58732835e-03 9.99959878e-01 6.08924589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65907232899997 meters 0.2553424577879419 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99954025e-01 -2.99404933e-03 9.10950912e-03 -3.69714517e+01] [ 2.96840648e-03 9.99991598e-01 2.82717433e-03 -6.90174497e+01] [-9.11789728e-03 -2.80000362e-03 9.99954511e-01 6.08923079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.689072329 meters 0.26389725914289514 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99950314e-01 -3.13430066e-03 9.46288416e-03 -3.69724269e+01] [ 3.10872848e-03 9.99991480e-01 2.71586755e-03 -6.90173285e+01] [-9.47131589e-03 -2.68631507e-03 9.99951538e-01 6.08924585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71907232899997 meters 0.23885745228805694 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99943780e-01 -6.20710015e-03 8.59696754e-03 -3.69692290e+01] [ 6.20691642e-03 9.99980736e-01 4.80518110e-05 -6.90199882e+01] [-8.59710019e-03 5.31154946e-06 9.99963044e-01 6.08908916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74907232899994 meters 0.2519880488374245 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99931974e-01 -6.28262482e-03 9.82734255e-03 -3.69721532e+01] [ 6.27831781e-03 9.99980181e-01 4.69057729e-04 -6.90219650e+01] [-9.83009470e-03 -4.07326641e-04 9.99951600e-01 6.08909086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779072329 meters 0.25478962976172365 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.89 [[ 9.99922734e-01 -6.24084812e-03 1.07506962e-02 -3.69741585e+01] [ 6.23080862e-03 9.99980121e-01 9.67087594e-04 -6.90236113e+01] [-1.07565180e-02 -9.00027341e-04 9.99941742e-01 6.08905178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80907232899995 meters 0.25520773424222853 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99912171e-01 -6.20784633e-03 1.17095245e-02 -3.69762848e+01] [ 6.19092051e-03 9.99979739e-01 1.48116889e-03 -6.90253850e+01] [-1.17184821e-02 -1.40854606e-03 9.99930344e-01 6.08902340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839072329 meters 0.24055097626325841 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99870827e-01 -9.98586822e-03 1.25941338e-02 -3.69780142e+01] [ 1.00053120e-02 9.99948848e-01 -1.48181671e-03 -6.90293662e+01] [-1.25786923e-02 1.60763353e-03 9.99919593e-01 6.08896123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86907232899995 meters 0.3398856386688335 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99863561e-01 -9.75397504e-03 1.33311128e-02 -3.69794421e+01] [ 9.76451925e-03 9.99952062e-01 -7.26085809e-04 -6.90315056e+01] [-1.33233916e-02 8.56158651e-04 9.99910873e-01 6.08889712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899072329 meters 0.24820524555554757 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.89 [[ 9.99849751e-01 -9.69384715e-03 1.43702770e-02 -3.69815444e+01] [ 9.69691118e-03 9.99952974e-01 -1.43556147e-04 -6.90332917e+01] [-1.43682096e-02 2.82881878e-04 9.99896732e-01 6.08882935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92907232899995 meters 0.2777425586684891 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.89 [[ 9.99818718e-01 -1.04068576e-02 1.59445334e-02 -3.69852993e+01] [ 1.03950251e-02 9.99945630e-01 8.24801074e-04 -6.90374949e+01] [-1.59522501e-02 -6.58907727e-04 9.99872538e-01 6.08873821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959072329 meters 0.30557918684599966 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.89 [[ 9.99799905e-01 -1.04321027e-02 1.70681226e-02 -3.69876549e+01] [ 1.04126491e-02 9.99945033e-01 1.22823371e-03 -6.90388579e+01] [-1.70799975e-02 -1.05026357e-03 9.99853575e-01 6.08868285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98907232899995 meters 0.3004478395713963 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99926765e-01 -9.38566214e-03 7.64030479e-03 -3.69938281e+01] [ 9.44062606e-03 9.99929587e-01 -7.18994989e-03 -6.90333623e+01] [-7.57228437e-03 7.26155259e-03 9.99944964e-01 6.08873375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019072329 meters 0.2865182094209798 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99913295e-01 -9.63704602e-03 8.97379445e-03 -3.69969294e+01] [ 9.69598699e-03 9.99931554e-01 -6.54794412e-03 -6.90359420e+01] [-8.91007739e-03 6.63438617e-03 9.99938296e-01 6.08869216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04907232899996 meters 0.2849646499305124 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99933046e-01 -5.59823873e-03 1.01273751e-02 -3.69997770e+01] [ 5.62056581e-03 9.99981834e-01 -2.17750964e-03 -6.90368090e+01] [-1.01150009e-02 2.23428542e-03 9.99946346e-01 6.08869710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079072329 meters 0.2769682228173605 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99925440e-01 -5.63570198e-03 1.08329542e-02 -3.70012601e+01] [ 5.65763554e-03 9.99982005e-01 -1.99512983e-03 -6.90373644e+01] [-1.08215153e-02 2.05626998e-03 9.99939331e-01 6.08866308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10907232899996 meters 0.2683133865509872 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99921932e-01 -5.42532771e-03 1.12559054e-02 -3.70020659e+01] [ 5.44158553e-03 9.99984194e-01 -1.41425853e-03 -6.90390311e+01] [-1.12480547e-02 1.47539809e-03 9.99935650e-01 6.08861835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139072329 meters 0.2645665357983069 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99923132e-01 -5.33347789e-03 1.11930186e-02 -3.70018339e+01] [ 5.34810344e-03 9.99984883e-01 -1.27714269e-03 -6.90393805e+01] [-1.11860378e-02 1.33690594e-03 9.99936541e-01 6.08860760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16907232899996 meters 0.2686651336004281 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99930738e-01 -5.22036831e-03 1.05483187e-02 -3.70001004e+01] [ 5.23491553e-03 9.99985384e-01 -1.35196302e-03 -6.90386779e+01] [-1.05411068e-02 1.40708894e-03 9.99943451e-01 6.08858854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199072329 meters 0.2626703300617488 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99932657e-01 -5.19724129e-03 1.03763993e-02 -3.69998131e+01] [ 5.21186160e-03 9.99985463e-01 -1.38245273e-03 -6.90386396e+01] [-1.03690635e-02 1.43643999e-03 9.99945208e-01 6.08861155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22907232899996 meters 0.24256065948033156 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99925619e-01 -5.19001449e-03 1.10372279e-02 -3.70013207e+01] [ 5.20279588e-03 9.99985827e-01 -1.12962752e-03 -6.90394876e+01] [-1.10312086e-02 1.18696794e-03 9.99938450e-01 6.08859734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259072329 meters 0.25909649763484155 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99917797e-01 -5.15567309e-03 1.17395745e-02 -3.70028848e+01] [ 5.16514003e-03 9.99986359e-01 -7.76236323e-04 -6.90406275e+01] [-1.17354124e-02 8.36809061e-04 9.99930788e-01 6.08857241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28907232899996 meters 0.24521017808346146 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99911869e-01 -5.05927018e-03 1.22742491e-02 -3.70038928e+01] [ 5.06430925e-03 9.99987104e-01 -3.79492675e-04 -6.90417111e+01] [-1.22721708e-02 4.41619823e-04 9.99924597e-01 6.08852042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319072329 meters 0.22355940389918696 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99900806e-01 -5.09466417e-03 1.31309400e-02 -3.70057615e+01] [ 5.09550500e-03 9.99987017e-01 -3.05790977e-05 -6.90428575e+01] [-1.31306137e-02 9.74848348e-05 9.99913785e-01 6.08848242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34907232899997 meters 0.2426268089716091 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99894784e-01 -5.12013033e-03 1.35721881e-02 -3.70067975e+01] [ 5.11919979e-03 9.99986891e-01 1.03302409e-04 -6.90432971e+01] [-1.35725391e-02 -3.38127974e-05 9.99907888e-01 6.08847501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379072329 meters 0.24355241738950684 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99879934e-01 -5.42844879e-03 1.45137744e-02 -3.70092564e+01] [ 5.42845645e-03 9.99985265e-01 3.88682613e-05 -6.90437218e+01] [-1.45137716e-02 3.99237980e-05 9.99894669e-01 6.08850521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40907232899997 meters 0.22737397572411064 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99874226e-01 -5.46178660e-03 1.48896140e-02 -3.70100144e+01] [ 5.46037474e-03 9.99985083e-01 1.35474309e-04 -6.90439617e+01] [-1.48901318e-02 -5.41543981e-05 9.99889134e-01 6.08847909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439072329 meters 0.24373419994707446 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.05, Z:60.88 [[ 9.99884495e-01 -4.81955345e-03 1.44141629e-02 -3.70080880e+01] [ 4.80414361e-03 9.99987851e-01 1.10351084e-03 -6.90458668e+01] [-1.44193062e-02 -1.03413567e-03 9.99895502e-01 6.08836021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46907232899997 meters 0.24373419994707446 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.05, Z:60.88 [[ 9.99884495e-01 -4.81955345e-03 1.44141629e-02 -3.70080880e+01] [ 4.80414361e-03 9.99987851e-01 1.10351084e-03 -6.90458668e+01] [-1.44193062e-02 -1.03413567e-03 9.99895502e-01 6.08836021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49907232899994 meters 0.23141484775432708 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.05, Z:60.88 [[ 9.99890462e-01 -4.87501868e-03 1.39749386e-02 -3.70072527e+01] [ 4.86380071e-03 9.99987822e-01 8.36595968e-04 -6.90451576e+01] [-1.39788468e-02 -7.68533013e-04 9.99901996e-01 6.08839901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.529072329 meters 0.2211013450039355 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99898613e-01 -4.90759726e-03 1.33670835e-02 -3.70060467e+01] [ 4.90095959e-03 9.99987850e-01 5.29280921e-04 -6.90442753e+01] [-1.33695186e-02 -4.63715723e-04 9.99910516e-01 6.08844593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55907232899995 meters 0.22986027439337625 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99894759e-01 -5.06921662e-03 1.35931576e-02 -3.70065934e+01] [ 5.06526610e-03 9.99987119e-01 3.25037940e-04 -6.90436936e+01] [-1.35946302e-02 -2.56150773e-04 9.99907556e-01 6.08844353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.589072329 meters 0.2373086443758961 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99898266e-01 -5.03753225e-03 1.33447088e-02 -3.70061814e+01] [ 5.03410635e-03 9.99987287e-01 2.90301733e-04 -6.90436806e+01] [-1.33460015e-02 -2.23093516e-04 9.99910913e-01 6.08847476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61907232899995 meters 0.22810401893405885 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99882541e-01 -5.49066953e-03 1.43093441e-02 -3.70086476e+01] [ 5.49395797e-03 9.99984890e-01 -1.90511252e-04 -6.90429492e+01] [-1.43080819e-02 2.69103810e-04 9.99897598e-01 6.08851666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.649072329 meters 0.242311719543609 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99878502e-01 -5.37259923e-03 1.46327348e-02 -3.70094807e+01] [ 5.37065043e-03 9.99985563e-01 1.72474016e-04 -6.90441183e+01] [-1.46334502e-02 -9.38657577e-05 9.99892921e-01 6.08851884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67907232899995 meters 0.23334523934898976 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99873662e-01 -5.37092270e-03 1.49604201e-02 -3.70102421e+01] [ 5.36685780e-03 9.99985550e-01 3.11844707e-04 -6.90445553e+01] [-1.49618788e-02 -2.31514862e-04 9.99888038e-01 6.08851004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.709072329 meters 0.22064593398879134 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.05, Z:60.88 [[ 9.99863508e-01 -5.28151215e-03 1.56547232e-02 -3.70112622e+01] [ 5.26947450e-03 9.99985788e-01 8.10096233e-04 -6.90456778e+01] [-1.56587792e-02 -7.27493497e-04 9.99877129e-01 6.08839723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73907232899995 meters 0.2682626779298294 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.05, Z:60.88 [[ 9.99857692e-01 -5.17114159e-03 1.60578447e-02 -3.70121592e+01] [ 5.15256364e-03 9.99986008e-01 1.19809625e-03 -6.90468255e+01] [-1.60638156e-02 -1.11518669e-03 9.99870347e-01 6.08838135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.769072329 meters 0.25753687154422344 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99850197e-01 -5.73362946e-03 1.63312598e-02 -3.70135619e+01] [ 5.72889614e-03 9.99983533e-01 3.36600967e-04 -6.90449478e+01] [-1.63329208e-02 -2.42990451e-04 9.99866579e-01 6.08848940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79907232899996 meters 0.2165335044946494 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99853032e-01 -5.91744120e-03 1.60903226e-02 -3.70132275e+01] [ 5.91963727e-03 9.99982475e-01 -8.88588778e-05 -6.90437853e+01] [-1.60895148e-02 1.84094692e-04 9.99870538e-01 6.08853063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.829072329 meters 0.22964150128796695 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99850446e-01 -6.00786210e-03 1.62169761e-02 -3.70136135e+01] [ 6.01178629e-03 9.99981910e-01 -1.93240875e-04 -6.90435226e+01] [-1.62155218e-02 2.90704970e-04 9.99868478e-01 6.08854067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85907232899996 meters 0.2309093656766483 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99850271e-01 -5.92506867e-03 1.62582279e-02 -3.70135847e+01] [ 5.92631839e-03 9.99982439e-01 -2.86890623e-05 -6.90439351e+01] [-1.62577724e-02 1.25036202e-04 9.99867826e-01 6.08852171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.889072329 meters 0.29947165500340767 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99851695e-01 -5.76168616e-03 1.62293179e-02 -3.70133749e+01] [ 5.75834343e-03 9.99983389e-01 2.52691787e-04 -6.90447016e+01] [-1.62305042e-02 -1.59200325e-04 9.99868264e-01 6.08850119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91907232899996 meters 0.3016482701346361 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99978247e-01 -6.44711044e-03 1.39278609e-03 -3.70095345e+01] [ 6.44973973e-03 9.99977411e-01 -1.89162094e-03 -6.90408025e+01] [-1.38055914e-03 1.90056290e-03 9.99997241e-01 6.08883654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.949072329 meters 0.2800923393139961 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99977264e-01 -6.53524479e-03 1.66195826e-03 -3.70101221e+01] [ 6.53848157e-03 9.99976723e-01 -1.94965215e-03 -6.90405890e+01] [-1.64917812e-03 1.96047451e-03 9.99996718e-01 6.08882687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97907232899996 meters 0.23415058526045052 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99977513e-01 -6.52858528e-03 1.53355861e-03 -3.70097006e+01] [ 6.53163741e-03 9.99976681e-01 -1.99372346e-03 -6.90403629e+01] [-1.52050666e-03 2.00369528e-03 9.99996837e-01 6.08881457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.009072329 meters 0.27362768350718064 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99978251e-01 -6.49583852e-03 1.14084184e-03 -3.70086979e+01] [ 6.49821368e-03 9.99976701e-01 -2.09071723e-03 -6.90399229e+01] [-1.12723430e-03 2.09808519e-03 9.99997164e-01 6.08881497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03907232899996 meters 0.284047243977761 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99995701e-01 -2.57469924e-03 1.40292038e-03 -3.70093770e+01] [ 2.57244112e-03 9.99995397e-01 1.60902180e-03 -6.90380801e+01] [-1.40705667e-03 -1.60540596e-03 9.99997721e-01 6.08881757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.069072329 meters 0.2784448232164748 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99996172e-01 -2.61897417e-03 8.92647317e-04 -3.70082205e+01] [ 2.61779647e-03 9.99995705e-01 1.31796814e-03 -6.90370542e+01] [-8.96095207e-04 -1.31562633e-03 9.99998733e-01 6.08884367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09907232899997 meters 0.27059584656659885 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99996450e-01 -2.54680281e-03 7.83950763e-04 -3.70080723e+01] [ 2.54570235e-03 9.99995778e-01 1.40155046e-03 -6.90373513e+01] [-7.87516926e-04 -1.39954978e-03 9.99998711e-01 6.08886268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.129072329 meters 0.2733775335135256 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99996636e-01 -2.47945402e-03 7.62277029e-04 -3.70080146e+01] [ 2.47830525e-03 9.99995798e-01 1.50429192e-03 -6.90376358e+01] [-7.66003648e-04 -1.50239771e-03 9.99998578e-01 6.08886446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15907232899997 meters 0.2678974660813787 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99997717e-01 -2.13580714e-03 7.08365345e-05 -3.70063471e+01] [ 2.13567234e-03 9.99996006e-01 1.85143485e-03 -6.90383622e+01] [-7.47905593e-05 -1.85127934e-03 9.99998284e-01 6.08886242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.189072329 meters 0.26579833516593326 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99998106e-01 -1.94251752e-03 -1.20225219e-04 -3.70058640e+01] [ 1.94276867e-03 9.99995854e-01 2.12541642e-03 -6.90391145e+01] [ 1.16096062e-04 -2.12564597e-03 9.99997734e-01 6.08886176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21907232899997 meters 0.26478221064397467 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.89 [[ 9.99997787e-01 -2.06184553e-03 -4.18698495e-04 -3.70053577e+01] [ 2.06258698e-03 9.99996292e-01 1.77821641e-03 -6.90381727e+01] [ 4.15030535e-04 -1.77907608e-03 9.99998331e-01 6.08890081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24907232899994 meters 0.2696395021464774 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99997118e-01 -1.89570909e-03 -1.47303606e-03 -3.70029642e+01] [ 1.89783669e-03 9.99997156e-01 1.44430987e-03 -6.90367932e+01] [ 1.47029388e-03 -1.44710129e-03 9.99997872e-01 6.08894566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279072329 meters 0.26789468234759334 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99995526e-01 -2.12163863e-03 -2.10859500e-03 -3.70015427e+01] [ 2.12320514e-03 9.99997471e-01 7.40957284e-04 -6.90346280e+01] [ 2.10701763e-03 -7.45430949e-04 9.99997502e-01 6.08897482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30907232899995 meters 0.24562741659174936 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99993554e-01 2.15464109e-03 -2.87227907e-03 -3.69995506e+01] [-2.14140305e-03 9.99987109e-01 4.60403409e-03 -6.90328295e+01] [ 2.88216209e-03 -4.59785370e-03 9.99985276e-01 6.08895846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339072329 meters 0.24837849864841807 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99991742e-01 2.02573375e-03 -3.52310291e-03 -3.69980202e+01] [-2.01118300e-03 9.99989454e-01 4.12874677e-03 -6.90312763e+01] [ 3.53142949e-03 -4.12162707e-03 9.99985270e-01 6.08897081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36907232899995 meters 0.24745119627061327 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99989533e-01 2.02693179e-03 -4.10198965e-03 -3.69968838e+01] [-2.01080479e-03 9.99990249e-01 3.93182021e-03 -6.90306898e+01] [ 4.10991918e-03 -3.92353075e-03 9.99983857e-01 6.08901658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399072329 meters 0.24214817544218742 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99988633e-01 1.83192325e-03 -4.40211260e-03 -3.69966678e+01] [-1.81677227e-03 9.99992422e-01 3.44328886e-03 -6.90295673e+01] [ 4.40838708e-03 -3.43525208e-03 9.99984382e-01 6.08909738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42907232899995 meters 0.2419909149775547 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99988752e-01 1.69858494e-03 -4.42835674e-03 -3.69967572e+01] [-1.68443966e-03 9.99993474e-01 3.19602574e-03 -6.90289101e+01] [ 4.43375657e-03 -3.18853049e-03 9.99985087e-01 6.08912072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459072329 meters 0.24894620087283736 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99985717e-01 1.82404926e-03 -5.02388324e-03 -3.69951870e+01] [-1.80810926e-03 9.99993323e-01 3.17556188e-03 -6.90285298e+01] [ 5.02964208e-03 -3.16643279e-03 9.99982338e-01 6.08910314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48907232899995 meters 0.254985384571538 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99983598e-01 1.67242517e-03 -5.47786333e-03 -3.69942925e+01] [-1.65735683e-03 9.99994834e-01 2.75415463e-03 -6.90273232e+01] [ 5.48244114e-03 -2.74503068e-03 9.99981204e-01 6.08913527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519072329 meters 0.23645865284996623 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99977827e-01 1.57845714e-03 -6.46945134e-03 -3.69922346e+01] [-1.56546968e-03 9.99996750e-01 2.01207743e-03 -6.90249804e+01] [ 6.47260629e-03 -2.00190509e-03 9.99977049e-01 6.08921201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54907232899996 meters 0.25462333143959126 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99976730e-01 1.40416650e-03 -6.67593406e-03 -3.69920165e+01] [-1.39324814e-03 9.99997685e-01 1.63985000e-03 -6.90239877e+01] [ 6.67822123e-03 -1.63051061e-03 9.99976371e-01 6.08925814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579072329 meters 0.26866929932562295 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99975726e-01 1.13469577e-03 -6.87458800e-03 -3.69916897e+01] [-1.12728955e-03 9.99998780e-01 1.08111331e-03 -6.90223714e+01] [ 6.87580635e-03 -1.07333741e-03 9.99975785e-01 6.08928632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60907232899996 meters 0.22074661393841838 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99966735e-01 1.79221607e-03 -7.95715158e-03 -3.69881716e+01] [-1.78122544e-03 9.99997450e-01 1.38809830e-03 -6.90214388e+01] [ 7.95961906e-03 -1.37387865e-03 9.99967378e-01 6.08918228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639072329 meters 0.22970564449598113 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99963078e-01 1.81779364e-03 -8.39872882e-03 -3.69870256e+01] [-1.80719707e-03 9.99997562e-01 1.26910425e-03 -6.90208941e+01] [ 8.40101531e-03 -1.25387923e-03 9.99963925e-01 6.08917763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66907232899996 meters 0.2477994152318653 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99954810e-01 2.01834500e-03 -9.29003619e-03 -3.69849597e+01] [-2.00752128e-03 9.99997295e-01 1.17426718e-03 -6.90200758e+01] [ 9.29238114e-03 -1.15556417e-03 9.99956157e-01 6.08920047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699072329 meters 0.24741477424729325 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.02, Z:60.89 [[ 9.99954151e-01 1.89378267e-03 -9.38668310e-03 -3.69849263e+01] [-1.88524958e-03 9.99997802e-01 9.17828601e-04 -6.90194095e+01] [ 9.38840064e-03 -9.00090279e-04 9.99955523e-01 6.08923246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72907232899996 meters 0.24515064534701936 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99958011e-01 1.75182985e-03 -8.99480603e-03 -3.69859041e+01] [-1.74467526e-03 9.99998155e-01 8.03198684e-04 -6.90191646e+01] [ 8.99619650e-03 -7.87471943e-04 9.99959223e-01 6.08923694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759072329 meters 0.26539203697286706 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99961936e-01 1.59009279e-03 -8.57892182e-03 -3.69870960e+01] [-1.58436388e-03 9.99998517e-01 6.74543642e-04 -6.90190008e+01] [ 8.57998169e-03 -6.60925833e-04 9.99962973e-01 6.08926552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78907232899996 meters 0.25395918037005616 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99966360e-01 1.68468942e-03 -8.02747113e-03 -3.69882845e+01] [-1.67627670e-03 9.99998039e-01 1.05460504e-03 -6.90201389e+01] [ 8.02923207e-03 -1.04111330e-03 9.99967223e-01 6.08923996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819072329 meters 0.24773778859899648 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.89 [[ 9.99969964e-01 -1.97818541e-03 -7.49387097e-03 -3.69887726e+01] [ 1.96470277e-03 9.99996439e-01 -1.80608996e-03 -6.90240788e+01] [ 7.49741707e-03 1.79131248e-03 9.99970290e-01 6.08910582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84907232899997 meters 0.24326404489598571 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99975835e-01 -1.65045755e-03 -6.75315645e-03 -3.69900828e+01] [ 1.64454024e-03 9.99998259e-01 -8.81687303e-04 -6.90266485e+01] [ 6.75459989e-03 8.70560160e-04 9.99976808e-01 6.08901813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879072329 meters 0.2474887541162914 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99966809e-01 -5.23803108e-03 -6.24056718e-03 -3.69903521e+01] [ 5.21512572e-03 9.99979626e-01 -3.68103451e-03 -6.90307272e+01] [ 6.25972140e-03 3.64836699e-03 9.99973752e-01 6.08886791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90907232899997 meters 0.23302760749786694 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99972325e-01 -5.14501709e-03 -5.37378464e-03 -3.69919429e+01] [ 5.12792104e-03 9.99981763e-01 -3.19032820e-03 -6.90320419e+01] [ 5.39010093e-03 3.16268356e-03 9.99980472e-01 6.08878339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939072329 meters 0.22973192540521317 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99975893e-01 -5.04242514e-03 -4.77363327e-03 -3.69931060e+01] [ 5.02926440e-03 9.99983531e-01 -2.76496493e-03 -6.90332149e+01] [ 4.78749678e-03 2.74089041e-03 9.99984784e-01 6.08873291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96907232899997 meters 0.21894906476380704 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99978464e-01 -5.16523799e-03 -4.04868973e-03 -3.69947027e+01] [ 5.15431643e-03 9.99983062e-01 -2.70336310e-03 -6.90335273e+01] [ 4.06258467e-03 2.68243666e-03 9.99988150e-01 6.08870604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99907232899994 meters 0.2463166455283359 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.89 [[ 9.99979044e-01 -5.15480046e-03 -3.91654312e-03 -3.69947949e+01] [ 5.14449912e-03 9.99983293e-01 -2.63575028e-03 -6.90335864e+01] [ 3.93006446e-03 2.61554639e-03 9.99988857e-01 6.08867209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.029072329 meters 0.2262416220994325 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99982196e-01 -5.04192554e-03 -3.19168751e-03 -3.69963639e+01] [ 5.03521477e-03 9.99985103e-01 -2.10713085e-03 -6.90352392e+01] [ 3.20226396e-03 2.09102250e-03 9.99992687e-01 6.08863757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05907232899995 meters 0.24762123957029408 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99983062e-01 -5.08263715e-03 -2.83587909e-03 -3.69970910e+01] [ 5.07680096e-03 9.99984988e-01 -2.06139963e-03 -6.90353460e+01] [ 2.84631387e-03 2.04696752e-03 9.99993854e-01 6.08861383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.089072329 meters 0.24192418656259365 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.89 [[ 9.99984176e-01 -5.00506716e-03 -2.56866137e-03 -3.69978070e+01] [ 5.00044493e-03 9.99985873e-01 -1.80275013e-03 -6.90362110e+01] [ 2.57764796e-03 1.78987716e-03 9.99995076e-01 6.08862016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11907232899995 meters 0.23188513310490017 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99981434e-01 -5.14321561e-03 -3.26802327e-03 -3.69964391e+01] [ 5.13527079e-03 9.99983850e-01 -2.43483476e-03 -6.90342508e+01] [ 3.28049338e-03 2.41800737e-03 9.99991696e-01 6.08869645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.149072329 meters 0.26696157716853547 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99996744e-01 -1.04901177e-03 -2.32638801e-03 -3.69984218e+01] [ 1.05306547e-03 9.99997928e-01 1.74194642e-03 -6.90340555e+01] [ 2.32455586e-03 -1.74439059e-03 9.99995777e-01 6.08865388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17907232899995 meters 0.25366893267350427 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99996140e-01 -1.13923578e-03 -2.53408528e-03 -3.69978086e+01] [ 1.14303950e-03 9.99998222e-01 1.50008125e-03 -6.90332124e+01] [ 2.53237182e-03 -1.50297202e-03 9.99995664e-01 6.08864118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.209072329 meters 0.22489322318631344 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99996777e-01 -1.03159288e-03 -2.31977844e-03 -3.69980004e+01] [ 1.03569285e-03 9.99997903e-01 1.76689108e-03 -6.90338385e+01] [ 2.31795087e-03 -1.76928796e-03 9.99995748e-01 6.08859023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23907232899995 meters 0.23470174662076024 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.89 [[ 9.99997662e-01 -9.31957845e-04 -1.95101826e-03 -3.69986194e+01] [ 9.36010166e-04 9.99997405e-01 2.07714720e-03 -6.90346372e+01] [ 1.94907739e-03 -2.07896852e-03 9.99995939e-01 6.08854642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.269072329 meters 0.2532727209083202 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99987013e-01 -4.68570516e-03 -2.00425302e-03 -3.69979467e+01] [ 4.68320128e-03 9.99988250e-01 -1.25216074e-03 -6.90372680e+01] [ 2.01009673e-03 1.24275816e-03 9.99997208e-01 6.08846676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29907232899996 meters 0.2513202585072826 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99987687e-01 -4.66619565e-03 -1.68917588e-03 -3.69985602e+01] [ 4.66432269e-03 9.99988505e-01 -1.11104785e-03 -6.90376307e+01] [ 1.69434083e-03 1.10315531e-03 9.99997956e-01 6.08844136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.329072329 meters 0.23361374855654773 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99990037e-01 -4.33866911e-03 -1.04980883e-03 -3.69997550e+01] [ 4.33836269e-03 9.99990546e-01 -2.93984550e-04 -6.90400289e+01] [ 1.05107441e-03 2.89427169e-04 9.99999406e-01 6.08838055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35907232899996 meters 0.23361374855654773 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99990037e-01 -4.33866911e-03 -1.04980883e-03 -3.69997550e+01] [ 4.33836269e-03 9.99990546e-01 -2.93984550e-04 -6.90400289e+01] [ 1.05107441e-03 2.89427169e-04 9.99999406e-01 6.08838055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.389072329 meters 0.23361374855654773 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99990037e-01 -4.33866911e-03 -1.04980883e-03 -3.69997550e+01] [ 4.33836269e-03 9.99990546e-01 -2.93984550e-04 -6.90400289e+01] [ 1.05107441e-03 2.89427169e-04 9.99999406e-01 6.08838055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41907232899996 meters 0.2390424955290217 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99990948e-01 -4.25337819e-03 -1.15367273e-04 -3.70014434e+01] [ 4.25340913e-03 9.99990918e-01 2.69256198e-04 -6.90416268e+01] [ 1.14220977e-04 -2.69744465e-04 9.99999957e-01 6.08827651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.449072329 meters 0.24401309586913295 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99991016e-01 -4.23891092e-03 -5.07417640e-06 -3.70015201e+01] [ 4.23891237e-03 9.99990960e-01 3.33700940e-04 -6.90417092e+01] [ 3.65960197e-06 -3.33719451e-04 9.99999944e-01 6.08824805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47907232899996 meters 0.23443187150745076 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99991166e-01 -4.19621659e-03 -2.44526419e-04 -3.70010490e+01] [ 4.19629423e-03 9.99991145e-01 3.17847298e-04 -6.90416701e+01] [ 2.43190497e-04 -3.18870595e-04 9.99999920e-01 6.08826979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.509072329 meters 0.23479529274803912 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99990645e-01 -4.32075869e-03 -2.03093847e-04 -3.70013839e+01] [ 4.32078261e-03 9.99990658e-01 1.17477825e-04 -6.90411839e+01] [ 2.02584356e-04 -1.18354250e-04 9.99999972e-01 6.08830452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53907232899996 meters 0.23319462247586856 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99989953e-01 -4.48166691e-03 -9.23861566e-05 -3.70013046e+01] [ 4.48165448e-03 9.99989948e-01 -1.34254779e-04 -6.90402484e+01] [ 9.29869132e-05 1.33839387e-04 9.99999987e-01 6.08825285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.569072329 meters 0.23243314901300755 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99990167e-01 -4.41893777e-03 -3.73216996e-04 -3.70004629e+01] [ 4.41888553e-03 9.99990227e-01 -1.40673794e-04 -6.90400493e+01] [ 3.73834977e-04 1.39023208e-04 9.99999920e-01 6.08823324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59907232899997 meters 0.22654024717687601 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99989879e-01 -4.48726943e-03 -3.27005475e-04 -3.70004287e+01] [ 4.48718768e-03 9.99989901e-01 -2.50303462e-04 -6.90396370e+01] [ 3.28125352e-04 2.48833593e-04 9.99999915e-01 6.08821130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.629072329 meters 0.23851894126707263 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99988650e-01 -4.69986969e-03 -7.81520544e-04 -3.69991809e+01] [ 4.69924078e-03 9.99988635e-01 -8.04626152e-04 -6.90377415e+01] [ 7.85293300e-04 8.00944466e-04 9.99999371e-01 6.08819687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65907232899997 meters 0.23749016143395305 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99987791e-01 -4.73253377e-03 -1.42126947e-03 -3.69978654e+01] [ 4.73093163e-03 9.99988172e-01 -1.12851416e-03 -6.90367495e+01] [ 1.42659339e-03 1.12177645e-03 9.99998353e-01 6.08824238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.689072329 meters 0.24422801308132228 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99986341e-01 -4.69049853e-03 -2.30598308e-03 -3.69959574e+01] [ 4.68704857e-03 9.99987892e-01 -1.49922519e-03 -6.90354229e+01] [ 2.31298727e-03 1.48839646e-03 9.99996217e-01 6.08829690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71907232899997 meters 0.23554024274658225 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.88 [[ 9.99983985e-01 -4.89438119e-03 -2.84146319e-03 -3.69949289e+01] [ 4.88833757e-03 9.99985784e-01 -2.13000245e-03 -6.90336266e+01] [ 2.85184784e-03 2.11607831e-03 9.99993695e-01 6.08835104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74907232899994 meters 0.2448808051821044 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99996637e-01 -8.12514509e-04 -2.46302390e-03 -3.69958850e+01] [ 8.17087749e-04 9.99997943e-01 1.85632104e-03 -6.90327100e+01] [ 2.46151055e-03 -1.85832730e-03 9.99995244e-01 6.08835455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779072329 meters 0.22472811309383375 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.88 [[ 9.99995499e-01 -7.92735867e-04 -2.89366759e-03 -3.69949990e+01] [ 7.97706500e-04 9.99998208e-01 1.71701250e-03 -6.90322794e+01] [ 2.89230127e-03 -1.71931307e-03 9.99994339e-01 6.08838693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80907232899995 meters 0.22097244244195283 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.88 [[ 9.99994653e-01 -8.84476328e-04 -3.14822846e-03 -3.69946110e+01] [ 8.89049950e-04 9.99998551e-01 1.45165774e-03 -6.90315795e+01] [ 3.14693994e-03 -1.45444891e-03 9.99993991e-01 6.08842571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839072329 meters 0.21548507071739126 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.88 [[ 9.99993937e-01 -1.03221907e-03 -3.32567951e-03 -3.69943480e+01] [ 1.03593299e-03 9.99998842e-01 1.11520988e-03 -6.90306462e+01] [ 3.32452452e-03 -1.11864830e-03 9.99993848e-01 6.08845510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86907232899995 meters 0.23307508077361813 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99995150e-01 -8.41544919e-04 -2.99861330e-03 -3.69950120e+01] [ 8.46251677e-04 9.99998411e-01 1.56872180e-03 -6.90319925e+01] [ 2.99728839e-03 -1.57125177e-03 9.99994274e-01 6.08843046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899072329 meters 0.24967216200138762 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99996368e-01 -7.94109538e-04 -2.57534862e-03 -3.69957211e+01] [ 7.98798059e-04 9.99998025e-01 1.82002127e-03 -6.90325943e+01] [ 2.57389824e-03 -1.82207185e-03 9.99995028e-01 6.08837925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92907232899995 meters 0.2723032585782563 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99997143e-01 -7.56704681e-04 -2.26750498e-03 -3.69961180e+01] [ 7.61229387e-04 9.99997720e-01 1.99525760e-03 -6.90329400e+01] [ 2.26598999e-03 -1.99697799e-03 9.99995439e-01 6.08832472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959072329 meters 0.2655679130944945 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99996646e-01 -6.82279937e-04 -2.49844989e-03 -3.69951198e+01] [ 6.87425386e-04 9.99997644e-01 2.05917746e-03 -6.90327613e+01] [ 2.49703907e-03 -2.06088805e-03 9.99994759e-01 6.08826296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98907232899995 meters 0.24700764777640327 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99997495e-01 -7.68079829e-04 -2.10216305e-03 -3.69959174e+01] [ 7.72412788e-04 9.99997578e-01 2.06115586e-03 -6.90327588e+01] [ 2.10057482e-03 -2.06277444e-03 9.99995666e-01 6.08823299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019072329 meters 0.23554336079668683 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99997623e-01 -7.50768575e-04 -2.04684475e-03 -3.69961439e+01] [ 7.55089237e-04 9.99997487e-01 2.11093429e-03 -6.90329536e+01] [ 2.04525478e-03 -2.11247483e-03 9.99995677e-01 6.08824782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04907232899996 meters 0.24055799320653962 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99983804e-01 -5.23049948e-03 -2.24362893e-03 -3.69957116e+01] [ 5.22477372e-03 9.99983099e-01 -2.55032537e-03 -6.90319846e+01] [ 2.25693048e-03 2.53856161e-03 9.99994231e-01 6.08826526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079072329 meters 0.24701953560730716 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99985434e-01 -5.01543718e-03 -1.99431954e-03 -3.69961046e+01] [ 5.01130825e-03 9.99985301e-01 -2.06998298e-03 -6.90333369e+01] [ 2.00467209e-03 2.05995868e-03 9.99995869e-01 6.08822854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10907232899996 meters 0.24251726264510423 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99985518e-01 -4.94809347e-03 -2.11652728e-03 -3.69958718e+01] [ 4.94387843e-03 9.99985795e-01 -1.99210320e-03 -6.90335841e+01] [ 2.12635432e-03 1.98161050e-03 9.99995776e-01 6.08823949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139072329 meters 0.2400512497744081 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99985208e-01 -4.95868270e-03 -2.23503604e-03 -3.69954511e+01] [ 4.95407676e-03 9.99985603e-01 -2.06163499e-03 -6.90332804e+01] [ 2.24522686e-03 2.05053196e-03 9.99995377e-01 6.08822234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16907232899996 meters 0.24683902963263427 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.88 [[ 9.99984416e-01 -4.99126025e-03 -2.50093058e-03 -3.69947877e+01] [ 4.98568517e-03 9.99985084e-01 -2.23050195e-03 -6.90326877e+01] [ 2.51202629e-03 2.21799834e-03 9.99994385e-01 6.08822677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199072329 meters 0.2464436884706311 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99985620e-01 -4.93508017e-03 -2.09879968e-03 -3.69955036e+01] [ 4.93091604e-03 9.99985874e-01 -1.98462058e-03 -6.90333123e+01] [ 2.10856430e-03 1.97424304e-03 9.99995828e-01 6.08818418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22907232899996 meters 0.28113710176233486 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99986618e-01 -4.93561030e-03 -1.55062396e-03 -3.69963958e+01] [ 4.93281209e-03 9.99986208e-01 -1.80324500e-03 -6.90336889e+01] [ 1.55950269e-03 1.79557193e-03 9.99997172e-01 6.08811260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259072329 meters 0.2581615513596327 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99987757e-01 -4.91830358e-03 -5.43487135e-04 -3.69984079e+01] [ 4.91756909e-03 9.99987005e-01 -1.34460154e-03 -6.90351282e+01] [ 5.50093230e-04 1.34191244e-03 9.99998948e-01 6.08803685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28907232899996 meters 0.2578022746136796 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99987453e-01 -5.00854234e-03 8.87299005e-05 -3.69995805e+01] [ 5.00864887e-03 9.99986683e-01 -1.24397849e-03 -6.90353101e+01] [-8.24981999e-05 1.24440730e-03 9.99999222e-01 6.08797947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319072329 meters 0.22668333868182758 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99987668e-01 -4.95209914e-03 -3.75337943e-04 -3.69985178e+01] [ 4.95160198e-03 9.99986877e-01 -1.31410532e-03 -6.90349908e+01] [ 3.81840598e-04 1.31223059e-03 9.99999066e-01 6.08799305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34907232899997 meters 0.2568013382761483 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99986414e-01 -5.20430371e-03 -2.94199703e-04 -3.69988505e+01] [ 5.20378599e-03 9.99984957e-01 -1.73397585e-03 -6.90337958e+01] [ 3.03219415e-04 1.73242134e-03 9.99998453e-01 6.08801558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379072329 meters 0.23920233322790171 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99985438e-01 -5.38877570e-03 -2.89968068e-04 -3.69988818e+01] [ 5.38816791e-03 9.99983367e-01 -2.05753351e-03 -6.90327895e+01] [ 3.01050831e-04 2.05594115e-03 9.99997841e-01 6.08802342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40907232899997 meters 0.2542067167847752 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.88 [[ 9.99984638e-01 -5.52246161e-03 4.76163553e-04 -3.70004425e+01] [ 5.52342020e-03 9.99982673e-01 -2.03589508e-03 -6.90328468e+01] [-4.64912151e-04 2.03849386e-03 9.99997814e-01 6.08798263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439072329 meters 0.23543660856255788 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99984126e-01 -5.42493518e-03 1.52219240e-03 -3.70027061e+01] [ 5.42696016e-03 9.99984390e-01 -1.32934509e-03 -6.90350953e+01] [-1.51495703e-03 1.33758486e-03 9.99997958e-01 6.08793395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46907232899997 meters 0.24222843663477933 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99984996e-01 -5.19216590e-03 1.74603858e-03 -3.70028310e+01] [ 5.19363104e-03 9.99986164e-01 -8.35634548e-04 -6.90363674e+01] [-1.74167566e-03 8.44690290e-04 9.99998127e-01 6.08786845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49907232899994 meters 0.23852244830162714 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.88 [[ 9.99982234e-01 -5.22349752e-03 2.87177587e-03 -3.70048966e+01] [ 5.22425928e-03 9.99986320e-01 -2.57819631e-04 -6.90380403e+01] [-2.87038987e-03 2.72817952e-04 9.99995843e-01 6.08774747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.529072329 meters 0.23876051311858804 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99981787e-01 -5.18440930e-03 3.08992429e-03 -3.70052341e+01] [ 5.18475746e-03 9.99986554e-01 -1.04673269e-04 -6.90384048e+01] [-3.08934007e-03 1.20691871e-04 9.99995221e-01 6.08771611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55907232899995 meters 0.2448703062365726 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99979266e-01 -5.23776271e-03 3.74608061e-03 -3.70066667e+01] [ 5.23769485e-03 9.99986283e-01 2.79240414e-05 -6.90388306e+01] [-3.74617549e-03 -8.30263533e-06 9.99992983e-01 6.08769320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.589072329 meters 0.23892400692425844 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99948205e-01 -9.11712345e-03 4.52382539e-03 -3.70081448e+01] [ 9.13140212e-03 9.99953360e-01 -3.14577607e-03 -6.90422189e+01] [-4.49493397e-03 3.18692200e-03 9.99984819e-01 6.08763292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61907232899995 meters 0.2477934547887493 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99974611e-01 -4.81919618e-03 5.24911824e-03 -3.70097956e+01] [ 4.81182709e-03 9.99987421e-01 1.41559777e-03 -6.90430035e+01] [-5.25587425e-03 -1.39030398e-03 9.99985221e-01 6.08759777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.649072329 meters 0.2447459371576445 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.88 [[ 9.99971970e-01 -4.78161909e-03 5.76149688e-03 -3.70109331e+01] [ 4.77191139e-03 9.99987174e-01 1.69749833e-03 -6.90438581e+01] [-5.76953977e-03 -1.66995739e-03 9.99981962e-01 6.08757799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67907232899995 meters 0.27310079609694 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.05, Z:60.87 [[ 9.99961338e-01 -5.08887312e-03 7.17112731e-03 -3.70141074e+01] [ 5.07045413e-03 9.99983806e-01 2.58433692e-03 -6.90472982e+01] [-7.18416254e-03 -2.54787613e-03 9.99970948e-01 6.08749352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.709072329 meters 0.2539433146862014 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99954062e-01 -5.00524812e-03 8.17440585e-03 -3.70161470e+01] [ 4.97936266e-03 9.99982534e-01 3.18393466e-03 -6.90490982e+01] [-8.19019946e-03 -3.14308507e-03 9.99961520e-01 6.08742466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73907232899995 meters 0.24497061453659058 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99923360e-01 -8.78583790e-03 8.72256652e-03 -3.70168653e+01] [ 8.78607208e-03 9.99961402e-01 1.14727114e-05 -6.90523032e+01] [-8.72233064e-03 6.51652660e-05 9.99961958e-01 6.08733597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.769072329 meters 0.2472476133885616 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99917362e-01 -8.87580389e-03 9.29994493e-03 -3.70181841e+01] [ 8.87558355e-03 9.99960609e-01 6.49659548e-05 -6.90525217e+01] [-9.30015522e-03 1.75818520e-05 9.99956752e-01 6.08732222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79907232899996 meters 0.24670450353129345 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99914534e-01 -8.89792806e-03 9.57869761e-03 -3.70188137e+01] [ 8.89706187e-03 9.99960412e-01 1.33038347e-04 -6.90527143e+01] [-9.57950217e-03 -4.78047113e-05 9.99954114e-01 6.08731476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.829072329 meters 0.2404193874090064 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99906634e-01 -9.18058313e-03 1.01212772e-02 -3.70200215e+01] [ 9.18317537e-03 9.99957812e-01 -2.09672758e-04 -6.90517726e+01] [-1.01189253e-02 3.02598645e-04 9.99948757e-01 6.08730150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85907232899996 meters 0.22460793720752636 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99897940e-01 -9.24307729e-03 1.08938520e-02 -3.70217108e+01] [ 9.24366483e-03 9.99957276e-01 -3.58221181e-06 -6.90524908e+01] [-1.08933535e-02 1.04280963e-04 9.99940660e-01 6.08727353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.889072329 meters 0.2248503426919053 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99898808e-01 -9.14427589e-03 1.08975325e-02 -3.70216019e+01] [ 9.14295192e-03 9.99958188e-01 1.71307281e-04 -6.90529683e+01] [-1.08986433e-02 -7.16543304e-05 9.99940605e-01 6.08725541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91907232899996 meters 0.22624167609928458 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99899100e-01 -9.24994079e-03 1.07809502e-02 -3.70209916e+01] [ 9.25110054e-03 9.99957206e-01 -5.77079475e-05 -6.90520344e+01] [-1.07799550e-02 1.57437779e-04 9.99941882e-01 6.08720986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.949072329 meters 0.22117884953174757 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99902828e-01 -9.15758446e-03 1.05106188e-02 -3.70201773e+01] [ 9.15798254e-03 9.99958065e-01 1.02557092e-05 -6.90521252e+01] [-1.05102720e-02 8.60013513e-05 9.99944762e-01 6.08718869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97907232899996 meters 0.21108936650136137 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99903513e-01 -9.50235248e-03 1.01326067e-02 -3.70192972e+01] [ 9.51050029e-03 9.99954488e-01 -7.56235552e-04 -6.90496989e+01] [-1.01249595e-02 8.52528745e-04 9.99948378e-01 6.08720637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.009072329 meters 0.22103553551384844 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99907129e-01 -9.50223249e-03 9.76933748e-03 -3.70185591e+01] [ 9.51138469e-03 9.99954369e-01 -8.90794420e-04 -6.90493354e+01] [-9.76042716e-03 9.83631619e-04 9.99951882e-01 6.08723121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03907232899996 meters 0.21481815919548214 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99904854e-01 -9.69469462e-03 9.81303558e-03 -3.70187840e+01] [ 9.70711978e-03 9.99952141e-01 -1.21935207e-03 -6.90483956e+01] [-9.80074469e-03 1.31449237e-03 9.99951108e-01 6.08724877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.069072329 meters 0.2678098473880124 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99905618e-01 -9.67461367e-03 9.75487451e-03 -3.70185820e+01] [ 9.68687583e-03 9.99952348e-01 -1.21056396e-03 -6.90483811e+01] [-9.74269793e-03 1.30494397e-03 9.99951687e-01 6.08724100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09907232899997 meters 0.267402629433413 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99908365e-01 -9.62244781e-03 9.52209520e-03 -3.70177631e+01] [ 9.63448329e-03 9.99952844e-01 -1.21888873e-03 -6.90481303e+01] [-9.50991749e-03 1.31051751e-03 9.99953921e-01 6.08720741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.129072329 meters 0.26397338633205303 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99907171e-01 -9.69480770e-03 9.57394750e-03 -3.70177031e+01] [ 9.70802420e-03 9.99951985e-01 -1.33495754e-03 -6.90476684e+01] [-9.56054565e-03 1.42777773e-03 9.99953278e-01 6.08717957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15907232899997 meters 0.2479818501765336 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99909151e-01 -9.84519791e-03 9.20666272e-03 -3.70169109e+01] [ 9.86167760e-03 9.99949848e-01 -1.74629167e-03 -6.90464041e+01] [-9.18900839e-03 1.83692616e-03 9.99956093e-01 6.08720211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.189072329 meters 0.24117218020893258 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.05, Z:60.87 [[ 9.99906848e-01 -9.91597778e-03 9.37920529e-03 -3.70174884e+01] [ 9.93337762e-03 9.99949024e-01 -1.81038793e-03 -6.90462772e+01] [-9.36077541e-03 1.90338647e-03 9.99954375e-01 6.08722685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21907232899997 meters 0.26164540329873515 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.87 [[ 9.99918971e-01 -6.87797861e-03 1.07119467e-02 -3.70214399e+01] [ 6.86629915e-03 9.99975792e-01 1.12671694e-03 -6.90443803e+01] [-1.07194369e-02 -1.05307421e-03 9.99941991e-01 6.08733030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24907232899994 meters 0.2338202552212212 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.87 [[ 9.99915796e-01 -7.04377366e-03 1.08989184e-02 -3.70218007e+01] [ 7.03434956e-03 9.99974851e-01 9.02775663e-04 -6.90436768e+01] [-1.09050033e-02 -8.26032843e-04 9.99940197e-01 6.08731480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279072329 meters 0.2338202552212212 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.87 [[ 9.99915796e-01 -7.04377366e-03 1.08989184e-02 -3.70218007e+01] [ 7.03434956e-03 9.99974851e-01 9.02775663e-04 -6.90436768e+01] [-1.09050033e-02 -8.26032843e-04 9.99940197e-01 6.08731480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30907232899995 meters 0.24486338622203926 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.87 [[ 9.99909261e-01 -7.15877896e-03 1.14114510e-02 -3.70228457e+01] [ 7.14907030e-03 9.99974048e-01 8.91347905e-04 -6.90436093e+01] [-1.14175358e-02 -8.09685760e-04 9.99934490e-01 6.08728087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339072329 meters 0.2489396101297666 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.87 [[ 9.99905352e-01 -7.11425810e-03 1.17760454e-02 -3.70232733e+01] [ 7.10180536e-03 9.99974178e-01 1.09894434e-03 -6.90440173e+01] [-1.17835595e-02 -1.01520915e-03 9.99930056e-01 6.08720643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36907232899995 meters 0.24820141023441078 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.87 [[ 9.99903819e-01 -7.19978773e-03 1.18538952e-02 -3.70234447e+01] [ 7.18869025e-03 9.99973682e-01 9.78531661e-04 -6.90436408e+01] [-1.18606285e-02 -8.93223565e-04 9.99929261e-01 6.08720246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399072329 meters 0.23869770943660393 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.87 [[ 9.99899734e-01 -7.36334152e-03 1.20955703e-02 -3.70242241e+01] [ 7.35453070e-03 9.99972656e-01 7.72753182e-04 -6.90431458e+01] [-1.21009296e-02 -6.83718458e-04 9.99926547e-01 6.08723002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42907232899995 meters 0.2366555878367807 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.87 [[ 9.99882796e-01 -7.65597261e-03 1.32582437e-02 -3.70271073e+01] [ 7.64559820e-03 9.99970425e-01 8.32997163e-04 -6.90438972e+01] [-1.32642290e-02 -7.31532328e-04 9.99911759e-01 6.08724534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459072329 meters 0.24148628327188024 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.87 [[ 9.99872154e-01 -7.75851845e-03 1.39814732e-02 -3.70288784e+01] [ 7.74646437e-03 9.99969576e-01 9.16097948e-04 -6.90442957e+01] [-1.39881554e-02 -8.07673844e-04 9.99901835e-01 6.08724794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48907232899995 meters 0.23260388554337078 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.87 [[ 9.99850872e-01 -8.14470111e-03 1.52282141e-02 -3.70318147e+01] [ 8.13459055e-03 9.99966650e-01 7.25760966e-04 -6.90443219e+01] [-1.52336174e-02 -6.01777448e-04 9.99883781e-01 6.08724663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519072329 meters 0.22962238158738685 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.05, Z:60.87 [[ 9.99802351e-01 -1.20645938e-02 1.58020102e-02 -3.70329097e+01] [ 1.21096757e-02 9.99922865e-01 -2.76035043e-03 -6.90467986e+01] [-1.57674888e-02 2.95116207e-03 9.99871330e-01 6.08721638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54907232899996 meters 0.22918285397716753 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.05, Z:60.87 [[ 9.99791547e-01 -1.18602796e-02 1.66191589e-02 -3.70342380e+01] [ 1.18956718e-02 9.99927179e-01 -2.03236454e-03 -6.90486100e+01] [-1.65938443e-02 2.22963695e-03 9.99859827e-01 6.08710815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579072329 meters 0.2391457801629558 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.05, Z:60.87 [[ 9.99811154e-01 -1.79887560e-02 7.35266410e-03 -3.70411540e+01] [ 1.80076989e-02 9.99834677e-01 -2.51828954e-03 -6.90452414e+01] [-7.30614764e-03 2.65021853e-03 9.99969798e-01 6.08667822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60907232899996 meters 0.2480393581915735 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.05, Z:60.87 [[ 9.99808204e-01 -1.78490270e-02 8.06027638e-03 -3.70424297e+01] [ 1.78652513e-02 9.99838511e-01 -1.94537617e-03 -6.90467377e+01] [-8.02425167e-03 2.08900192e-03 9.99965623e-01 6.08660343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639072329 meters 0.2198122671451856 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.05, Z:60.87 [[ 9.99867920e-01 -1.37073810e-02 8.73215949e-03 -3.70441714e+01] [ 1.36870357e-02 9.99903483e-01 2.38543706e-03 -6.90468559e+01] [-8.76401478e-03 -2.26560461e-03 9.99959029e-01 6.08659156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66907232899996 meters 0.22014897417136348 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.86 [[ 9.99884132e-01 -8.93341347e-03 1.23254819e-02 -3.70550137e+01] [ 8.99885688e-03 9.99945652e-01 -5.26439755e-03 -6.90373801e+01] [-1.22777830e-02 5.37470282e-03 9.99910180e-01 6.08602859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699072329 meters 0.24435010993972084 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.86 [[ 9.99906839e-01 -4.70596748e-03 1.28127379e-02 -3.70561801e+01] [ 4.71721715e-03 9.99988514e-01 -8.47926753e-04 -6.90376803e+01] [-1.28086004e-02 9.08288226e-04 9.99917554e-01 6.08601151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72907232899996 meters 0.21634446079784944 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.86 [[ 9.99911283e-01 -4.82996152e-03 1.24135849e-02 -3.70555325e+01] [ 4.84572368e-03 9.99987491e-01 -1.23998651e-03 -6.90366730e+01] [-1.24074405e-02 1.30002930e-03 9.99922180e-01 6.08606461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759072329 meters 0.22967537837292384 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.04, Z:60.87 [[ 9.99969888e-01 -7.44015731e-04 7.72460258e-03 -3.70449734e+01] [ 7.62615615e-04 9.99996817e-01 -2.40520972e-03 -6.90375247e+01] [-7.72278848e-03 2.41102819e-03 9.99967272e-01 6.08655107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78907232899996 meters 0.22435862050743885 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.04, Z:60.87 [[ 9.99975869e-01 -9.74423273e-04 6.87831026e-03 -3.70433410e+01] [ 9.96781320e-04 9.99994229e-01 -3.24783504e-03 -6.90351610e+01] [-6.87510580e-03 3.25461284e-03 9.99971070e-01 6.08663219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819072329 meters 0.2468818064905853 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.03, Z:60.87 [[ 9.99980020e-01 -1.03646099e-03 6.23588400e-03 -3.70419961e+01] [ 1.05921265e-03 9.99992791e-01 -3.64630938e-03 -6.90339844e+01] [-6.23205979e-03 3.65284166e-03 9.99973909e-01 6.08667540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84907232899997 meters 0.2371470392930402 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.03, Z:60.87 [[ 9.99983434e-01 -8.28024865e-04 5.69611470e-03 -3.70408765e+01] [ 8.47893124e-04 9.99993563e-01 -3.48650677e-03 -6.90343939e+01] [-5.69319112e-03 3.49127871e-03 9.99977699e-01 6.08671233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879072329 meters 0.24154619754048762 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.03, Z:60.87 [[ 9.99985036e-01 -8.06733353e-04 5.41074926e-03 -3.70403595e+01] [ 8.26040725e-04 9.99993297e-01 -3.56705101e-03 -6.90342125e+01] [-5.40783533e-03 3.57146714e-03 9.99979000e-01 6.08674424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90907232899997 meters 0.23662761681231895 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.03, Z:60.87 [[ 9.99990177e-01 -5.73742408e-04 4.39519192e-03 -3.70378239e+01] [ 5.90050225e-04 9.99992944e-01 -3.70997886e-03 -6.90332413e+01] [-4.39303234e-03 3.71253580e-03 9.99983459e-01 6.08675308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939072329 meters 0.2376645905806364 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.03, Z:60.87 [[ 9.99993170e-01 -3.52545569e-04 3.67915995e-03 -3.70359274e+01] [ 3.65788421e-04 9.99993455e-01 -3.59937065e-03 -6.90331607e+01] [-3.67786693e-03 3.60069186e-03 9.99986754e-01 6.08673364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96907232899997 meters 0.27923006472526724 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.03, Z:60.87 [[ 9.99993718e-01 -3.80851326e-04 3.52403966e-03 -3.70353765e+01] [ 3.93944094e-04 9.99993021e-01 -3.71532442e-03 -6.90326802e+01] [-3.52260008e-03 3.71668936e-03 9.99986889e-01 6.08671233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99907232899994 meters 0.2532686380704349 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99996240e-01 -1.68850368e-04 2.73712404e-03 -3.70333580e+01] [ 1.78941821e-04 9.99993187e-01 -3.68705626e-03 -6.90323237e+01] [-2.73648283e-03 3.68753218e-03 9.99989457e-01 6.08670022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.029072329 meters 0.22619496753429055 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99998358e-01 -8.72516752e-05 1.81000295e-03 -3.70312886e+01] [ 9.46696570e-05 9.99991596e-01 -4.09864507e-03 -6.90308124e+01] [-1.80963013e-03 4.09880970e-03 9.99989962e-01 6.08675888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05907232899995 meters 0.2443516590211326 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99998808e-01 -1.30367940e-04 1.53827996e-03 -3.70308898e+01] [ 1.36950377e-04 9.99990832e-01 -4.27975971e-03 -6.90303871e+01] [-1.53770791e-03 4.27996527e-03 9.99989659e-01 6.08680263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.089072329 meters 0.22950158840856347 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99998379e-01 -3.24915210e-04 1.77111140e-03 -3.70314913e+01] [ 3.32962322e-04 9.99989615e-01 -4.54513837e-03 -6.90296364e+01] [-1.76961622e-03 4.54572072e-03 9.99988102e-01 6.08680862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11907232899995 meters 0.22306200411173133 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99999413e-01 -2.12736678e-04 1.06240553e-03 -3.70297212e+01] [ 2.17624182e-04 9.99989385e-01 -4.60241842e-03 -6.90291322e+01] [-1.06141515e-03 4.60264692e-03 9.99988844e-01 6.08680782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.149072329 meters 0.2602035546114082 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99999575e-01 -1.41424854e-04 9.10822065e-04 -3.70292496e+01] [ 1.45553227e-04 9.99989710e-01 -4.53410872e-03 -6.90292660e+01] [-9.10171457e-04 4.53423936e-03 9.99989306e-01 6.08679540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17907232899995 meters 0.258144785891924 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99999979e-01 8.05290055e-05 1.88079858e-04 -3.70271523e+01] [-7.96856320e-05 9.99989962e-01 -4.47983577e-03 -6.90287870e+01] [-1.88438727e-04 4.47982068e-03 9.99989948e-01 6.08674834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.209072329 meters 0.25467474439276777 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99999959e-01 8.85641496e-05 2.73151880e-04 -3.70274553e+01] [-8.73519522e-05 9.99990163e-01 -4.43463811e-03 -6.90289669e+01] [-2.73541943e-04 4.43461407e-03 9.99990130e-01 6.08676275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23907232899995 meters 0.24767829775296563 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99999952e-01 1.15245333e-04 2.86465180e-04 -3.70275233e+01] [-1.13987432e-04 9.99990369e-01 -4.38725699e-03 -6.90291156e+01] [-2.86968032e-04 4.38722413e-03 9.99990335e-01 6.08676945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.269072329 meters 0.25126559095889184 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99999973e-01 2.19440509e-04 -8.17004781e-05 -3.70268416e+01] [-2.19791952e-04 9.99990615e-01 -4.32673161e-03 -6.90293417e+01] [ 8.07502512e-05 4.32674945e-03 9.99990636e-01 6.08680384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29907232899996 meters 0.24551158238427528 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.87 [[ 9.99990865e-01 4.18924201e-03 -8.49151993e-04 -3.70252980e+01] [-4.19021229e-03 9.99990567e-01 -1.14411071e-03 -6.90260278e+01] [ 8.44351026e-04 1.14765838e-03 9.99998985e-01 6.08688101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.329072329 meters 0.273855042570295 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99990637e-01 4.06598021e-03 -1.48103924e-03 -3.70240317e+01] [-4.06835524e-03 9.99990438e-01 -1.60415907e-03 -6.90246861e+01] [ 1.47450260e-03 1.61016944e-03 9.99997617e-01 6.08693404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35907232899996 meters 0.23530320179907335 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99984107e-01 4.78150904e-03 -2.98696227e-03 -3.70200579e+01] [-4.78715582e-03 9.99986763e-01 -1.88619812e-03 -6.90220573e+01] [ 2.97790386e-03 1.90046720e-03 9.99993760e-01 6.08694379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.389072329 meters 0.242108217012443 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99983141e-01 4.65086858e-03 -3.47653041e-03 -3.70189663e+01] [-4.65899970e-03 9.99986422e-01 -2.33443301e-03 -6.90206479e+01] [ 3.46562607e-03 2.35059081e-03 9.99991232e-01 6.08697063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41907232899996 meters 0.2690931527256566 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99982204e-01 4.62235122e-03 -3.77164084e-03 -3.70182389e+01] [-4.63177002e-03 9.99986167e-01 -2.49236870e-03 -6.90201007e+01] [ 3.76006807e-03 2.50979372e-03 9.99989781e-01 6.08697493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.449072329 meters 0.22620363311870867 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99981995e-01 4.62884638e-03 -3.81885113e-03 -3.70182579e+01] [-4.63843217e-03 9.99986105e-01 -2.50509723e-03 -6.90200987e+01] [ 3.80720236e-03 2.52276561e-03 9.99989570e-01 6.08699904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47907232899996 meters 0.23040898747144156 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99982874e-01 4.52672725e-03 -3.70940021e-03 -3.70186818e+01] [-4.53655644e-03 9.99986210e-01 -2.64568940e-03 -6.90197606e+01] [ 3.69737274e-03 2.66247200e-03 9.99989620e-01 6.08702149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.509072329 meters 0.28133651908114576 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99979676e-01 4.62845396e-03 -4.38457393e-03 -3.70171357e+01] [-4.64060912e-03 9.99985406e-01 -2.76615099e-03 -6.90191652e+01] [ 4.37170694e-03 2.78644187e-03 9.99986562e-01 6.08704790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53907232899996 meters 0.24720278697767442 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99976800e-01 4.61732155e-03 -5.00792654e-03 -3.70157301e+01] [-4.63253176e-03 9.99984680e-01 -3.02989280e-03 -6.90182623e+01] [ 4.99385983e-03 3.05302189e-03 9.99982870e-01 6.08707424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.569072329 meters 0.27478169873982194 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99975266e-01 4.48740616e-03 -5.41586168e-03 -3.70148891e+01] [-4.50602100e-03 9.99983966e-01 -3.42980333e-03 -6.90170679e+01] [ 5.40038393e-03 3.45412249e-03 9.99979452e-01 6.08710654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59907232899997 meters 0.23012497557068418 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99973617e-01 4.42519316e-03 -5.76055107e-03 -3.70141348e+01] [-4.44642009e-03 9.99983353e-01 -3.67730107e-03 -6.90163019e+01] [ 5.74418240e-03 3.70281788e-03 9.99976646e-01 6.08712672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.629072329 meters 0.2611109391460154 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99972075e-01 4.41272447e-03 -6.03140845e-03 -3.70137961e+01] [-4.43573702e-03 9.99982914e-01 -3.80741476e-03 -6.90160460e+01] [ 6.01450433e-03 3.83406218e-03 9.99974563e-01 6.08718073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65907232899997 meters 0.2478909317016629 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99970938e-01 4.38925717e-03 -6.23359911e-03 -3.70132164e+01] [-4.41382214e-03 9.99982527e-01 -3.93246101e-03 -6.90155562e+01] [ 6.21622961e-03 3.95986073e-03 9.99972839e-01 6.08717410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.689072329 meters 0.25073331033939406 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99967683e-01 4.64377513e-03 -6.56269184e-03 -3.70121277e+01] [-4.66753400e-03 9.99982592e-01 -3.60962587e-03 -6.90162023e+01] [ 6.54581531e-03 3.64014080e-03 9.99971950e-01 6.08713387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71907232899997 meters 0.2482824963781503 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99966739e-01 4.66091689e-03 -6.69305563e-03 -3.70116744e+01] [-4.68535593e-03 9.99982397e-01 -3.64037613e-03 -6.90159909e+01] [ 6.67597032e-03 3.67161440e-03 9.99970975e-01 6.08711855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74907232899994 meters 0.24873570885518723 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99967322e-01 4.67628182e-03 -6.59455517e-03 -3.70119160e+01] [-4.69999641e-03 9.99982528e-01 -3.58518675e-03 -6.90161539e+01] [ 6.57767461e-03 3.61606398e-03 9.99971829e-01 6.08711957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779072329 meters 0.24081726915248247 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99975565e-01 3.68273783e-04 -6.98099724e-03 -3.70113868e+01] [-4.23799776e-04 9.99968276e-01 -7.95406702e-03 -6.90161661e+01] [ 6.97784650e-03 7.95683121e-03 9.99943998e-01 6.08718734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80907232899995 meters 0.23626962630555123 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99978497e-01 4.93098796e-04 -6.53925627e-03 -3.70121508e+01] [-5.42600059e-04 9.99971198e-01 -7.57024895e-03 -6.90171630e+01] [ 6.53533505e-03 7.57363437e-03 9.99949963e-01 6.08713732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839072329 meters 0.227541499520576 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99978219e-01 6.07155297e-04 -6.57220487e-03 -3.70119013e+01] [-6.55715828e-04 9.99972485e-01 -7.38914181e-03 -6.90176007e+01] [ 6.56753768e-03 7.39329036e-03 9.99951102e-01 6.08711309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86907232899995 meters 0.23058398447341547 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99977843e-01 5.81521729e-04 -6.63134043e-03 -3.70114209e+01] [-6.30972871e-04 9.99971993e-01 -7.45753429e-03 -6.90170924e+01] [ 6.62681799e-03 7.46155326e-03 9.99950204e-01 6.08706989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899072329 meters 0.21389407459949075 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99981309e-01 6.17743850e-04 -6.08284759e-03 -3.70125241e+01] [-6.61375853e-04 9.99974051e-01 -7.17355979e-03 -6.90178673e+01] [ 6.07825832e-03 7.17744875e-03 9.99955769e-01 6.08703114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92907232899995 meters 0.2598737475758641 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99983926e-01 6.69297408e-04 -5.63023153e-03 -3.70135032e+01] [-7.08261013e-04 9.99975797e-01 -6.92128183e-03 -6.90185910e+01] [ 5.62546286e-03 6.92515825e-03 9.99960197e-01 6.08701034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959072329 meters 0.29136460671348974 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99983488e-01 -3.64381766e-03 -4.44369520e-03 -3.70165319e+01] [ 3.59715382e-03 9.99938778e-01 -1.04642997e-02 -6.90216050e+01] [ 4.48155315e-03 1.04481423e-02 9.99935374e-01 6.08701867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98907232899995 meters 0.24392632598848926 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99986584e-01 -3.52109000e-03 -3.79917992e-03 -3.70177967e+01] [ 3.48284404e-03 9.99943663e-01 -1.00269846e-02 -6.90228204e+01] [ 3.83427181e-03 1.00136181e-02 9.99942511e-01 6.08696739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019072329 meters 0.26680654985242425 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.87 [[ 9.99989268e-01 -3.47825590e-03 -3.06049173e-03 -3.70193603e+01] [ 3.44856614e-03 9.99947459e-01 -9.65335809e-03 -6.90239421e+01] [ 3.09390778e-03 9.64270018e-03 9.99948722e-01 6.08692557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04907232899996 meters 0.26577701764540995 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99991840e-01 -3.58086896e-03 -1.87018800e-03 -3.70217990e+01] [ 3.56357740e-03 9.99951616e-01 -9.16880384e-03 -6.90255115e+01] [ 1.90292979e-03 9.16206446e-03 9.99956217e-01 6.08684075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079072329 meters 0.25023539665799777 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993405e-01 -3.35391470e-03 -1.39296697e-03 -3.70224925e+01] [ 3.34184286e-03 9.99957607e-01 -8.58002927e-03 -6.90270299e+01] [ 1.42168460e-03 8.57531761e-03 9.99962221e-01 6.08676353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10907232899996 meters 0.2601897786313156 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993437e-01 -3.37231588e-03 -1.32384976e-03 -3.70223773e+01] [ 3.36081449e-03 9.99957406e-01 -8.59599268e-03 -6.90268138e+01] [ 1.35278177e-03 8.59148705e-03 9.99962177e-01 6.08672287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139072329 meters 0.24984920938276184 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993090e-01 -3.41708328e-03 -1.46387829e-03 -3.70221651e+01] [ 3.40419419e-03 9.99956198e-01 -8.71857934e-03 -6.90264785e+01] [ 1.49360628e-03 8.71353577e-03 9.99960921e-01 6.08674562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16907232899996 meters 0.26907955779749687 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99992591e-01 -3.42439801e-03 -1.75848483e-03 -3.70216522e+01] [ 3.40871763e-03 9.99955082e-01 -8.84387375e-03 -6.90261775e+01] [ 1.78869079e-03 8.83781405e-03 9.99959346e-01 6.08678145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199072329 meters 0.26907955779749687 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99992591e-01 -3.42439801e-03 -1.75848483e-03 -3.70216522e+01] [ 3.40871763e-03 9.99955082e-01 -8.84387375e-03 -6.90261775e+01] [ 1.78869079e-03 8.83781405e-03 9.99959346e-01 6.08678145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22907232899996 meters 0.31244087879752386 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99999220e-01 6.55436113e-04 -1.06303452e-03 -3.70232693e+01] [-6.60498090e-04 9.99988413e-01 -4.76847751e-03 -6.90256680e+01] [ 1.05989677e-03 4.76917592e-03 9.99988066e-01 6.08677427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259072329 meters 0.3080211687606241 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99996970e-01 1.62227117e-03 -1.85138271e-03 -3.70198576e+01] [-1.62901050e-03 9.99992032e-01 -3.64447720e-03 -6.90267598e+01] [ 1.84545563e-03 3.64748208e-03 9.99991645e-01 6.08656814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28907232899996 meters 0.3089740998841849 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99997002e-01 1.71122100e-03 -1.75160272e-03 -3.70199891e+01] [-1.71727674e-03 9.99992534e-01 -3.46161402e-03 -6.90272435e+01] [ 1.74566605e-03 3.46461163e-03 9.99992475e-01 6.08655299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319072329 meters 0.2983288238397976 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99996770e-01 1.74531096e-03 -1.84753578e-03 -3.70198162e+01] [-1.75165680e-03 9.99992553e-01 -3.43872957e-03 -6.90273317e+01] [ 1.84152037e-03 3.44195471e-03 9.99992381e-01 6.08656403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34907232899997 meters 0.29114974545476197 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99995426e-01 -2.47133557e-03 -1.74369849e-03 -3.70202194e+01] [ 2.45815575e-03 9.99968698e-01 -7.52063055e-03 -6.90281856e+01] [ 1.76222991e-03 7.51630986e-03 9.99970199e-01 6.08658797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379072329 meters 0.27933845844324146 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99994824e-01 -2.54180679e-03 -1.97248040e-03 -3.70197845e+01] [ 2.52645696e-03 9.99966809e-01 -7.74585124e-03 -6.90275532e+01] [ 1.99210339e-03 7.74082777e-03 9.99968055e-01 6.08661043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40907232899997 meters 0.2800028556091115 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993621e-01 -2.53359698e-03 -2.51756838e-03 -3.70188570e+01] [ 2.51356251e-03 9.99965403e-01 -7.92941793e-03 -6.90271080e+01] [ 2.53757122e-03 7.92303928e-03 9.99965392e-01 6.08667993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439072329 meters 0.2826221308592955 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993613e-01 -2.63239728e-03 -2.41742604e-03 -3.70192416e+01] [ 2.61281689e-03 9.99964044e-01 -8.06743653e-03 -6.90267590e+01] [ 2.43857582e-03 8.06106871e-03 9.99964536e-01 6.08670234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46907232899997 meters 0.2811710658025 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993824e-01 -2.57890555e-03 -2.38757748e-03 -3.70191152e+01] [ 2.55980521e-03 9.99964973e-01 -7.96867176e-03 -6.90269509e+01] [ 2.40804430e-03 7.96251082e-03 9.99965399e-01 6.08667210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49907232899994 meters 0.26701360697282545 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99994406e-01 -2.34016988e-03 -2.38974027e-03 -3.70187943e+01] [ 2.32205518e-03 9.99968764e-01 -7.55504300e-03 -6.90279956e+01] [ 2.40734571e-03 7.54945163e-03 9.99968605e-01 6.08662521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.529072329 meters 0.2561254437605543 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993825e-01 -2.29429674e-03 -2.66204820e-03 -3.70178402e+01] [ 2.27405445e-03 9.99968668e-01 -7.58230013e-03 -6.90276199e+01] [ 2.67936084e-03 7.57619967e-03 9.99967711e-01 6.08658864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55907232899995 meters 0.3237976292994049 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99993055e-01 -2.21272737e-03 -2.99907651e-03 -3.70170338e+01] [ 2.19000171e-03 9.99969026e-01 -7.55977250e-03 -6.90276166e+01] [ 3.01571133e-03 7.55315201e-03 9.99966927e-01 6.08659585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.589072329 meters 0.24179001298738273 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99992434e-01 -2.33291996e-03 -3.11293319e-03 -3.70167288e+01] [ 2.30851407e-03 9.99966752e-01 -7.82085384e-03 -6.90267982e+01] [ 3.13107512e-03 7.81360841e-03 9.99964571e-01 6.08659525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61907232899995 meters 0.3161010585109821 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99992421e-01 -2.18579187e-03 -3.22195613e-03 -3.70161858e+01] [ 2.16119617e-03 9.99968650e-01 -7.61759491e-03 -6.90271663e+01] [ 3.23850560e-03 7.61057389e-03 9.99965795e-01 6.08655882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.649072329 meters 0.31444854675807493 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.87 [[ 9.99992584e-01 -2.15952640e-03 -3.18893838e-03 -3.70161854e+01] [ 2.13535759e-03 9.99969120e-01 -7.56300621e-03 -6.90272877e+01] [ 3.20517242e-03 7.55614060e-03 9.99966315e-01 6.08654682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67907232899995 meters 0.31994390417814056 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.87 [[ 9.99989963e-01 -2.32241010e-03 -3.83158361e-03 -3.70146318e+01] [ 2.29119319e-03 9.99964313e-01 -8.13162946e-03 -6.90252990e+01] [ 3.85033185e-03 8.12276894e-03 9.99959597e-01 6.08656593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.709072329 meters 0.2990322439620337 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99988866e-01 -2.52125857e-03 -3.98875758e-03 -3.70144952e+01] [ 2.48711803e-03 9.99960431e-01 -8.54112348e-03 -6.90241758e+01] [ 4.01013413e-03 8.53110788e-03 9.99955569e-01 6.08660749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73907232899995 meters 0.2576179107906015 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99987461e-01 -2.60987286e-03 -4.27390518e-03 -3.70139401e+01] [ 2.57210448e-03 9.99957806e-01 -8.81875115e-03 -6.90233700e+01] [ 4.29674067e-03 8.80764764e-03 9.99951981e-01 6.08663596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.769072329 meters 0.2287738894124774 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99986556e-01 -2.63756891e-03 -4.46443082e-03 -3.70135629e+01] [ 2.59757105e-03 9.99956651e-01 -8.94144073e-03 -6.90229821e+01] [ 4.48782095e-03 8.92972384e-03 9.99950059e-01 6.08665579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79907232899996 meters 0.25675842898517914 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99987248e-01 -2.44387300e-03 -4.41948979e-03 -3.70134995e+01] [ 2.40583350e-03 9.99960193e-01 -8.59214453e-03 -6.90239177e+01] [ 4.44031197e-03 8.58140241e-03 9.99953320e-01 6.08663025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.829072329 meters 0.2534899196892797 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99986659e-01 -2.31539674e-03 -4.61737296e-03 -3.70129321e+01] [ 2.27635608e-03 9.99961770e-01 -8.44257331e-03 -6.90242579e+01] [ 4.63674434e-03 8.43194989e-03 9.99953700e-01 6.08661914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85907232899996 meters 0.26378480780682795 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.87 [[ 9.99987171e-01 -2.30234568e-03 -4.51182209e-03 -3.70130146e+01] [ 2.26442964e-03 9.99962232e-01 -8.39087513e-03 -6.90243134e+01] [ 4.53097038e-03 8.38055078e-03 9.99954617e-01 6.08659358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.889072329 meters 0.25302979606176007 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.87 [[ 9.99991369e-01 -2.07414038e-03 -3.59987288e-03 -3.70148158e+01] [ 2.04661734e-03 9.99968778e-01 -7.63247472e-03 -6.90266156e+01] [ 3.61559131e-03 7.62504128e-03 9.99964392e-01 6.08652043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91907232899996 meters 0.2722269965114585 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99993434e-01 -1.91252750e-03 -3.07807257e-03 -3.70158179e+01] [ 1.89045910e-03 9.99972605e-01 -7.15656319e-03 -6.90279519e+01] [ 3.09167537e-03 7.15069722e-03 9.99969654e-01 6.08647671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.949072329 meters 0.23492263821214107 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99994686e-01 -1.85693976e-03 -2.67953166e-03 -3.70166267e+01] [ 1.83839081e-03 9.99974447e-01 -6.90839655e-03 -6.90286424e+01] [ 2.69229167e-03 6.90343382e-03 9.99972547e-01 6.08644993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97907232899996 meters 0.2772609236081763 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99995478e-01 -1.99501293e-03 -2.25014261e-03 -3.70175927e+01] [ 1.97920437e-03 9.99973499e-01 -7.00606063e-03 -6.90283735e+01] [ 2.26406016e-03 7.00157546e-03 9.99972926e-01 6.08643987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.009072329 meters 0.2514827852754701 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99997038e-01 -2.00493402e-03 -1.37978049e-03 -3.70191880e+01] [ 1.99567615e-03 9.99975706e-01 -6.67865310e-03 -6.90292283e+01] [ 1.39313723e-03 6.67587973e-03 9.99976746e-01 6.08635679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03907232899996 meters 0.2685269661442163 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99997590e-01 -1.76814722e-03 -1.30110600e-03 -3.70191198e+01] [ 1.76000262e-03 9.99979017e-01 -6.23449636e-03 -6.90304214e+01] [ 1.31210221e-03 6.23219139e-03 9.99979719e-01 6.08631586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.069072329 meters 0.25133390476531275 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99997909e-01 -1.80242962e-03 -9.66304209e-04 -3.70197137e+01] [ 1.79642965e-03 9.99979324e-01 -6.17451779e-03 -6.90304987e+01] [ 9.77413363e-04 6.17276898e-03 9.99980471e-01 6.08628264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09907232899997 meters 0.30433202408158644 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998519e-01 -1.58363203e-03 -6.73935351e-04 -3.70201615e+01] [ 1.57978177e-03 9.99982645e-01 -5.67579050e-03 -6.90318700e+01] [ 6.82912018e-04 5.67471742e-03 9.99983665e-01 6.08623976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.129072329 meters 0.2481172862804764 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99999024e-01 -1.39264532e-03 -1.12388129e-04 -3.70212985e+01] [ 1.39205195e-03 9.99985937e-01 -5.11740696e-03 -6.90335012e+01] [ 1.19513282e-04 5.11724552e-03 9.99986900e-01 6.08619906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15907232899997 meters 0.2452609109859487 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99999060e-01 -1.35912524e-03 1.81928998e-04 -3.70219855e+01] [ 1.36000899e-03 9.99986829e-01 -4.94905689e-03 -6.90340128e+01] [-1.75200213e-04 4.94929966e-03 9.99987737e-01 6.08619418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.189072329 meters 0.24892611942838921 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998762e-01 -1.50838346e-03 4.47537933e-04 -3.70226164e+01] [ 1.51065634e-03 9.99985739e-01 -5.12250462e-03 -6.90335004e+01] [-4.39804849e-04 5.12317435e-03 9.99986780e-01 6.08619215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21907232899997 meters 0.2687761230351395 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998605e-01 -1.45858431e-03 8.13945455e-04 -3.70234350e+01] [ 1.46255260e-03 9.99986944e-01 -4.89626878e-03 -6.90341837e+01] [-8.06793207e-04 4.89745239e-03 9.99987682e-01 6.08617962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24907232899994 meters 0.2180086974639676 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998758e-01 -1.36798511e-03 7.82214302e-04 -3.70231724e+01] [ 1.37169192e-03 9.99987739e-01 -4.75812803e-03 -6.90344736e+01] [-7.75695663e-04 4.75919508e-03 9.99988374e-01 6.08615503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279072329 meters 0.2626428543069264 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998955e-01 -1.40034602e-03 3.58010273e-04 -3.70221737e+01] [ 1.40211073e-03 9.99986630e-01 -4.97741359e-03 -6.90337446e+01] [-3.51035385e-04 4.97791036e-03 9.99987549e-01 6.08616556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30907232899995 meters 0.26929206281073487 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998782e-01 -1.55260965e-03 -1.60158461e-04 -3.70208143e+01] [ 1.55170180e-03 9.99983556e-01 -5.52082481e-03 -6.90318275e+01] [ 1.68727514e-04 5.52056956e-03 9.99984747e-01 6.08616707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339072329 meters 0.26204758244641546 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998819e-01 -1.53544415e-03 6.64812115e-05 -3.70211067e+01] [ 1.53578127e-03 9.99984193e-01 -5.40871950e-03 -6.90320286e+01] [-5.81753740e-05 5.40881521e-03 9.99985371e-01 6.08612649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36907232899995 meters 0.2559022309017314 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998928e-01 -1.36211396e-03 5.37778003e-04 -3.70217990e+01] [ 1.36473833e-03 9.99987014e-01 -4.91020496e-03 -6.90332953e+01] [-5.31082761e-04 4.91093362e-03 9.99987800e-01 6.08605243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399072329 meters 0.25376002536677605 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998714e-01 -1.29456176e-03 9.47056138e-04 -3.70225517e+01] [ 1.29894217e-03 9.99988394e-01 -4.63938799e-03 -6.90339972e+01] [-9.41039173e-04 4.64061220e-03 9.99988790e-01 6.08601367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42907232899995 meters 0.2614683083077095 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998508e-01 -1.30866237e-03 1.12738388e-03 -3.70230260e+01] [ 1.31382923e-03 9.99988582e-01 -4.59457502e-03 -6.90341539e+01] [-1.12135826e-03 4.59604935e-03 9.99988809e-01 6.08601841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459072329 meters 0.28144667343331925 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998315e-01 -1.28917351e-03 1.30700670e-03 -3.70235383e+01] [ 1.29503863e-03 9.99989052e-01 -4.49657824e-03 -6.90344957e+01] [-1.30119552e-03 4.49826329e-03 9.99989036e-01 6.08603048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48907232899995 meters 0.2490417831368811 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.86 [[ 9.99998186e-01 -1.16694896e-03 1.50543750e-03 -3.70239881e+01] [ 1.17327929e-03 9.99990446e-01 -4.21097342e-03 -6.90353618e+01] [-1.50050912e-03 4.21273208e-03 9.99990001e-01 6.08602364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519072329 meters 0.2847664105608521 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998816e-01 -1.14972228e-03 1.02238352e-03 -3.70227286e+01] [ 1.15420585e-03 9.99989673e-01 -4.39568803e-03 -6.90346165e+01] [-1.01731914e-03 4.39686287e-03 9.99989816e-01 6.08601538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54907232899996 meters 0.22940127190792547 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998564e-01 1.63832686e-03 4.34210642e-04 -3.70186274e+01] [-1.63767496e-03 9.99997538e-01 -1.49748084e-03 -6.90348223e+01] [-4.36662936e-04 1.49676759e-03 9.99998785e-01 6.08570471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579072329 meters 0.268261465196926 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998492e-01 1.69789359e-03 3.65913637e-04 -3.70183159e+01] [-1.69736901e-03 9.99997538e-01 -1.42920210e-03 -6.90349210e+01] [-3.68339369e-04 1.42857885e-03 9.99998912e-01 6.08568555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60907232899996 meters 0.24305375641411595 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998477e-01 1.73319843e-03 2.06357667e-04 -3.70178913e+01] [-1.73290071e-03 9.99997470e-01 -1.43428772e-03 -6.90348566e+01] [-2.08843050e-04 1.43392794e-03 9.99998950e-01 6.08568225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639072329 meters 0.24058621076260953 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998717e-01 1.59115389e-03 1.85876834e-04 -3.70180343e+01] [-1.59083578e-03 9.99997291e-01 -1.69914900e-03 -6.90341618e+01] [-1.88579938e-04 1.69885112e-03 9.99998539e-01 6.08571406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66907232899996 meters 0.23592772772626103 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99998930e-01 1.46304617e-03 -2.01268700e-05 -3.70176188e+01] [-1.46308379e-03 9.99996896e-01 -2.01686276e-03 -6.90332199e+01] [ 1.71760442e-05 2.01689005e-03 9.99997966e-01 6.08573168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699072329 meters 0.22891423714600903 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99999171e-01 1.28103269e-03 1.27443255e-04 -3.70179617e+01] [-1.28073801e-03 9.99996567e-01 -2.28600787e-03 -6.90324031e+01] [-1.30371269e-04 2.28584275e-03 9.99997379e-01 6.08572974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72907232899996 meters 0.33712127046000356 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99994599e-01 -3.03005089e-03 1.27325409e-03 -3.70201537e+01] [ 3.03771350e-03 9.99977025e-01 -6.05991426e-03 -6.90339694e+01] [-1.25486299e-03 6.06374931e-03 9.99980828e-01 6.08563484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759072329 meters 0.3017298670607965 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.86 [[ 9.99993553e-01 -2.81069612e-03 2.23469420e-03 -3.70222004e+01] [ 2.82223009e-03 9.99982627e-01 -5.17502713e-03 -6.90366193e+01] [-2.22010995e-03 5.18130059e-03 9.99984112e-01 6.08558235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78907232899996 meters 0.2543555246497707 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.86 [[ 9.99990813e-01 -2.79597838e-03 3.24918421e-03 -3.70242454e+01] [ 2.81150924e-03 9.99984598e-01 -4.78522946e-03 -6.90378014e+01] [-3.23575477e-03 4.79432061e-03 9.99983272e-01 6.08551430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819072329 meters 0.25564766869690964 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.04, Z:60.85 [[ 9.99925336e-01 -9.18820005e-03 8.05600333e-03 -3.70387026e+01] [ 9.22427006e-03 9.99947546e-01 -4.45174120e-03 -6.90365596e+01] [-8.01467727e-03 4.52571956e-03 9.99957641e-01 6.08521995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84907232899997 meters 0.30751522943617665 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.04, Z:60.85 [[ 9.99916997e-01 -9.11237992e-03 9.10844301e-03 -3.70407381e+01] [ 9.14696887e-03 9.99951085e-01 -3.76304219e-03 -6.90384472e+01] [-9.07370720e-03 3.84604449e-03 9.99951437e-01 6.08512576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879072329 meters 0.29360382523391865 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.04, Z:60.85 [[ 9.99899687e-01 -9.30014077e-03 1.06828846e-02 -3.70437837e+01] [ 9.32886131e-03 9.99952996e-01 -2.64178487e-03 -6.90417382e+01] [-1.06578135e-02 2.74117901e-03 9.99939447e-01 6.08495593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90907232899997 meters 0.2584103126012592 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.04, Z:60.85 [[ 9.99891743e-01 -9.21065645e-03 1.14746168e-02 -3.70452115e+01] [ 9.23553665e-03 9.99955110e-01 -2.11718166e-03 -6.90430736e+01] [-1.14546011e-02 2.22292670e-03 9.99931923e-01 6.08487149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939072329 meters 0.24640356867214344 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.04, Z:60.85 [[ 9.99887186e-01 -9.09829708e-03 1.19514166e-02 -3.70458517e+01] [ 9.11951282e-03 9.99956934e-01 -1.72186792e-03 -6.90439763e+01] [-1.19352358e-02 1.83066477e-03 9.99927097e-01 6.08478727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96907232899997 meters 0.28627039371745583 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.05, Z:60.85 [[ 9.99880918e-01 -8.96519578e-03 1.25608675e-02 -3.70466590e+01] [ 8.98097249e-03 9.99958950e-01 -1.20017672e-03 -6.90451482e+01] [-1.25495920e-02 1.31284260e-03 9.99920389e-01 6.08467581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99907232899994 meters 0.241421182750386 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.05, Z:60.85 [[ 9.99874570e-01 -8.91435157e-03 1.30911581e-02 -3.70476977e+01] [ 8.92681513e-03 9.99959756e-01 -8.93933600e-04 -6.90459674e+01] [-1.30826624e-02 1.01068382e-03 9.99913908e-01 6.08463439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.029072329 meters 0.247706402244237 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.05, Z:60.85 [[ 9.99860939e-01 -9.08031110e-03 1.39875341e-02 -3.70497051e+01] [ 9.09332213e-03 9.99958279e-01 -8.66867400e-04 -6.90461883e+01] [-1.39790791e-02 9.93940005e-04 9.99901794e-01 6.08461269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05907232899995 meters 0.25593799424174285 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.05, Z:60.85 [[ 9.99843238e-01 -9.14710262e-03 1.51601629e-02 -3.70525929e+01] [ 9.15267584e-03 9.99958069e-01 -2.98280222e-04 -6.90485753e+01] [-1.51567989e-02 4.36989520e-04 9.99885034e-01 6.08461480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.089072329 meters 0.25593799424174285 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.05, Z:60.85 [[ 9.99843238e-01 -9.14710262e-03 1.51601629e-02 -3.70525929e+01] [ 9.15267584e-03 9.99958069e-01 -2.98280222e-04 -6.90485753e+01] [-1.51567989e-02 4.36989520e-04 9.99885034e-01 6.08461480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11907232899995 meters 0.25593854040361147 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.05, Z:60.85 [[ 9.99830192e-01 -9.33575989e-03 1.58880929e-02 -3.70542078e+01] [ 9.34282861e-03 9.99956286e-01 -3.70738869e-04 -6.90484716e+01] [-1.58839373e-02 5.19115644e-04 9.99873708e-01 6.08459206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.149072329 meters 0.2479502214279501 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.05, Z:60.85 [[ 9.99791051e-01 -1.30263139e-02 1.57533732e-02 -3.70532007e+01] [ 1.30867290e-02 9.99907378e-01 -3.73806372e-03 -6.90508543e+01] [-1.57032209e-02 3.94344278e-03 9.99868920e-01 6.08451366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17907232899995 meters 0.2355078390644477 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.04, Z:60.85 [[ 9.99902803e-01 -1.37495941e-02 2.30932989e-03 -3.70543879e+01] [ 1.37660631e-02 9.99878787e-01 -7.27376812e-03 -6.90414867e+01] [-2.20903861e-03 7.30485151e-03 9.99970879e-01 6.08484814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.209072329 meters 0.2517133274072931 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99898111e-01 -1.40122571e-02 2.72477800e-03 -3.70553089e+01] [ 1.40325697e-02 9.99872775e-01 -7.58429393e-03 -6.90405827e+01] [-2.61815826e-03 7.62175682e-03 9.99967527e-01 6.08483487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23907232899995 meters 0.24816045212899898 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99939432e-01 -1.02673635e-02 3.96398412e-03 -3.70582165e+01] [ 1.02823945e-02 9.99939951e-01 -3.79032042e-03 -6.90396464e+01] [-3.92482949e-03 3.83085010e-03 9.99984960e-01 6.08481383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.269072329 meters 0.2379879213790102 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99938030e-01 -1.01656787e-02 4.53821235e-03 -3.70592808e+01] [ 1.01810147e-02 9.99942496e-01 -3.36910251e-03 -6.90407702e+01] [-4.50370217e-03 3.41509733e-03 9.99984027e-01 6.08476049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29907232899996 meters 0.24565309542183125 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99940473e-01 -9.95401889e-03 4.46852266e-03 -3.70588013e+01] [ 9.96759157e-03 9.99945745e-01 -3.02547379e-03 -6.90416146e+01] [-4.43816460e-03 3.06983411e-03 9.99985439e-01 6.08471596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.329072329 meters 0.2253362291812212 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99965098e-01 -6.09156885e-03 5.71798264e-03 -3.70615369e+01] [ 6.08520547e-03 9.99980847e-01 1.12960983e-03 -6.90415993e+01] [-5.72475422e-03 -1.09477530e-03 9.99983014e-01 6.08465171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35907232899996 meters 0.2227818709060574 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99961900e-01 -6.06875900e-03 6.27447432e-03 -3.70624285e+01] [ 6.06013087e-03 9.99980667e-01 1.39321579e-03 -6.90421717e+01] [-6.28280811e-03 -1.35513858e-03 9.99979345e-01 6.08457489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.389072329 meters 0.22513463688695926 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99965456e-01 -5.96195673e-03 5.79154299e-03 -3.70612083e+01] [ 5.95397731e-03 9.99981303e-01 1.39403622e-03 -6.90420707e+01] [-5.79974589e-03 -1.35950534e-03 9.99982257e-01 6.08456957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41907232899996 meters 0.22709028468237968 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99967137e-01 -6.01054652e-03 5.44042130e-03 -3.70603205e+01] [ 6.00419718e-03 9.99981275e-01 1.18264838e-03 -6.90413904e+01] [-5.44742780e-03 -1.14994416e-03 9.99984501e-01 6.08456704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.449072329 meters 0.23005840494666813 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99972951e-01 -5.66056102e-03 4.69632732e-03 -3.70580178e+01] [ 5.65435785e-03 9.99983125e-01 1.33308206e-03 -6.90410557e+01] [-4.70379406e-03 -1.30649129e-03 9.99988084e-01 6.08450853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47907232899996 meters 0.22998229275456844 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99972798e-01 -5.75202135e-03 4.61698865e-03 -3.70579253e+01] [ 5.74682189e-03 9.99982839e-01 1.13863571e-03 -6.90405068e+01] [-4.62345888e-03 -1.11207172e-03 9.99988693e-01 6.08452431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.509072329 meters 0.21022085539759278 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99974311e-01 -5.93668604e-03 4.01665654e-03 -3.70574628e+01] [ 5.93496134e-03 9.99982291e-01 4.41169825e-04 -6.90390675e+01] [-4.01920450e-03 -4.17319791e-04 9.99991836e-01 6.08469157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53907232899996 meters 0.21527881839460247 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.04, Z:60.85 [[ 9.99976274e-01 -6.01785275e-03 3.35212530e-03 -3.70562700e+01] [ 6.01790706e-03 9.99981892e-01 -6.11430291e-06 -6.90379202e+01] [-3.35202780e-03 2.62869363e-05 9.99994382e-01 6.08476724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.569072329 meters 0.2259485120563108 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.04, Z:60.85 [[ 9.99978850e-01 -6.03111057e-03 2.43437472e-03 -3.70543234e+01] [ 6.03228344e-03 9.99981693e-01 -4.74740237e-04 -6.90365241e+01] [-2.43146694e-03 4.89415035e-04 9.99996924e-01 6.08482528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59907232899997 meters 0.21983532072467152 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.85 [[ 9.99995428e-01 -2.14012320e-03 2.13651979e-03 -3.70538477e+01] [ 2.13377174e-03 9.99993311e-01 2.97066993e-03 -6.90339300e+01] [-2.14286310e-03 -2.96609750e-03 9.99993305e-01 6.08485793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.629072329 meters 0.2433742152403787 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.85 [[ 9.99996817e-01 2.34694425e-03 9.25850722e-04 -3.70508164e+01] [-2.35321910e-03 9.99973869e-01 6.83554442e-03 -6.90319874e+01] [-9.09783887e-04 -6.83770139e-03 9.99976209e-01 6.08486489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65907232899997 meters 0.24021127570961226 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.85 [[ 9.99992297e-01 3.88626557e-03 -5.49506902e-04 -3.70462171e+01] [-3.88216094e-03 9.99965941e-01 7.28320444e-03 -6.90299540e+01] [ 5.77792653e-04 -7.28101507e-03 9.99973326e-01 6.08479196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.689072329 meters 0.3451538148209524 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.03, Z:60.85 [[ 9.99992323e-01 3.63193163e-03 -1.47073060e-03 -3.70443559e+01] [-3.62240609e-03 9.99972776e-01 6.42842078e-03 -6.90274406e+01] [ 1.49403814e-03 -6.42304384e-03 9.99978256e-01 6.08485871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71907232899997 meters 0.2754536666023123 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.02, Z:60.85 [[ 9.99990728e-01 3.41771033e-03 -2.61969686e-03 -3.70419849e+01] [-3.40352444e-03 9.99979625e-01 5.40055589e-03 -6.90243396e+01] [ 2.63810102e-03 -5.39158962e-03 9.99981985e-01 6.08494074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74907232899994 meters 0.22938855045217418 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.02, Z:60.85 [[ 9.99987295e-01 3.30930441e-03 -3.80243530e-03 -3.70396873e+01] [-3.29155718e-03 9.99983706e-01 4.66414986e-03 -6.90221162e+01] [ 3.81780843e-03 -4.65157467e-03 9.99981893e-01 6.08504768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779072329 meters 0.2706289046019616 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.85 [[ 9.99972740e-01 4.28219495e-03 -6.01519033e-03 -3.70345708e+01] [-4.26300246e-03 9.99985794e-01 3.19987612e-03 -6.90168278e+01] [ 6.02880737e-03 -3.17414612e-03 9.99976789e-01 6.08521668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80907232899995 meters 0.2648930843454385 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.01, Z:60.85 [[ 9.99967278e-01 4.06523535e-03 -6.99405975e-03 -3.70327131e+01] [-4.04875426e-03 9.99988998e-01 2.36898888e-03 -6.90144719e+01] [ 7.00361329e-03 -2.34059414e-03 9.99972735e-01 6.08531170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839072329 meters 0.27085713962263963 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.01, Z:60.85 [[ 9.99959363e-01 4.03239323e-03 -8.06301009e-03 -3.70305208e+01] [-4.01895503e-03 9.99990509e-01 1.68215687e-03 -6.90123844e+01] [ 8.06971669e-03 -1.64968364e-03 9.99966079e-01 6.08539751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86907232899995 meters 0.2336307448228819 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.01, Z:60.85 [[ 9.99920377e-01 8.46620561e-03 -9.35751572e-03 -3.70273523e+01] [-8.41902672e-03 9.99951708e-01 5.06976315e-03 -6.90090686e+01] [ 9.39998548e-03 -4.99057831e-03 9.99943366e-01 6.08543922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899072329 meters 0.22950260644885823 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.01, Z:60.86 [[ 9.99913416e-01 8.19745036e-03 -1.02937887e-02 -3.70255305e+01] [-8.15532573e-03 9.99958226e-01 4.12756817e-03 -6.90063620e+01] [ 1.03271942e-02 -4.04326159e-03 9.99938499e-01 6.08552423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92907232899995 meters 0.25971644168570135 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.86 [[ 9.99896721e-01 8.31948731e-03 -1.17188949e-02 -3.70224114e+01] [-8.28469926e-03 9.99961139e-01 3.01396902e-03 -6.90025888e+01] [ 1.17435142e-02 -2.91657023e-03 9.99926789e-01 6.08562537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959072329 meters 0.2779888210342975 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.86 [[ 9.99895065e-01 8.00475459e-03 -1.20740305e-02 -3.70219621e+01] [-7.97721240e-03 9.99965473e-01 2.32754863e-03 -6.90007248e+01] [ 1.20922451e-02 -2.23098728e-03 9.99924397e-01 6.08569217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98907232899995 meters 0.30743504975163494 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99964195e-01 8.31788825e-03 1.55605123e-03 -3.70206402e+01] [-8.32445645e-03 9.99956263e-01 4.26332274e-03 -6.90081943e+01] [-1.52052133e-03 -4.27612337e-03 9.99989701e-01 6.08529318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019072329 meters 0.304133029902271 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99965979e-01 8.15764567e-03 1.22239019e-03 -3.70203046e+01] [-8.16229387e-03 9.99959288e-01 3.84707159e-03 -6.90072196e+01] [-1.19095738e-03 -3.85691822e-03 9.99991853e-01 6.08536854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04907232899996 meters 0.2499274922861668 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99990215e-01 4.42231672e-03 1.13172957e-04 -3.70174259e+01] [-4.42225012e-03 9.99990052e-01 -5.82051379e-04 -6.90052553e+01] [-1.15745847e-04 5.81545205e-04 9.99999824e-01 6.08537409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079072329 meters 0.28947701109888424 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.85 [[ 9.99990816e-01 4.28575191e-03 6.16894703e-06 -3.70172207e+01] [-4.28574499e-03 9.99990444e-01 -8.63075612e-04 -6.90044159e+01] [-9.86781603e-06 8.63041247e-04 9.99999628e-01 6.08538452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10907232899996 meters 0.2537260533852795 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.85 [[ 9.99999955e-01 1.63994073e-04 -2.52462380e-04 -3.70160748e+01] [-1.65233836e-04 9.99987890e-01 -4.91852177e-03 -6.90046153e+01] [ 2.51652714e-04 4.91856327e-03 9.99987872e-01 6.08531693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139072329 meters 0.2435765928584757 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99999883e-01 3.45127968e-04 3.39973188e-04 -3.70170657e+01] [-3.43648256e-04 9.99990510e-01 -4.34292367e-03 -6.90061320e+01] [-3.41468826e-04 4.34280633e-03 9.99990512e-01 6.08523877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16907232899996 meters 0.28472831820183675 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99999301e-01 4.56430657e-04 1.09099945e-03 -3.70185812e+01] [-4.52201557e-04 9.99992396e-01 -3.87346245e-03 -6.90075398e+01] [-1.09275912e-03 3.87296639e-03 9.99991903e-01 6.08518515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199072329 meters 0.28045067179349126 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99998540e-01 6.03577280e-04 1.59886916e-03 -3.70197183e+01] [-5.98127547e-04 9.99994018e-01 -3.40678062e-03 -6.90089783e+01] [-1.60091585e-03 3.40581932e-03 9.99992919e-01 6.08516396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22907232899996 meters 0.2766970021848436 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99998292e-01 6.22358445e-04 1.74045604e-03 -3.70199279e+01] [-6.16575206e-04 9.99994294e-01 -3.32139454e-03 -6.90091661e+01] [-1.74251320e-03 3.32031574e-03 9.99992970e-01 6.08514108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259072329 meters 0.2519377689222517 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99997101e-01 6.49654487e-04 2.31847004e-03 -3.70208538e+01] [-6.42547188e-04 9.99995097e-01 -3.06494175e-03 -6.90097191e+01] [-2.32044983e-03 3.06344314e-03 9.99992615e-01 6.08506251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28907232899996 meters 0.24917684834006948 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99994984e-01 7.91122696e-04 3.06707646e-03 -3.70222595e+01] [-7.83415077e-04 9.99996535e-01 -2.51340574e-03 -6.90112312e+01] [-3.06905424e-03 2.51099033e-03 9.99992138e-01 6.08499018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319072329 meters 0.24791197772842846 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99989012e-01 -3.34276771e-03 3.28665631e-03 -3.70224814e+01] [ 3.36385988e-03 9.99973650e-01 -6.43307117e-03 -6.90123152e+01] [-3.26506545e-03 6.44405634e-03 9.99973906e-01 6.08494488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34907232899997 meters 0.336914733375878 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.01, Z:60.85 [[ 9.99986667e-01 -3.17811930e-03 4.07014516e-03 -3.70238239e+01] [ 3.20146375e-03 9.99978390e-01 -5.74191711e-03 -6.90140977e+01] [-4.05180871e-03 5.75487097e-03 9.99975232e-01 6.08484166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379072329 meters 0.23322219510773054 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.85 [[ 9.99984116e-01 -3.11939428e-03 4.69426679e-03 -3.70251078e+01] [ 3.14455933e-03 9.99980675e-01 -5.36300749e-03 -6.90151692e+01] [-4.67744673e-03 5.37768371e-03 9.99974601e-01 6.08480032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40907232899997 meters 0.23537153789627624 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.85 [[ 9.99982145e-01 -2.99623147e-03 5.17040030e-03 -3.70258754e+01] [ 3.02194035e-03 9.99983075e-01 -4.97169118e-03 -6.90161546e+01] [-5.15541646e-03 4.98722705e-03 9.99974274e-01 6.08473553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439072329 meters 0.2259669532818782 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.85 [[ 9.99973335e-01 -3.22558008e-03 6.55173554e-03 -3.70287963e+01] [ 3.25557534e-03 9.99984246e-01 -4.57272258e-03 -6.90175959e+01] [-6.53688264e-03 4.59393032e-03 9.99968082e-01 6.08465111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46907232899997 meters 0.22770551215705906 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.85 [[ 9.99967428e-01 -3.02022978e-03 7.48468779e-03 -3.70307237e+01] [ 3.04781928e-03 9.99988593e-01 -3.67746514e-03 -6.90202461e+01] [-7.47349562e-03 3.70015733e-03 9.99965227e-01 6.08458298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49907232899994 meters 0.28747012529761634 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.85 [[ 9.99965227e-01 -3.12082892e-03 7.73339713e-03 -3.70312366e+01] [ 3.15007061e-03 9.99987925e-01 -3.77193114e-03 -6.90199072e+01] [-7.72153220e-03 3.79616073e-03 9.99962983e-01 6.08456900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.529072329 meters 0.20539476701000817 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.85 [[ 9.99958889e-01 -3.24101150e-03 8.46857158e-03 -3.70326685e+01] [ 3.27259794e-03 9.99987731e-01 -3.71865083e-03 -6.90199939e+01] [-8.45641549e-03 3.74621218e-03 9.99957227e-01 6.08451165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55907232899995 meters 0.2290738003528714 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.02, Z:60.84 [[ 9.99955019e-01 -3.12008581e-03 8.95689361e-03 -3.70336217e+01] [ 3.14964589e-03 9.99989634e-01 -3.28805460e-03 -6.90211852e+01] [-8.94654175e-03 3.31611774e-03 9.99954480e-01 6.08447015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.589072329 meters 0.2181401783522538 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.02, Z:60.84 [[ 9.99949257e-01 -3.27129659e-03 9.52797958e-03 -3.70350464e+01] [ 3.30339167e-03 9.99988917e-01 -3.35472017e-03 -6.90211002e+01] [-9.51689969e-03 3.38602459e-03 9.99948980e-01 6.08447625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61907232899995 meters 0.2653131449640684 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.02, Z:60.84 [[ 9.99935040e-01 -3.66539967e-03 1.07926222e-02 -3.70381779e+01] [ 3.70253840e-03 9.99987287e-01 -3.42315431e-03 -6.90215930e+01] [-1.07799378e-02 3.46289204e-03 9.99935899e-01 6.08449221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.649072329 meters 0.21694175520941353 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.02, Z:60.84 [[ 9.99923709e-01 -3.72143642e-03 1.17782087e-02 -3.70402294e+01] [ 3.75837966e-03 9.99988083e-01 -3.11599688e-03 -6.90225056e+01] [-1.17664724e-02 3.16002614e-03 9.99925779e-01 6.08443220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67907232899995 meters 0.25929986578669123 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.02, Z:60.84 [[ 9.99911240e-01 -3.67902592e-03 1.28053231e-02 -3.70422077e+01] [ 3.71193836e-03 9.99989866e-01 -2.54739765e-03 -6.90240696e+01] [-1.27958214e-02 2.59470411e-03 9.99914764e-01 6.08433642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.709072329 meters 0.24978737389815137 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.84 [[ 9.99891097e-01 -3.90478874e-03 1.42318682e-02 -3.70451329e+01] [ 3.92631533e-03 9.99991189e-01 -1.48493572e-03 -6.90273105e+01] [-1.42259444e-02 1.54065281e-03 9.99897619e-01 6.08419381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73907232899995 meters 0.23181447717216155 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.84 [[ 9.99864236e-01 -8.02439894e-03 1.43915984e-02 -3.70451499e+01] [ 8.10407560e-03 9.99952110e-01 -5.48658356e-03 -6.90281329e+01] [-1.43468826e-02 5.60246928e-03 9.99881383e-01 6.08414800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.769072329 meters 0.24910597969204745 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.84 [[ 9.99835530e-01 -8.62424898e-03 1.59541581e-02 -3.70486812e+01] [ 8.70778231e-03 9.99948702e-01 -5.17379641e-03 -6.90297315e+01] [-1.59087195e-02 5.31187081e-03 9.99859338e-01 6.08407873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79907232899996 meters 0.24649462264081892 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.84 [[ 9.99824045e-01 -8.60538094e-03 1.66681559e-02 -3.70500506e+01] [ 8.68740313e-03 9.99950479e-01 -4.85475045e-03 -6.90305323e+01] [-1.66255535e-02 4.99869922e-03 9.99849291e-01 6.08401680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.829072329 meters 0.24530631146907234 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.84 [[ 9.99807272e-01 -8.76513804e-03 1.75667629e-02 -3.70520549e+01] [ 8.84984240e-03 9.99949558e-01 -4.74992936e-03 -6.90309337e+01] [-1.75242430e-02 4.90447700e-03 9.99834410e-01 6.08398730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85907232899996 meters 0.24322461344791074 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.03, Z:60.84 [[ 9.99792618e-01 -8.89091549e-03 1.83213952e-02 -3.70535685e+01] [ 8.97838024e-03 9.99948661e-01 -4.69719898e-03 -6.90310312e+01] [-1.82786922e-02 4.86072131e-03 9.99821115e-01 6.08393278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.889072329 meters 0.23746002078430292 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.03, Z:60.84 [[ 9.99746183e-01 -1.02300595e-02 2.00727323e-02 -3.70577830e+01] [ 1.03340033e-02 9.99933691e-01 -5.08148066e-03 -6.90317658e+01] [-2.00194175e-02 5.28762257e-03 9.99785609e-01 6.08389915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91907232899996 meters 0.23132720740404344 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.03, Z:60.84 [[ 9.99726104e-01 -1.03831563e-02 2.09739407e-02 -3.70597969e+01] [ 1.04881675e-02 9.99932977e-01 -4.90296093e-03 -6.90324165e+01] [-2.09216268e-02 5.12159624e-03 9.99768000e-01 6.08386807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.949072329 meters 0.2336554385782413 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99894494e-01 -9.73588376e-03 1.07802738e-02 -3.70647629e+01] [ 9.88145906e-03 9.99859584e-01 -1.35339613e-02 -6.90242207e+01] [-1.06469950e-02 1.36390582e-02 9.99850298e-01 6.08392170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97907232899996 meters 0.2331072396493154 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99926972e-01 -5.62769545e-03 1.06948842e-02 -3.70645366e+01] [ 5.72991201e-03 9.99937971e-01 -9.55103327e-03 -6.90230515e+01] [-1.06404705e-02 9.61161652e-03 9.99897193e-01 6.08390787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.009072329 meters 0.2331072396493154 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99926972e-01 -5.62769545e-03 1.06948842e-02 -3.70645366e+01] [ 5.72991201e-03 9.99937971e-01 -9.55103327e-03 -6.90230515e+01] [-1.06404705e-02 9.61161652e-03 9.99897193e-01 6.08390787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03907232899996 meters 0.2130056851799085 Centerline is valid? [False, False] Translation: X:-37.07, Y:-69.02, Z:60.84 [[ 9.99936636e-01 -1.69883582e-03 1.11282818e-02 -3.70656807e+01] [ 1.76253622e-03 9.99982105e-01 -5.71688606e-03 -6.90216425e+01] [-1.11183706e-02 5.73613782e-03 9.99921736e-01 6.08391810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.069072329 meters 0.21945884961741785 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99940727e-01 2.30436860e-03 1.06410503e-02 -3.70646778e+01] [-2.28151757e-03 9.99995067e-01 -2.15908126e-03 -6.90193511e+01] [-1.06459731e-02 2.13467554e-03 9.99941051e-01 6.08395649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09907232899997 meters 0.22461022413223236 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99945560e-01 2.25845551e-03 1.01870495e-02 -3.70636576e+01] [-2.23385759e-03 9.99994564e-01 -2.42535934e-03 -6.90185255e+01] [-1.01924717e-02 2.40247089e-03 9.99945169e-01 6.08397633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.129072329 meters 0.24582089810593316 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99944609e-01 2.29077900e-03 1.02728258e-02 -3.70640790e+01] [-2.26683096e-03 9.99994688e-01 -2.34224023e-03 -6.90188890e+01] [-1.02781368e-02 2.31882373e-03 9.99944490e-01 6.08400852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15907232899997 meters 0.2297415120751779 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99948764e-01 2.10700042e-03 9.90100370e-03 -3.70636262e+01] [-2.07885358e-03 9.99993771e-01 -2.85225986e-03 -6.90175919e+01] [-9.90695174e-03 2.83153099e-03 9.99946916e-01 6.08408681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.189072329 meters 0.2532775217627338 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.02, Z:60.84 [[ 9.99957095e-01 2.12432738e-03 9.01634356e-03 -3.70618504e+01] [-2.09535556e-03 9.99992616e-01 -3.22148642e-03 -6.90165131e+01] [-9.02312047e-03 3.20245576e-03 9.99954163e-01 6.08415769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21907232899997 meters 0.25577487802450943 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.01, Z:60.84 [[ 9.99964108e-01 1.98588703e-03 8.23643715e-03 -3.70602657e+01] [-1.95414684e-03 9.99990641e-01 -3.85989013e-03 -6.90146351e+01] [-8.24402537e-03 3.84365639e-03 9.99958630e-01 6.08422562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24907232899994 meters 0.24728159383313825 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.01, Z:60.84 [[ 9.99956976e-01 5.97286998e-03 7.09731598e-03 -3.70581085e+01] [-5.96754522e-03 9.99981897e-01 -7.71190265e-04 -6.90111518e+01] [-7.10179371e-03 7.28803531e-04 9.99974516e-01 6.08435201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279072329 meters 0.21838715216661786 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.01, Z:60.84 [[ 9.99963784e-01 5.65859451e-03 6.35694175e-03 -3.70568887e+01] [-5.64783715e-03 9.99982591e-01 -1.70890138e-03 -6.90086378e+01] [-6.36650106e-03 1.67293652e-03 9.99978334e-01 6.08445601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30907232899995 meters 0.25040330160883356 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.01, Z:60.85 [[ 9.99967870e-01 5.48262229e-03 5.84802812e-03 -3.70560437e+01] [-5.46964121e-03 9.99982547e-01 -2.23342572e-03 -6.90072325e+01] [-5.86017108e-03 2.20136734e-03 9.99980406e-01 6.08452500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339072329 meters 0.24140356338083466 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.01, Z:60.85 [[ 9.99970386e-01 5.52063581e-03 5.36192690e-03 -3.70551669e+01] [-5.50778369e-03 9.99981931e-01 -2.40873811e-03 -6.90067961e+01] [-5.37512778e-03 2.37913444e-03 9.99982724e-01 6.08458419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36907232899995 meters 0.2606089222800696 Centerline is valid? [False, False] Translation: X:-37.06, Y:-69.01, Z:60.85 [[ 9.99970001e-01 5.53676963e-03 5.41670782e-03 -3.70552392e+01] [-5.52404870e-03 9.99981956e-01 -2.36060931e-03 -6.90069211e+01] [-5.42968024e-03 2.33061634e-03 9.99982543e-01 6.08457282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399072329 meters 0.23714457196617753 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.01, Z:60.85 [[ 9.99971059e-01 5.70906099e-03 5.02860999e-03 -3.70542378e+01] [-5.69814737e-03 9.99981385e-01 -2.18196382e-03 -6.90073165e+01] [-5.04097335e-03 2.15324691e-03 9.99984976e-01 6.08456550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42907232899995 meters 0.23743411310304047 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.01, Z:60.85 [[ 9.99972136e-01 5.96550068e-03 4.48766542e-03 -3.70526352e+01] [-5.95683578e-03 9.99980373e-01 -1.94172040e-03 -6.90076225e+01] [-4.49916068e-03 1.91493401e-03 9.99988045e-01 6.08452474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459072329 meters 0.2197106926268013 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.01, Z:60.85 [[ 9.99973637e-01 5.82394685e-03 4.33661046e-03 -3.70522805e+01] [-5.81423365e-03 9.99980568e-01 -2.24906119e-03 -6.90066750e+01] [-4.34962460e-03 2.22378783e-03 9.99988068e-01 6.08452997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48907232899995 meters 0.2157814706235878 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.01, Z:60.85 [[ 9.99975527e-01 5.66380269e-03 4.10698730e-03 -3.70517401e+01] [-5.65304826e-03 9.99980575e-01 -2.62546842e-03 -6.90055231e+01] [-4.12177766e-03 2.60218717e-03 9.99988120e-01 6.08453654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519072329 meters 0.24129215803104956 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.01, Z:60.85 [[ 9.99974804e-01 5.76013146e-03 4.14876038e-03 -3.70518012e+01] [-5.74999971e-03 9.99980468e-01 -2.44991746e-03 -6.90060051e+01] [-4.16279119e-03 2.42600036e-03 9.99988393e-01 6.08453100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54907232899996 meters 0.22333821500980866 Centerline is valid? [False, False] Translation: X:-37.05, Y:-69.00, Z:60.85 [[ 9.99976809e-01 6.26746127e-03 2.66465829e-03 -3.70482553e+01] [-6.26075179e-03 9.99977229e-01 -2.51887994e-03 -6.90045747e+01] [-2.68038459e-03 2.50213876e-03 9.99993277e-01 6.08456369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579072329 meters 0.21621103406010794 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.00, Z:60.85 [[ 9.99933963e-01 1.12534023e-02 -2.33053352e-03 -3.70358787e+01] [-1.12627653e-02 9.99928395e-01 -4.04412615e-03 -6.90042924e+01] [ 2.28485646e-03 4.07010733e-03 9.99989107e-01 6.08509950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60907232899996 meters 0.22876543811450575 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.01, Z:60.86 [[ 9.99942196e-01 8.02026378e-03 -7.16104022e-03 -3.70258792e+01] [-8.00579330e-03 9.99965858e-01 2.04710804e-03 -6.90077368e+01] [ 7.17721407e-03 -1.98965990e-03 9.99972264e-01 6.08579891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639072329 meters 0.22825340006518144 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.86 [[ 9.99916212e-01 8.91881300e-03 -9.38214904e-03 -3.70214903e+01] [-8.90896297e-03 9.99959719e-01 1.09114060e-03 -6.90041023e+01] [ 9.39150280e-03 -1.00746396e-03 9.99955391e-01 6.08603343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66907232899996 meters 0.25294772406462823 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.86 [[ 9.99905999e-01 8.75790420e-03 -1.05495110e-02 -3.70193011e+01] [-8.75980358e-03 9.99961623e-01 -1.33849571e-04 -6.90006565e+01] [ 1.05479339e-02 2.26248634e-04 9.99944343e-01 6.08617568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699072329 meters 0.32647663596687687 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.86 [[ 9.99902098e-01 8.54388024e-03 -1.10813853e-02 -3.70183047e+01] [-8.55189795e-03 9.99963203e-01 -6.76345587e-04 -6.89991251e+01] [ 1.10751989e-02 7.71046247e-04 9.99938371e-01 6.08622865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72907232899996 meters 0.33441306503923585 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.00, Z:60.86 [[ 9.99894218e-01 8.45689625e-03 -1.18336096e-02 -3.70165567e+01] [-8.47206136e-03 9.99963353e-01 -1.23198622e-03 -6.89972454e+01] [ 1.18227572e-02 1.33211096e-03 9.99929221e-01 6.08625816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759072329 meters 0.2898178367678153 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.00, Z:60.86 [[ 9.99885721e-01 8.49301085e-03 -1.25065141e-02 -3.70149989e+01] [-8.51185108e-03 9.99962716e-01 -1.45397489e-03 -6.89963448e+01] [ 1.24936992e-02 1.56026232e-03 9.99920733e-01 6.08628383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78907232899996 meters 0.28847879815998234 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.99, Z:60.86 [[ 9.99877360e-01 8.31407870e-03 -1.32718248e-02 -3.70135703e+01] [-8.34209702e-03 9.99963088e-01 -2.05714937e-03 -6.89946177e+01] [ 1.32542316e-02 2.16761193e-03 9.99909809e-01 6.08636498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819072329 meters 0.2834450289524635 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.00, Z:60.86 [[ 9.99882091e-01 1.53521276e-02 3.41597570e-04 -3.70133403e+01] [-1.53533770e-02 9.99874055e-01 4.01836997e-03 -6.89990555e+01] [-2.79864019e-04 -4.02314084e-03 9.99991868e-01 6.08612697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84907232899997 meters 0.2928027820020502 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.00, Z:60.87 [[ 9.99725431e-01 2.30394396e-02 -4.27162180e-03 -3.70022066e+01] [-2.30152855e-02 9.99719317e-01 5.62002293e-03 -6.89958815e+01] [ 4.39990501e-03 -5.52016725e-03 9.99975084e-01 6.08664586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879072329 meters 0.2668181389422345 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.99, Z:60.87 [[ 9.99790111e-01 1.96443081e-02 -5.81682320e-03 -3.69984485e+01] [-1.96388438e-02 9.99806644e-01 9.95023180e-04 -6.89926092e+01] [ 5.83524502e-03 -8.80578653e-04 9.99982587e-01 6.08668940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90907232899997 meters 0.2580058066091745 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.00, Z:60.87 [[ 9.99761624e-01 1.88189541e-02 -1.10698908e-02 -3.69852149e+01] [-1.86900758e-02 9.99757651e-01 1.16327103e-02 -6.89977530e+01] [ 1.12861235e-02 -1.14230402e-02 9.99871060e-01 6.08722676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939072329 meters 0.26024439130763566 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.00, Z:60.87 [[ 9.99792488e-01 1.60699045e-02 -1.25195191e-02 -3.69809495e+01] [-1.59696480e-02 9.99839932e-01 8.06725583e-03 -6.89960467e+01] [ 1.26471551e-02 -7.86564947e-03 9.99889084e-01 6.08716803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96907232899997 meters 0.25702117296089017 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.99, Z:60.87 [[ 9.99837906e-01 1.16829321e-02 -1.36993174e-02 -3.69785427e+01] [-1.16402393e-02 9.99927155e-01 3.19202530e-03 -6.89939563e+01] [ 1.37356117e-02 -3.03204456e-03 9.99901065e-01 6.08723552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99907232899994 meters 0.25413328200197177 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.99, Z:60.87 [[ 9.99833041e-01 1.14431797e-02 -1.42458000e-02 -3.69775765e+01] [-1.14081171e-02 9.99931699e-01 2.54009521e-03 -6.89921644e+01] [ 1.42738938e-02 -2.37715337e-03 9.99895297e-01 6.08729797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.029072329 meters 0.24944116959371332 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.00, Z:60.87 [[ 9.99905630e-01 1.37171162e-02 -7.56049353e-04 -3.69766503e+01] [-1.37118415e-02 9.99884281e-01 6.58862488e-03 -6.89980344e+01] [ 8.46338796e-04 -6.57763628e-03 9.99978009e-01 6.08701933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05907232899995 meters 0.29012004494133925 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.00, Z:60.87 [[ 9.99956990e-01 9.12935625e-03 -1.63494079e-03 -3.69752745e+01] [-9.12703132e-03 9.99957334e-01 1.42388858e-03 -6.89957674e+01] [ 1.64787022e-03 -1.40890519e-03 9.99997650e-01 6.08713892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.089072329 meters 0.2882670101358058 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99985024e-01 4.78421180e-03 -2.65748703e-03 -3.69732432e+01] [-4.79333608e-03 9.99982603e-01 -3.43773400e-03 -6.89938209e+01] [ 2.64099395e-03 3.45042075e-03 9.99990560e-01 6.08722017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11907232899995 meters 0.23176399629388972 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99985523e-01 4.48198401e-03 -2.97760740e-03 -3.69728430e+01] [-4.49424684e-03 9.99981395e-01 -4.12450326e-03 -6.89919233e+01] [ 2.95906604e-03 4.13782565e-03 9.99987061e-01 6.08729439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.149072329 meters 0.2824844128114403 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99984739e-01 4.54534180e-03 -3.14038822e-03 -3.69723636e+01] [-4.55813150e-03 9.99981298e-01 -4.07756816e-03 -6.89919541e+01] [ 3.12179554e-03 4.09182024e-03 9.99986756e-01 6.08728650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17907232899995 meters 0.26899467593533355 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99983692e-01 4.52762605e-03 -3.48081975e-03 -3.69716805e+01] [-4.54232895e-03 9.99980747e-01 -4.22774082e-03 -6.89914674e+01] [ 3.46161110e-03 4.24348290e-03 9.99985005e-01 6.08731731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.209072329 meters 0.240057250155447 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99981682e-01 4.45622740e-03 -4.09597925e-03 -3.69702559e+01] [-4.47520109e-03 9.99979245e-01 -4.63484100e-03 -6.89899968e+01] [ 4.07524034e-03 4.65308643e-03 9.99980870e-01 6.08734116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23907232899995 meters 0.2644623992726085 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99980304e-01 4.41010043e-03 -4.46566954e-03 -3.69693126e+01] [-4.43174093e-03 9.99978429e-01 -4.84772540e-03 -6.89892116e+01] [ 4.44419426e-03 4.86742061e-03 9.99978278e-01 6.08734294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.269072329 meters 0.2601630030721563 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99979162e-01 4.46090946e-03 -4.66643023e-03 -3.69686379e+01] [-4.48354436e-03 9.99978181e-01 -4.85141955e-03 -6.89889436e+01] [ 4.64468667e-03 4.87224060e-03 9.99977344e-01 6.08732336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29907232899996 meters 0.25724413146568886 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99978828e-01 4.56733701e-03 -4.63497623e-03 -3.69684971e+01] [-4.58893855e-03 9.99978610e-01 -4.66066626e-03 -6.89893634e+01] [ 4.61359025e-03 4.68183721e-03 9.99978397e-01 6.08729069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.329072329 meters 0.24918500474187835 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99979423e-01 4.63117509e-03 -4.43914266e-03 -3.69688794e+01] [-4.65106114e-03 9.99979149e-01 -4.47989964e-03 -6.89898678e+01] [ 4.41830290e-03 4.50045418e-03 9.99980112e-01 6.08727335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35907232899996 meters 0.24930258687126883 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99979599e-01 4.56237421e-03 -4.47049778e-03 -3.69687465e+01] [-4.58304771e-03 9.99978802e-01 -4.62514886e-03 -6.89893717e+01] [ 4.44930135e-03 4.64554301e-03 9.99979311e-01 6.08726914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.389072329 meters 0.2443516003771973 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99981008e-01 4.46090231e-03 -4.25242628e-03 -3.69693427e+01] [-4.48101607e-03 9.99978763e-01 -4.73221465e-03 -6.89891389e+01] [ 4.23122603e-03 4.75117997e-03 9.99979761e-01 6.08727797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41907232899996 meters 0.24924548350448178 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99978364e-01 4.46839926e-03 -4.82742446e-03 -3.69681027e+01] [-4.49208466e-03 9.99977872e-01 -4.90677458e-03 -6.89885073e+01] [ 4.80539221e-03 4.92835362e-03 9.99976309e-01 6.08730820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.449072329 meters 0.23222028799546818 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99977414e-01 4.27874466e-03 -5.18312247e-03 -3.69675872e+01] [-4.30673330e-03 9.99976141e-01 -5.40088620e-03 -6.89871904e+01] [ 5.15988979e-03 5.42308654e-03 9.99971982e-01 6.08737349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47907232899996 meters 0.23191593790351728 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99972454e-01 4.35553286e-03 -6.00997213e-03 -3.69655097e+01] [-4.38967769e-03 9.99974234e-01 -5.67991570e-03 -6.89857830e+01] [ 5.98507822e-03 5.70614108e-03 9.99965809e-01 6.08737973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.509072329 meters 0.24917524953158388 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99971482e-01 4.44578615e-03 -6.10500528e-03 -3.69651695e+01] [-4.47974589e-03 9.99974507e-01 -5.56024479e-03 -6.89860382e+01] [ 6.08012999e-03 5.58743509e-03 9.99965906e-01 6.08736495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53907232899996 meters 0.2401733494310472 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99971708e-01 4.33355614e-03 -6.14843421e-03 -3.69650808e+01] [-4.36913240e-03 9.99973724e-01 -5.78464617e-03 -6.89853588e+01] [ 6.12320457e-03 5.81134583e-03 9.99964367e-01 6.08737091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.569072329 meters 0.2572730185814361 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99971710e-01 4.37621055e-03 -6.11779204e-03 -3.69650642e+01] [-4.41114478e-03 9.99973977e-01 -5.70848404e-03 -6.89855029e+01] [ 6.09265131e-03 5.73530902e-03 9.99964992e-01 6.08735956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59907232899997 meters 0.24833044083453115 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99972127e-01 4.61164531e-03 -5.87185384e-03 -3.69653588e+01] [-4.64219493e-03 9.99975706e-01 -5.19976552e-03 -6.89868526e+01] [ 5.84773171e-03 5.22687887e-03 9.99969241e-01 6.08730936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.629072329 meters 0.24205924049705677 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.99, Z:60.87 [[ 9.99981312e-01 6.35227446e-04 -6.08044947e-03 -3.69646093e+01] [-6.89502975e-04 9.99959904e-01 -8.92830600e-03 -6.89882670e+01] [ 6.07453416e-03 8.93233163e-03 9.99941655e-01 6.08727068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65907232899997 meters 0.24209988062747137 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99977260e-01 4.73183362e-03 -4.80514881e-03 -3.69674184e+01] [-4.75370668e-03 9.99978346e-01 -4.55083119e-03 -6.89890575e+01] [ 4.78351098e-03 4.57356997e-03 9.99978100e-01 6.08723980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.689072329 meters 0.2376911246627003 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99977131e-01 4.72646475e-03 -4.83719518e-03 -3.69672891e+01] [-4.74859417e-03 9.99978266e-01 -4.57363092e-03 -6.89889409e+01] [ 4.81547294e-03 4.59649620e-03 9.99977841e-01 6.08723423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71907232899997 meters 0.23417298381599086 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99977563e-01 4.73968911e-03 -4.73369273e-03 -3.69674952e+01] [-4.76106681e-03 9.99978473e-01 -4.51505873e-03 -6.89890859e+01] [ 4.71219085e-03 4.53749486e-03 9.99978603e-01 6.08722737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74907232899994 meters 0.2304059298551734 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99978319e-01 4.69197170e-03 -4.62019965e-03 -3.69678811e+01] [-4.71304594e-03 9.99978492e-01 -4.56105335e-03 -6.89890078e+01] [ 4.59869995e-03 4.58272967e-03 9.99978925e-01 6.08724630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779072329 meters 0.25373729351997404 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99979084e-01 4.72500883e-03 -4.41651763e-03 -3.69683463e+01] [-4.74456417e-03 9.99978941e-01 -4.42783282e-03 -6.89894031e+01] [ 4.39550308e-03 4.44869466e-03 9.99980444e-01 6.08723994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80907232899995 meters 0.23709899857709885 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99979484e-01 4.77307066e-03 -4.27191267e-03 -3.69687636e+01] [-4.79139160e-03 9.99979324e-01 -4.28878681e-03 -6.89898687e+01] [ 4.25135367e-03 4.30916723e-03 9.99981678e-01 6.08724726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839072329 meters 0.21874961717607921 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99980804e-01 4.87761257e-03 -3.82102978e-03 -3.69699508e+01] [-4.89269413e-03 9.99980239e-01 -3.94763317e-03 -6.89911232e+01] [ 3.80169924e-03 3.96625253e-03 9.99984908e-01 6.08725548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86907232899995 meters 0.2513074411246584 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99981136e-01 4.93845029e-03 -3.65241456e-03 -3.69700956e+01] [-4.95229917e-03 9.99980546e-01 -3.79243241e-03 -6.89914243e+01] [ 3.63361477e-03 3.81044871e-03 9.99986139e-01 6.08721514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899072329 meters 0.2513074411246584 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99981136e-01 4.93845029e-03 -3.65241456e-03 -3.69700956e+01] [-4.95229917e-03 9.99980546e-01 -3.79243241e-03 -6.89914243e+01] [ 3.63361477e-03 3.81044871e-03 9.99986139e-01 6.08721514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92907232899995 meters 0.23378577262864478 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.99, Z:60.87 [[ 9.99981800e-01 5.12403270e-03 -3.18489519e-03 -3.69710229e+01] [-5.13442195e-03 9.99981497e-01 -3.26246726e-03 -6.89929551e+01] [ 3.16811928e-03 3.27876048e-03 9.99989606e-01 6.08717540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959072329 meters 0.25224751122900296 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.00, Z:60.87 [[ 9.99981002e-01 5.54587138e-03 -2.69068131e-03 -3.69717005e+01] [-5.55205397e-03 9.99981952e-01 -2.29577522e-03 -6.89955332e+01] [ 2.67790067e-03 2.31067042e-03 9.99993745e-01 6.08708428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98907232899995 meters 0.23236236918658695 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.00, Z:60.87 [[ 9.99981916e-01 5.60458851e-03 -2.18103920e-03 -3.69726445e+01] [-5.60896404e-03 9.99982259e-01 -2.00525079e-03 -6.89962868e+01] [ 2.16976190e-03 2.01744790e-03 9.99995611e-01 6.08703488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019072329 meters 0.23902332742006296 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.00, Z:60.87 [[ 9.99996626e-01 1.56269058e-03 -2.07493822e-03 -3.69728154e+01] [-1.57458435e-03 9.99982270e-01 -5.74289866e-03 -6.89979691e+01] [ 2.06592706e-03 5.74614645e-03 9.99981357e-01 6.08701453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04907232899996 meters 0.30526265780280076 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.00, Z:60.87 [[ 9.99997179e-01 1.67269969e-03 -1.68649330e-03 -3.69735720e+01] [-1.68177019e-03 9.99984053e-01 -5.39132225e-03 -6.89989402e+01] [ 1.67744835e-03 5.39414333e-03 9.99984045e-01 6.08698152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079072329 meters 0.22644116367158332 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.00, Z:60.87 [[ 9.99997320e-01 1.85423095e-03 -1.38635400e-03 -3.69739483e+01] [-1.86108010e-03 9.99985989e-01 -4.95554081e-03 -6.90000328e+01] [ 1.37714586e-03 4.95810764e-03 9.99986760e-01 6.08692455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10907232899996 meters 0.2205049586291696 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.00, Z:60.87 [[ 9.99997254e-01 2.01798688e-03 -1.19149251e-03 -3.69740388e+01] [-2.02343719e-03 9.99987414e-01 -4.59100857e-03 -6.90008482e+01] [ 1.18221292e-03 4.59340687e-03 9.99988751e-01 6.08686551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139072329 meters 0.2173342179321759 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.00, Z:60.87 [[ 9.99997682e-01 1.95994222e-03 -8.91962786e-04 -3.69746796e+01] [-1.96401631e-03 9.99987538e-01 -4.58982692e-03 -6.90008319e+01] [ 8.82955875e-04 4.59156811e-03 9.99989069e-01 6.08685122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16907232899996 meters 0.2786366139290345 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.00, Z:60.87 [[ 9.99998142e-01 1.86007014e-03 -5.05763445e-04 -3.69756009e+01] [-1.86238415e-03 9.99987621e-01 -4.61396050e-03 -6.90008393e+01] [ 4.97174895e-04 4.61489385e-03 9.99989228e-01 6.08684529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199072329 meters 0.2359425635644031 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.00, Z:60.87 [[ 9.99998134e-01 1.93085926e-03 -5.81498717e-05 -3.69765998e+01] [-1.93109183e-03 9.99988858e-01 -4.30754804e-03 -6.90017746e+01] [ 4.98319547e-05 4.30765230e-03 9.99990721e-01 6.08682755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22907232899996 meters 0.25013247397466837 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.00, Z:60.87 [[ 9.99997802e-01 2.02803687e-03 5.32914036e-04 -3.69779213e+01] [-2.02594489e-03 9.99990354e-01 -3.89718021e-03 -6.90030519e+01] [-5.40812520e-04 3.89609198e-03 9.99992264e-01 6.08680692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259072329 meters 0.24559995605230373 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.01, Z:60.87 [[ 9.99996066e-01 2.35741586e-03 1.52022446e-03 -3.69799670e+01] [-2.35320546e-03 9.99993407e-01 -2.76546138e-03 -6.90065413e+01] [-1.52673378e-03 2.76187310e-03 9.99995021e-01 6.08672857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28907232899996 meters 0.22987884872185266 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.01, Z:60.87 [[ 9.99994210e-01 2.55812297e-03 2.24396452e-03 -3.69813762e+01] [-2.55338020e-03 9.99994506e-01 -2.11389309e-03 -6.90083872e+01] [-2.24935979e-03 2.10815115e-03 9.99995248e-01 6.08666620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319072329 meters 0.24249927368449514 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.01, Z:60.87 [[ 9.99994962e-01 -1.19139089e-03 2.94219091e-03 -3.69825350e+01] [ 1.20626561e-03 9.99986475e-01 -5.05907147e-03 -6.90122276e+01] [-2.93612378e-03 5.06259505e-03 9.99982875e-01 6.08656913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34907232899997 meters 0.24818004948764186 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.01, Z:60.87 [[ 9.99991739e-01 -1.10876643e-03 3.91061785e-03 -3.69846126e+01] [ 1.12615837e-03 9.99989474e-01 -4.44797087e-03 -6.90141221e+01] [-3.90564492e-03 4.45233810e-03 9.99982461e-01 6.08652149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379072329 meters 0.30003104201514874 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.86 [[ 9.99987291e-01 -1.11185550e-03 4.91747997e-03 -3.69867359e+01] [ 1.13148081e-03 9.99991400e-01 -3.98994857e-03 -6.90155538e+01] [-4.91300143e-03 3.99546190e-03 9.99979949e-01 6.08646748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40907232899997 meters 0.24675261529123882 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.86 [[ 9.99981900e-01 -9.34508180e-04 5.94352812e-03 -3.69886358e+01] [ 9.52265162e-04 9.99995090e-01 -2.98548859e-03 -6.90182912e+01] [-5.94070897e-03 2.99109437e-03 9.99977880e-01 6.08634867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439072329 meters 0.22155555879947122 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.86 [[ 9.99977692e-01 -8.09890434e-04 6.63023353e-03 -3.69898483e+01] [ 8.25929331e-04 9.99996739e-01 -2.41667405e-03 -6.90197500e+01] [-6.62825467e-03 2.42209624e-03 9.99975100e-01 6.08626968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46907232899997 meters 0.25955652113029176 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.86 [[ 9.99966408e-01 -1.24112543e-03 8.10197306e-03 -3.69930155e+01] [ 1.25564369e-03 9.99997615e-01 -1.78710035e-03 -6.90221823e+01] [-8.09973572e-03 1.79721351e-03 9.99965582e-01 6.08616766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49907232899994 meters 0.2567802519209768 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.86 [[ 9.99957161e-01 -1.20359647e-03 9.17757692e-03 -3.69953386e+01] [ 1.21467554e-03 9.99998540e-01 -1.20171100e-03 -6.90240549e+01] [-9.17611715e-03 1.21280729e-03 9.99957163e-01 6.08611990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.529072329 meters 0.2629239996416152 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99949011e-01 -1.21762397e-03 1.00246539e-02 -3.69972634e+01] [ 1.22611877e-03 9.99998894e-01 -8.41289518e-04 -6.90252561e+01] [-1.00236184e-02 8.53538038e-04 9.99949398e-01 6.08609429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55907232899995 meters 0.2308970161184778 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99940009e-01 -1.23541518e-03 1.08835811e-02 -3.69992466e+01] [ 1.24046995e-03 9.99999126e-01 -4.57701721e-04 -6.90265825e+01] [-1.08830062e-02 4.71175018e-04 9.99940667e-01 6.08607341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.589072329 meters 0.22994836360828552 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99920427e-01 -5.26633228e-03 1.14632292e-02 -3.70001924e+01] [ 5.31276051e-03 9.99977793e-01 -4.02351075e-03 -6.90286253e+01] [-1.14417855e-02 4.08409198e-03 9.99926200e-01 6.08600164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61907232899995 meters 0.2272669725332717 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99913184e-01 -5.22761094e-03 1.20952705e-02 -3.70014063e+01] [ 5.27277676e-03 9.99979234e-01 -3.70530087e-03 -6.90294584e+01] [-1.20756495e-02 3.76875486e-03 9.99919984e-01 6.08594807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.649072329 meters 0.22744165262068927 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99907499e-01 -5.12098720e-03 1.26003532e-02 -3.70023097e+01] [ 5.16277771e-03 9.99981273e-01 -3.28632401e-03 -6.90305540e+01] [-1.25832880e-02 3.35107284e-03 9.99915212e-01 6.08589166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67907232899995 meters 0.2205547569257725 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99898075e-01 -5.04339767e-03 1.33567755e-02 -3.70037882e+01] [ 5.08058679e-03 9.99983307e-01 -2.75182149e-03 -6.90320124e+01] [-1.33426740e-02 2.81940127e-03 9.99907008e-01 6.08582796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.709072329 meters 0.23115544160677737 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99891934e-01 -5.04325778e-03 1.38089203e-02 -3.70046346e+01] [ 5.07951404e-03 9.99983741e-01 -2.59175465e-03 -6.90323860e+01] [-1.37956249e-02 2.66161717e-03 9.99901293e-01 6.08578625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73907232899995 meters 0.25793135704523423 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.86 [[ 9.99892880e-01 -4.49986414e-03 1.39276841e-02 -3.70045943e+01] [ 4.52220389e-03 9.99988538e-01 -1.57290390e-03 -6.90352770e+01] [-1.39204466e-02 1.63571924e-03 9.99901768e-01 6.08573193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.769072329 meters 0.2577327245862917 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.04, Z:60.86 [[ 9.99889947e-01 -4.56454626e-03 1.41159099e-02 -3.70049677e+01] [ 4.58780200e-03 9.99988171e-01 -1.61554108e-03 -6.90351151e+01] [-1.41083687e-02 1.68012428e-03 9.99899060e-01 6.08571663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79907232899996 meters 0.2187493798658438 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99887931e-01 -4.54590235e-03 1.42639712e-02 -3.70052345e+01] [ 4.56815256e-03 9.99988399e-01 -1.52769449e-03 -6.90353310e+01] [-1.42568610e-02 1.59268328e-03 9.99897097e-01 6.08570148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.829072329 meters 0.2167722577964994 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99881381e-01 -4.62913888e-03 1.46899529e-02 -3.70062046e+01] [ 4.65184820e-03 9.99988037e-01 -1.51211518e-03 -6.90353864e+01] [-1.46827773e-02 1.58027124e-03 9.99890953e-01 6.08568858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85907232899996 meters 0.23880586560371975 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99880652e-01 -4.61501834e-03 1.47439381e-02 -3.70066740e+01] [ 4.63703809e-03 9.99988184e-01 -1.45964164e-03 -6.90357796e+01] [-1.47370276e-02 1.52783564e-03 9.99890237e-01 6.08574033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.889072329 meters 0.21147317780244404 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.86 [[ 9.99877560e-01 -4.83721306e-03 1.48817350e-02 -3.70071353e+01] [ 4.86467829e-03 9.99986529e-01 -1.80992118e-03 -6.90348076e+01] [-1.48727795e-02 1.88209442e-03 9.99887623e-01 6.08576030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91907232899996 meters 0.26496899318889267 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.86 [[ 9.99878850e-01 -4.84587686e-03 1.47919615e-02 -3.70070439e+01] [ 4.87386516e-03 9.99986399e-01 -1.85666638e-03 -6.90347267e+01] [-1.47827632e-02 1.92853547e-03 9.99888869e-01 6.08578092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.949072329 meters 0.22895531309975353 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.86 [[ 9.99886694e-01 -5.10230162e-03 1.41621346e-02 -3.70058740e+01] [ 5.13956769e-03 9.99983422e-01 -2.59624074e-03 -6.90325967e+01] [-1.41486531e-02 2.66873382e-03 9.99896341e-01 6.08584618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97907232899996 meters 0.2311404498318217 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.86 [[ 9.99883022e-01 -5.36259078e-03 1.43243126e-02 -3.70062464e+01] [ 5.40616111e-03 9.99980872e-01 -3.00471665e-03 -6.90313653e+01] [-1.43079255e-02 3.08180470e-03 9.99892887e-01 6.08584355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.009072329 meters 0.22909884862724197 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.86 [[ 9.99884539e-01 -5.25593805e-03 1.42577699e-02 -3.70055723e+01] [ 5.29685915e-03 9.99981956e-01 -2.83384823e-03 -6.90314805e+01] [-1.42426181e-02 2.90904243e-03 9.99894337e-01 6.08576786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03907232899996 meters 0.22969127527740713 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.86 [[ 9.99883111e-01 -5.12475905e-03 1.44049078e-02 -3.70055765e+01] [ 5.16205084e-03 9.99983418e-01 -2.55283751e-03 -6.90321204e+01] [-1.43915862e-02 2.62689798e-03 9.99892985e-01 6.08571432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.069072329 meters 0.21741410398112243 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.86 [[ 9.99880156e-01 -5.00782739e-03 1.46490811e-02 -3.70060313e+01] [ 5.04122990e-03 9.99984775e-01 -2.24414062e-03 -6.90329869e+01] [-1.46376198e-02 2.31772106e-03 9.99890178e-01 6.08569112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09907232899997 meters 0.2301352027913356 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99894836e-01 -4.59451230e-03 1.37552623e-02 -3.70038160e+01] [ 4.62210162e-03 9.99987368e-01 -1.97460972e-03 -6.90332448e+01] [-1.37460162e-02 2.03798028e-03 9.99903442e-01 6.08568652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.129072329 meters 0.22486071914383915 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99894163e-01 -4.47431207e-03 1.38435611e-02 -3.70039524e+01] [ 4.49864830e-03 9.99988389e-01 -1.72730499e-03 -6.90339450e+01] [-1.38356719e-02 1.78939949e-03 9.99902681e-01 6.08567428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15907232899997 meters 0.275898846826899 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.03, Z:60.86 [[ 9.99888355e-01 -4.39544600e-03 1.42813568e-02 -3.70047857e+01] [ 4.41614934e-03 9.99989243e-01 -1.41846348e-03 -6.90347902e+01] [-1.42749684e-02 1.48137372e-03 9.99897010e-01 6.08563530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.189072329 meters 0.27991662956158747 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99886670e-01 -4.32360804e-03 1.44205853e-02 -3.70052068e+01] [ 4.34185673e-03 9.99989812e-01 -1.23439362e-03 -6.90354575e+01] [-1.44151013e-02 1.29686584e-03 9.99895256e-01 6.08564154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21907232899997 meters 0.2711502392196407 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99883741e-01 -4.37220556e-03 1.46078446e-02 -3.70057425e+01] [ 4.39093004e-03 9.99989579e-01 -1.24998336e-03 -6.90354693e+01] [-1.46022272e-02 1.31398006e-03 9.99892518e-01 6.08565342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24907232899994 meters 0.21777487818035532 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99875436e-01 -4.44521859e-03 1.51444190e-02 -3.70069867e+01] [ 4.46322328e-03 9.99989372e-01 -1.15527533e-03 -6.90358069e+01] [-1.51391226e-02 1.22272435e-03 9.99884649e-01 6.08564166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279072329 meters 0.21922402182982095 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99862150e-01 -4.49929619e-03 1.59823930e-02 -3.70087048e+01] [ 4.51249445e-03 9.99989507e-01 -7.89832827e-04 -6.90368873e+01] [-1.59786716e-02 8.61844409e-04 9.99871961e-01 6.08558219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30907232899995 meters 0.2156275993858945 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99867361e-01 -4.44034962e-03 1.56698450e-02 -3.70078787e+01] [ 4.45353228e-03 9.99989758e-01 -8.06480914e-04 -6.90367181e+01] [-1.56661034e-02 8.76160103e-04 9.99876895e-01 6.08557474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339072329 meters 0.2704493952857611 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99868431e-01 -4.41781968e-03 1.56077789e-02 -3.70076510e+01] [ 4.43072526e-03 9.99989870e-01 -7.92386103e-04 -6.90367053e+01] [-1.56041202e-02 8.61435630e-04 9.99877877e-01 6.08556376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36907232899995 meters 0.26998943807171355 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99865237e-01 -4.63817034e-03 1.57478567e-02 -3.70083203e+01] [ 4.65676542e-03 9.99988502e-01 -1.14433646e-03 -6.90358978e+01] [-1.57423680e-02 1.21751632e-03 9.99875340e-01 6.08561171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399072329 meters 0.21803142698252567 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99855039e-01 -4.81906563e-03 1.63302909e-02 -3.70096535e+01] [ 4.84067943e-03 9.99987459e-01 -1.28427114e-03 -6.90355528e+01] [-1.63238971e-02 1.36313467e-03 9.99865827e-01 6.08559899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42907232899995 meters 0.24878448722380894 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.86 [[ 9.99842321e-01 -4.84704359e-03 1.70833088e-02 -3.70112049e+01] [ 4.86430052e-03 9.99987700e-01 -9.68755509e-04 -6.90364860e+01] [-1.70784031e-02 1.05170111e-03 9.99853600e-01 6.08554983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459072329 meters 0.2165827716621811 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.85 [[ 9.99837194e-01 -4.96345084e-03 1.73479281e-02 -3.70114240e+01] [ 4.98278565e-03 9.99987012e-01 -1.07148470e-03 -6.90359399e+01] [-1.73423845e-02 1.15775126e-03 9.99848939e-01 6.08548190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48907232899995 meters 0.2825060892436141 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.85 [[ 9.99831351e-01 -5.21497619e-03 1.76088905e-02 -3.70120462e+01] [ 5.24116797e-03 9.99985226e-01 -1.44159643e-03 -6.90348531e+01] [-1.76011125e-02 1.53364446e-03 9.99843912e-01 6.08548070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519072329 meters 0.2008413436061926 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.85 [[ 9.99830650e-01 -5.21980096e-03 1.76472164e-02 -3.70122232e+01] [ 5.24593867e-03 9.99985210e-01 -1.43515648e-03 -6.90349191e+01] [-1.76394642e-02 1.52748965e-03 9.99843246e-01 6.08549342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54907232899996 meters 0.21045509421730377 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.02, Z:60.86 [[ 9.99954394e-01 -5.32448005e-03 7.92845083e-03 -3.70190032e+01] [ 5.41041607e-03 9.99926421e-01 -1.08572332e-02 -6.90241845e+01] [-7.87005834e-03 1.08996342e-02 9.99909626e-01 6.08564764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579072329 meters 0.19672184619468208 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99948813e-01 -5.27964427e-03 8.63113637e-03 -3.70207729e+01] [ 5.37034937e-03 9.99930243e-01 -1.05198782e-02 -6.90254186e+01] [-8.57499307e-03 1.05656919e-02 9.99907414e-01 6.08565518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60907232899996 meters 0.2552400205344269 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.86 [[ 9.99938629e-01 -5.35205981e-03 9.70023027e-03 -3.70231630e+01] [ 5.45056554e-03 9.99933559e-01 -1.01571628e-02 -6.90267055e+01] [-9.64522404e-03 1.02094111e-02 9.99901364e-01 6.08562255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639072329 meters 0.2533290283823899 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.86 [[ 9.99928480e-01 -5.38759689e-03 1.06774860e-02 -3.70254180e+01] [ 5.49214342e-03 9.99937030e-01 -9.78629184e-03 -6.90280167e+01] [-1.06240891e-02 9.84423421e-03 9.99895104e-01 6.08560127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66907232899996 meters 0.2412771451135295 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.03, Z:60.86 [[ 9.99883591e-01 -9.45223871e-03 1.19774930e-02 -3.70281763e+01] [ 9.60179750e-03 9.99875879e-01 -1.24912844e-02 -6.90330040e+01] [-1.18579358e-02 1.26048358e-02 9.99850243e-01 6.08550840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699072329 meters 0.2387770984092915 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99869320e-01 -9.28299608e-03 1.32351360e-02 -3.70305941e+01] [ 9.43600845e-03 9.99888821e-01 -1.15458837e-02 -6.90356326e+01] [-1.31264841e-02 1.16692617e-02 9.99845750e-01 6.08538846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72907232899996 meters 0.22862632032528024 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99858375e-01 -8.97199218e-03 1.42384685e-02 -3.70324363e+01] [ 9.11922945e-03 9.99905269e-01 -1.03097943e-02 -6.90390415e+01] [-1.41446203e-02 1.04381781e-02 9.99845475e-01 6.08527472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759072329 meters 0.24267283961374742 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99838386e-01 -9.19277994e-03 1.54497410e-02 -3.70349281e+01] [ 9.34554397e-03 9.99907865e-01 -9.84486628e-03 -6.90406474e+01] [-1.53578159e-02 9.98766145e-03 9.99832178e-01 6.08517673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78907232899996 meters 0.22531141545174835 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.04, Z:60.85 [[ 9.99835670e-01 -9.06311295e-03 1.57001054e-02 -3.70352346e+01] [ 9.21300328e-03 9.99912420e-01 -9.50121677e-03 -6.90414993e+01] [-1.56126198e-02 9.64430056e-03 9.99831603e-01 6.08512846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819072329 meters 0.22531141545174835 Centerline is valid? [False, False] Translation: X:-37.04, Y:-69.04, Z:60.85 [[ 9.99835670e-01 -9.06311295e-03 1.57001054e-02 -3.70352346e+01] [ 9.21300328e-03 9.99912420e-01 -9.50121677e-03 -6.90414993e+01] [-1.56126198e-02 9.64430056e-03 9.99831603e-01 6.08512846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84907232899997 meters 0.25113173328215355 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99841200e-01 -8.93140992e-03 1.54208952e-02 -3.70339337e+01] [ 9.07645103e-03 9.99914989e-01 -9.36126232e-03 -6.90413498e+01] [-1.53359750e-02 9.49974275e-03 9.99837268e-01 6.08503801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879072329 meters 0.24956505537833285 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99837639e-01 -8.94725154e-03 1.56410270e-02 -3.70341092e+01] [ 9.09356622e-03 9.99915325e-01 -9.30858655e-03 -6.90412949e+01] [-1.55564163e-02 9.44930791e-03 9.99834341e-01 6.08498274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90907232899997 meters 0.22751695597895652 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99855772e-01 -6.31367458e-03 1.57661924e-02 -3.70333220e+01] [ 6.39479988e-03 9.99966546e-01 -5.10042004e-03 -6.90437719e+01] [-1.57334626e-02 5.20050606e-03 9.99862697e-01 6.08475350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939072329 meters 0.23663029483776654 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99850242e-01 -6.41132112e-03 1.60744596e-02 -3.70337423e+01] [ 6.49530827e-03 9.99965498e-01 -5.17812962e-03 -6.90433609e+01] [-1.60407064e-02 5.28176273e-03 9.99857389e-01 6.08470230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96907232899997 meters 0.2294407188048481 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99847963e-01 -6.46576842e-03 1.61939911e-02 -3.70340329e+01] [ 6.55121036e-03 9.99964871e-01 -5.22867084e-03 -6.90432088e+01] [-1.61596148e-02 5.33396613e-03 9.99855197e-01 6.08470124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99907232899994 meters 0.23009178401121258 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99848841e-01 -6.68106978e-03 1.60517617e-02 -3.70336622e+01] [ 6.77297885e-03 9.99960941e-01 -5.67826910e-03 -6.90417952e+01] [-1.60131978e-02 5.78612902e-03 9.99855039e-01 6.08470208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.029072329 meters 0.24469356482287505 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99868087e-01 -2.72676958e-03 1.60116546e-02 -3.70339401e+01] [ 2.75815599e-03 9.99994317e-01 -1.93846728e-03 -6.90401728e+01] [-1.60062779e-02 1.98237421e-03 9.99869926e-01 6.08475551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05907232899995 meters 0.24065987783491744 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99873638e-01 -2.96115080e-03 1.56185721e-02 -3.70332951e+01] [ 3.00101497e-03 9.99992298e-01 -2.52953752e-03 -6.90385299e+01] [-1.56109614e-02 2.57608945e-03 9.99874823e-01 6.08480925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.089072329 meters 0.22868758462657726 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99877937e-01 -3.14418228e-03 1.53043940e-02 -3.70328033e+01] [ 3.19031929e-03 9.99990437e-01 -2.99114485e-03 -6.90372148e+01] [-1.52948430e-02 3.03960564e-03 9.99878407e-01 6.08485852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11907232899995 meters 0.2546542464446006 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99888208e-01 -2.75404504e-03 1.46964761e-02 -3.70311762e+01] [ 2.79110651e-03 9.99992975e-01 -2.50187816e-03 -6.90383082e+01] [-1.46894826e-02 2.54261790e-03 9.99888871e-01 6.08483482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.149072329 meters 0.24998944391138753 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99895412e-01 -2.89188322e-03 1.41704702e-02 -3.70299948e+01] [ 2.93507567e-03 9.99991108e-01 -3.02821222e-03 -6.90367000e+01] [-1.41615869e-02 3.06948691e-03 9.99895008e-01 6.08485921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17907232899995 meters 0.23189874483488015 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99905387e-01 -2.72464509e-03 1.34830669e-02 -3.70283922e+01] [ 2.76617902e-03 9.99991484e-01 -3.06276091e-03 -6.90364603e+01] [-1.34746072e-02 3.09976771e-03 9.99904409e-01 6.08488113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.209072329 meters 0.2406801999865565 Centerline is valid? [False, False] Translation: X:-37.03, Y:-69.04, Z:60.85 [[ 9.99915623e-01 1.43424154e-03 1.29108282e-02 -3.70274559e+01] [-1.44535420e-03 9.99998593e-01 8.51434454e-04 -6.90354084e+01] [-1.29095889e-02 -8.70023332e-04 9.99916289e-01 6.08495116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23907232899995 meters 0.23545724824407363 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.85 [[ 9.99951995e-01 3.49845418e-03 9.15251680e-03 -3.70196229e+01] [-3.49145058e-03 9.99993600e-01 -7.81076200e-04 -6.90330160e+01] [-9.15519078e-03 7.49083144e-04 9.99957810e-01 6.08531389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.269072329 meters 0.22260033672228174 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.03, Z:60.85 [[ 9.99962575e-01 3.58131665e-03 7.87548561e-03 -3.70165567e+01] [-3.57103047e-03 9.99992753e-01 -1.31977556e-03 -6.90309769e+01] [-7.88015507e-03 1.29160257e-03 9.99968117e-01 6.08533229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29907232899996 meters 0.23662251663724396 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.85 [[ 9.99947367e-01 7.84748139e-03 6.60915084e-03 -3.70135497e+01] [-7.86021260e-03 9.99967298e-01 1.90253327e-03 -6.90274791e+01] [-6.59400462e-03 -1.95438246e-03 9.99976349e-01 6.08539222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.329072329 meters 0.22184630944990957 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.85 [[ 9.99955256e-01 7.56483799e-03 5.67963940e-03 -3.70118373e+01] [-7.56997358e-03 9.99970957e-01 8.83257451e-04 -6.90246213e+01] [-5.67279275e-03 -9.26212651e-04 9.99983481e-01 6.08549491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35907232899996 meters 0.21811256871528797 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99962722e-01 7.31085313e-03 4.59422507e-03 -3.70097494e+01] [-7.30994418e-03 9.99973259e-01 -2.14605239e-04 -6.90214489e+01] [-4.59567116e-03 1.81013710e-04 9.99989423e-01 6.08560935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.389072329 meters 0.23672298480107035 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99964839e-01 7.15862654e-03 4.36739623e-03 -3.70093464e+01] [-7.15623482e-03 9.99974235e-01 -5.63013526e-04 -6.90204373e+01] [-4.37131411e-03 5.31739617e-04 9.99990304e-01 6.08563558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41907232899996 meters 0.22637031271545702 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99965134e-01 7.18751350e-03 4.25095777e-03 -3.70091346e+01] [-7.18522169e-03 9.99974032e-01 -5.54155653e-04 -6.90204854e+01] [-4.25483038e-03 5.23592258e-04 9.99990811e-01 6.08564856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.449072329 meters 0.21518082965712665 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99966377e-01 7.09055140e-03 4.11941600e-03 -3.70086938e+01] [-7.08740935e-03 9.99974582e-01 -7.76840451e-04 -6.90196966e+01] [-4.12481952e-03 7.47618343e-04 9.99991213e-01 6.08563510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47907232899996 meters 0.22356761324577937 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99988851e-01 3.10594531e-03 3.55677166e-03 -3.70071310e+01] [-3.08891278e-03 9.99983784e-01 -4.78428475e-03 -6.90201945e+01] [-3.57157371e-03 4.77324486e-03 9.99982230e-01 6.08561032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.509072329 meters 0.21908601751830997 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99987535e-01 3.19856977e-03 3.83384727e-03 -3.70076749e+01] [-3.18121189e-03 9.99984701e-01 -4.52511590e-03 -6.90209268e+01] [-3.84826251e-03 4.51286322e-03 9.99982412e-01 6.08558764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53907232899996 meters 0.2612303605927879 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99987319e-01 3.18146771e-03 3.90387388e-03 -3.70078401e+01] [-3.16377139e-03 9.99984731e-01 -4.53084816e-03 -6.90208990e+01] [-3.91822902e-03 4.51843974e-03 9.99982115e-01 6.08558710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.569072329 meters 0.2561616146087241 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99987674e-01 3.15500588e-03 3.83389420e-03 -3.70074884e+01] [-3.13735528e-03 9.99984493e-01 -4.60115599e-03 -6.90205442e+01] [-3.84835143e-03 4.58907099e-03 9.99982065e-01 6.08556376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59907232899997 meters 0.2574528337897296 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.86 [[ 9.99989547e-01 3.24136210e-03 3.22492054e-03 -3.70059765e+01] [-3.22612372e-03 9.99983660e-01 -4.71923056e-03 -6.90199418e+01] [-3.24016458e-03 4.70877724e-03 9.99983664e-01 6.08556869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.629072329 meters 0.24804720419596163 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.86 [[ 9.99990765e-01 3.41486488e-03 2.60932888e-03 -3.70044331e+01] [-3.40256212e-03 9.99983143e-01 -4.70489699e-03 -6.90196729e+01] [-2.62535148e-03 4.69597514e-03 9.99985528e-01 6.08557534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65907232899997 meters 0.23753726220129176 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.86 [[ 9.99991145e-01 3.32385921e-03 2.58111990e-03 -3.70044656e+01] [-3.31124252e-03 9.99982625e-01 -4.87705182e-03 -6.90191858e+01] [-2.59728569e-03 4.86846192e-03 9.99984776e-01 6.08559286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.689072329 meters 0.24447257955966384 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.86 [[ 9.99992796e-01 3.34098077e-03 1.80141782e-03 -3.70026589e+01] [-3.33158731e-03 9.99980969e-01 -5.19250932e-03 -6.90180005e+01] [-1.81873162e-03 5.18647033e-03 9.99984896e-01 6.08562143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71907232899997 meters 0.2444138358261638 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99990404e-01 4.28505639e-03 9.11464531e-04 -3.69989272e+01] [-4.28107665e-03 9.99981486e-01 -4.32434460e-03 -6.90180502e+01] [-9.29977717e-04 4.32040105e-03 9.99990235e-01 6.08542378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74907232899994 meters 0.2746739539669582 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99989902e-01 4.47166113e-03 4.47992713e-04 -3.69975877e+01] [-4.46974501e-03 9.99981230e-01 -4.19052307e-03 -6.90181297e+01] [-4.66722903e-04 4.18847834e-03 9.99991119e-01 6.08539850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779072329 meters 0.2517012732011341 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99989192e-01 4.46592857e-03 1.29244442e-03 -3.69995979e+01] [-4.46082407e-03 9.99982344e-01 -3.92578567e-03 -6.90192253e+01] [-1.30995388e-03 3.91997787e-03 9.99991459e-01 6.08539368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80907232899995 meters 0.2561123713507525 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99987769e-01 4.69015824e-03 1.56973246e-03 -3.70003293e+01] [-4.68473594e-03 9.99983109e-01 -3.44031113e-03 -6.90207633e+01] [-1.58584155e-03 3.43291527e-03 9.99992850e-01 6.08539773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839072329 meters 0.25350963026942575 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99988178e-01 4.60431968e-03 1.56355711e-03 -3.70004549e+01] [-4.59866994e-03 9.99982953e-01 -3.59795964e-03 -6.90203468e+01] [-1.58009662e-03 3.59072682e-03 9.99992305e-01 6.08542059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86907232899995 meters 0.3268014731196237 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99988961e-01 4.51267678e-03 1.30938117e-03 -3.69998735e+01] [-4.50760088e-03 9.99982414e-01 -3.85396020e-03 -6.90195438e+01] [-1.32674982e-03 3.84801549e-03 9.99991716e-01 6.08543268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899072329 meters 0.23326092621519465 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99989311e-01 4.52652220e-03 9.42158848e-04 -3.69990603e+01] [-4.52275651e-03 9.99981926e-01 -3.96134910e-03 -6.90191867e+01] [-9.60072954e-04 3.95704561e-03 9.99991710e-01 6.08545431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92907232899995 meters 0.23726486460542498 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99989807e-01 4.41322746e-03 9.54092036e-04 -3.69990242e+01] [-4.40921128e-03 9.99981579e-01 -4.17132609e-03 -6.90184673e+01] [-9.72483471e-04 4.16707678e-03 9.99990845e-01 6.08545103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959072329 meters 0.22552782419954212 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99988847e-01 4.53970537e-03 1.30239624e-03 -3.69996807e+01] [-4.53469626e-03 9.99982408e-01 -3.82358458e-03 -6.90194328e+01] [-1.31973127e-03 3.81763597e-03 9.99991842e-01 6.08541869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98907232899995 meters 0.2252720964242944 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99988373e-01 4.55603197e-03 1.57974801e-03 -3.69999787e+01] [-4.55016995e-03 9.99982823e-01 -3.69467947e-03 -6.90195901e+01] [-1.59655396e-03 3.68744839e-03 9.99991927e-01 6.08536220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019072329 meters 0.25953094100260915 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99987281e-01 4.60530879e-03 2.05665048e-03 -3.70008672e+01] [-4.59825536e-03 9.99983575e-01 -3.42123166e-03 -6.90202947e+01] [-2.07237252e-03 3.41173114e-03 9.99992033e-01 6.08531715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04907232899996 meters 0.2584851536309201 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99985601e-01 4.62261601e-03 2.72579340e-03 -3.70021980e+01] [-4.61404174e-03 9.99984414e-01 -3.14354853e-03 -6.90210483e+01] [-2.74028233e-03 3.13092634e-03 9.99991344e-01 6.08526554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079072329 meters 0.20974599363893934 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99982193e-01 4.71217414e-03 3.66195809e-03 -3.70038290e+01] [-4.70268755e-03 9.99985576e-01 -2.59488693e-03 -6.90224880e+01] [-3.67413282e-03 2.57761968e-03 9.99989928e-01 6.08515370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10907232899996 meters 0.2529302998206072 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99980348e-01 4.94770014e-03 3.85014751e-03 -3.70039204e+01] [-4.93958933e-03 9.99985567e-01 -2.11328924e-03 -6.90237426e+01] [-3.86054786e-03 2.09422957e-03 9.99990355e-01 6.08509559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139072329 meters 0.2378786417869157 Centerline is valid? [False, False] Translation: X:-37.00, Y:-69.02, Z:60.85 [[ 9.99979595e-01 4.82231399e-03 4.18978598e-03 -3.70045591e+01] [-4.81298626e-03 9.99985923e-01 -2.23353981e-03 -6.90232945e+01] [-4.20049784e-03 2.21332885e-03 9.99988728e-01 6.08506754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16907232899996 meters 0.28719922372790085 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.02, Z:60.85 [[ 9.99975781e-01 4.90930014e-03 4.93326772e-03 -3.70060006e+01] [-4.90062888e-03 9.99986428e-01 -1.76826491e-03 -6.90245988e+01] [-4.94188172e-03 1.74404597e-03 9.99986268e-01 6.08500296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199072329 meters 0.2651260435828185 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.85 [[ 9.99971983e-01 4.97928980e-03 5.58935215e-03 -3.70072821e+01] [-4.97161343e-03 9.99986680e-01 -1.38644667e-03 -6.90256392e+01] [-5.59618122e-03 1.35861973e-03 9.99983418e-01 6.08494950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22907232899996 meters 0.25117913638481937 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.85 [[ 9.99979567e-01 1.11733480e-03 6.29427975e-03 -3.70086343e+01] [-1.08813432e-03 9.99988640e-01 -4.64072616e-03 -6.90287507e+01] [-6.29939349e-03 4.63378232e-03 9.99969422e-01 6.08488120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259072329 meters 0.24417385542728062 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.85 [[ 9.99972364e-01 1.13881050e-03 7.34665778e-03 -3.70109457e+01] [-1.10827432e-03 9.99990736e-01 -4.15920499e-03 -6.90303425e+01] [-7.35132627e-03 4.15094794e-03 9.99964363e-01 6.08483696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28907232899996 meters 0.23763596188633304 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.03, Z:60.85 [[ 9.99957705e-01 -3.05660569e-03 8.67443466e-03 -3.70136424e+01] [ 3.11951492e-03 9.99968867e-01 -7.24801681e-03 -6.90339953e+01] [-8.65201026e-03 7.27477028e-03 9.99936108e-01 6.08472339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319072329 meters 0.3055434430078355 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.85 [[ 9.99950055e-01 -2.81079835e-03 9.59092988e-03 -3.70153238e+01] [ 2.87178622e-03 9.99975708e-01 -6.35107547e-03 -6.90364361e+01] [-9.57284530e-03 6.37830136e-03 9.99933837e-01 6.08462346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34907232899997 meters 0.2500460708202089 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.85 [[ 9.99937264e-01 -2.92173601e-03 1.08135019e-02 -3.70177994e+01] [ 2.98656608e-03 9.99977636e-01 -5.98400456e-03 -6.90375537e+01] [-1.07957763e-02 6.01592439e-03 9.99923627e-01 6.08453676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379072329 meters 0.23018333793914342 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99929824e-01 -2.76908029e-03 1.15186146e-02 -3.70189882e+01] [ 2.83136060e-03 9.99981443e-01 -5.39413857e-03 -6.90390576e+01] [-1.15034641e-02 5.42637338e-03 9.99919109e-01 6.08444525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40907232899997 meters 0.2229655576546495 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99917870e-01 -2.88991328e-03 1.24860730e-02 -3.70209641e+01] [ 2.95474173e-03 9.99982235e-01 -5.17673667e-03 -6.90397283e+01] [-1.24708909e-02 5.21320463e-03 9.99908646e-01 6.08438142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439072329 meters 0.2550198266162106 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99904433e-01 -3.17720046e-03 1.34547529e-02 -3.70231048e+01] [ 3.24942062e-03 9.99980414e-01 -5.34917645e-03 -6.90394264e+01] [-1.34374939e-02 5.39238540e-03 9.99895172e-01 6.08435982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46907232899997 meters 0.2691665230168838 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99910078e-01 8.00679431e-04 1.33863766e-02 -3.70233687e+01] [-7.79645197e-04 9.99998453e-01 -1.57646115e-03 -6.90379731e+01] [-1.33876181e-02 1.56588277e-03 9.99909156e-01 6.08442717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49907232899994 meters 0.2650130020373812 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99914984e-01 7.62647856e-04 1.30170008e-02 -3.70226347e+01] [-7.39532311e-04 9.99998141e-01 -1.78051768e-03 -6.90374021e+01] [-1.30183345e-02 1.77073982e-03 9.99913690e-01 6.08445786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.529072329 meters 0.2579488395817616 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99912700e-01 6.61701831e-04 1.31967253e-02 -3.70230826e+01] [-6.36588965e-04 9.99997979e-01 -1.90707180e-03 -6.90370263e+01] [-1.31979605e-02 1.89850442e-03 9.99911101e-01 6.08445959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55907232899995 meters 0.2529567820600784 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99905723e-01 1.00858508e-03 1.36941066e-02 -3.70239913e+01] [-9.93645641e-04 9.99998904e-01 -1.09769944e-03 -6.90394149e+01] [-1.36951987e-02 1.08398887e-03 9.99905629e-01 6.08440441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.589072329 meters 0.24705329859529254 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99910462e-01 1.15033250e-03 1.33320650e-02 -3.70228777e+01] [-1.13738993e-03 9.99998875e-01 -9.78326644e-04 -6.90395611e+01] [-1.33331754e-02 9.63075291e-04 9.99910645e-01 6.08437217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61907232899995 meters 0.2455657152828143 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99914623e-01 1.25619497e-03 1.30064851e-02 -3.70220880e+01] [-1.24461773e-03 9.99998822e-01 -8.98169340e-04 -6.90397566e+01] [-1.30075980e-02 8.81904555e-04 9.99915009e-01 6.08437605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.649072329 meters 0.2384064217814792 Centerline is valid? [False, False] Translation: X:-37.02, Y:-69.04, Z:60.84 [[ 9.99922073e-01 1.06436486e-03 1.24384173e-02 -3.70208361e+01] [-1.04599834e-03 9.99998353e-01 -1.48300857e-03 -6.90380112e+01] [-1.24399753e-02 1.46988244e-03 9.99921540e-01 6.08440397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67907232899995 meters 0.2487041235093414 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.85 [[ 9.99945365e-01 7.15001568e-03 7.62523333e-03 -3.70083149e+01] [-7.14290416e-03 9.99974029e-01 -9.59456070e-04 -6.90420265e+01] [-7.63189542e-03 9.04937339e-04 9.99970467e-01 6.08477251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.709072329 meters 0.2487041235093414 Centerline is valid? [False, False] Translation: X:-37.01, Y:-69.04, Z:60.85 [[ 9.99945365e-01 7.15001568e-03 7.62523333e-03 -3.70083149e+01] [-7.14290416e-03 9.99974029e-01 -9.59456070e-04 -6.90420265e+01] [-7.63189542e-03 9.04937339e-04 9.99970467e-01 6.08477251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73907232899995 meters 0.2387378126855996 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.85 [[ 9.99904612e-01 1.35921615e-02 2.45374884e-03 -3.69941502e+01] [-1.35887324e-02 9.99906676e-01 -1.40880468e-03 -6.90425175e+01] [-2.47266854e-03 1.37532696e-03 9.99995997e-01 6.08517719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.769072329 meters 0.2668255971389881 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.85 [[ 9.99910294e-01 1.33199293e-02 1.40810834e-03 -3.69920525e+01] [-1.33164527e-02 9.99908330e-01 -2.45019227e-03 -6.90395279e+01] [-1.44061564e-03 2.43122146e-03 9.99996007e-01 6.08526902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79907232899996 meters 0.2499490239921903 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.86 [[ 9.99929008e-01 1.15384800e-02 -2.97364354e-03 -3.69800645e+01] [-1.15162292e-02 9.99906347e-01 7.39419090e-03 -6.90439190e+01] [ 3.05868277e-03 -7.35942081e-03 9.99968241e-01 6.08593414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.829072329 meters 0.25752731968619913 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.86 [[ 9.99909680e-01 1.25855913e-02 -4.71534231e-03 -3.69757176e+01] [-1.25539840e-02 9.99898924e-01 6.67374898e-03 -6.90399061e+01] [ 4.79885878e-03 -6.61394987e-03 9.99966613e-01 6.08602163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85907232899996 meters 0.25491634498777327 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.86 [[ 9.99939240e-01 9.10785948e-03 -6.20995379e-03 -3.69720906e+01] [-9.09442977e-03 9.99956252e-01 2.18743152e-03 -6.90374657e+01] [ 6.22960494e-03 -2.13082262e-03 9.99978326e-01 6.08606250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.889072329 meters 0.2312340522054599 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.86 [[ 9.99938486e-01 8.78630736e-03 -6.76947124e-03 -3.69709671e+01] [-8.77714707e-03 9.99960526e-01 1.38169895e-03 -6.90350945e+01] [ 6.78134405e-03 -1.32219732e-03 9.99976132e-01 6.08611058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91907232899996 meters 0.2521653870599514 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99879763e-01 1.31561117e-02 -8.20826087e-03 -3.69679475e+01] [-1.31180088e-02 9.99903009e-01 4.67872808e-03 -6.90319920e+01] [ 8.26901861e-03 -4.57048949e-03 9.99955366e-01 6.08624205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.949072329 meters 0.26613577489673407 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99867512e-01 1.31391123e-02 -9.60846746e-03 -3.69650521e+01] [-1.31065628e-02 9.99908179e-01 3.44274619e-03 -6.90280847e+01] [ 9.65281983e-03 -3.31635608e-03 9.99947911e-01 6.08637195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97907232899996 meters 0.2439567670989279 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99791492e-01 1.72042066e-02 -1.09994140e-02 -3.69622864e+01] [-1.71447597e-02 9.99838021e-01 5.47619959e-03 -6.90218753e+01] [ 1.10918460e-02 -5.28647545e-03 9.99924509e-01 6.08658224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.009072329 meters 0.27234087286813097 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99782441e-01 1.70181444e-02 -1.20604144e-02 -3.69602547e+01] [-1.69640513e-02 9.99845641e-01 4.57337699e-03 -6.90192779e+01] [ 1.21363831e-02 -4.36778853e-03 9.99916812e-01 6.08668675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03907232899996 meters 0.24357590266638257 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99777688e-01 1.67469055e-02 -1.28107982e-02 -3.69589273e+01] [-1.66992245e-02 9.99853261e-01 3.81990899e-03 -6.90171855e+01] [ 1.28728900e-02 -3.60512939e-03 9.99910642e-01 6.08677432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.069072329 meters 0.24740824145717152 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99749444e-01 1.72790920e-02 -1.42296264e-02 -3.69553123e+01] [-1.72416424e-02 9.99847569e-01 2.75030246e-03 -6.90122558e+01] [ 1.42749801e-02 -2.50427123e-03 9.99894971e-01 6.08684540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09907232899997 meters 0.23639618752736039 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.02, Z:60.87 [[ 9.99855055e-01 1.51318792e-02 -7.80354260e-03 -3.69500743e+01] [-1.50372810e-02 9.99814419e-01 1.20419149e-02 -6.90157480e+01] [ 7.98431121e-03 -1.19228254e-02 9.99897043e-01 6.08720685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.129072329 meters 0.23821553670667656 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.87 [[ 9.99897839e-01 1.10525411e-02 -9.06385005e-03 -3.69472408e+01] [-1.09855097e-02 9.99912185e-01 7.41220974e-03 -6.90138366e+01] [ 9.14497787e-03 -7.31188148e-03 9.99931451e-01 6.08724514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15907232899997 meters 0.2656180957312519 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.87 [[ 9.99923733e-01 6.83695995e-03 -1.02851450e-02 -3.69447734e+01] [-6.80998567e-03 9.99973286e-01 2.65538458e-03 -6.90119614e+01] [ 1.03030250e-02 -2.58514037e-03 9.99943581e-01 6.08732964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.189072329 meters 0.2622238029143678 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.87 [[ 9.99923330e-01 6.74227286e-03 -1.03863637e-02 -3.69447563e+01] [-6.71730986e-03 9.99974470e-01 2.43645327e-03 -6.90114617e+01] [ 1.04025258e-02 -2.36649804e-03 9.99943092e-01 6.08736408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21907232899997 meters 0.2345211742130389 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.87 [[ 9.99922032e-01 6.74255008e-03 -1.05103449e-02 -3.69445587e+01] [-6.71764795e-03 9.99974550e-01 2.40280276e-03 -6.90114174e+01] [ 1.05262784e-02 -2.33201062e-03 9.99941878e-01 6.08737866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24907232899994 meters 0.2499351445744602 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.87 [[ 9.99922096e-01 6.72020237e-03 -1.05185724e-02 -3.69442778e+01] [-6.69583217e-03 9.99974820e-01 2.35037752e-03 -6.90110464e+01] [ 1.05341025e-02 -2.27976382e-03 9.99941916e-01 6.08734484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279072329 meters 0.25082521810515984 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.87 [[ 9.99921538e-01 6.53787838e-03 -1.06852224e-02 -3.69439359e+01] [-6.51702600e-03 9.99976793e-01 1.98517089e-03 -6.90099463e+01] [ 1.06979533e-02 -1.91537926e-03 9.99940941e-01 6.08735736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30907232899995 meters 0.24586661986197259 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.87 [[ 9.99926324e-01 6.30089865e-03 -1.03752652e-02 -3.69446879e+01] [-6.28370424e-03 9.99978831e-01 1.68901526e-03 -6.90091402e+01] [ 1.03856878e-02 -1.62369572e-03 9.99944749e-01 6.08735255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339072329 meters 0.23161704047709952 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.01, Z:60.87 [[ 9.99943075e-01 2.16096971e-03 -1.04487436e-02 -3.69442970e+01] [-2.18461713e-03 9.99995077e-01 -2.25229978e-03 -6.90100793e+01] [ 1.04438251e-02 2.27499807e-03 9.99942874e-01 6.08732078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36907232899995 meters 0.2313065310917213 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.87 [[ 9.99951789e-01 2.37320194e-03 -9.52822770e-03 -3.69461769e+01] [-2.38781511e-03 9.99995990e-01 -1.52258901e-03 -6.90123057e+01] [ 9.52457608e-03 1.54526725e-03 9.99953446e-01 6.08725990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399072329 meters 0.2336041268109414 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.87 [[ 9.99954485e-01 -1.84481473e-03 -9.36080347e-03 -3.69465086e+01] [ 1.79306943e-03 9.99983084e-01 -5.53325460e-03 -6.90132561e+01] [ 9.37085295e-03 5.51621819e-03 9.99940877e-01 6.08724747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42907232899995 meters 0.217556729921869 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99966518e-01 -6.71281778e-03 -4.67983437e-03 -3.69588043e+01] [ 6.69314394e-03 9.99968751e-01 -4.20702290e-03 -6.90126835e+01] [ 4.70792911e-03 4.17555923e-03 9.99980200e-01 6.08678958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459072329 meters 0.2833414342261063 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99970655e-01 -6.71683263e-03 -3.68422125e-03 -3.69608719e+01] [ 6.70297471e-03 9.99970462e-01 -3.76096216e-03 -6.90140898e+01] [ 3.70937418e-03 3.73615655e-03 9.99986141e-01 6.08672571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48907232899995 meters 0.2686872799816662 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99973183e-01 -7.00931293e-03 -2.12218795e-03 -3.69645752e+01] [ 7.00341591e-03 9.99971629e-01 -2.77354061e-03 -6.90179437e+01] [ 2.14156835e-03 2.75860367e-03 9.99993902e-01 6.08665750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519072329 meters 0.22591933633939887 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.87 [[ 9.99975615e-01 -6.88221192e-03 -1.18551191e-03 -3.69664891e+01] [ 6.87966745e-03 9.99974051e-01 -2.13718235e-03 -6.90198240e+01] [ 1.20018968e-03 2.12897430e-03 9.99997014e-01 6.08659394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54907232899996 meters 0.23294249247639354 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.87 [[ 9.99977307e-01 -6.72777670e-03 -3.49886004e-04 -3.69680950e+01] [ 6.72723092e-03 9.99976189e-01 -1.53833401e-03 -6.90214945e+01] [ 3.60227240e-04 1.53594534e-03 9.99998756e-01 6.08651931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579072329 meters 0.2538942711845526 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99972442e-01 -7.30258229e-03 1.33705915e-03 -3.69718100e+01] [ 7.30326989e-03 9.99973201e-01 -5.10098785e-04 -6.90255648e+01] [-1.33329828e-03 5.19849631e-04 9.99998976e-01 6.08638294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60907232899996 meters 0.2436384378777736 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99969553e-01 -7.43309895e-03 2.37533122e-03 -3.69741463e+01] [ 7.43388495e-03 9.99972316e-01 -3.22241913e-04 -6.90264185e+01] [-2.37287020e-03 3.39890040e-04 9.99997127e-01 6.08635365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639072329 meters 0.2543440647412473 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.86 [[ 9.99966660e-01 -7.38965527e-03 3.47447402e-03 -3.69764944e+01] [ 7.38864152e-03 9.99972657e-01 3.04517338e-04 -6.90284154e+01] [-3.47662930e-03 -2.78835542e-04 9.99993918e-01 6.08628955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66907232899996 meters 0.27816264305433325 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.86 [[ 9.99927491e-01 -1.12258969e-02 4.35799064e-03 -3.69780641e+01] [ 1.12371915e-02 9.99933543e-01 -2.57591424e-03 -6.90325119e+01] [-4.32878407e-03 2.62469904e-03 9.99987186e-01 6.08619174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699072329 meters 0.23196864847076046 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.86 [[ 9.99957514e-01 -7.32274727e-03 5.59890507e-03 -3.69811067e+01] [ 7.31358913e-03 9.99971887e-01 1.65443018e-03 -6.90331054e+01] [-5.61086265e-03 -1.61341180e-03 9.99982957e-01 6.08617787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72907232899996 meters 0.264023866598966 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.86 [[ 9.99949937e-01 -7.52619375e-03 6.59388117e-03 -3.69836557e+01] [ 7.51462059e-03 9.99970184e-01 1.77815731e-03 -6.90340405e+01] [-6.60706732e-03 -1.72851778e-03 9.99976679e-01 6.08620165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759072329 meters 0.3141105770499167 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.86 [[ 9.99948062e-01 -7.38830723e-03 7.02036257e-03 -3.69845571e+01] [ 7.37307444e-03 9.99970413e-01 2.19321095e-03 -6.90352829e+01] [-7.03635898e-03 -2.14133538e-03 9.99972952e-01 6.08617277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78907232899996 meters 0.26074444904621846 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99941507e-01 -7.48922663e-03 7.80351468e-03 -3.69863137e+01] [ 7.47115443e-03 9.99969347e-01 2.34248879e-03 -6.90358881e+01] [-7.82081890e-03 -2.28405051e-03 9.99966808e-01 6.08614437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819072329 meters 0.2884807452677534 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99939472e-01 -7.32782230e-03 8.20703914e-03 -3.69866563e+01] [ 7.30491727e-03 9.99969350e-01 2.81740871e-03 -6.90369827e+01] [-8.22743306e-03 -2.75728644e-03 9.99962353e-01 6.08603553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84907232899997 meters 0.2504412914832294 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99940149e-01 -7.33298502e-03 8.11949066e-03 -3.69864312e+01] [ 7.31061331e-03 9.99969408e-01 2.78157025e-03 -6.90368585e+01] [-8.13963948e-03 -2.72204531e-03 9.99963168e-01 6.08603416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879072329 meters 0.21996343708501184 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99936670e-01 -7.43293485e-03 8.45024842e-03 -3.69873087e+01] [ 7.41004203e-03 9.99968799e-01 2.73721848e-03 -6.90368376e+01] [-8.47033033e-03 -2.67442843e-03 9.99960550e-01 6.08603907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90907232899997 meters 0.22532298874012946 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99935591e-01 -7.33830818e-03 8.65809937e-03 -3.69877973e+01] [ 7.31265781e-03 9.99968790e-01 2.99053546e-03 -6.90376456e+01] [-8.67977462e-03 -2.92702912e-03 9.99958046e-01 6.08603230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939072329 meters 0.2681373413075709 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99936154e-01 -7.36247801e-03 8.57214924e-03 -3.69876251e+01] [ 7.33766310e-03 9.99968808e-01 2.92269055e-03 -6.90374667e+01] [-8.59340010e-03 -2.85960441e-03 9.99958987e-01 6.08603663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96907232899997 meters 0.2665156518847309 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99934865e-01 -7.67376322e-03 8.44863691e-03 -3.69873504e+01] [ 7.65420130e-03 9.99967956e-01 2.34529837e-03 -6.90357305e+01] [-8.46636344e-03 -2.28047804e-03 9.99961559e-01 6.08604203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99907232899994 meters 0.25944281864959545 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99936775e-01 -7.74271439e-03 8.15453813e-03 -3.69869102e+01] [ 7.72575644e-03 9.99967932e-01 2.10902455e-03 -6.90351498e+01] [-8.17060620e-03 -2.04589123e-03 9.99964527e-01 6.08608765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.029072329 meters 0.2613720054763904 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.86 [[ 9.99935041e-01 -7.78742377e-03 8.32286828e-03 -3.69873553e+01] [ 7.77021685e-03 9.99967611e-01 2.09776752e-03 -6.90351580e+01] [-8.33893492e-03 -2.03296076e-03 9.99963164e-01 6.08608938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05907232899995 meters 0.26252765360514924 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99939698e-01 -7.76281388e-03 7.76777302e-03 -3.69862282e+01] [ 7.74790529e-03 9.99968088e-01 1.94754394e-03 -6.90347380e+01] [-7.78264356e-03 -1.88724253e-03 9.99967934e-01 6.08612609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.089072329 meters 0.2566733132110375 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99940805e-01 -8.01830318e-03 7.35478371e-03 -3.69855851e+01] [ 8.00904115e-03 9.99967098e-01 1.28791052e-03 -6.90329498e+01] [-7.36486858e-03 -1.22892952e-03 9.99972124e-01 6.08618958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11907232899995 meters 0.23129605324524122 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99938183e-01 -8.19149511e-03 7.51866854e-03 -3.69864139e+01] [ 8.18391873e-03 9.99965973e-01 1.03789047e-03 -6.90325000e+01] [-7.52691457e-03 -9.76294141e-04 9.99971196e-01 6.08625376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.149072329 meters 0.22968784424957808 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99937872e-01 -8.24050732e-03 7.50637605e-03 -3.69865508e+01] [ 8.23362059e-03 9.99965654e-01 9.47892301e-04 -6.90323265e+01] [-7.51392935e-03 -8.86028759e-04 9.99971377e-01 6.08627764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17907232899995 meters 0.26168237887768125 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99939598e-01 -8.26912869e-03 7.24024419e-03 -3.69858755e+01] [ 8.26358507e-03 9.99965540e-01 7.95249015e-04 -6.90317978e+01] [-7.24657070e-03 -7.35370607e-04 9.99973473e-01 6.08627808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.209072329 meters 0.22381422381173216 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99958185e-01 -4.72675429e-03 7.82858505e-03 -3.69878421e+01] [ 4.69482545e-03 9.99980607e-01 4.09186240e-03 -6.90295604e+01] [-7.84777446e-03 -4.05493746e-03 9.99960984e-01 6.08633978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23907232899995 meters 0.2323652130962779 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99961477e-01 -4.65396917e-03 7.44213043e-03 -3.69868592e+01] [ 4.62365545e-03 9.99980966e-01 4.08528852e-03 -6.90294498e+01] [-7.46100158e-03 -4.05072130e-03 9.99963962e-01 6.08633506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.269072329 meters 0.2236037899989311 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99962532e-01 -4.77939188e-03 7.21744888e-03 -3.69865352e+01] [ 4.75223910e-03 9.99981584e-01 3.77457671e-03 -6.90286234e+01] [-7.23535614e-03 -3.74013624e-03 9.99966830e-01 6.08636974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29907232899996 meters 0.2991706562024489 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99962265e-01 -4.88330991e-03 7.18486079e-03 -3.69866926e+01] [ 4.85767870e-03 9.99981791e-01 3.58052787e-03 -6.90281880e+01] [-7.20221479e-03 -3.54549101e-03 9.99967778e-01 6.08640414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.329072329 meters 0.21909133761251506 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99962106e-01 -4.86443037e-03 7.21963522e-03 -3.69867930e+01] [ 4.83830994e-03 9.99981703e-01 3.63103795e-03 -6.90283697e+01] [-7.23716605e-03 -3.59596953e-03 9.99967346e-01 6.08640339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35907232899996 meters 0.30467277456223374 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99964470e-01 -4.85689620e-03 6.88985641e-03 -3.69860281e+01] [ 4.83277472e-03 9.99982150e-01 3.51335231e-03 -6.90279829e+01] [-6.90679741e-03 -3.47993036e-03 9.99970093e-01 6.08640915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.389072329 meters 0.2696445254050677 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99963886e-01 -4.98914063e-03 6.88009386e-03 -3.69858793e+01] [ 4.96668272e-03 9.99982295e-01 3.27741840e-03 -6.90272219e+01] [-6.89632355e-03 -3.24312880e-03 9.99970961e-01 6.08638789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41907232899996 meters 0.2892112040172114 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99964331e-01 -5.04236716e-03 6.77572821e-03 -3.69858966e+01] [ 5.02107444e-03 9.99982415e-01 3.15584304e-03 -6.90270051e+01] [-6.79152198e-03 -3.12170904e-03 9.99972065e-01 6.08642801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.449072329 meters 0.30671242305744334 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.86 [[ 9.99962501e-01 -5.17512632e-03 6.94371730e-03 -3.69866669e+01] [ 5.15449093e-03 9.99982256e-01 2.98642016e-03 -6.90267331e+01] [-6.95904920e-03 -2.95051684e-03 9.99971433e-01 6.08647758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47907232899996 meters 0.26974927772939 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.03, Z:60.87 [[ 9.99964887e-01 -5.24146375e-03 6.53843983e-03 -3.69863628e+01] [ 5.22372109e-03 9.99982636e-01 2.72772370e-03 -6.90263418e+01] [-6.55262356e-03 -2.69347293e-03 9.99974904e-01 6.08658366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.509072329 meters 0.21955823286930412 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.02, Z:60.87 [[ 9.99966535e-01 -5.48031321e-03 6.07421149e-03 -3.69854997e+01] [ 5.46760879e-03 9.99982835e-01 2.10617030e-03 -6.90245735e+01] [-6.08564970e-03 -2.07288841e-03 9.99979334e-01 6.08663064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53907232899996 meters 0.26829439405486494 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.87 [[ 9.99997841e-01 1.74060752e-03 1.13502347e-03 -3.69711275e+01] [-1.74502554e-03 9.99990860e-01 3.90314110e-03 -6.90294003e+01] [-1.12821926e-03 -3.90511332e-03 9.99991739e-01 6.08683685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.569072329 meters 0.26544880755884126 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.87 [[ 9.99998779e-01 1.47278681e-03 5.22350797e-04 -3.69697464e+01] [-1.47443504e-03 9.99993891e-01 3.16916973e-03 -6.90270984e+01] [-5.17680095e-04 -3.16993603e-03 9.99994842e-01 6.08686058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59907232899997 meters 0.26143587099540494 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.87 [[ 9.99998866e-01 1.50313448e-03 9.68538896e-05 -3.69685815e+01] [-1.50342540e-03 9.99994136e-01 3.07701646e-03 -6.90266350e+01] [-9.22281521e-05 -3.07715858e-03 9.99995261e-01 6.08684845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.629072329 meters 0.26143587099540494 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.87 [[ 9.99998866e-01 1.50313448e-03 9.68538896e-05 -3.69685815e+01] [-1.50342540e-03 9.99994136e-01 3.07701646e-03 -6.90266350e+01] [-9.22281521e-05 -3.07715858e-03 9.99995261e-01 6.08684845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65907232899997 meters 0.2804481344847132 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.87 [[ 9.99998339e-01 1.54025063e-03 -9.74042938e-04 -3.69663222e+01] [-1.53784505e-03 9.99995778e-01 2.46562542e-03 -6.90245864e+01] [ 9.77836507e-04 -2.46412340e-03 9.99996486e-01 6.08691690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.689072329 meters 0.27235707140739784 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99996048e-01 1.63916589e-03 -2.28397351e-03 -3.69634855e+01] [-1.63584507e-03 9.99997603e-01 1.45507459e-03 -6.90211761e+01] [ 2.28635315e-03 -1.45133261e-03 9.99996333e-01 6.08702522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71907232899997 meters 0.27080139757289706 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99993606e-01 1.53233199e-03 -3.23117290e-03 -3.69616075e+01] [-1.53026581e-03 9.99998623e-01 6.41827573e-04 -6.90187522e+01] [ 3.23215195e-03 -6.36878916e-04 9.99994574e-01 6.08712299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74907232899994 meters 0.2694004819387659 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99988164e-01 2.01203012e-03 -4.42977080e-03 -3.69579858e+01] [-2.01143366e-03 9.99997967e-01 1.39098897e-04 -6.90157445e+01] [ 4.43004166e-03 -1.30187061e-04 9.99990179e-01 6.08708822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779072329 meters 0.26762473943451126 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99987161e-01 1.76029587e-03 -4.75180825e-03 -3.69571180e+01] [-1.76239760e-03 9.99998351e-01 -4.38149440e-04 -6.90138379e+01] [ 4.75102914e-03 4.46518390e-04 9.99988614e-01 6.08708597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80907232899995 meters 0.2526786554547066 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99987615e-01 1.66134272e-03 -4.69144656e-03 -3.69575440e+01] [-1.66416048e-03 9.99998437e-01 -5.96776080e-04 -6.90135334e+01] [ 4.69044778e-03 6.04576009e-04 9.99988817e-01 6.08712878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839072329 meters 0.2524912657119324 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99985253e-01 1.81561996e-03 -5.11836223e-03 -3.69564775e+01] [-1.81803187e-03 9.99998239e-01 -4.66614450e-04 -6.90137234e+01] [ 5.11750602e-03 4.75912915e-04 9.99986792e-01 6.08713135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86907232899995 meters 0.27046732814293617 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99981776e-01 1.80373136e-03 -5.76151441e-03 -3.69550098e+01] [-1.80834176e-03 9.99998049e-01 -7.95096866e-04 -6.90125480e+01] [ 5.76006902e-03 8.05501163e-04 9.99983086e-01 6.08716404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899072329 meters 0.24161742472181946 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.87 [[ 9.99980343e-01 1.71946477e-03 -6.02961685e-03 -3.69539725e+01] [-1.72591182e-03 9.99997944e-01 -1.06419074e-03 -6.90113320e+01] [ 6.02777462e-03 1.07457641e-03 9.99981255e-01 6.08711996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92907232899995 meters 0.2989715692953554 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.87 [[ 9.99981663e-01 1.88874364e-03 -5.75377698e-03 -3.69545034e+01] [-1.89261013e-03 9.99997987e-01 -6.66621661e-04 -6.90124942e+01] [ 5.75250632e-03 6.77499094e-04 9.99983225e-01 6.08709300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959072329 meters 0.31323013023036234 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.87 [[ 9.99980430e-01 1.78637837e-03 -5.99574553e-03 -3.69538302e+01] [-1.79215652e-03 9.99997935e-01 -9.58473995e-04 -6.90114409e+01] [ 5.99402095e-03 9.69200552e-04 9.99981566e-01 6.08709248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98907232899995 meters 0.29054776725246934 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.87 [[ 9.99982022e-01 1.79932939e-03 -5.71997780e-03 -3.69542808e+01] [-1.80414128e-03 9.99998023e-01 -8.36195189e-04 -6.90116841e+01] [ 5.71846190e-03 8.46499804e-04 9.99983291e-01 6.08705779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019072329 meters 0.26871152426209305 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.87 [[ 9.99986383e-01 -2.55103016e-03 -4.55256596e-03 -3.69564624e+01] [ 2.53113514e-03 9.99987246e-01 -4.37049232e-03 -6.90140127e+01] [ 4.56365715e-03 4.35890965e-03 9.99980086e-01 6.08692765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04907232899996 meters 0.2315226573406292 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99990297e-01 -2.14346261e-03 -3.84847299e-03 -3.69577865e+01] [ 2.13069454e-03 9.99992223e-01 -3.31873758e-03 -6.90170988e+01] [ 3.85555665e-03 3.31050546e-03 9.99987088e-01 6.08684810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079072329 meters 0.4122747171386989 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99992405e-01 -2.26143707e-03 -3.17436958e-03 -3.69593710e+01] [ 2.25100121e-03 9.99992063e-01 -3.28726865e-03 -6.90173895e+01] [ 3.18177834e-03 3.28009817e-03 9.99989559e-01 6.08683528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10907232899996 meters 0.26629776977741815 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99992640e-01 -2.24090410e-03 -3.11419723e-03 -3.69596159e+01] [ 2.23084093e-03 9.99992292e-01 -3.23111113e-03 -6.90176030e+01] [ 3.12141384e-03 3.22414007e-03 9.99989931e-01 6.08685079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139072329 meters 0.27907461419521273 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99991872e-01 -2.06279938e-03 -3.46417926e-03 -3.69587455e+01] [ 2.05223449e-03 9.99993241e-01 -3.05054338e-03 -6.90179878e+01] [ 3.47044851e-03 3.04340928e-03 9.99989347e-01 6.08685648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16907232899996 meters 0.2707103545808932 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99990286e-01 -1.35893369e-03 -4.19290549e-03 -3.69560119e+01] [ 1.34935080e-03 9.99996473e-01 -2.28748428e-03 -6.90186856e+01] [ 4.19599924e-03 2.28180436e-03 9.99988593e-01 6.08673546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199072329 meters 0.3932496621169876 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99993256e-01 -1.42537794e-03 -3.38464515e-03 -3.69577676e+01] [ 1.41844609e-03 9.99996894e-01 -2.04954670e-03 -6.90195827e+01] [ 3.38755601e-03 2.04473194e-03 9.99992172e-01 6.08669570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22907232899996 meters 0.26446214382819805 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99994794e-01 -1.24307824e-03 -2.97753838e-03 -3.69585759e+01] [ 1.23834239e-03 9.99997966e-01 -1.59184238e-03 -6.90209306e+01] [ 2.97951111e-03 1.58814688e-03 9.99994300e-01 6.08666136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259072329 meters 0.38251538842268584 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99996000e-01 -1.06533608e-03 -2.61993480e-03 -3.69593108e+01] [ 1.06229688e-03 9.99998762e-01 -1.16114919e-03 -6.90222554e+01] [ 2.62116857e-03 1.15836140e-03 9.99995894e-01 6.08663196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28907232899996 meters 0.25403635119933465 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99996261e-01 -1.22470257e-03 -2.44517805e-03 -3.69598539e+01] [ 1.22134489e-03 9.99998310e-01 -1.37420754e-03 -6.90216877e+01] [ 2.44685692e-03 1.37121600e-03 9.99996066e-01 6.08664832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319072329 meters 0.3688202301941809 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99995135e-01 -1.14004084e-03 -2.90335172e-03 -3.69586812e+01] [ 1.13593083e-03 9.99998351e-01 -1.41686321e-03 -6.90213238e+01] [ 2.90496222e-03 1.41355831e-03 9.99994782e-01 6.08665006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34907232899997 meters 0.24803670363506172 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99994385e-01 -1.25695744e-03 -3.10656365e-03 -3.69582251e+01] [ 1.25168324e-03 9.99997773e-01 -1.69912171e-03 -6.90204297e+01] [ 3.10869245e-03 1.69522373e-03 9.99993731e-01 6.08666327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379072329 meters 0.35410388384066366 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99993541e-01 -1.29921527e-03 -3.35124376e-03 -3.69576727e+01] [ 1.29295070e-03 9.99997414e-01 -1.87081783e-03 -6.90198696e+01] [ 3.35366568e-03 1.86647276e-03 9.99992635e-01 6.08667795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40907232899997 meters 0.2316216199144643 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99993585e-01 -1.31125429e-03 -3.33323144e-03 -3.69576543e+01] [ 1.30497345e-03 9.99997370e-01 -1.88578556e-03 -6.90197709e+01] [ 3.33569542e-03 1.88142368e-03 9.99992667e-01 6.08667065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439072329 meters 0.3483920428415346 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.87 [[ 9.99995827e-01 -1.07827152e-03 -2.68019020e-03 -3.69586197e+01] [ 1.07509056e-03 9.99998716e-01 -1.18799868e-03 -6.90215505e+01] [ 2.68146774e-03 1.18511228e-03 9.99995703e-01 6.08656320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46907232899997 meters 0.3413355016596567 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99996365e-01 -8.84160779e-04 -2.54700763e-03 -3.69584869e+01] [ 8.82092497e-04 9.99999280e-01 -8.13052594e-04 -6.90224238e+01] [ 2.54772466e-03 8.10802943e-04 9.99996426e-01 6.08649575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49907232899994 meters 0.33305110582578007 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99997511e-01 -7.56842510e-04 -2.09872310e-03 -3.69591743e+01] [ 7.55953231e-04 9.99999624e-01 -4.24484712e-04 -6.90233961e+01] [ 2.09904358e-03 4.22897119e-04 9.99997708e-01 6.08642850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.529072329 meters 0.3234582806181774 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99998419e-01 -5.58544997e-04 -1.68792455e-03 -3.69599036e+01] [ 5.58673097e-04 9.99999841e-01 7.54212620e-05 -6.90248024e+01] [ 1.68788216e-03 -7.63641408e-05 9.99998573e-01 6.08638042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55907232899995 meters 0.3194433786836488 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99999170e-01 -7.29055755e-04 -1.06222267e-03 -3.69613157e+01] [ 7.29048206e-04 9.99999734e-01 -7.49343342e-06 -6.90246114e+01] [ 1.06222785e-03 6.71901567e-06 9.99999436e-01 6.08636357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.589072329 meters 0.3107513901125647 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99988700e-01 -4.61782990e-03 -1.12935658e-03 -3.69609219e+01] [ 4.61374935e-03 9.99982914e-01 -3.58946694e-03 -6.90266663e+01] [ 1.14591284e-03 3.58421582e-03 9.99992920e-01 6.08633554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61907232899995 meters 0.2740676728425022 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99989552e-01 -4.48746305e-03 -8.70825857e-04 -3.69613864e+01] [ 4.48460269e-03 9.99984633e-01 -3.25926291e-03 -6.90275980e+01] [ 8.85438297e-04 3.25532355e-03 9.99994309e-01 6.08630544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.649072329 meters 0.25666815759074557 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99989076e-01 -4.66011639e-03 -3.60894371e-04 -3.69624989e+01] [ 4.65886449e-03 9.99983383e-01 -3.39532302e-03 -6.90271958e+01] [ 3.76710975e-04 3.39360458e-03 9.99994171e-01 6.08628457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67907232899995 meters 0.24364675097851224 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99989169e-01 -4.64921670e-03 2.16883906e-04 -3.69637327e+01] [ 4.64987787e-03 9.99984213e-01 -3.15466384e-03 -6.90279666e+01] [-2.02213766e-04 3.15563816e-03 9.99995001e-01 6.08625053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.709072329 meters 0.2575991297301042 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99988879e-01 -4.69568348e-03 4.38812914e-04 -3.69640498e+01] [ 4.69704793e-03 9.99983970e-01 -3.16190529e-03 -6.90278198e+01] [-4.23958573e-04 3.16393126e-03 9.99994905e-01 6.08621572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73907232899995 meters 0.279799651470324 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99989271e-01 -4.59798526e-03 5.63078305e-04 -3.69639470e+01] [ 4.59962820e-03 9.99985064e-01 -2.95210678e-03 -6.90282005e+01] [-5.49496152e-04 2.95466506e-03 9.99995484e-01 6.08615571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.769072329 meters 0.26668199922722063 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99988688e-01 -4.57247150e-03 1.30986890e-03 -3.69653371e+01] [ 4.57585778e-03 9.99986166e-01 -2.59398024e-03 -6.90291442e+01] [-1.29798988e-03 2.59994468e-03 9.99995778e-01 6.08608184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79907232899996 meters 0.26153213899910277 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99988703e-01 -4.49824857e-03 1.53581329e-03 -3.69656788e+01] [ 4.50189952e-03 9.99987029e-01 -2.38208784e-03 -6.90296642e+01] [-1.52507815e-03 2.38897501e-03 9.99995983e-01 6.08604921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.829072329 meters 0.26379679841057385 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99987637e-01 -4.53162414e-03 2.04702156e-03 -3.69668362e+01] [ 4.53625473e-03 9.99987150e-01 -2.26316033e-03 -6.90300534e+01] [-2.03673947e-03 2.27241816e-03 9.99995344e-01 6.08603439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85907232899996 meters 0.2508221164562221 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99986684e-01 -4.44028311e-03 2.62969418e-03 -3.69678944e+01] [ 4.44521539e-03 9.99988366e-01 -1.87274621e-03 -6.90311143e+01] [-2.62134806e-03 1.88441083e-03 9.99994789e-01 6.08596924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.889072329 meters 0.24267787914766775 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99987102e-01 -4.49571858e-03 2.36323583e-03 -3.69670496e+01] [ 4.50068084e-03 9.99987670e-01 -2.09866782e-03 -6.90302276e+01] [-2.35377167e-03 2.10927692e-03 9.99995005e-01 6.08594715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91907232899996 meters 0.27209108465871934 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99989999e-01 -4.20959268e-03 1.51055466e-03 -3.69647133e+01] [ 4.21259423e-03 9.99989148e-01 -1.98940013e-03 -6.90298744e+01] [-1.50216370e-03 1.99574359e-03 9.99996880e-01 6.08591978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.949072329 meters 0.2377106148324956 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99990230e-01 -4.25091551e-03 1.21239641e-03 -3.69641471e+01] [ 4.25354835e-03 9.99988583e-01 -2.17735036e-03 -6.90293374e+01] [-1.20312683e-03 2.18248607e-03 9.99996895e-01 6.08595193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97907232899996 meters 0.227196476882581 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99989755e-01 -4.40584791e-03 1.03842060e-03 -3.69638634e+01] [ 4.40845451e-03 9.99987104e-01 -2.52137405e-03 -6.90283292e+01] [-1.02729841e-03 2.52592605e-03 9.99996282e-01 6.08597838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.009072329 meters 0.2267592176361781 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.86 [[ 9.99989363e-01 -4.34951737e-03 1.53507466e-03 -3.69647615e+01] [ 4.35297786e-03 9.99987976e-01 -2.25818552e-03 -6.90289936e+01] [-1.52523418e-03 2.26484365e-03 9.99996272e-01 6.08592631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03907232899996 meters 0.22470492693807526 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99988872e-01 -4.19856235e-03 2.15111176e-03 -3.69658762e+01] [ 4.20235375e-03 9.99989619e-01 -1.76105352e-03 -6.90303529e+01] [-2.14369554e-03 1.77007366e-03 9.99996136e-01 6.08585905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.069072329 meters 0.26050000941482604 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99989111e-01 -3.95545761e-03 2.47641571e-03 -3.69664052e+01] [ 3.95847985e-03 9.99991425e-01 -1.21669899e-03 -6.90318879e+01] [-2.47158187e-03 1.22648858e-03 9.99996193e-01 6.08581455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09907232899997 meters 0.21826383720062986 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99987793e-01 -4.02960600e-03 2.85932506e-03 -3.69672708e+01] [ 4.03309127e-03 9.99991130e-01 -1.21419497e-03 -6.90318967e+01] [-2.85440697e-03 1.22571207e-03 9.99995175e-01 6.08580096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.129072329 meters 0.2567776723130188 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99986263e-01 -3.99079890e-03 3.39799945e-03 -3.69682593e+01] [ 3.99403460e-03 9.99991576e-01 -9.45985402e-04 -6.90325803e+01] [-3.39419559e-03 9.59544135e-04 9.99993779e-01 6.08574667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15907232899997 meters 0.2996337287759366 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99982181e-01 -4.10687046e-03 4.33254003e-03 -3.69701596e+01] [ 4.11072392e-03 9.99991163e-01 -8.80894442e-04 -6.90328739e+01] [-4.32888402e-03 8.98688621e-04 9.99990227e-01 6.08568697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.189072329 meters 0.2187820738795899 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.86 [[ 9.99981467e-01 -3.70074217e-03 4.83423572e-03 -3.69710386e+01] [ 3.70064388e-03 9.99993152e-01 2.92762467e-05 -6.90355081e+01] [-4.83431096e-03 -1.13859193e-05 9.99988315e-01 6.08562463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21907232899997 meters 0.2426711059729436 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99978854e-01 -3.92621491e-03 5.18433039e-03 -3.69716997e+01] [ 3.92762438e-03 9.99992253e-01 -2.61718759e-04 -6.90345791e+01] [-5.18326266e-03 2.82075327e-04 9.99986527e-01 6.08559549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24907232899994 meters 0.2813955516290567 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99979217e-01 -3.96379343e-03 5.08464060e-03 -3.69714519e+01] [ 3.96571958e-03 9.99992068e-01 -3.68791264e-04 -6.90342023e+01] [-5.08313846e-03 3.88947859e-04 9.99987005e-01 6.08559994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279072329 meters 0.3059507546256109 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99979486e-01 -4.15875786e-03 4.87167900e-03 -3.69711260e+01] [ 4.16275526e-03 9.99991007e-01 -8.10686357e-04 -6.90329151e+01] [-4.86826374e-03 8.30949334e-04 9.99987805e-01 6.08563721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30907232899995 meters 0.27127680644544233 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99979402e-01 -4.22425622e-03 4.83221551e-03 -3.69710541e+01] [ 4.22885650e-03 9.99990614e-01 -9.42180762e-04 -6.90325114e+01] [-4.82819014e-03 9.62596102e-04 9.99987881e-01 6.08564244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339072329 meters 0.26064543095551707 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99979203e-01 -4.19384786e-03 4.89951624e-03 -3.69711505e+01] [ 4.19815958e-03 9.99990809e-01 -8.70076914e-04 -6.90326796e+01] [-4.89582224e-03 8.90627770e-04 9.99987619e-01 6.08563334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36907232899995 meters 0.242040561099249 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99976490e-01 -4.08174461e-03 5.50984133e-03 -3.69722392e+01] [ 4.08428010e-03 9.99991558e-01 -4.49000047e-04 -6.90338065e+01] [-5.50796212e-03 4.71493226e-04 9.99984720e-01 6.08556464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399072329 meters 0.25380640911776386 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99975530e-01 -3.95715362e-03 5.76889808e-03 -3.69726423e+01] [ 3.95802440e-03 9.99992157e-01 -1.39535177e-04 -6.90346471e+01] [-5.76830067e-03 1.62365202e-04 9.99983350e-01 6.08552694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42907232899995 meters 0.2707800910085597 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99975393e-01 -3.68372066e-03 5.97030085e-03 -3.69729460e+01] [ 3.68133727e-03 9.99993140e-01 4.10148843e-04 -6.90362457e+01] [-5.97177077e-03 -3.88160060e-04 9.99982093e-01 6.08549492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459072329 meters 0.2568183070209576 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99975576e-01 -3.69395998e-03 5.93309542e-03 -3.69725869e+01] [ 3.69177388e-03 9.99993113e-01 3.79368233e-04 -6.90359619e+01] [-5.93445593e-03 -3.57455321e-04 9.99982327e-01 6.08545636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48907232899995 meters 0.21515126879733554 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99977115e-01 -3.69511046e-03 5.66714093e-03 -3.69719924e+01] [ 3.69359310e-03 9.99993140e-01 2.78189449e-04 -6.90356506e+01] [-5.66813000e-03 -2.57250970e-04 9.99983903e-01 6.08546878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519072329 meters 0.21515126879733554 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99977115e-01 -3.69511046e-03 5.66714093e-03 -3.69719924e+01] [ 3.69359310e-03 9.99993140e-01 2.78189449e-04 -6.90356506e+01] [-5.66813000e-03 -2.57250970e-04 9.99983903e-01 6.08546878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54907232899996 meters 0.23785389677940139 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99976002e-01 -3.72390737e-03 5.84192556e-03 -3.69723741e+01] [ 3.72228633e-03 9.99993031e-01 2.88333194e-04 -6.90356673e+01] [-5.84295857e-03 -2.66580955e-04 9.99982894e-01 6.08545989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579072329 meters 0.26536317018753314 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99974153e-01 -3.76171877e-03 6.12728180e-03 -3.69730472e+01] [ 3.75979932e-03 9.99992879e-01 3.24751046e-04 -6.90357937e+01] [-6.12845979e-03 -3.01705302e-04 9.99981175e-01 6.08545364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60907232899996 meters 0.2603644905256273 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99973515e-01 -3.73632501e-03 6.24578494e-03 -3.69732491e+01] [ 3.73384978e-03 9.99992946e-01 4.07916812e-04 -6.90360050e+01] [-6.24726499e-03 -3.84585185e-04 9.99980412e-01 6.08543935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639072329 meters 0.2490835037679508 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99972077e-01 -3.72054257e-03 6.48088137e-03 -3.69738088e+01] [ 3.71721717e-03 9.99992953e-01 5.25078537e-04 -6.90363857e+01] [-6.48278928e-03 -5.00973032e-04 9.99978861e-01 6.08543307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66907232899996 meters 0.26630178082970035 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99970802e-01 -3.80529376e-03 6.62682711e-03 -3.69744635e+01] [ 3.80257251e-03 9.99992681e-01 4.23193643e-04 -6.90363054e+01] [-6.62838898e-03 -3.97982296e-04 9.99977953e-01 6.08547521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699072329 meters 0.25549786612477104 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99966940e-01 -3.92572203e-03 7.12096169e-03 -3.69756518e+01] [ 3.92316827e-03 9.99992235e-01 3.72558577e-04 -6.90362100e+01] [-7.12236895e-03 -3.44609530e-04 9.99974576e-01 6.08547038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72907232899996 meters 0.2617613257514278 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99959517e-01 -4.02809127e-03 8.04610625e-03 -3.69777755e+01] [ 4.02282540e-03 9.99991684e-01 6.70539312e-04 -6.90373985e+01] [-8.04874033e-03 -6.38144085e-04 9.99967405e-01 6.08543429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759072329 meters 0.2581341430283973 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99955636e-01 -4.05964185e-03 8.49972100e-03 -3.69786285e+01] [ 4.05301097e-03 9.99991469e-01 7.97209466e-04 -6.90377104e+01] [-8.50288488e-03 -7.62724636e-04 9.99963559e-01 6.08538680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78907232899996 meters 0.26632764165562967 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99956009e-01 -4.01776349e-03 8.47568674e-03 -3.69784468e+01] [ 4.01053780e-03 9.99991580e-01 8.69343553e-04 -6.90378668e+01] [-8.47910819e-03 -8.35313247e-04 9.99963703e-01 6.08536729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819072329 meters 0.2582551634556023 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99954698e-01 -4.01449905e-03 8.63046005e-03 -3.69787241e+01] [ 4.00660038e-03 9.99991539e-01 9.32302940e-04 -6.90380278e+01] [-8.63412975e-03 -8.97681900e-04 9.99962322e-01 6.08534790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84907232899997 meters 0.2532579965763988 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99952593e-01 -3.97074307e-03 8.89074716e-03 -3.69796161e+01] [ 3.96104240e-03 9.99991541e-01 1.10844016e-03 -6.90387772e+01] [-8.89507328e-03 -1.07317099e-03 9.99959862e-01 6.08538063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879072329 meters 0.25579128177049154 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99955521e-01 -4.01267843e-03 8.53547845e-03 -3.69789215e+01] [ 4.00533660e-03 9.99991594e-01 8.77075254e-04 -6.90381256e+01] [-8.53892612e-03 -8.42848779e-04 9.99963187e-01 6.08541169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90907232899997 meters 0.2479256676031524 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99957794e-01 -4.26018445e-03 8.14014243e-03 -3.69779554e+01] [ 4.25794170e-03 9.99990892e-01 2.92828626e-04 -6.90362938e+01] [-8.14131579e-03 -2.58156015e-04 9.99966826e-01 6.08541621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939072329 meters 0.24401898181331813 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99960710e-01 -4.21392463e-03 7.79882393e-03 -3.69770090e+01] [ 4.21212528e-03 9.99991098e-01 2.47132318e-04 -6.90360322e+01] [-7.79979591e-03 -2.14272985e-04 9.99969558e-01 6.08540344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96907232899997 meters 0.28185449040248356 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99963126e-01 -4.22610252e-03 7.47571442e-03 -3.69761584e+01] [ 4.22550037e-03 9.99991068e-01 9.63407411e-05 -6.90354630e+01] [-7.47605479e-03 -6.47485546e-05 9.99972052e-01 6.08539970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99907232899994 meters 0.260765687013194 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.85 [[ 9.99963114e-01 -4.39155185e-03 7.38139701e-03 -3.69759740e+01] [ 4.39337041e-03 9.99990323e-01 -2.30174616e-04 -6.90344708e+01] [-7.38031476e-03 2.62595337e-04 9.99972731e-01 6.08540849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.029072329 meters 0.23761668297014693 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.85 [[ 9.99961765e-01 -4.54812039e-03 7.46886872e-03 -3.69764669e+01] [ 4.55183838e-03 9.99989525e-01 -4.80874948e-04 -6.90338521e+01] [-7.46660340e-03 5.14853645e-04 9.99971992e-01 6.08545117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05907232899995 meters 0.2578231877441751 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.85 [[ 9.99963348e-01 -4.50496840e-03 7.28066740e-03 -3.69761448e+01] [ 4.50850074e-03 9.99989727e-01 -4.68827350e-04 -6.90339328e+01] [-7.27848056e-03 5.01635061e-04 9.99973386e-01 6.08547612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.089072329 meters 0.2590343340628083 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.85 [[ 9.99964375e-01 -4.56232978e-03 7.10170058e-03 -3.69755315e+01] [ 4.56706643e-03 9.99989359e-01 -6.50900214e-04 -6.90332288e+01] [-7.09865539e-03 6.83310964e-04 9.99974571e-01 6.08545333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11907232899995 meters 0.25114881010053725 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99968586e-01 -4.27460190e-03 6.67494092e-03 -3.69741927e+01] [ 4.27657262e-03 9.99990816e-01 -2.80997091e-04 -6.90340305e+01] [-6.67367847e-03 3.09534134e-04 9.99977683e-01 6.08541167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.149072329 meters 0.26634180006128766 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99980376e-01 -3.73373050e-04 6.25362480e-03 -3.69733651e+01] [ 3.53854621e-04 9.99995064e-01 3.12195415e-03 -6.90312632e+01] [-6.25475958e-03 -3.11968001e-03 9.99975572e-01 6.08544809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17907232899995 meters 0.2415890060813145 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99982556e-01 -5.42353040e-04 5.88161541e-03 -3.69727425e+01] [ 5.26594162e-04 9.99996269e-01 2.68056292e-03 -6.90300533e+01] [-5.88304728e-03 -2.67741894e-03 9.99979110e-01 6.08549574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.209072329 meters 0.2760962835467513 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99983226e-01 -7.05742948e-04 5.74888933e-03 -3.69725929e+01] [ 6.92282977e-04 9.99997016e-01 2.34297024e-03 -6.90291003e+01] [-5.75052570e-03 -2.33895108e-03 9.99980730e-01 6.08552430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23907232899995 meters 0.28292942118715214 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99985012e-01 -8.11989835e-04 5.41444053e-03 -3.69720078e+01] [ 8.00980763e-04 9.99997608e-01 2.03513819e-03 -6.90282674e+01] [-5.41608009e-03 -2.03077082e-03 9.99983271e-01 6.08556303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.269072329 meters 0.28345743166032233 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99987818e-01 -9.60350286e-04 4.84174983e-03 -3.69709193e+01] [ 9.53019650e-04 9.99998397e-01 1.51612686e-03 -6.90268258e+01] [-4.84319808e-03 -1.51149411e-03 9.99987129e-01 6.08561989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29907232899996 meters 0.27585023720784085 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.86 [[ 9.99987920e-01 -1.18300427e-03 4.77081548e-03 -3.69709448e+01] [ 1.17780116e-03 9.99998709e-01 1.09327345e-03 -6.90256409e+01] [-4.77210267e-03 -1.08764117e-03 9.99988022e-01 6.08565154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.329072329 meters 0.23595588478427273 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.86 [[ 9.99992505e-01 -1.25703439e-03 3.66195806e-03 -3.69683581e+01] [ 1.25576052e-03 9.99999150e-01 3.50144604e-04 -6.90230462e+01] [-3.66239510e-03 -3.45543438e-04 9.99993234e-01 6.08569677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35907232899996 meters 0.3163180810677362 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.86 [[ 9.99996192e-01 -1.03094004e-03 2.55996997e-03 -3.69657033e+01] [ 1.03040065e-03 9.99999447e-01 2.12010216e-04 -6.90219837e+01] [-2.56018713e-03 -2.09371613e-04 9.99996701e-01 6.08571537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.389072329 meters 0.30918225249373865 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99997196e-01 -1.17895190e-03 2.05362355e-03 -3.69646005e+01] [ 1.17954757e-03 9.99999263e-01 -2.88868052e-04 -6.90204101e+01] [-2.05328148e-03 2.91289589e-04 9.99997850e-01 6.08575237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41907232899996 meters 0.2562550369282629 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99999656e-01 -4.70208471e-04 6.82971054e-04 -3.69609480e+01] [ 4.70327025e-04 9.99999874e-01 -1.73435858e-04 -6.90192562e+01] [-6.82889417e-04 1.73757018e-04 9.99999752e-01 6.08573967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.449072329 meters 0.24882265008164567 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99999793e-01 -5.07376531e-04 3.95137664e-04 -3.69603202e+01] [ 5.07516529e-04 9.99999808e-01 -3.54281527e-04 -6.90187012e+01] [-3.94957834e-04 3.54481993e-04 9.99999859e-01 6.08575719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47907232899996 meters 0.23787079723496615 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99999808e-01 -5.52426225e-04 2.80537096e-04 -3.69601253e+01] [ 5.52562533e-04 9.99999729e-01 -4.86034798e-04 -6.90183216e+01] [-2.80268521e-04 4.86189719e-04 9.99999843e-01 6.08577392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.509072329 meters 0.24574748766326537 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99989374e-01 -4.60543871e-03 -2.04889117e-04 -3.69585979e+01] [ 4.60446395e-03 9.99979149e-01 -4.52765335e-03 -6.90187449e+01] [ 2.25736675e-04 4.52666184e-03 9.99989729e-01 6.08573702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53907232899996 meters 0.23479146271755563 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99999724e-01 -4.10737342e-04 6.19107139e-04 -3.69604084e+01] [ 4.10879348e-04 9.99999889e-01 -2.29262851e-04 -6.90189083e+01] [-6.19012903e-04 2.29517166e-04 9.99999782e-01 6.08570057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.569072329 meters 0.2406823420927859 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99999623e-01 -3.34005705e-04 8.01201844e-04 -3.69607577e+01] [ 3.34029765e-04 9.99999944e-01 -2.98959692e-05 -6.90194774e+01] [-8.01191813e-04 3.01635832e-05 9.99999679e-01 6.08568383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59907232899997 meters 0.25971011001076594 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99998956e-01 -3.31381911e-04 1.40682746e-03 -3.69618668e+01] [ 3.31138020e-04 9.99999930e-01 1.73591855e-04 -6.90199962e+01] [-1.40688489e-03 -1.73125820e-04 9.99998995e-01 6.08562427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.629072329 meters 0.23914854316366302 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99998779e-01 -2.97205296e-04 1.53405776e-03 -3.69620411e+01] [ 2.96791316e-04 9.99999919e-01 2.70080095e-04 -6.90202185e+01] [-1.53413790e-03 -2.69624471e-04 9.99998787e-01 6.08560331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65907232899997 meters 0.2454206596963766 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99997945e-01 -1.88587456e-04 2.01870033e-03 -3.69629634e+01] [ 1.87323456e-04 9.99999786e-01 6.26316181e-04 -6.90212156e+01] [-2.01881801e-03 -6.25936744e-04 9.99997766e-01 6.08555951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.689072329 meters 0.3418691127609432 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.86 [[ 9.99996898e-01 3.94898410e-05 2.49052487e-03 -3.69638828e+01] [-4.25158192e-05 9.99999261e-01 1.21495493e-03 -6.90229435e+01] [-2.49047505e-03 -1.21505705e-03 9.99996161e-01 6.08551534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71907232899997 meters 0.24372267396943728 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99996015e-01 1.98345176e-04 2.81616525e-03 -3.69643167e+01] [-2.02862605e-04 9.99998693e-01 1.60391161e-03 -6.90239457e+01] [-2.81584345e-03 -1.60447651e-03 9.99994748e-01 6.08545707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74907232899994 meters 0.2693138365929627 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99995610e-01 4.86828676e-04 2.92286814e-03 -3.69643729e+01] [-4.93107497e-04 9.99997572e-01 2.14783496e-03 -6.90255079e+01] [-2.92181541e-03 -2.14926682e-03 9.99993422e-01 6.08542359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779072329 meters 0.24240489017828093 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99995339e-01 2.28914933e-04 3.04453509e-03 -3.69649110e+01] [-2.34187155e-04 9.99998474e-01 1.73145646e-03 -6.90243808e+01] [-3.04413409e-03 -1.73216138e-03 9.99993866e-01 6.08546278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80907232899995 meters 0.24254690250345387 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99994246e-01 3.22138433e-04 3.37715093e-03 -3.69657553e+01] [-3.28992713e-04 9.99997887e-01 2.02924544e-03 -6.90253425e+01] [-3.37649009e-03 -2.03034482e-03 9.99992238e-01 6.08546435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839072329 meters 0.2542612815474824 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99985074e-01 -3.59797616e-03 4.11172157e-03 -3.69669397e+01] [ 3.60318512e-03 9.99992715e-01 -1.26015282e-03 -6.90282244e+01] [-4.10715761e-03 1.27494930e-03 9.99990753e-01 6.08536488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86907232899995 meters 0.2647488377515015 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99982877e-01 -3.61817070e-03 4.59936634e-03 -3.69679337e+01] [ 3.62344730e-03 9.99992786e-01 -1.13942863e-03 -6.90285410e+01] [-4.59521052e-03 1.15607468e-03 9.99988774e-01 6.08533044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899072329 meters 0.25863942213308777 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99980096e-01 -3.56955154e-03 5.20251343e-03 -3.69692053e+01] [ 3.57374824e-03 9.99993296e-01 -7.97594360e-04 -6.90295656e+01] [-5.19963150e-03 8.16170958e-04 9.99986149e-01 6.08529472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92907232899995 meters 0.28740773838055317 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99976742e-01 -3.55168996e-03 5.82240971e-03 -3.69706480e+01] [ 3.55496740e-03 9.99993528e-01 -5.52648229e-04 -6.90304251e+01] [-5.82040920e-03 5.73333852e-04 9.99982897e-01 6.08528117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959072329 meters 0.2681832824757117 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99978991e-01 -3.44669134e-03 5.48987097e-03 -3.69697576e+01] [ 3.44943708e-03 9.99993930e-01 -4.90757912e-04 -6.90304770e+01] [-5.48814616e-03 5.09684566e-04 9.99984810e-01 6.08527505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98907232899995 meters 0.2858138207977057 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99979129e-01 -3.57697668e-03 5.38016408e-03 -3.69693300e+01] [ 3.58120039e-03 9.99993287e-01 -7.75622423e-04 -6.90294635e+01] [-5.37735358e-03 7.94873680e-04 9.99985226e-01 6.08525696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019072329 meters 0.2707531597249678 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99981035e-01 -3.31945879e-03 5.18761603e-03 -3.69683526e+01] [ 3.32157867e-03 9.99994404e-01 -4.00080395e-04 -6.90301389e+01] [-5.18625895e-03 4.17303882e-04 9.99986464e-01 6.08518478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04907232899996 meters 0.24455452836983205 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99980934e-01 -3.19704654e-03 5.28296673e-03 -3.69682761e+01] [ 3.19788137e-03 9.99994876e-01 -1.49582291e-04 -6.90307179e+01] [-5.28246144e-03 1.66473740e-04 9.99986034e-01 6.08513815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079072329 meters 0.25406820832701366 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99979634e-01 -3.15964890e-03 5.54513024e-03 -3.69687227e+01] [ 3.15965482e-03 9.99995008e-01 7.69376974e-06 -6.90311091e+01] [-5.54512687e-03 9.82708443e-06 9.99984626e-01 6.08510616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10907232899996 meters 0.25743281186115496 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99979287e-01 -3.13967841e-03 5.61861750e-03 -3.69690782e+01] [ 3.13934278e-03 9.99995070e-01 6.85531753e-05 -6.90314034e+01] [-5.61880504e-03 -5.09129890e-05 9.99984213e-01 6.08513326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139072329 meters 0.2556331177442168 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99979015e-01 -3.19382023e-03 5.63645059e-03 -3.69690147e+01] [ 3.19400304e-03 9.99994899e-01 -2.34325982e-05 -6.90310557e+01] [-5.63634700e-03 4.14349468e-05 9.99984115e-01 6.08511724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16907232899996 meters 0.31377407121699763 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99976382e-01 -3.25480707e-03 6.05317722e-03 -3.69701254e+01] [ 3.25469189e-03 9.99994703e-01 2.88791652e-05 -6.90313555e+01] [-6.05323916e-03 -9.17725638e-06 9.99981679e-01 6.08512693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199072329 meters 0.2315317860631304 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99974463e-01 -3.25012995e-03 6.36477509e-03 -3.69709196e+01] [ 3.24926825e-03 9.99994710e-01 1.45722516e-04 -6.90317700e+01] [-6.36521504e-03 -1.25037933e-04 9.99979734e-01 6.08512976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22907232899996 meters 0.24520762625986567 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99971933e-01 -3.41727025e-03 6.66749506e-03 -3.69718301e+01] [ 3.41764486e-03 9.99994159e-01 -4.47918433e-05 -6.90313319e+01] [-6.66730305e-03 6.75777164e-05 9.99977771e-01 6.08515114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259072329 meters 0.30272812199703897 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99973014e-01 -3.30926038e-03 6.55897486e-03 -3.69716160e+01] [ 3.30863365e-03 9.99994521e-01 1.06401132e-04 -6.90317999e+01] [-6.55929103e-03 -8.46970161e-05 9.99978484e-01 6.08516233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28907232899996 meters 0.23094760289839475 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99977209e-01 -3.27642011e-03 5.90310957e-03 -3.69700095e+01] [ 3.27713663e-03 9.99994624e-01 -1.11711255e-04 -6.90308927e+01] [-5.90271182e-03 1.31054006e-04 9.99982570e-01 6.08517485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319072329 meters 0.22819448240770684 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99980665e-01 -3.31368536e-03 5.26200527e-03 -3.69683689e+01] [ 3.31634676e-03 9.99994377e-01 -4.97131809e-04 -6.90294201e+01] [-5.26032834e-03 5.14572831e-04 9.99986032e-01 6.08517550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34907232899997 meters 0.3106197473091417 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99985652e-01 -3.00199780e-03 4.43659322e-03 -3.69659973e+01] [ 3.00334504e-03 9.99995446e-01 -2.97036131e-04 -6.90292786e+01] [-4.43568131e-03 3.10356489e-04 9.99990114e-01 6.08512975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379072329 meters 0.311100510916384 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99991631e-01 -2.42328287e-03 3.29617203e-03 -3.69627020e+01] [ 2.42416325e-03 9.99997027e-01 -2.63124413e-04 -6.90280250e+01] [-3.29552461e-03 2.71112670e-04 9.99994533e-01 6.08508142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40907232899997 meters 0.26238523665447155 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99992591e-01 -2.34816663e-03 3.05036660e-03 -3.69620626e+01] [ 2.34888303e-03 9.99997215e-01 -2.31293891e-04 -6.90280202e+01] [-3.04981499e-03 2.38457132e-04 9.99995321e-01 6.08508357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439072329 meters 0.26238523665447155 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99992591e-01 -2.34816663e-03 3.05036660e-03 -3.69620626e+01] [ 2.34888303e-03 9.99997215e-01 -2.31293891e-04 -6.90280202e+01] [-3.04981499e-03 2.38457132e-04 9.99995321e-01 6.08508357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46907232899997 meters 0.2641490449324464 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99993416e-01 -2.40363647e-03 2.71841805e-03 -3.69614077e+01] [ 2.40501256e-03 9.99996981e-01 -5.03054795e-04 -6.90272161e+01] [-2.71720068e-03 5.09589313e-04 9.99996179e-01 6.08511799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49907232899994 meters 0.23603727999654847 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99994005e-01 -2.34123643e-03 2.55101823e-03 -3.69610981e+01] [ 2.34239153e-03 9.99997155e-01 -4.49908083e-04 -6.90273981e+01] [-2.54995763e-03 4.55880869e-04 9.99996645e-01 6.08513643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.529072329 meters 0.33042019488543073 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99995040e-01 -2.45623223e-03 1.97133127e-03 -3.69600181e+01] [ 2.45820198e-03 9.99996481e-01 -9.97394736e-04 -6.90258060e+01] [-1.96887450e-03 1.00223572e-03 9.99997560e-01 6.08521032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55907232899995 meters 0.27563052710763797 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99994935e-01 -2.65194020e-03 1.76003880e-03 -3.69596700e+01] [ 2.65446363e-03 9.99995450e-01 -1.43294841e-03 -6.90245357e+01] [-1.75623070e-03 1.43761311e-03 9.99997424e-01 6.08524150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.589072329 meters 0.23737032180515422 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99995144e-01 -2.71326587e-03 1.53277829e-03 -3.69590417e+01] [ 2.71577688e-03 9.99994970e-01 -1.63851008e-03 -6.90237916e+01] [-1.52832487e-03 1.64266481e-03 9.99997483e-01 6.08523791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61907232899995 meters 0.23725300493314233 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99995650e-01 -2.66621201e-03 1.26137776e-03 -3.69582307e+01] [ 2.66831258e-03 9.99995051e-01 -1.66655961e-03 -6.90235285e+01] [-1.25692812e-03 1.66991811e-03 9.99997816e-01 6.08522273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.649072329 meters 0.27021423226749636 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99996259e-01 -2.63693497e-03 7.27076009e-04 -3.69567926e+01] [ 2.63827995e-03 9.99994799e-01 -1.85513781e-03 -6.90225965e+01] [-7.22180350e-04 1.85704910e-03 9.99998015e-01 6.08521815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67907232899995 meters 0.2702369470136626 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99996347e-01 -2.51919208e-03 9.80108284e-04 -3.69573797e+01] [ 2.52071835e-03 9.99995608e-01 -1.55913526e-03 -6.90235081e+01] [-9.76176217e-04 1.56160014e-03 9.99998304e-01 6.08521060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.709072329 meters 0.2621468188599147 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99995944e-01 -2.49534082e-03 1.37310902e-03 -3.69583759e+01] [ 2.49724142e-03 9.99995924e-01 -1.38418840e-03 -6.90241160e+01] [-1.36964940e-03 1.38761177e-03 9.99998099e-01 6.08521104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73907232899995 meters 0.2552558985524548 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99995735e-01 -2.48492037e-03 1.53463245e-03 -3.69587064e+01] [ 2.48693815e-03 9.99996044e-01 -1.31432004e-03 -6.90243002e+01] [-1.53136040e-03 1.31813097e-03 9.99997959e-01 6.08519923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.769072329 meters 0.26855238371542184 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99996085e-01 -2.42810331e-03 1.39082773e-03 -3.69582771e+01] [ 2.42987271e-03 9.99996239e-01 -1.27191999e-03 -6.90243435e+01] [-1.38773414e-03 1.27529455e-03 9.99998224e-01 6.08519322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79907232899996 meters 0.24472552449526305 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.85 [[ 9.99995382e-01 -2.48422963e-03 1.75059786e-03 -3.69590579e+01] [ 2.48642726e-03 9.99996122e-01 -1.25430776e-03 -6.90243964e+01] [-1.74747508e-03 1.25865470e-03 9.99997681e-01 6.08517704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.829072329 meters 0.24682575025009576 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99995123e-01 -2.39083995e-03 2.00962072e-03 -3.69595823e+01] [ 2.39286675e-03 9.99996630e-01 -1.00675060e-03 -6.90251057e+01] [-2.00720697e-03 1.01155445e-03 9.99997474e-01 6.08515854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85907232899996 meters 0.24399623925539782 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99994603e-01 -2.38788999e-03 2.25652395e-03 -3.69601509e+01] [ 2.38996559e-03 9.99996723e-01 -9.17571436e-04 -6.90253863e+01] [-2.25432550e-03 9.22959498e-04 9.99997033e-01 6.08515040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.889072329 meters 0.2460721070009256 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99993939e-01 -2.33067207e-03 2.58649825e-03 -3.69608061e+01] [ 2.33249184e-03 9.99997034e-01 -7.00774455e-04 -6.90259835e+01] [-2.58485731e-03 7.06803194e-04 9.99996409e-01 6.08512449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91907232899996 meters 0.24797614607059873 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99993610e-01 -2.15731324e-03 2.85051818e-03 -3.69610142e+01] [ 2.15817910e-03 9.99997626e-01 -3.00713967e-04 -6.90269532e+01] [-2.84986268e-03 3.06863974e-04 9.99995892e-01 6.08505629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.949072329 meters 0.22444219618537642 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99992960e-01 -2.03828588e-03 3.15031707e-03 -3.69614800e+01] [ 2.03823868e-03 9.99997923e-01 1.81917898e-05 -6.90277883e+01] [-3.15034761e-03 -1.17705636e-05 9.99995038e-01 6.08501254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97907232899996 meters 0.22354776342069904 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.85 [[ 9.99987192e-01 -2.29132580e-03 4.51288232e-03 -3.69646328e+01] [ 2.28732880e-03 9.99996987e-01 8.90649397e-04 -6.90313113e+01] [-4.51490950e-03 -8.80315544e-04 9.99989420e-01 6.08493708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.009072329 meters 0.21948254454309496 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99968415e-01 -6.35603731e-03 4.77181924e-03 -3.69650300e+01] [ 6.36995465e-03 9.99975486e-01 -2.90705857e-03 -6.90328725e+01] [-4.75322489e-03 2.93736302e-03 9.99984389e-01 6.08490723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03907232899996 meters 0.21935635699978792 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.85 [[ 9.99964172e-01 -6.27732802e-03 5.67884308e-03 -3.69670659e+01] [ 6.29091614e-03 9.99977384e-01 -2.37807258e-03 -6.90345873e+01] [-5.66378671e-03 2.41371251e-03 9.99981048e-01 6.08487203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.069072329 meters 0.22175818673785347 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99956184e-01 -6.46351452e-03 6.77151165e-03 -3.69697485e+01] [ 6.47796321e-03 9.99976783e-01 -2.11399063e-03 -6.90358649e+01] [-6.75769063e-03 2.15776361e-03 9.99974839e-01 6.08487335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09907232899997 meters 0.20978144108838506 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99951865e-01 -6.48734672e-03 7.36090759e-03 -3.69708708e+01] [ 6.50176011e-03 9.99976990e-01 -1.93586145e-03 -6.90362951e+01] [-7.34817960e-03 1.98362713e-03 9.99971034e-01 6.08482007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.129072329 meters 0.26802844274474735 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99949848e-01 -6.38057574e-03 7.71938085e-03 -3.69712516e+01] [ 6.39321983e-03 9.99978260e-01 -1.61439992e-03 -6.90370045e+01] [-7.70891223e-03 1.66367066e-03 9.99968902e-01 6.08474051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15907232899997 meters 0.2375618930475116 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.85 [[ 9.99936151e-01 -6.68220683e-03 9.11276404e-03 -3.69742603e+01] [ 6.69162748e-03 9.99977107e-01 -1.00368758e-03 -6.90392808e+01] [-9.10584857e-03 1.06460272e-03 9.99957974e-01 6.08464351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.189072329 meters 0.2423505298158453 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99930059e-01 -6.64637285e-03 9.78281726e-03 -3.69757649e+01] [ 6.65318614e-03 9.99977647e-01 -6.64075084e-04 -6.90403577e+01] [-9.77818489e-03 7.29115542e-04 9.99951927e-01 6.08461609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21907232899997 meters 0.256086363580251 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99923376e-01 -6.67579346e-03 1.04248025e-02 -3.69772387e+01] [ 6.68116838e-03 9.99977565e-01 -4.80848469e-04 -6.90409776e+01] [-1.04213586e-02 5.50461485e-04 9.99945545e-01 6.08459745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24907232899994 meters 0.2503751986913293 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99923441e-01 -6.55424368e-03 1.04954592e-02 -3.69774893e+01] [ 6.55697994e-03 9.99978477e-01 -2.26320369e-04 -6.90418010e+01] [-1.04937500e-02 2.95121558e-04 9.99944896e-01 6.08460863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279072329 meters 0.26699913379500395 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99918686e-01 -6.76755445e-03 1.08083713e-02 -3.69780790e+01] [ 6.77355974e-03 9.99976924e-01 -5.19104478e-04 -6.90408580e+01] [-1.08046088e-02 5.92273416e-04 9.99941453e-01 6.08458174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30907232899995 meters 0.2364267412208954 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.85 [[ 9.99907420e-01 -6.76968807e-03 1.18034905e-02 -3.69801225e+01] [ 6.76910516e-03 9.99977085e-01 8.93349030e-05 -6.90427392e+01] [-1.18038248e-02 -9.42756359e-06 9.99930332e-01 6.08450134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339072329 meters 0.24103381600260038 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99902761e-01 -6.68219034e-03 1.22399577e-02 -3.69809688e+01] [ 6.67763733e-03 9.99977619e-01 4.12810653e-04 -6.90436457e+01] [-1.22424423e-02 -3.31036513e-04 9.99925004e-01 6.08446072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36907232899995 meters 0.2539465253182191 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99892127e-01 -6.81675572e-03 1.30102507e-02 -3.69827638e+01] [ 6.81087919e-03 9.99976683e-01 4.95939407e-04 -6.90440770e+01] [-1.30133280e-02 -4.07274663e-04 9.99915240e-01 6.08444015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399072329 meters 0.25555051587827693 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99883874e-01 -6.89871896e-03 1.35884576e-02 -3.69842252e+01] [ 6.89174466e-03 9.99976095e-01 5.60011452e-04 -6.90444159e+01] [-1.35919961e-02 -4.66298241e-04 9.99907516e-01 6.08444084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42907232899995 meters 0.2438132429046704 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.84 [[ 9.99866004e-01 -7.23628688e-03 1.46836907e-02 -3.69872288e+01] [ 7.22156448e-03 9.99973367e-01 1.05541125e-03 -6.90470250e+01] [-1.46909369e-02 -9.49230614e-04 9.99891632e-01 6.08446598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459072329 meters 0.27759545644196176 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99979222e-01 -5.18010497e-03 3.83680697e-03 -3.69896844e+01] [ 5.20313372e-03 9.99968363e-01 -6.01659831e-03 -6.90391292e+01] [-3.80551898e-03 6.03643672e-03 9.99974539e-01 6.08440163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48907232899995 meters 0.23200174730943252 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99975639e-01 -5.36785394e-03 4.46168720e-03 -3.69908764e+01] [ 5.39519210e-03 9.99966608e-01 -6.13803271e-03 -6.90386940e+01] [-4.42859015e-03 6.16195484e-03 9.99971209e-01 6.08434726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519072329 meters 0.23713340962176332 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99988301e-01 -2.40845907e-03 4.19488318e-03 -3.69886139e+01] [ 2.41655228e-03 9.99995227e-01 -1.92530782e-03 -6.90415227e+01] [-4.19022613e-03 1.93542245e-03 9.99989348e-01 6.08406530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54907232899996 meters 0.22730122957722507 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99992026e-01 -1.83655746e-03 3.54618356e-03 -3.69861508e+01] [ 1.84115420e-03 9.99997469e-01 -1.29341848e-03 -6.90422669e+01] [-3.54379915e-03 1.29993723e-03 9.99992876e-01 6.08394148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579072329 meters 0.25292057273620416 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99995109e-01 -1.41886026e-03 2.78728796e-03 -3.69835277e+01] [ 1.42144317e-03 9.99998562e-01 -9.24913468e-04 -6.90422641e+01] [-2.78597163e-03 9.28870916e-04 9.99995688e-01 6.08383535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60907232899996 meters 0.24363451864716473 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994875e-01 -1.64017315e-03 2.74953420e-03 -3.69836136e+01] [ 1.64384364e-03 9.99997760e-01 -1.33322075e-03 -6.90410673e+01] [-2.74734132e-03 1.33773373e-03 9.99995331e-01 6.08386573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639072329 meters 0.2861041881746911 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994851e-01 -1.69011568e-03 2.72778833e-03 -3.69838520e+01] [ 1.69403514e-03 9.99997535e-01 -1.43519477e-03 -6.90408993e+01] [-2.72535596e-03 1.43980835e-03 9.99995250e-01 6.08391088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66907232899996 meters 0.2777517305530955 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994149e-01 -1.83484123e-03 2.88696726e-03 -3.69848466e+01] [ 1.83968563e-03 9.99996903e-01 -1.67626405e-03 -6.90406143e+01] [-2.88388264e-03 1.68156535e-03 9.99994428e-01 6.08400499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699072329 meters 0.2675880281578875 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994478e-01 -1.99327987e-03 2.65897757e-03 -3.69844262e+01] [ 1.99877152e-03 9.99995872e-01 -2.06427020e-03 -6.90394533e+01] [-2.65485193e-03 2.06957349e-03 9.99994334e-01 6.08403439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72907232899996 meters 0.2638705485810197 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993789e-01 -2.12954830e-03 2.80826042e-03 -3.69845694e+01] [ 2.13587933e-03 9.99995180e-01 -2.25336280e-03 -6.90387452e+01] [-2.80344824e-03 2.25934692e-03 9.99993518e-01 6.08400143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759072329 meters 0.24128096840113408 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99995310e-01 -1.89527933e-03 2.40596028e-03 -3.69832823e+01] [ 1.90009295e-03 9.99996195e-01 -2.00000070e-03 -6.90391345e+01] [-2.40216057e-03 2.00456287e-03 9.99995106e-01 6.08396725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78907232899996 meters 0.2538095477525643 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99992932e-01 -1.79515779e-03 3.30357440e-03 -3.69849926e+01] [ 1.79993187e-03 9.99997339e-01 -1.44271962e-03 -6.90407035e+01] [-3.30097570e-03 1.44865563e-03 9.99993502e-01 6.08387933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819072329 meters 0.25547392969421745 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99993125e-01 -1.55789133e-03 3.36492746e-03 -3.69850904e+01] [ 1.56130338e-03 9.99998269e-01 -1.01161641e-03 -6.90419890e+01] [-3.36334565e-03 1.01686313e-03 9.99993827e-01 6.08387141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84907232899997 meters 0.25719651340589766 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99990795e-01 -1.69647202e-03 3.94096497e-03 -3.69863452e+01] [ 1.70067968e-03 9.99997987e-01 -1.06456685e-03 -6.90418838e+01] [-3.93915103e-03 1.07125937e-03 9.99991668e-01 6.08384502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879072329 meters 0.24413945127632816 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99992609e-01 -1.46086390e-03 3.55640462e-03 -3.69853748e+01] [ 1.46365142e-03 9.99998624e-01 -7.81326259e-04 -6.90426198e+01] [-3.55525832e-03 7.86525821e-04 9.99993371e-01 6.08384784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90907232899997 meters 0.2347756564464278 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994349e-01 -1.36258533e-03 3.07343848e-03 -3.69840220e+01] [ 1.36517974e-03 9.99998713e-01 -8.42198616e-04 -6.90421222e+01] [-3.07228696e-03 8.46389652e-04 9.99994922e-01 6.08383719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93907232899994 meters 0.25350100959251004 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993900e-01 -1.46565929e-03 3.17050750e-03 -3.69840463e+01] [ 1.46882268e-03 9.99998426e-01 -9.95658736e-04 -6.90415181e+01] [-3.16904321e-03 1.00030958e-03 9.99994478e-01 6.08380764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96907232899997 meters 0.2473425716170721 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993552e-01 -1.24426126e-03 3.36857266e-03 -3.69842112e+01] [ 1.24611382e-03 9.99999073e-01 -5.47913510e-04 -6.90427192e+01] [-3.36788779e-03 5.52107602e-04 9.99994176e-01 6.08375931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99907232899994 meters 0.2788761095482159 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993254e-01 -1.17628043e-03 3.47970756e-03 -3.69843506e+01] [ 1.17764987e-03 9.99999230e-01 -3.91526328e-04 -6.90431061e+01] [-3.47924434e-03 3.95621564e-04 9.99993869e-01 6.08374030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.029072329 meters 0.24321155987944662 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99991835e-01 -1.30029411e-03 3.82600739e-03 -3.69852690e+01] [ 1.30224443e-03 9.99999023e-01 -5.07306898e-04 -6.90428389e+01] [-3.82534401e-03 5.12285153e-04 9.99992552e-01 6.08375150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05907232899995 meters 0.2543902346291728 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99991616e-01 -1.27395778e-03 3.89153383e-03 -3.69856394e+01] [ 1.27571651e-03 9.99999085e-01 -4.49488104e-04 -6.90431216e+01] [-3.89095764e-03 4.54448829e-04 9.99992327e-01 6.08378329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.089072329 meters 0.21823295294792427 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99991424e-01 -1.35751246e-03 3.91259063e-03 -3.69859811e+01] [ 1.35982453e-03 9.99998902e-01 -5.88331340e-04 -6.90428363e+01] [-3.91178767e-03 5.93646732e-04 9.99992173e-01 6.08382722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11907232899995 meters 0.2422505298358868 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99992185e-01 -1.44405894e-03 3.68017945e-03 -3.69852337e+01] [ 1.44713114e-03 9.99998607e-01 -8.32268257e-04 -6.90418932e+01] [-3.67897248e-03 8.37587456e-04 9.99992882e-01 6.08381009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.149072329 meters 0.2272393839685565 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99992249e-01 -1.23554533e-03 3.73823876e-03 -3.69849643e+01] [ 1.23721569e-03 9.99999136e-01 -4.44549866e-04 -6.90428327e+01] [-3.73768626e-03 4.49171428e-04 9.99992914e-01 6.08374989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17907232899995 meters 0.24670087947904543 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99992296e-01 -1.09195139e-03 3.77036503e-03 -3.69844823e+01] [ 1.09263365e-03 9.99999387e-01 -1.78899186e-04 -6.90432782e+01] [-3.77016737e-03 1.83017435e-04 9.99992876e-01 6.08366724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.209072329 meters 0.22455535070416605 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99992670e-01 -1.05574652e-03 3.68026484e-03 -3.69844068e+01] [ 1.05627316e-03 9.99999432e-01 -1.41156605e-04 -6.90434414e+01] [-3.68011372e-03 1.45042935e-04 9.99993218e-01 6.08369182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23907232899995 meters 0.2416624907929646 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99992573e-01 -1.23570722e-03 3.65067783e-03 -3.69844092e+01] [ 1.23742594e-03 9.99999125e-01 -4.68572022e-04 -6.90424564e+01] [-3.65009561e-03 4.73085985e-04 9.99993226e-01 6.08370507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.269072329 meters 0.25265576564101566 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993370e-01 -1.25058123e-03 3.41983756e-03 -3.69839015e+01] [ 1.25257638e-03 9.99999047e-01 -5.81325704e-04 -6.90420513e+01] [-3.41910731e-03 5.85605458e-04 9.99993983e-01 6.08372356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29907232899996 meters 0.24451285963018013 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993323e-01 -1.25321535e-03 3.43260361e-03 -3.69839350e+01] [ 1.25524056e-03 9.99999039e-01 -5.87901665e-04 -6.90420097e+01] [-3.43186355e-03 5.92206483e-04 9.99993936e-01 6.08372604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.329072329 meters 0.24451285963018013 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993323e-01 -1.25321535e-03 3.43260361e-03 -3.69839350e+01] [ 1.25524056e-03 9.99999039e-01 -5.87901665e-04 -6.90420097e+01] [-3.43186355e-03 5.92206483e-04 9.99993936e-01 6.08372604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35907232899996 meters 0.23984596609697367 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99992139e-01 -1.44807002e-03 3.69115351e-03 -3.69844428e+01] [ 1.45121251e-03 9.99998587e-01 -8.48820782e-04 -6.90411650e+01] [-3.68991914e-03 8.54170758e-04 9.99992827e-01 6.08370688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.389072329 meters 0.27015535140017477 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99991002e-01 -1.24246393e-03 4.05623770e-03 -3.69850400e+01] [ 1.24391505e-03 9.99999163e-01 -3.55247579e-04 -6.90425258e+01] [-4.05579292e-03 3.60289997e-04 9.99991710e-01 6.08365750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41907232899996 meters 0.2823261418441777 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99989698e-01 -1.14087062e-03 4.39349214e-03 -3.69855121e+01] [ 1.14114840e-03 9.99999347e-01 -6.07187390e-05 -6.90432488e+01] [-4.39342000e-03 6.57317400e-05 9.99990347e-01 6.08360159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.449072329 meters 0.22478487531615002 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99990650e-01 -1.17566744e-03 4.16138132e-03 -3.69849281e+01] [ 1.17648115e-03 9.99999289e-01 -1.93094285e-04 -6.90428070e+01] [-4.16115135e-03 1.97988267e-04 9.99991323e-01 6.08360197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47907232899996 meters 0.24760405310641548 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99992454e-01 -1.03602440e-03 3.74415275e-03 -3.69835055e+01] [ 1.03641335e-03 9.99999458e-01 -1.01944416e-04 -6.90426128e+01] [-3.74404510e-03 1.05824136e-04 9.99992985e-01 6.08354853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.509072329 meters 0.23556359043616576 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993944e-01 -1.03988849e-03 3.32134181e-03 -3.69826306e+01] [ 1.04073549e-03 9.99999426e-01 -2.53297672e-04 -6.90421485e+01] [-3.32107651e-03 2.56752776e-04 9.99994452e-01 6.08358110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53907232899996 meters 0.25022779122685646 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993924e-01 -1.21269054e-03 3.26813345e-03 -3.69827394e+01] [ 1.21459835e-03 9.99999093e-01 -5.81841886e-04 -6.90412501e+01] [-3.26742489e-03 5.85807821e-04 9.99994490e-01 6.08362015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.569072329 meters 0.25016453563991614 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994740e-01 -1.46447833e-03 2.89391503e-03 -3.69823889e+01] [ 1.46794391e-03 9.99998208e-01 -1.19577692e-03 -6.90396523e+01] [-2.89215866e-03 1.20001874e-03 9.99995098e-01 6.08371863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59907232899997 meters 0.24802578717154444 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99995056e-01 -1.58590974e-03 2.71542948e-03 -3.69822574e+01] [ 1.58990575e-03 9.99997656e-01 -1.47006794e-03 -6.90389443e+01] [-2.71309172e-03 1.47437795e-03 9.99995233e-01 6.08376922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.629072329 meters 0.23773439044177927 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994734e-01 -1.61169708e-03 2.81679515e-03 -3.69825561e+01] [ 1.61589135e-03 9.99997588e-01 -1.48737968e-03 -6.90388976e+01] [-2.81439115e-03 1.49192349e-03 9.99994927e-01 6.08377908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65907232899997 meters 0.21736944286596666 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993844e-01 -1.38981186e-03 3.22179572e-03 -3.69834075e+01] [ 1.39289331e-03 9.99998574e-01 -9.54391331e-04 -6.90404846e+01] [-3.22046470e-03 9.58873074e-04 9.99994355e-01 6.08375244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68907232899994 meters 0.3125691184667179 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99991774e-01 -1.43246392e-03 3.79471964e-03 -3.69847645e+01] [ 1.43565904e-03 9.99998617e-01 -8.39402669e-04 -6.90409239e+01] [-3.79351198e-03 8.44843688e-04 9.99992448e-01 6.08374258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71907232899997 meters 0.2530414532032404 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.04, Z:60.84 [[ 9.99990720e-01 -1.28265545e-03 4.11282139e-03 -3.69853440e+01] [ 1.28458597e-03 9.99999066e-01 -4.66782844e-04 -6.90419601e+01] [-4.11221883e-03 4.72061785e-04 9.99991433e-01 6.08371018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74907232899994 meters 0.2555796489814275 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99990239e-01 -2.35421098e-03 3.73889862e-03 -3.69831733e+01] [ 2.35525368e-03 9.99997189e-01 -2.74502260e-04 -6.90467183e+01] [-3.73824187e-03 2.83305635e-04 9.99992973e-01 6.08347442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779072329 meters 0.24696285780786828 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99987641e-01 -2.15541848e-03 4.48026885e-03 -3.69845077e+01] [ 2.15345088e-03 9.99997583e-01 4.43947760e-04 -6.90487314e+01] [-4.48121491e-03 -4.34294234e-04 9.99989865e-01 6.08338209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80907232899995 meters 0.24340629637319397 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99987686e-01 -2.04879342e-03 4.52003526e-03 -3.69842929e+01] [ 2.04592210e-03 9.99997702e-01 6.39777041e-04 -6.90491246e+01] [-4.52133565e-03 -6.30521523e-04 9.99989580e-01 6.08333850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839072329 meters 0.2748568262547752 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99989420e-01 -2.02154177e-03 4.13192922e-03 -3.69832825e+01] [ 2.01941994e-03 9.99997827e-01 5.17627357e-04 -6.90485724e+01] [-4.13296665e-03 -5.09277780e-04 9.99991330e-01 6.08333787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86907232899995 meters 0.23597263584898373 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99989945e-01 -1.93176436e-03 4.04708535e-03 -3.69830952e+01] [ 1.92917983e-03 9.99997933e-01 6.42422783e-04 -6.90489351e+01] [-4.04831799e-03 -6.34608768e-04 9.99991604e-01 6.08334388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899072329 meters 0.2368274037679739 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99988962e-01 -2.04928167e-03 4.22807879e-03 -3.69834918e+01] [ 2.04724992e-03 9.99997787e-01 4.84810077e-04 -6.90484210e+01] [-4.22906295e-03 -4.76148792e-04 9.99990944e-01 6.08333795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92907232899995 meters 0.2651198736361969 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99989319e-01 -1.89716138e-03 4.21451118e-03 -3.69833269e+01] [ 1.89400554e-03 9.99997923e-01 7.52667514e-04 -6.90491695e+01] [-4.21593036e-03 -7.44677168e-04 9.99990836e-01 6.08331706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959072329 meters 0.25632298868563586 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99991223e-01 -1.90344254e-03 3.73227957e-03 -3.69821645e+01] [ 1.90138158e-03 9.99998038e-01 5.55669458e-04 -6.90484509e+01] [-3.73332993e-03 -5.48568093e-04 9.99992881e-01 6.08332738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98907232899995 meters 0.24311477797470415 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99992568e-01 -1.96309697e-03 3.31808348e-03 -3.69813510e+01] [ 1.96206214e-03 9.99998026e-01 3.15101270e-04 -6.90477821e+01] [-3.31869550e-03 -3.08588642e-04 9.99994446e-01 6.08336178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019072329 meters 0.26335662788396536 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99994165e-01 -2.19902732e-03 2.61436879e-03 -3.69800545e+01] [ 2.20017678e-03 9.99997484e-01 -4.36874471e-04 -6.90455919e+01] [-2.61340151e-03 4.42623995e-04 9.99996487e-01 6.08344847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04907232899996 meters 0.25109594440163685 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99993937e-01 -2.43761196e-03 2.48685510e-03 -3.69800666e+01] [ 2.43986975e-03 9.99996614e-01 -9.05260878e-04 -6.90443035e+01] [-2.48464000e-03 9.11322992e-04 9.99996498e-01 6.08350178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079072329 meters 0.24739265154283174 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99994359e-01 -2.48730895e-03 2.25736908e-03 -3.69796504e+01] [ 2.48972532e-03 9.99996330e-01 -1.06825769e-03 -6.90438342e+01] [-2.25470371e-03 1.07387189e-03 9.99996882e-01 6.08352931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10907232899996 meters 0.24098865552471063 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99995589e-01 -2.36763564e-03 1.79352148e-03 -3.69781980e+01] [ 2.36952515e-03 9.99996639e-01 -1.05212742e-03 -6.90434199e+01] [-1.79102439e-03 1.05637257e-03 9.99997838e-01 6.08349430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139072329 meters 0.2396658979894489 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99995865e-01 -2.32104431e-03 1.69782756e-03 -3.69777785e+01] [ 2.32276957e-03 9.99996787e-01 -1.01489256e-03 -6.90434017e+01] [-1.69546649e-03 1.01883202e-03 9.99998044e-01 6.08347052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16907232899996 meters 0.23157707908183112 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99995824e-01 -2.21167678e-03 1.86020351e-03 -3.69779198e+01] [ 2.21311527e-03 9.99997253e-01 -7.71592414e-04 -6.90440004e+01] [-1.85849189e-03 7.75706037e-04 9.99997972e-01 6.08343232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199072329 meters 0.21844210675769485 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99996421e-01 -2.13036774e-03 1.61833556e-03 -3.69773064e+01] [ 2.13152221e-03 9.99997475e-01 -7.11980164e-04 -6.90440729e+01] [-1.61681469e-03 7.15427134e-04 9.99998437e-01 6.08343586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22907232899996 meters 0.2182387391514277 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99996563e-01 -2.26217429e-03 1.32531364e-03 -3.69767526e+01] [ 2.26360876e-03 9.99996853e-01 -1.08186452e-03 -6.90429654e+01] [-1.32286210e-03 1.08486080e-03 9.99998537e-01 6.08347194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259072329 meters 0.2212351985491302 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99996457e-01 -2.18791429e-03 1.51631813e-03 -3.69773420e+01] [ 2.18928727e-03 9.99997195e-01 -9.04403167e-04 -6.90435805e+01] [-1.51433512e-03 9.07719618e-04 9.99998441e-01 6.08349000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28907232899996 meters 0.21265254299788788 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99996367e-01 -2.18546729e-03 1.57813706e-03 -3.69773683e+01] [ 2.18686922e-03 9.99997215e-01 -8.87165842e-04 -6.90435574e+01] [-1.57619379e-03 8.90613798e-04 9.99998361e-01 6.08347232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319072329 meters 0.22003694868895102 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99996576e-01 -2.06200138e-03 1.61103218e-03 -3.69773424e+01] [ 2.06306867e-03 9.99997653e-01 -6.61109782e-04 -6.90441853e+01] [-1.60966519e-03 6.64431188e-04 9.99998484e-01 6.08345691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34907232899997 meters 0.2580486489451092 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99997416e-01 -2.08018809e-03 9.16810317e-04 -3.69757069e+01] [ 2.08119625e-03 9.99997229e-01 -1.10005907e-03 -6.90425666e+01] [-9.14519447e-04 1.10196429e-03 9.99998975e-01 6.08349472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379072329 meters 0.21907142820815262 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99996887e-01 -2.33237787e-03 8.86681547e-04 -3.69758398e+01] [ 2.33375296e-03 9.99996071e-01 -1.55297594e-03 -6.90412657e+01] [-8.83055936e-04 1.55504040e-03 9.99998401e-01 6.08352885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40907232899997 meters 0.21501854491657896 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99996972e-01 -2.32895080e-03 7.94639043e-04 -3.69756190e+01] [ 2.33020521e-03 9.99996035e-01 -1.58132482e-03 -6.90411498e+01] [-7.90953065e-04 1.58317171e-03 9.99998434e-01 6.08353341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43907232899994 meters 0.2304028189938571 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99996942e-01 -2.15446631e-03 1.21440610e-03 -3.69763415e+01] [ 2.15582257e-03 9.99997053e-01 -1.11660848e-03 -6.90424169e+01] [-1.21199683e-03 1.11922311e-03 9.99998639e-01 6.08348207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46907232899997 meters 0.2924878018717734 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99996136e-01 -1.66326407e-03 2.22751059e-03 -3.69781169e+01] [ 1.66268761e-03 9.99998584e-01 2.60618290e-04 -6.90463380e+01] [-2.22794091e-03 -2.56913628e-04 9.99997485e-01 6.08334939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49907232899994 meters 0.22616264754294205 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99994995e-01 -1.50428243e-03 2.78344047e-03 -3.69793102e+01] [ 1.50210246e-03 9.99998564e-01 7.85119864e-04 -6.90479317e+01] [-2.78461751e-03 -7.80934921e-04 9.99995818e-01 6.08331556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.529072329 meters 0.21733160837611426 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99993333e-01 -1.39409838e-03 3.37508134e-03 -3.69807267e+01] [ 1.39002132e-03 9.99998302e-01 1.21003331e-03 -6.90493238e+01] [-3.37676251e-03 -1.20533381e-03 9.99993572e-01 6.08330696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55907232899995 meters 0.26147894880817657 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99991738e-01 -1.45751210e-03 3.79455408e-03 -3.69816471e+01] [ 1.45287087e-03 9.99998194e-01 1.22559758e-03 -6.90493580e+01] [-3.79633355e-03 -1.22007446e-03 9.99992050e-01 6.08328924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.589072329 meters 0.21517955746609407 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99990205e-01 -1.34998664e-03 4.21503263e-03 -3.69825598e+01] [ 1.34340476e-03 9.99997875e-01 1.56396687e-03 -6.90503770e+01] [-4.21713501e-03 -1.55828906e-03 9.99989894e-01 6.08326840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61907232899995 meters 0.25062446704619207 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99991385e-01 -1.04238365e-03 4.01783146e-03 -3.69819223e+01] [ 1.03416410e-03 9.99997370e-01 2.04730456e-03 -6.90516931e+01] [-4.01995497e-03 -2.04313183e-03 9.99989833e-01 6.08324186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.649072329 meters 0.26545740676753 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99990990e-01 -1.27290273e-03 4.04962791e-03 -3.69819721e+01] [ 1.26622670e-03 9.99997836e-01 1.65069120e-03 -6.90504477e+01] [-4.05172032e-03 -1.64554858e-03 9.99990438e-01 6.08324096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67907232899995 meters 0.2772054952501805 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99990304e-01 -1.35554985e-03 4.18988520e-03 -3.69821833e+01] [ 1.34905016e-03 9.99997883e-01 1.55371899e-03 -6.90500851e+01] [-4.19198247e-03 -1.54805156e-03 9.99990015e-01 6.08321997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.709072329 meters 0.25626102518355043 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99991672e-01 -1.41823126e-03 3.82693028e-03 -3.69814838e+01] [ 1.41320742e-03 9.99998137e-01 1.31514435e-03 -6.90494025e+01] [-3.82878832e-03 -1.30972515e-03 9.99991812e-01 6.08325444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73907232899995 meters 0.26314585446061184 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99991336e-01 -1.51345152e-03 3.87768752e-03 -3.69817854e+01] [ 1.50896065e-03 9.99998188e-01 1.16079408e-03 -6.90490465e+01] [-3.87943730e-03 -1.15493274e-03 9.99991808e-01 6.08328142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.769072329 meters 0.24781962008191763 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99989419e-01 -1.59050187e-03 4.31648358e-03 -3.69827400e+01] [ 1.58546141e-03 9.99998058e-01 1.17089387e-03 -6.90490550e+01] [-4.31833751e-03 -1.16403787e-03 9.99989998e-01 6.08326204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79907232899996 meters 0.2539675558391317 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99990213e-01 -1.34655718e-03 4.21433217e-03 -3.69822455e+01] [ 1.33998336e-03 9.99997882e-01 1.56230896e-03 -6.90500956e+01] [-4.21642698e-03 -1.55664653e-03 9.99989899e-01 6.08322485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.829072329 meters 0.2524407110309826 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99993212e-01 -1.27623414e-03 3.45643924e-03 -3.69804810e+01] [ 1.27130959e-03 9.99998174e-01 1.42656959e-03 -6.90494715e+01] [-3.45825357e-03 -1.42216570e-03 9.99993009e-01 6.08323757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85907232899996 meters 0.22783572191354295 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99992818e-01 -1.46016367e-03 3.49747345e-03 -3.69803794e+01] [ 1.45628582e-03 9.99998322e-01 1.11104680e-03 -6.90483784e+01] [-3.49908989e-03 -1.10594550e-03 9.99993267e-01 6.08321166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.889072329 meters 0.28545071158334895 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99993640e-01 -1.46741448e-03 3.25073680e-03 -3.69798653e+01] [ 1.46412562e-03 9.99998414e-01 1.01387712e-03 -6.90480853e+01] [-3.25221942e-03 -1.00911118e-03 9.99994202e-01 6.08322911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91907232899996 meters 0.2498506322306073 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99993660e-01 -1.53983698e-03 3.21082057e-03 -3.69800626e+01] [ 1.53704384e-03 9.99998438e-01 8.72200434e-04 -6.90477949e+01] [-3.21215860e-03 -8.67259732e-04 9.99994465e-01 6.08327491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.949072329 meters 0.22654911129488128 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99992576e-01 -1.93947350e-03 3.32966846e-03 -3.69810709e+01] [ 1.93886845e-03 9.99998103e-01 1.84932183e-04 -6.90462210e+01] [-3.33002081e-03 -1.78475020e-04 9.99994440e-01 6.08338995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97907232899996 meters 0.26145000591988277 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99991896e-01 -2.04878979e-03 3.46564017e-03 -3.69813975e+01] [ 2.04866361e-03 9.99997901e-01 3.99585730e-05 -6.90457771e+01] [-3.46571477e-03 -3.28583183e-05 9.99993994e-01 6.08338848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.009072329 meters 0.2572565206909908 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99991471e-01 -1.99680371e-03 3.61527759e-03 -3.69814887e+01] [ 1.99617498e-03 9.99997992e-01 1.77510402e-04 -6.90460490e+01] [-3.61562478e-03 -1.70292162e-04 9.99993449e-01 6.08334720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03907232899996 meters 0.24618898577123216 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99990270e-01 -1.92812624e-03 3.96756742e-03 -3.69819647e+01] [ 1.92641773e-03 9.99998050e-01 4.34396050e-04 -6.90466246e+01] [-3.96839725e-03 -4.26748631e-04 9.99992035e-01 6.08328444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.069072329 meters 0.2444911588295 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99989159e-01 -1.91901913e-03 4.24264588e-03 -3.69824783e+01] [ 1.91666228e-03 9.99998007e-01 5.59510964e-04 -6.90469119e+01] [-4.24371113e-03 -5.51373179e-04 9.99990843e-01 6.08325941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09907232899997 meters 0.23906177022610567 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99989112e-01 -1.96752085e-03 4.23132037e-03 -3.69823581e+01] [ 1.96552774e-03 9.99997955e-01 4.75143401e-04 -6.90465790e+01] [-4.23224657e-03 -4.66821451e-04 9.99990935e-01 6.08324727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.129072329 meters 0.22930090797250155 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99985742e-01 -1.80543330e-03 5.02553167e-03 -3.69837424e+01] [ 1.79978826e-03 9.99997745e-01 1.12756776e-03 -6.90483189e+01] [-5.02755608e-03 -1.11850679e-03 9.99986736e-01 6.08314893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15907232899997 meters 0.23576618097185742 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99983564e-01 -1.68335205e-03 5.48068392e-03 -3.69846127e+01] [ 1.67503527e-03 9.99997439e-01 1.52170749e-03 -6.90494352e+01] [-5.48323146e-03 -1.51250214e-03 9.99983823e-01 6.08310387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18907232899994 meters 0.23148302453071493 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99978329e-01 -1.84602259e-03 6.31936498e-03 -3.69865446e+01] [ 1.83615267e-03 9.99997086e-01 1.56729877e-03 -6.90497632e+01] [-6.32223984e-03 -1.55566148e-03 9.99978804e-01 6.08308541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21907232899997 meters 0.23320981548816622 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99972650e-01 -1.80941715e-03 7.17110900e-03 -3.69886320e+01] [ 1.79530615e-03 9.99996441e-01 1.97370695e-03 -6.90512676e+01] [-7.17465473e-03 -1.96077864e-03 9.99972339e-01 6.08308386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24907232899994 meters 0.23320981548816622 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99972650e-01 -1.80941715e-03 7.17110900e-03 -3.69886320e+01] [ 1.79530615e-03 9.99996441e-01 1.97370695e-03 -6.90512676e+01] [-7.17465473e-03 -1.96077864e-03 9.99972339e-01 6.08308386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279072329 meters 0.22216461922975417 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99972660e-01 -1.55070464e-03 7.23004827e-03 -3.69887171e+01] [ 1.53305275e-03 9.99995833e-01 2.44636590e-03 -6.90527109e+01] [-7.23381173e-03 -2.43521498e-03 9.99970870e-01 6.08307175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30907232899995 meters 0.21895861652399645 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99972119e-01 -1.55565250e-03 7.30346898e-03 -3.69889702e+01] [ 1.53768316e-03 9.99995779e-01 2.46535561e-03 -6.90528239e+01] [-7.30727339e-03 -2.45405645e-03 9.99970290e-01 6.08308029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339072329 meters 0.24506339734711433 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99976294e-01 -1.65946450e-03 6.68270054e-03 -3.69875565e+01] [ 1.64580100e-03 9.99996545e-01 2.04958830e-03 -6.90514841e+01] [-6.68607867e-03 -2.03854132e-03 9.99975570e-01 6.08309660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36907232899995 meters 0.21716478384204635 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99975079e-01 -1.67378101e-03 6.85857882e-03 -3.69879707e+01] [ 1.65951390e-03 9.99996449e-01 2.08534805e-03 -6.90515824e+01] [-6.86204488e-03 -2.07391417e-03 9.99974305e-01 6.08309431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399072329 meters 0.2196368016953689 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99975041e-01 -1.66105505e-03 6.86719734e-03 -3.69881296e+01] [ 1.64656303e-03 9.99996407e-01 2.11544024e-03 -6.90517731e+01] [-6.87068653e-03 -2.10408017e-03 9.99974183e-01 6.08311124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42907232899995 meters 0.24090822050830157 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99974770e-01 -1.63635405e-03 6.91239708e-03 -3.69883754e+01] [ 1.62135192e-03 9.99996319e-01 2.17536890e-03 -6.90520944e+01] [-6.91593132e-03 -2.16410659e-03 9.99973743e-01 6.08312571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459072329 meters 0.22729660214188308 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99971198e-01 -1.84541507e-03 7.36184474e-03 -3.69893774e+01] [ 1.83127620e-03 9.99996467e-01 1.92684048e-03 -6.90513933e+01] [-7.36537455e-03 -1.91330341e-03 9.99971045e-01 6.08310883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48907232899995 meters 0.24852647667217662 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99974876e-01 -1.63238673e-03 6.89798158e-03 -3.69883863e+01] [ 1.61731807e-03 9.99996295e-01 2.18951642e-03 -6.90521927e+01] [-6.90153016e-03 -2.17830518e-03 9.99973812e-01 6.08312779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519072329 meters 0.24574976504652274 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99975618e-01 -1.66904389e-03 6.78071710e-03 -3.69880688e+01] [ 1.65492033e-03 9.99996451e-01 2.08797819e-03 -6.90518887e+01] [-6.78417796e-03 -2.07670574e-03 9.99974831e-01 6.08312096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54907232899996 meters 0.22202864412707987 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99982125e-01 -1.64056343e-03 5.74954825e-03 -3.69859365e+01] [ 1.63173218e-03 9.99997482e-01 1.54034427e-03 -6.90501497e+01] [-5.75206081e-03 -1.53093501e-03 9.99982285e-01 6.08319000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579072329 meters 0.2202845000753996 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99983723e-01 -1.73531693e-03 5.43537533e-03 -3.69854295e+01] [ 1.72844220e-03 9.99997701e-01 1.26925428e-03 -6.90494421e+01] [-5.43756539e-03 -1.25983889e-03 9.99984423e-01 6.08323312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60907232899996 meters 0.2479534048019981 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99985712e-01 -2.02106801e-03 4.94874545e-03 -3.69847196e+01] [ 2.01858626e-03 9.99997834e-01 5.06434809e-04 -6.90473965e+01] [-4.94975827e-03 -4.96438104e-04 9.99987627e-01 6.08331728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639072329 meters 0.23902552414651246 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99985912e-01 -2.28332427e-03 4.79193349e-03 -3.69847047e+01] [ 2.28334937e-03 9.99997393e-01 2.31985465e-07 -6.90460279e+01] [-4.79192153e-03 1.07096761e-05 9.99988519e-01 6.08337227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66907232899996 meters 0.22378759761759393 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99983629e-01 -2.20985141e-03 5.27818198e-03 -3.69857699e+01] [ 2.20831258e-03 9.99997517e-01 2.97354698e-04 -6.90469133e+01] [-5.27882598e-03 -2.85693954e-04 9.99986026e-01 6.08334840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699072329 meters 0.27881073246317023 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99979596e-01 -2.19564360e-03 5.99889986e-03 -3.69873624e+01] [ 2.19206714e-03 9.99997416e-01 6.02696787e-04 -6.90478945e+01] [-6.00020766e-03 -5.89534498e-04 9.99981825e-01 6.08331604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72907232899996 meters 0.22914746102704334 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99980325e-01 -2.15378430e-03 5.89159121e-03 -3.69871763e+01] [ 2.15004567e-03 9.99997483e-01 6.40830326e-04 -6.90480504e+01] [-5.89295659e-03 -6.28150528e-04 9.99982439e-01 6.08332746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759072329 meters 0.248024325548529 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99980581e-01 -2.25585046e-03 5.80938944e-03 -3.69872340e+01] [ 2.25341238e-03 9.99997370e-01 4.26191082e-04 -6.90475337e+01] [-5.81033559e-03 -4.13091856e-04 9.99983035e-01 6.08336637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78907232899996 meters 0.20586955497366566 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99979806e-01 -2.27382231e-03 5.93439391e-03 -3.69875658e+01] [ 2.27129975e-03 9.99997327e-01 4.31779964e-04 -6.90475687e+01] [-5.93535984e-03 -4.18292458e-04 9.99982298e-01 6.08336831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819072329 meters 0.25789856969122493 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99981459e-01 -2.19484364e-03 5.68025604e-03 -3.69869707e+01] [ 2.19211563e-03 9.99997479e-01 4.86443624e-04 -6.90477252e+01] [-5.68130939e-03 -4.73982826e-04 9.99983749e-01 6.08337394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84907232899997 meters 0.27501592288278814 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99981386e-01 -2.11992706e-03 5.72129698e-03 -3.69867905e+01] [ 2.11635193e-03 9.99997562e-01 6.30862110e-04 -6.90480156e+01] [-5.72262041e-03 -6.18742089e-04 9.99983434e-01 6.08332917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879072329 meters 0.22152420263253159 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99982617e-01 -2.06824088e-03 5.52162728e-03 -3.69862751e+01] [ 2.06465073e-03 9.99997654e-01 6.55818852e-04 -6.90480614e+01] [-5.52297072e-03 -6.44407220e-04 9.99984541e-01 6.08332762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90907232899997 meters 0.24870307049922397 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.05, Z:60.83 [[ 9.99985086e-01 -2.12577826e-03 5.03086795e-03 -3.69850280e+01] [ 2.12403058e-03 9.99997682e-01 3.52708202e-04 -6.90469875e+01] [-5.03160607e-03 -3.42017224e-04 9.99987283e-01 6.08332657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93907232899994 meters 0.2616935397495926 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99988451e-01 -2.16245349e-03 4.29204437e-03 -3.69835562e+01] [ 2.16261181e-03 9.99997661e-01 -3.22481759e-05 -6.90458534e+01] [-4.29196460e-03 4.15298293e-05 9.99990789e-01 6.08339112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96907232899997 meters 0.2590434097710738 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.05, Z:60.83 [[ 9.99987804e-01 -2.23932382e-03 4.40202306e-03 -3.69839037e+01] [ 2.23992005e-03 9.99997483e-01 -1.30519401e-04 -6.90455930e+01] [-4.40171970e-03 1.40377989e-04 9.99990303e-01 6.08340260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99907232899994 meters 0.25419048658520016 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99987690e-01 -2.40713416e-03 4.33883067e-03 -3.69841205e+01] [ 2.40916057e-03 9.99996991e-01 -4.61875707e-04 -6.90447796e+01] [-4.33770582e-03 4.72322961e-04 9.99990481e-01 6.08346209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.029072329 meters 0.23911301563975076 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99989089e-01 -2.34081894e-03 4.04252123e-03 -3.69833466e+01] [ 2.34262111e-03 9.99997159e-01 -4.41124958e-04 -6.90447566e+01] [-4.04147715e-03 4.50590241e-04 9.99991732e-01 6.08345984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05907232899995 meters 0.2976034059061884 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99988364e-01 -2.40982874e-03 4.17917570e-03 -3.69834624e+01] [ 2.41203063e-03 9.99996955e-01 -5.21913446e-04 -6.90443916e+01] [-4.17790526e-03 5.31987673e-04 9.99991131e-01 6.08342775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.089072329 meters 0.23062942394912514 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99990520e-01 -2.29895471e-03 3.69806654e-03 -3.69821470e+01] [ 2.30083585e-03 9.99997226e-01 -5.04508726e-04 -6.90442346e+01] [-3.69689644e-03 5.13012587e-04 9.99993035e-01 6.08341302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11907232899995 meters 0.2274695208343315 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99993236e-01 -2.25388025e-03 2.90649482e-03 -3.69801818e+01] [ 2.25624893e-03 9.99997125e-01 -8.11938116e-04 -6.90429727e+01] [-2.90465645e-03 8.18490400e-04 9.99995447e-01 6.08342279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.149072329 meters 0.29418680796938923 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99992806e-01 -2.30913720e-03 3.00928323e-03 -3.69806010e+01] [ 2.31178412e-03 9.99996944e-01 -8.76403672e-04 -6.90428726e+01] [-3.00725030e-03 8.83354180e-04 9.99995088e-01 6.08344762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17907232899995 meters 0.29281738610186653 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99992588e-01 -2.40160342e-03 3.00943730e-03 -3.69808345e+01] [ 2.40473914e-03 9.99996569e-01 -1.03877775e-03 -6.90424907e+01] [-3.00693225e-03 1.04600696e-03 9.99994932e-01 6.08348378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.209072329 meters 0.26081288615657244 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99995089e-01 -2.26682486e-03 2.16394672e-03 -3.69785433e+01] [ 2.26927632e-03 9.99996786e-01 -1.13108442e-03 -6.90416508e+01] [-2.16137579e-03 1.13598946e-03 9.99997019e-01 6.08345895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23907232899995 meters 0.2747995000788821 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99995815e-01 -2.43620296e-03 1.56069290e-03 -3.69770648e+01] [ 2.43891318e-03 9.99995517e-01 -1.73700679e-03 -6.90396466e+01] [-1.55645420e-03 1.74080592e-03 9.99997274e-01 6.08347333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.269072329 meters 0.27665504436135585 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99996883e-01 -2.27493146e-03 1.02923510e-03 -3.69755881e+01] [ 2.27663779e-03 9.99996031e-01 -1.65974187e-03 -6.90395652e+01] [-1.02545522e-03 1.66207989e-03 9.99998093e-01 6.08345549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29907232899996 meters 0.265644529761784 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.83 [[ 9.99997205e-01 -2.26403796e-03 6.81798916e-04 -3.69747759e+01] [ 2.26524232e-03 9.99995866e-01 -1.77089817e-03 -6.90391911e+01] [-6.77786717e-04 1.77243766e-03 9.99998200e-01 6.08346826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.329072329 meters 0.2838478357412609 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.83 [[ 9.99997355e-01 -2.28131008e-03 2.94116092e-04 -3.69739433e+01] [ 2.28187694e-03 9.99995511e-01 -1.94165340e-03 -6.90386762e+01] [-2.89685258e-04 1.94231940e-03 9.99998072e-01 6.08349394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35907232899996 meters 0.2549602189243349 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.84 [[ 9.99997075e-01 -2.38702619e-03 -3.90509094e-04 -3.69724692e+01] [ 2.38606761e-03 9.99994184e-01 -2.43701856e-03 -6.90371348e+01] [ 3.96324050e-04 2.43607965e-03 9.99996954e-01 6.08354127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.389072329 meters 0.2602438476070851 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.84 [[ 9.99996269e-01 -2.66214718e-03 -6.12339766e-04 -3.69722020e+01] [ 2.66028694e-03 9.99991904e-01 -3.01892077e-03 -6.90354788e+01] [ 6.20371620e-04 3.01728051e-03 9.99995256e-01 6.08359295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41907232899996 meters 0.2527898651588785 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.04, Z:60.84 [[ 9.99996439e-01 -2.65768336e-03 -2.44227581e-04 -3.69730460e+01] [ 2.65696959e-03 9.99992329e-01 -2.87780591e-03 -6.90358965e+01] [ 2.51874005e-04 2.87714676e-03 9.99995829e-01 6.08358115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.449072329 meters 0.2571765236507911 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.84 [[ 9.99995856e-01 -2.77626798e-03 7.62257834e-04 -3.69751327e+01] [ 2.77830136e-03 9.99992550e-01 -2.67960347e-03 -6.90365560e+01] [-7.54812858e-04 2.68171015e-03 9.99996119e-01 6.08351885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47907232899996 meters 0.23119213414195092 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99995781e-01 -2.73131892e-03 9.88848385e-04 -3.69754589e+01] [ 2.73380404e-03 9.99993086e-01 -2.52058097e-03 -6.90369001e+01] [-9.81957038e-04 2.52327365e-03 9.99996334e-01 6.08348439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.509072329 meters 0.2327770682576264 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99995594e-01 -2.61203809e-03 1.41060116e-03 -3.69763315e+01] [ 2.61506378e-03 9.99994275e-01 -2.14739436e-03 -6.90379655e+01] [-1.40498401e-03 2.15107371e-03 9.99996699e-01 6.08345584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53907232899996 meters 0.225395115412598 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99992777e-01 -2.85067899e-03 2.51401689e-03 -3.69788869e+01] [ 2.85600687e-03 9.99993678e-01 -2.11823325e-03 -6.90384722e+01] [-2.50796259e-03 2.12539800e-03 9.99994596e-01 6.08344132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.569072329 meters 0.2807136399996712 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99993809e-01 -2.72902780e-03 2.22149399e-03 -3.69780779e+01] [ 2.73345939e-03 9.99994276e-01 -1.99428336e-03 -6.90387472e+01] [-2.21603882e-03 2.00034338e-03 9.99995544e-01 6.08343132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59907232899997 meters 0.21918648938095026 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99994388e-01 -2.74741191e-03 1.91699029e-03 -3.69769979e+01] [ 2.75151143e-03 9.99993927e-01 -2.13916594e-03 -6.90379859e+01] [-1.91110148e-03 2.14442856e-03 9.99995875e-01 6.08339218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.629072329 meters 0.21922996780901752 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99994973e-01 -2.76888849e-03 1.54502968e-03 -3.69760961e+01] [ 2.77245808e-03 9.99993482e-01 -2.31303249e-03 -6.90374062e+01] [-1.53861508e-03 2.31730440e-03 9.99996131e-01 6.08340001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65907232899997 meters 0.26922190224109177 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99993899e-01 -3.04664607e-03 1.70899839e-03 -3.69764276e+01] [ 3.05133670e-03 9.99991567e-01 -2.74880957e-03 -6.90360409e+01] [-1.70060932e-03 2.75400753e-03 9.99994762e-01 6.08339308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68907232899994 meters 0.26426276439172647 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99994720e-01 -3.08199157e-03 1.03030093e-03 -3.69750289e+01] [ 3.08510258e-03 9.99990645e-01 -3.03168742e-03 -6.90351668e+01] [-1.02094766e-03 3.03485000e-03 9.99994874e-01 6.08344186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71907232899997 meters 0.2612002099143932 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.84 [[ 9.99995149e-01 -3.10529220e-03 2.43308396e-04 -3.69735231e+01] [ 3.10614218e-03 9.99988787e-01 -3.57459286e-03 -6.90336088e+01] [-2.32205512e-04 3.57533127e-03 9.99993582e-01 6.08353395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74907232899994 meters 0.25794640173795663 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.84 [[ 9.99995102e-01 -3.11305992e-03 -3.23842036e-04 -3.69721809e+01] [ 3.11180303e-03 9.99987893e-01 -3.81186192e-03 -6.90327797e+01] [ 3.35704670e-04 3.81083552e-03 9.99992682e-01 6.08355054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779072329 meters 0.24763747525183408 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.84 [[ 9.99998069e-01 1.15533249e-03 -1.58996678e-03 -3.69692450e+01] [-1.15609610e-03 9.99999217e-01 -4.79432988e-04 -6.90294335e+01] [ 1.58941163e-03 4.81270217e-04 9.99998621e-01 6.08360714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80907232899995 meters 0.25187049004484946 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.84 [[ 9.99996707e-01 8.81754894e-04 -2.41022093e-03 -3.69675226e+01] [-8.85238159e-04 9.99998565e-01 -1.44452076e-03 -6.90264995e+01] [ 2.40894376e-03 1.44664962e-03 9.99996052e-01 6.08367777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839072329 meters 0.2493618623411242 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.84 [[ 9.99995069e-01 6.47418884e-04 -3.07299138e-03 -3.69662355e+01] [-6.53897065e-04 9.99997565e-01 -2.10756622e-03 -6.90245713e+01] [ 3.07161942e-03 2.10956524e-03 9.99993057e-01 6.08374193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86907232899995 meters 0.2392439615936729 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.84 [[ 9.99989971e-01 -3.95481266e-03 -2.10181150e-03 -3.69680362e+01] [ 3.94068711e-03 9.99969905e-01 -6.68283134e-03 -6.90240925e+01] [ 2.12817759e-03 6.67448174e-03 9.99975461e-01 6.08367346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899072329 meters 0.2418900201535242 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.84 [[ 9.99992089e-01 -3.51231616e-03 -1.86714693e-03 -3.69681611e+01] [ 3.50132832e-03 9.99976724e-01 -5.85587839e-03 -6.90264051e+01] [ 1.88767117e-03 5.84929457e-03 9.99981111e-01 6.08359965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92907232899995 meters 0.2755748491618031 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.84 [[ 9.99991714e-01 -3.64722486e-03 -1.80832350e-03 -3.69682954e+01] [ 3.63618278e-03 9.99974952e-01 -6.07239876e-03 -6.90257459e+01] [ 1.83042561e-03 6.06577305e-03 9.99979928e-01 6.08359707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959072329 meters 0.22986990695261686 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.84 [[ 9.99998098e-01 5.68080908e-04 -1.86555636e-03 -3.69683379e+01] [-5.71759179e-04 9.99997893e-01 -1.97173398e-03 -6.90251184e+01] [ 1.86443233e-03 1.97279688e-03 9.99996316e-01 6.08362152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98907232899995 meters 0.23690677339770505 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.84 [[ 9.99982602e-01 4.90118120e-03 -3.28225445e-03 -3.69649511e+01] [-4.89896187e-03 9.99987766e-01 6.83857403e-04 -6.90195462e+01] [ 3.28556600e-03 -6.67765867e-04 9.99994380e-01 6.08373309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019072329 meters 0.22409301965474748 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.84 [[ 9.99978882e-01 4.79223757e-03 -4.38978890e-03 -3.69624139e+01] [-4.79454649e-03 9.99988373e-01 -5.15601580e-04 -6.90155324e+01] [ 4.38726698e-03 5.36637738e-04 9.99990232e-01 6.08381123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04907232899996 meters 0.2552727884778864 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99971159e-01 5.08842805e-03 -5.63823560e-03 -3.69591634e+01] [-5.09524651e-03 9.99986304e-01 -1.19562115e-03 -6.90123555e+01] [ 5.63207455e-03 1.22431487e-03 9.99983390e-01 6.08383569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079072329 meters 0.2375075585984299 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99965556e-01 5.18315559e-03 -6.48234562e-03 -3.69570656e+01] [-5.19248112e-03 9.99985507e-01 -1.42260242e-03 -6.90112500e+01] [ 6.47487810e-03 1.45621288e-03 9.99977977e-01 6.08384350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10907232899996 meters 0.22650048547227739 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99964398e-01 4.96275607e-03 -6.82453628e-03 -3.69564404e+01] [-4.97619826e-03 9.99985709e-01 -1.95411835e-03 -6.90097256e+01] [ 6.81474094e-03 1.98800903e-03 9.99974803e-01 6.08388533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139072329 meters 0.22650048547227739 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99964398e-01 4.96275607e-03 -6.82453628e-03 -3.69564404e+01] [-4.97619826e-03 9.99985709e-01 -1.95411835e-03 -6.90097256e+01] [ 6.81474094e-03 1.98800903e-03 9.99974803e-01 6.08388533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16907232899996 meters 0.22518086595481848 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.84 [[ 9.99955583e-01 5.15200825e-03 -7.89238272e-03 -3.69540920e+01] [-5.17014324e-03 9.99984038e-01 -2.27910763e-03 -6.90083729e+01] [ 7.88051475e-03 2.31981114e-03 9.99966257e-01 6.08396408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199072329 meters 0.23615730508658858 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.84 [[ 9.99959108e-01 4.84656203e-03 -7.63505240e-03 -3.69548671e+01] [-4.86756817e-03 9.99984413e-01 -2.73510158e-03 -6.90070997e+01] [ 7.62167755e-03 2.77215387e-03 9.99967112e-01 6.08398740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22907232899996 meters 0.24711325708511528 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.01, Z:60.84 [[ 9.99957406e-01 5.10450871e-03 -7.68964725e-03 -3.69547554e+01] [-5.12241477e-03 9.99984211e-01 -2.31070079e-03 -6.90083573e+01] [ 7.67773084e-03 2.34999193e-03 9.99967764e-01 6.08398998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259072329 meters 0.2426852203414095 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99961244e-01 5.31932188e-03 -7.01532191e-03 -3.69562382e+01] [-5.33160525e-03 9.99984285e-01 -1.73339738e-03 -6.90101973e+01] [ 7.00599116e-03 1.77073313e-03 9.99973890e-01 6.08395657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28907232899996 meters 0.2776147843064137 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99962192e-01 5.42058963e-03 -6.79937442e-03 -3.69565672e+01] [-5.43083709e-03 9.99984143e-01 -1.48956071e-03 -6.90108410e+01] [ 6.79119231e-03 1.52643069e-03 9.99975775e-01 6.08392395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319072329 meters 0.26855822469651847 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99966180e-01 5.55527730e-03 -6.06445507e-03 -3.69578870e+01] [-5.56119904e-03 9.99984076e-01 -9.60040422e-04 -6.90122661e+01] [ 6.05902520e-03 9.93733595e-04 9.99981150e-01 6.08383677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34907232899997 meters 0.24961254618468623 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99964826e-01 5.76887280e-03 -6.08821895e-03 -3.69575706e+01] [-5.77266301e-03 9.99983155e-01 -6.05160155e-04 -6.90131792e+01] [ 6.08462530e-03 6.40284106e-04 9.99981284e-01 6.08379932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379072329 meters 0.2623724661987161 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.01, Z:60.84 [[ 9.99976591e-01 1.68039221e-03 -6.63275837e-03 -3.69557932e+01] [-1.71161528e-03 9.99987469e-01 -4.70453787e-03 -6.90131388e+01] [ 6.62476978e-03 4.71578048e-03 9.99966936e-01 6.08373968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40907232899997 meters 0.25727619462964546 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.84 [[ 9.99983663e-01 1.67267953e-03 -5.46585668e-03 -3.69582646e+01] [-1.69437889e-03 9.99990693e-01 -3.96776760e-03 -6.90154866e+01] [ 5.45916901e-03 3.97696401e-03 9.99977190e-01 6.08365227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43907232899994 meters 0.24355837034042824 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.84 [[ 9.99986186e-01 1.93281251e-03 -4.88804259e-03 -3.69592580e+01] [-1.94892579e-03 9.99992676e-01 -3.29385700e-03 -6.90173349e+01] [ 4.88164038e-03 3.30333793e-03 9.99982629e-01 6.08357857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46907232899997 meters 0.2457440396909346 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.84 [[ 9.99988055e-01 2.13954946e-03 -4.39462243e-03 -3.69601651e+01] [-2.15170712e-03 9.99993866e-01 -2.76362371e-03 -6.90188147e+01] [ 4.38868256e-03 2.77304663e-03 9.99986525e-01 6.08352667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49907232899994 meters 0.26306742813853234 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.83 [[ 9.99989735e-01 -2.15043077e-03 -3.98815476e-03 -3.69609261e+01] [ 2.12313346e-03 9.99974379e-01 -6.83624531e-03 -6.90195149e+01] [ 4.00275345e-03 6.82770775e-03 9.99968680e-01 6.08348616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.529072329 meters 0.23522132638801724 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.02, Z:60.83 [[ 9.99993235e-01 -2.03383613e-03 -3.06471927e-03 -3.69630247e+01] [ 2.01483093e-03 9.99978802e-01 -6.19166715e-03 -6.90216129e+01] [ 3.07724713e-03 6.18545038e-03 9.99976135e-01 6.08345341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55907232899995 meters 0.2537826597090411 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.02, Z:60.83 [[ 9.99996078e-01 -2.26652296e-03 -1.64521863e-03 -3.69665455e+01] [ 2.25749407e-03 9.99982495e-01 -5.46922617e-03 -6.90247290e+01] [ 1.65758596e-03 5.46549065e-03 9.99983690e-01 6.08343147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.589072329 meters 0.25013636344532547 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.83 [[ 9.99996643e-01 -2.58052158e-03 -2.32198711e-04 -3.69696448e+01] [ 2.57922717e-03 9.99982028e-01 -5.41217114e-03 -6.90254821e+01] [ 2.46160762e-04 5.41155408e-03 9.99985327e-01 6.08337794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61907232899995 meters 0.24367001463019844 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.03, Z:60.83 [[ 9.99996922e-01 -2.38915552e-03 6.69369314e-04 -3.69714391e+01] [ 2.39218010e-03 9.99986766e-01 -4.55478508e-03 -6.90278857e+01] [-6.58478365e-04 4.55637231e-03 9.99989403e-01 6.08329543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.649072329 meters 0.2667149138473674 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.83 [[ 9.99993189e-01 -2.79691206e-03 2.40800369e-03 -3.69752796e+01] [ 2.80462964e-03 9.99990923e-01 -3.20757962e-03 -6.90324278e+01] [-2.39901051e-03 3.21431133e-03 9.99991956e-01 6.08314049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67907232899995 meters 0.23269493661708593 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.83 [[ 9.99991591e-01 -2.65504394e-03 3.12552154e-03 -3.69768198e+01] [ 2.66340388e-03 9.99992879e-01 -2.67361766e-03 -6.90340319e+01] [-3.11840071e-03 2.68191971e-03 9.99991541e-01 6.08309887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.709072329 meters 0.2331960711369388 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99988579e-01 -2.58344832e-03 4.02102452e-03 -3.69786286e+01] [ 2.59193873e-03 9.99994420e-01 -2.10772765e-03 -6.90356561e+01] [-4.01555688e-03 2.11812583e-03 9.99989694e-01 6.08302582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73907232899995 meters 0.23682735865680213 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99987780e-01 -2.57940647e-03 4.21730401e-03 -3.69791196e+01] [ 2.58798767e-03 9.99994590e-01 -2.03056993e-03 -6.90358950e+01] [-4.21204353e-03 2.04145945e-03 9.99989046e-01 6.08302650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.769072329 meters 0.24393247276165583 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99985815e-01 -2.64815414e-03 4.62135226e-03 -3.69800789e+01] [ 2.65752497e-03 9.99994423e-01 -2.02276242e-03 -6.90359321e+01] [-4.61596990e-03 2.03501509e-03 9.99987276e-01 6.08301927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79907232899996 meters 0.21966726856042254 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99977737e-01 -2.98399602e-03 5.96831315e-03 -3.69832895e+01] [ 2.99308469e-03 9.99994374e-01 -1.51446907e-03 -6.90381146e+01] [-5.96376040e-03 1.53229902e-03 9.99981043e-01 6.08297688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.829072329 meters 0.25323093258232077 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99976381e-01 -3.01784506e-03 6.17493286e-03 -3.69834762e+01] [ 3.02722077e-03 9.99994279e-01 -1.50956603e-03 -6.90379611e+01] [-6.17034189e-03 1.52822326e-03 9.99979796e-01 6.08292942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85907232899996 meters 0.26322138217569024 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99977548e-01 -2.77129816e-03 6.10107431e-03 -3.69830448e+01] [ 2.77809951e-03 9.99995529e-01 -1.10658643e-03 -6.90390488e+01] [-6.09798035e-03 1.12351097e-03 9.99980776e-01 6.08289317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.889072329 meters 0.21420213879984343 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99974134e-01 -2.79791537e-03 6.62600315e-03 -3.69838604e+01] [ 2.80466133e-03 9.99995558e-01 -1.00903126e-03 -6.90391818e+01] [-6.62315054e-03 1.02758886e-03 9.99977539e-01 6.08281837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91907232899996 meters 0.25296259959782985 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99978255e-01 -2.44174635e-03 6.12599581e-03 -3.69824509e+01] [ 2.44507050e-03 9.99996868e-01 -5.35200627e-04 -6.90402899e+01] [-6.12466979e-03 5.50167480e-04 9.99981093e-01 6.08278622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.949072329 meters 0.2582980914824652 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99980115e-01 -2.50715172e-03 5.78649866e-03 -3.69818092e+01] [ 2.51177823e-03 9.99996532e-01 -7.92406004e-04 -6.90395824e+01] [-5.78449191e-03 8.06924648e-04 9.99982944e-01 6.08282137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97907232899996 meters 0.2617168198512201 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99983926e-01 -2.61971094e-03 5.02834924e-03 -3.69803972e+01] [ 2.62628093e-03 9.99995706e-01 -1.30043270e-03 -6.90381894e+01] [-5.02492089e-03 1.31361766e-03 9.99986512e-01 6.08290460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.009072329 meters 0.22139099144876276 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99985641e-01 -2.76026118e-03 4.59327471e-03 -3.69795923e+01] [ 2.76831792e-03 9.99994639e-01 -1.74859733e-03 -6.90369231e+01] [-4.58842350e-03 1.76128787e-03 9.99987922e-01 6.08295540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03907232899996 meters 0.25546661691607503 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99985294e-01 -2.67761676e-03 4.71613294e-03 -3.69798395e+01] [ 2.68500677e-03 9.99995176e-01 -1.56132977e-03 -6.90374669e+01] [-4.71192955e-03 1.57396966e-03 9.99987660e-01 6.08294637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.069072329 meters 0.26913214403069236 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99988381e-01 -2.46652583e-03 4.14182461e-03 -3.69783531e+01] [ 2.47227679e-03 9.99995986e-01 -1.38396202e-03 -6.90377478e+01] [-4.13839441e-03 1.39418567e-03 9.99990465e-01 6.08293574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09907232899997 meters 0.2638217214244195 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99989382e-01 -2.57662502e-03 3.82067942e-03 -3.69776987e+01] [ 2.58317200e-03 9.99995202e-01 -1.70962197e-03 -6.90367970e+01] [-3.81625603e-03 1.71947329e-03 9.99991240e-01 6.08296264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.129072329 meters 0.23204803318143746 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.04, Z:60.83 [[ 9.99990672e-01 -2.69623861e-03 3.37426663e-03 -3.69767490e+01] [ 2.70334445e-03 9.99994134e-01 -2.10310376e-03 -6.90356344e+01] [-3.36857637e-03 2.11220595e-03 9.99992096e-01 6.08299190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15907232899997 meters 0.2654987238677654 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.83 [[ 9.99988796e-01 -3.07854213e-03 3.59579608e-03 -3.69775030e+01] [ 3.08826893e-03 9.99991579e-01 -2.70263557e-03 -6.90339730e+01] [-3.58744562e-03 2.71371008e-03 9.99989883e-01 6.08302781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18907232899994 meters 0.27235461447614406 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.03, Z:60.83 [[ 9.99991029e-01 -3.31277542e-03 2.63951617e-03 -3.69756282e+01] [ 3.32170150e-03 9.99988756e-01 -3.38453268e-03 -6.90319881e+01] [-2.62827430e-03 3.39327000e-03 9.99990789e-01 6.08310854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21907232899997 meters 0.23099742664256984 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.03, Z:60.83 [[ 9.99991728e-01 3.46033195e-03 -2.13755947e-03 -3.69619943e+01] [-3.46610276e-03 9.99990343e-01 -2.70193909e-03 -6.90341496e+01] [ 2.12818922e-03 2.70932575e-03 9.99994065e-01 6.08342852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24907232899994 meters 0.24689894436963206 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99914172e-01 1.11194155e-02 -6.92865496e-03 -3.69511425e+01] [-1.11282212e-02 9.99937318e-01 -1.23366197e-03 -6.90307155e+01] [ 6.91450306e-03 1.31065969e-03 9.99975236e-01 6.08403535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279072329 meters 0.2552074119727201 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99908140e-01 1.09406378e-02 -8.00090567e-03 -3.69490725e+01] [-1.09582305e-02 9.99937627e-01 -2.15830940e-03 -6.90280770e+01] [ 7.97679335e-03 2.24578690e-03 9.99965663e-01 6.08414904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30907232899995 meters 0.24042252214100884 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99906228e-01 1.05986324e-02 -8.67200186e-03 -3.69479362e+01] [-1.06253994e-02 9.99938908e-01 -3.04637599e-03 -6.90256651e+01] [ 8.63918465e-03 3.13823381e-03 9.99957757e-01 6.08424002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339072329 meters 0.25791107281831566 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99901981e-01 1.06979555e-02 -9.03225453e-03 -3.69469693e+01] [-1.07254997e-02 9.99937960e-01 -3.00661735e-03 -6.90256614e+01] [ 8.99952951e-03 3.10319808e-03 9.99954688e-01 6.08423235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36907232899995 meters 0.2927455644107763 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.02, Z:60.84 [[ 9.99893219e-01 1.07738613e-02 -9.87288387e-03 -3.69449829e+01] [-1.08061228e-02 9.99936427e-01 -3.22018943e-03 -6.90247308e+01] [ 9.83756235e-03 3.32653317e-03 9.99946077e-01 6.08424818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399072329 meters 0.28118221081719663 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.85 [[ 9.99867188e-01 8.98854595e-03 -1.35945538e-02 -3.69329151e+01] [-8.89441873e-03 9.99936162e-01 6.96857695e-03 -6.90288642e+01] [ 1.36563233e-02 -6.84673579e-03 9.99883307e-01 6.08484592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42907232899995 meters 0.23487950646087272 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.85 [[ 9.99866135e-01 8.88318617e-03 -1.37404885e-02 -3.69327217e+01] [-8.79112870e-03 9.99938604e-01 6.74567736e-03 -6.90282728e+01] [ 1.37995680e-02 -6.62397994e-03 9.99882841e-01 6.08487024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459072329 meters 0.2342475344800181 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.85 [[ 9.99887012e-01 4.48402696e-03 -1.43477295e-02 -3.69317206e+01] [-4.45276007e-03 9.99987643e-01 2.21042556e-03 -6.90277713e+01] [ 1.43574639e-02 -2.14628881e-03 9.99894623e-01 6.08494036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48907232899995 meters 0.28639222216535437 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.85 [[ 9.99999288e-01 1.00513555e-03 -6.42530549e-04 -3.69327411e+01] [-1.00301254e-03 9.99994065e-01 3.29596244e-03 -6.90360115e+01] [ 6.45839625e-04 -3.29531563e-03 9.99994362e-01 6.08467429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519072329 meters 0.2592475936997309 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.85 [[ 9.99994317e-01 -3.23147840e-03 -9.60565821e-04 -3.69320131e+01] [ 3.23052637e-03 9.99994291e-01 -9.91010023e-04 -6.90360777e+01] [ 9.63762765e-04 9.87901258e-04 9.99999048e-01 6.08469407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54907232899996 meters 0.25924301054035803 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.85 [[ 9.99994494e-01 -3.29009382e-03 4.33042689e-04 -3.69351840e+01] [ 3.29016115e-03 9.99994575e-01 -1.54856216e-04 -6.90390724e+01] [-4.32530848e-04 1.56280144e-04 9.99999894e-01 6.08463407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579072329 meters 0.2638780901814972 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.85 [[ 9.99973596e-01 -7.26689049e-03 1.87942270e-05 -3.69339602e+01] [ 7.26690760e-03 9.99965624e-01 -3.99277491e-03 -6.90402235e+01] [ 1.02214770e-05 3.99280606e-03 9.99992029e-01 6.08461063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60907232899996 meters 0.2732556810019367 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.85 [[ 9.99992022e-01 -3.71263164e-03 1.47420007e-03 -3.69378572e+01] [ 3.71264364e-03 9.99993108e-01 -5.40997218e-06 -6.90407659e+01] [-1.47416982e-03 1.08831085e-05 9.99998913e-01 6.08464089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639072329 meters 0.25823269068232135 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.85 [[ 9.99991277e-01 -3.68376237e-03 1.96872881e-03 -3.69387208e+01] [ 3.68334364e-03 9.99993193e-01 2.16272013e-04 -6.90412909e+01] [-1.96951210e-03 -2.09018621e-04 9.99998039e-01 6.08458395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66907232899996 meters 0.22745803262923808 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.85 [[ 9.99982731e-01 -4.52973680e-03 3.74425302e-03 -3.69432976e+01] [ 4.52611298e-03 9.99989281e-01 9.75741189e-04 -6.90454618e+01] [-3.74863274e-03 -9.58777426e-04 9.99992514e-01 6.08453880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699072329 meters 0.2445236042031315 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.84 [[ 9.99975626e-01 -4.70678504e-03 5.15682969e-03 -3.69465894e+01] [ 4.69776447e-03 9.99987417e-01 1.75996550e-03 -6.90483394e+01] [-5.16504858e-03 -1.73569703e-03 9.99985155e-01 6.08448051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72907232899996 meters 0.23290998413704267 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.84 [[ 9.99942636e-01 -8.52159547e-03 6.48893158e-03 -3.69492875e+01] [ 8.52487683e-03 9.99963548e-01 -4.78194602e-04 -6.90544440e+01] [-6.48462007e-03 5.33484514e-04 9.99978832e-01 6.08435954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759072329 meters 0.25430799319757447 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.84 [[ 9.99933195e-01 -8.60147166e-03 7.72139489e-03 -3.69518672e+01] [ 8.60211582e-03 9.99963000e-01 -5.02180839e-05 -6.90558588e+01] [-7.72067725e-03 1.16635062e-04 9.99970188e-01 6.08428552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78907232899996 meters 0.264038788830263 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.84 [[ 9.99924807e-01 -8.55110991e-03 8.78973882e-03 -3.69539077e+01] [ 8.54673853e-03 9.99963333e-01 5.34770785e-04 -6.90574412e+01] [-8.79398941e-03 -4.59606975e-04 9.99961227e-01 6.08418254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819072329 meters 0.2411204946639593 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.84 [[ 9.99886445e-01 -1.01641372e-02 1.11259436e-02 -3.69590210e+01] [ 1.01548229e-02 9.99948039e-01 8.93347279e-04 -6.90601886e+01] [-1.11344456e-02 -7.80263848e-04 9.99937706e-01 6.08401201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84907232899997 meters 0.2525690917878629 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.84 [[ 9.99864974e-01 -1.06553336e-02 1.25099299e-02 -3.69622294e+01] [ 1.06468921e-02 9.99943046e-01 7.41187589e-04 -6.90604276e+01] [-1.25171150e-02 -6.07895635e-04 9.99921473e-01 6.08398732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879072329 meters 0.21513291506419654 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99833693e-01 -1.15563097e-02 1.41080762e-02 -3.69664388e+01] [ 1.15429801e-02 9.99932851e-01 1.02588566e-03 -6.90627546e+01] [-1.41189843e-02 -8.62865805e-04 9.99899950e-01 6.08398249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90907232899997 meters 0.23471811042985863 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99946780e-01 -9.53775548e-03 3.93292956e-03 -3.69693155e+01] [ 9.56256631e-03 9.99934187e-01 -6.33868803e-03 -6.90570624e+01] [-3.87221387e-03 6.37595959e-03 9.99972176e-01 6.08384475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93907232899994 meters 0.21568665662702816 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99943447e-01 -9.65163283e-03 4.46646861e-03 -3.69702954e+01] [ 9.67995291e-03 9.99932903e-01 -6.36302324e-03 -6.90568654e+01] [-4.40475536e-03 6.40589859e-03 9.99969781e-01 6.08379237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96907232899997 meters 0.21360984362799582 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99941532e-01 -9.52069616e-03 5.12733074e-03 -3.69714274e+01] [ 9.55049665e-03 9.99937460e-01 -5.81930822e-03 -6.90582323e+01] [-5.07160621e-03 5.86793653e-03 9.99969923e-01 6.08371111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99907232899994 meters 0.2877851495780666 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99938608e-01 -9.35314891e-03 5.94121006e-03 -3.69729020e+01] [ 9.38399874e-03 9.99942521e-01 -5.18603781e-03 -6.90599074e+01] [-5.89236278e-03 5.24147174e-03 9.99968903e-01 6.08362211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.029072329 meters 0.22357539037306054 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99932436e-01 -9.40761326e-03 6.82796229e-03 -3.69747671e+01] [ 9.44137745e-03 9.99943278e-01 -4.92971511e-03 -6.90606678e+01] [-6.78119814e-03 4.99384741e-03 9.99964538e-01 6.08357400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05907232899995 meters 0.22357539037306054 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99932436e-01 -9.40761326e-03 6.82796229e-03 -3.69747671e+01] [ 9.44137745e-03 9.99943278e-01 -4.92971511e-03 -6.90606678e+01] [-6.78119814e-03 4.99384741e-03 9.99964538e-01 6.08357400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.089072329 meters 0.2633232495128475 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.84 [[ 9.99920586e-01 -9.64249480e-03 8.11446276e-03 -3.69780091e+01] [ 9.68009962e-03 9.99942530e-01 -4.60785012e-03 -6.90623314e+01] [-8.06956525e-03 4.68603300e-03 9.99956461e-01 6.08359022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11907232899995 meters 0.2664132704253045 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.84 [[ 9.99913109e-01 -9.88987879e-03 8.71579834e-03 -3.69793276e+01] [ 9.93259182e-03 9.99938806e-01 -4.87105950e-03 -6.90615582e+01] [-8.66709080e-03 4.95720671e-03 9.99950153e-01 6.08356970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.149072329 meters 0.25248289228073945 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.84 [[ 9.99911416e-01 -9.86505686e-03 8.93538781e-03 -3.69796591e+01] [ 9.90765832e-03 9.99939702e-01 -4.73607210e-03 -6.90618547e+01] [-8.88812741e-03 4.82418133e-03 9.99948863e-01 6.08353600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17907232899995 meters 0.22461779847999425 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.83 [[ 9.99905753e-01 -9.91081353e-03 9.50062377e-03 -3.69806579e+01] [ 9.95515648e-03 9.99939720e-01 -4.63149748e-03 -6.90620246e+01] [-9.45414917e-03 4.72564117e-03 9.99944142e-01 6.08347417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.209072329 meters 0.2407961796028358 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.07, Z:60.83 [[ 9.99887284e-01 -1.01176841e-02 1.10928841e-02 -3.69839344e+01] [ 1.01559209e-02 9.99942660e-01 -3.39607076e-03 -6.90655813e+01] [-1.10578877e-02 3.50834642e-03 9.99932705e-01 6.08332334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23907232899995 meters 0.23527405809388052 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99873461e-01 -1.01250619e-02 1.22696890e-02 -3.69863933e+01] [ 1.01606436e-02 9.99944343e-01 -2.84110673e-03 -6.90672125e+01] [-1.22402398e-02 2.96541516e-03 9.99920688e-01 6.08324959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.269072329 meters 0.23058646467569413 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99853284e-01 -1.02905402e-02 1.36936531e-02 -3.69897610e+01] [ 1.03151950e-02 9.99945299e-01 -1.73103894e-03 -6.90710009e+01] [-1.36750907e-02 1.87203767e-03 9.99904739e-01 6.08319588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29907232899996 meters 0.23318349669090715 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99848310e-01 -1.02668319e-02 1.40694377e-02 -3.69907010e+01] [ 1.02896482e-02 9.99945858e-01 -1.55025986e-03 -6.90715656e+01] [-1.40527597e-02 1.69479426e-03 9.99899819e-01 6.08319755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.329072329 meters 0.2242136704708268 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99840639e-01 -1.02371844e-02 1.46252202e-02 -3.69920073e+01] [ 1.02566476e-02 9.99946610e-01 -1.25640999e-03 -6.90724997e+01] [-1.46115773e-02 1.40621550e-03 9.99892256e-01 6.08318731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35907232899996 meters 0.22511633823229518 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99836571e-01 -1.02791538e-02 1.48718169e-02 -3.69926294e+01] [ 1.02986795e-02 9.99946202e-01 -1.23694727e-03 -6.90725788e+01] [-1.48583021e-02 1.38990519e-03 9.99888643e-01 6.08318803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.389072329 meters 0.22352562451656124 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99842393e-01 -1.03420720e-02 1.44301761e-02 -3.69916649e+01] [ 1.03653432e-02 9.99945094e-01 -1.53881708e-03 -6.90716885e+01] [-1.44134693e-02 1.68814828e-03 9.99894695e-01 6.08321111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41907232899996 meters 0.2279525021212854 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99842126e-01 -1.02864789e-02 1.44883027e-02 -3.69918721e+01] [ 1.03080699e-02 9.99945867e-01 -1.41634547e-03 -6.90720900e+01] [-1.44729492e-02 1.56546830e-03 9.99894036e-01 6.08322124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.449072329 meters 0.23819517273300225 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99850707e-01 -1.01390779e-02 1.39915343e-02 -3.69904420e+01] [ 1.01588773e-02 9.99947493e-01 -1.34475035e-03 -6.90719948e+01] [-1.39771651e-02 1.48668787e-03 9.99901209e-01 6.08319321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47907232899996 meters 0.29085413525710596 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99865461e-01 -9.89758486e-03 1.30804703e-02 -3.69883164e+01] [ 9.91570151e-03 9.99949966e-01 -1.32088699e-03 -6.90718161e+01] [-1.30667423e-02 1.45041131e-03 9.99913575e-01 6.08321084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.509072329 meters 0.22906920729677985 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99897598e-01 -6.07513335e-03 1.29570662e-02 -3.69884776e+01] [ 6.04736160e-03 9.99979335e-01 2.18147091e-03 -6.90695093e+01] [-1.29700512e-02 -2.10289146e-03 9.99913674e-01 6.08326606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53907232899996 meters 0.22708762966750007 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99900952e-01 -6.03607595e-03 1.27142551e-02 -3.69879275e+01] [ 6.00901721e-03 9.99979601e-01 2.16534834e-03 -6.90694898e+01] [-1.27270660e-02 -2.08873369e-03 9.99916826e-01 6.08327225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.569072329 meters 0.24880516267939956 Centerline is valid? [False, False] Translation: X:-36.99, Y:-69.07, Z:60.83 [[ 9.99907833e-01 -5.87342253e-03 1.22404802e-02 -3.69867523e+01] [ 5.84607564e-03 9.99980338e-01 2.26871968e-03 -6.90697186e+01] [-1.22535647e-02 -2.19695180e-03 9.99922509e-01 6.08327067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59907232899997 meters 0.2483832316839542 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.07, Z:60.83 [[ 9.99925450e-01 -5.44862163e-03 1.09273253e-02 -3.69833190e+01] [ 5.42728882e-03 9.99983310e-01 1.98094849e-03 -6.90679390e+01] [-1.09379364e-02 -1.92149506e-03 9.99938333e-01 6.08325188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.629072329 meters 0.23890801203507256 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.07, Z:60.83 [[ 9.99929124e-01 -5.74665115e-03 1.04269906e-02 -3.69825125e+01] [ 5.73410960e-03 9.99982801e-01 1.23229403e-03 -6.90658738e+01] [-1.04338928e-02 -1.17241718e-03 9.99944878e-01 6.08332070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65907232899997 meters 0.23248191664405957 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.83 [[ 9.99938270e-01 -5.82397752e-03 9.46239017e-03 -3.69808403e+01] [ 5.81849493e-03 9.99982888e-01 6.06834576e-04 -6.90642851e+01] [-9.46576244e-03 -5.51740247e-04 9.99955046e-01 6.08344406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68907232899994 meters 0.27257530335560265 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.83 [[ 9.99940769e-01 -5.99488368e-03 9.08400910e-03 -3.69802423e+01] [ 5.99383353e-03 9.99982027e-01 1.42825329e-04 -6.90630478e+01] [-9.08470205e-03 -8.83688314e-05 9.99958729e-01 6.08349718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71907232899997 meters 0.25313074518549306 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.84 [[ 9.99952247e-01 -5.76056272e-03 7.89430545e-03 -3.69774104e+01] [ 5.76142609e-03 9.99983399e-01 -8.66286002e-05 -6.90619125e+01] [-7.89367537e-03 1.32106921e-04 9.99968836e-01 6.08351642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74907232899994 meters 0.22350788812947442 Centerline is valid? [False, False] Translation: X:-36.98, Y:-69.06, Z:60.84 [[ 9.99957585e-01 -5.76109206e-03 7.18593001e-03 -3.69759363e+01] [ 5.76368853e-03 9.99983332e-01 -3.40670158e-04 -6.90611838e+01] [-7.18384760e-03 3.82073171e-04 9.99974123e-01 6.08356003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779072329 meters 0.2468858478520368 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99964076e-01 -5.73347510e-03 6.24293138e-03 -3.69738512e+01] [ 5.73837845e-03 9.99983241e-01 -7.67796222e-04 -6.90598271e+01] [-6.23842461e-03 8.03592942e-04 9.99980218e-01 6.08360457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80907232899995 meters 0.25643507859478726 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99969175e-01 -5.67548996e-03 5.42569820e-03 -3.69720276e+01] [ 5.68124632e-03 9.99983314e-01 -1.04612188e-03 -6.90588971e+01] [-5.41967042e-03 1.07691436e-03 9.99984734e-01 6.08364166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839072329 meters 0.24142316118650994 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99987505e-01 -1.87267160e-03 4.63504135e-03 -3.69710046e+01] [ 1.86392672e-03 9.99996476e-01 1.89028945e-03 -6.90553166e+01] [-4.63856491e-03 -1.88162645e-03 9.99987472e-01 6.08379284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86907232899995 meters 0.2611732187960858 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.84 [[ 9.99990692e-01 -1.98000580e-03 3.83346803e-03 -3.69695793e+01] [ 1.97484495e-03 9.99997139e-01 1.34957939e-03 -6.90539151e+01] [-3.83612924e-03 -1.34199632e-03 9.99991742e-01 6.08388644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899072329 meters 0.2953250059291328 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.05, Z:60.84 [[ 9.99996023e-01 -1.62481161e-03 2.30514190e-03 -3.69661664e+01] [ 1.62325223e-03 9.99998453e-01 6.78188697e-04 -6.90515009e+01] [-2.30624026e-03 -6.74444173e-04 9.99997113e-01 6.08397358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92907232899995 meters 0.2518164929761377 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99997611e-01 -1.50090996e-03 1.58896271e-03 -3.69643348e+01] [ 1.49996819e-03 9.99998699e-01 5.93718926e-04 -6.90509585e+01] [-1.58985176e-03 -5.91334115e-04 9.99998561e-01 6.08396870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959072329 meters 0.2496013023047004 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99999567e-01 -8.33066322e-04 4.14020669e-04 -3.69607935e+01] [ 8.32635598e-04 9.99999113e-01 1.03943070e-03 -6.90508630e+01] [-4.14886217e-04 -1.03908553e-03 9.99999374e-01 6.08387758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98907232899995 meters 0.24905287086127628 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99993377e-01 3.43417811e-03 -1.20548632e-03 -3.69572361e+01] [-3.42954144e-03 9.99986794e-01 3.82752911e-03 -6.90461480e+01] [ 1.21861482e-03 -3.82336949e-03 9.99991948e-01 6.08399585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019072329 meters 0.25126530225372135 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99991520e-01 3.27938004e-03 -2.49097887e-03 -3.69548429e+01] [-3.27282795e-03 9.99991186e-01 2.62986547e-03 -6.90428370e+01] [ 2.49958125e-03 -2.62169063e-03 9.99993439e-01 6.08414787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04907232899996 meters 0.2549466335363018 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99990030e-01 2.98576151e-03 -3.32050073e-03 -3.69535528e+01] [-2.98007147e-03 9.99994085e-01 1.71723940e-03 -6.90405030e+01] [ 3.32560836e-03 -1.70732695e-03 9.99993013e-01 6.08427644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079072329 meters 0.272634068581973 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99989861e-01 2.66646101e-03 -3.62865478e-03 -3.69532220e+01] [-2.66272896e-03 9.99995921e-01 1.03293753e-03 -6.90386403e+01] [ 3.63139427e-03 -1.02326494e-03 9.99992883e-01 6.08434797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10907232899996 meters 0.23514159035701374 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99988363e-01 2.67700767e-03 -4.01330595e-03 -3.69523635e+01] [-2.67349659e-03 9.99996039e-01 8.79967677e-04 -6.90381498e+01] [ 4.01564574e-03 -8.69227877e-04 9.99991559e-01 6.08436838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139072329 meters 0.26188932276995175 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99985474e-01 2.63886548e-03 -4.69986895e-03 -3.69509702e+01] [-2.63644395e-03 9.99996389e-01 5.21354478e-04 -6.90370862e+01] [ 4.70122776e-03 -5.08955963e-04 9.99988820e-01 6.08442416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16907232899996 meters 0.2441733487511805 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99983604e-01 2.61148230e-03 -5.09617448e-03 -3.69500275e+01] [-2.60993524e-03 9.99996546e-01 3.10199745e-04 -6.90363800e+01] [ 5.09696696e-03 -2.96893974e-04 9.99986966e-01 6.08443664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199072329 meters 0.2523642482896976 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99982617e-01 2.53248480e-03 -5.32461210e-03 -3.69495261e+01] [-2.53212245e-03 9.99996791e-01 7.47920830e-05 -6.90356462e+01] [ 5.32478442e-03 -6.13082130e-05 9.99985821e-01 6.08445190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22907232899996 meters 0.23160960389989255 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99978520e-01 2.53869056e-03 -6.04280532e-03 -3.69477927e+01] [-2.54024101e-03 9.99996743e-01 -2.48915863e-04 -6.90343933e+01] [ 6.04215372e-03 2.64260698e-04 9.99981711e-01 6.08447129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259072329 meters 0.2344038994012637 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99978754e-01 2.60540695e-03 -5.97518341e-03 -3.69477754e+01] [-2.60614249e-03 9.99996597e-01 -1.15315381e-04 -6.90346841e+01] [ 5.97486264e-03 1.30885110e-04 9.99982142e-01 6.08444519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28907232899996 meters 0.23717244574057095 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99973841e-01 2.88682671e-03 -6.63200874e-03 -3.69460208e+01] [-2.88618011e-03 9.99995829e-01 1.07065598e-04 -6.90349120e+01] [ 6.63229016e-03 -8.79216257e-05 9.99978002e-01 6.08442324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319072329 meters 0.24675713053378576 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99972203e-01 2.84860057e-03 -6.89044633e-03 -3.69451946e+01] [-2.84924580e-03 9.99995937e-01 -8.38262763e-05 -6.90341372e+01] [ 6.89017955e-03 1.03456521e-04 9.99976257e-01 6.08440085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34907232899997 meters 0.23530279466700307 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.84 [[ 9.99970722e-01 2.93781744e-03 -7.06573418e-03 -3.69447324e+01] [-2.93784768e-03 9.99995684e-01 6.09919033e-06 -6.90343734e+01] [ 7.06572161e-03 1.46590390e-05 9.99975037e-01 6.08439816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379072329 meters 0.2670019621899927 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.84 [[ 9.99965565e-01 2.85042917e-03 -7.79381719e-03 -3.69431626e+01] [-2.85454369e-03 9.99995792e-01 -5.16848529e-04 -6.90327034e+01] [ 7.79231115e-03 5.39078524e-04 9.99969494e-01 6.08444946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40907232899997 meters 0.24033597755762548 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.84 [[ 9.99964338e-01 2.73161484e-03 -7.99133481e-03 -3.69428826e+01] [-2.73819581e-03 9.99995921e-01 -8.12688173e-04 -6.90318928e+01] [ 7.98908226e-03 8.34541030e-04 9.99967739e-01 6.08448587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43907232899994 meters 0.26123429695595046 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.84 [[ 9.99965052e-01 2.60002874e-03 -7.94576063e-03 -3.69430240e+01] [-2.60827980e-03 9.99996070e-01 -1.02823754e-03 -6.90312439e+01] [ 7.94305595e-03 1.04892637e-03 9.99967903e-01 6.08449037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46907232899997 meters 0.2376249392425471 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.85 [[ 9.99963021e-01 2.68829404e-03 -8.16877532e-03 -3.69425415e+01] [-2.69618395e-03 9.99995909e-01 -9.55002862e-04 -6.90314674e+01] [ 8.16617457e-03 9.76992069e-04 9.99966179e-01 6.08450365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49907232899994 meters 0.2765020126881194 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.85 [[ 9.99960577e-01 2.53207069e-03 -8.51073398e-03 -3.69416336e+01] [-2.54382534e-03 9.99995825e-01 -1.37061442e-03 -6.90300528e+01] [ 8.50722795e-03 1.39221020e-03 9.99962844e-01 6.08450301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.529072329 meters 0.239753074024075 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.85 [[ 9.99959788e-01 2.39842705e-03 -8.64113527e-03 -3.69413864e+01] [-2.41283862e-03 9.99995715e-01 -1.65774768e-03 -6.90291917e+01] [ 8.63712226e-03 1.67853069e-03 9.99961291e-01 6.08451819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55907232899995 meters 0.3158845323956927 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.85 [[ 9.99964306e-01 2.28463351e-03 -8.13433107e-03 -3.69428395e+01] [-2.29834784e-03 9.99995953e-01 -1.67703220e-03 -6.90294010e+01] [ 8.13046674e-03 1.69566786e-03 9.99965510e-01 6.08455195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.589072329 meters 0.22897076357703133 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.03, Z:60.85 [[ 9.99967139e-01 2.43270601e-03 -7.73322238e-03 -3.69437249e+01] [-2.44258216e-03 9.99996213e-01 -1.26791863e-03 -6.90306404e+01] [ 7.73010863e-03 1.28676599e-03 9.99969294e-01 6.08453339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61907232899995 meters 0.2385327586817486 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.85 [[ 9.99971923e-01 2.40232000e-03 -7.09803942e-03 -3.69451637e+01] [-2.41018282e-03 9.99996491e-01 -1.09939962e-03 -6.90312237e+01] [ 7.09537341e-03 1.11647633e-03 9.99974204e-01 6.08451409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.649072329 meters 0.23830840625710364 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99976235e-01 2.63769769e-03 -6.36966180e-03 -3.69467121e+01] [-2.64016828e-03 9.99996443e-01 -3.79490786e-04 -6.90334318e+01] [ 6.36863815e-03 3.96298746e-04 9.99979641e-01 6.08446846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67907232899995 meters 0.23750400878618655 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99977320e-01 2.70661582e-03 -6.16712151e-03 -3.69470936e+01] [-2.70778403e-03 9.99996318e-01 -1.81083744e-04 -6.90339779e+01] [ 6.16660868e-03 1.97778870e-04 9.99980967e-01 6.08444909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.709072329 meters 0.28020001130689587 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99976580e-01 2.78691614e-03 -6.25084647e-03 -3.69467580e+01] [-2.78745940e-03 9.99996112e-01 -7.81993940e-05 -6.90341857e+01] [ 6.25060423e-03 9.56215433e-05 9.99980460e-01 6.08443361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73907232899995 meters 0.2792982203335401 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.03, Z:60.84 [[ 9.99978291e-01 2.77445739e-03 -5.97659498e-03 -3.69471465e+01] [-2.77457771e-03 9.99996151e-01 -1.18404392e-05 -6.90342265e+01] [ 5.97653912e-03 2.84227093e-05 9.99982140e-01 6.08439197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.769072329 meters 0.2718936349630046 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99978806e-01 2.97750193e-03 -5.78981455e-03 -3.69474651e+01] [-2.97518235e-03 9.99995490e-01 4.09203506e-04 -6.90354268e+01] [ 5.79100685e-03 -3.91969080e-04 9.99983155e-01 6.08437015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79907232899996 meters 0.2676207108202473 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99979224e-01 -1.14375341e-03 -6.34373679e-03 -3.69461828e+01] [ 1.12007324e-03 9.99992397e-01 -3.73514089e-03 -6.90357683e+01] [ 6.34796064e-03 3.72795784e-03 9.99972902e-01 6.08439261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.829072329 meters 0.26470508507025553 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99981554e-01 -1.09661361e-03 -5.97405028e-03 -3.69469420e+01] [ 1.07561045e-03 9.99993234e-01 -3.51781169e-03 -6.90363709e+01] [ 5.97786754e-03 3.51132105e-03 9.99975968e-01 6.08436754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85907232899996 meters 0.22401684153712892 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99987256e-01 -1.01313654e-03 -4.94589926e-03 -3.69491172e+01] [ 9.98783144e-04 9.99995286e-01 -2.90368872e-03 -6.90383352e+01] [ 4.94881778e-03 2.89871183e-03 9.99983553e-01 6.08430539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.889072329 meters 0.2651209331555808 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99976448e-01 -4.91061775e-03 -4.79463811e-03 -3.69490291e+01] [ 4.87996738e-03 9.99967718e-01 -6.38354232e-03 -6.90406684e+01] [ 4.82583047e-03 6.35999430e-03 9.99968130e-01 6.08423737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91907232899996 meters 0.4481385305708813 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99977395e-01 -4.80376849e-03 -4.70468195e-03 -3.69491217e+01] [ 4.77471570e-03 9.99969584e-01 -6.16717801e-03 -6.90412521e+01] [ 4.73416455e-03 6.14457508e-03 9.99969915e-01 6.08421838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.949072329 meters 0.4481385305708813 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99977395e-01 -4.80376849e-03 -4.70468195e-03 -3.69491217e+01] [ 4.77471570e-03 9.99969584e-01 -6.16717801e-03 -6.90412521e+01] [ 4.73416455e-03 6.14457508e-03 9.99969915e-01 6.08421838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97907232899996 meters 0.2576880028078782 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99979073e-01 -4.89159975e-03 -4.23377904e-03 -3.69500727e+01] [ 4.86546529e-03 9.99969182e-01 -6.16128905e-03 -6.90412208e+01] [ 4.26378712e-03 6.14056081e-03 9.99972056e-01 6.08418515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.009072329 meters 0.24318348707257056 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99983013e-01 -4.82106853e-03 -3.27590035e-03 -3.69518560e+01] [ 4.80288032e-03 9.99973134e-01 -5.53749276e-03 -6.90428784e+01] [ 3.30250897e-03 5.52166493e-03 9.99979302e-01 6.08408337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03907232899996 meters 0.25310566315095523 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99984566e-01 -4.68471003e-03 -2.98696264e-03 -3.69522887e+01] [ 4.66917638e-03 9.99975650e-01 -5.18641868e-03 -6.90437958e+01] [ 3.01118677e-03 5.17239198e-03 9.99982089e-01 6.08403925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.069072329 meters 0.41225668040406144 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99985575e-01 -4.72304860e-03 -2.55798570e-03 -3.69531793e+01] [ 4.70996736e-03 9.99975923e-01 -5.09598767e-03 -6.90440419e+01] [ 2.58199271e-03 5.08386613e-03 9.99983744e-01 6.08401236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09907232899997 meters 0.23056116999231097 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99985914e-01 -4.63837333e-03 -2.57998338e-03 -3.69531674e+01] [ 4.62554064e-03 9.99977012e-01 -4.95786755e-03 -6.90444699e+01] [ 2.60292051e-03 4.94586390e-03 9.99984381e-01 6.08402082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.129072329 meters 0.25827644154513096 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.84 [[ 9.99985078e-01 -4.80604959e-03 -2.59720173e-03 -3.69532712e+01] [ 4.79233599e-03 9.99974678e-01 -5.26082113e-03 -6.90436174e+01] [ 2.62241973e-03 5.24829597e-03 9.99982789e-01 6.08404451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15907232899997 meters 0.39826414975108504 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99987348e-01 -4.78632631e-03 -1.54763834e-03 -3.69554924e+01] [ 4.77894446e-03 9.99977353e-01 -4.73878359e-03 -6.90452914e+01] [ 1.57028465e-03 4.73132756e-03 9.99987574e-01 6.08398372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18907232899994 meters 0.2524488487514818 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99988653e-01 -4.67378848e-03 -9.21369920e-04 -3.69566201e+01] [ 4.66980331e-03 9.99979933e-01 -4.28098212e-03 -6.90464799e+01] [ 9.41359836e-04 4.27663093e-03 9.99990412e-01 6.08391634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21907232899997 meters 0.3831566247514479 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99989081e-01 -4.67039125e-03 -1.56775274e-04 -3.69582208e+01] [ 4.66973750e-03 9.99981338e-01 -3.93923065e-03 -6.90475031e+01] [ 1.75170096e-04 3.93845554e-03 9.99992229e-01 6.08386793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24907232899994 meters 0.3708201389735279 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99990188e-01 -4.41664449e-03 3.41568774e-04 -3.69589221e+01] [ 4.41774263e-03 9.99984849e-01 -3.28399212e-03 -6.90492099e+01] [-3.27059374e-04 3.28546886e-03 9.99994549e-01 6.08378293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279072329 meters 0.3742273297336809 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99990382e-01 -4.32470532e-03 7.29336819e-04 -3.69595665e+01] [ 4.32684575e-03 9.99986261e-01 -2.95917229e-03 -6.90500414e+01] [-7.16529250e-04 2.96229956e-03 9.99995356e-01 6.08373177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30907232899995 meters 0.35939865239955476 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99990546e-01 -4.25598691e-03 8.91496954e-04 -3.69596189e+01] [ 4.25844821e-03 9.99987076e-01 -2.77740508e-03 -6.90503989e+01] [-8.79664832e-04 2.78117521e-03 9.99995746e-01 6.08367827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339072329 meters 0.35640882710226734 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99990206e-01 -4.14679717e-03 1.54668563e-03 -3.69610077e+01] [ 4.15037878e-03 9.99988697e-01 -2.31969260e-03 -6.90517515e+01] [-1.53704885e-03 2.32608922e-03 9.99996113e-01 6.08364013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36907232899995 meters 0.3492315052248101 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.84 [[ 9.99988722e-01 -4.10753443e-03 2.38419861e-03 -3.69627716e+01] [ 4.11218117e-03 9.99989649e-01 -1.94735246e-03 -6.90528701e+01] [-2.37617512e-03 1.95713475e-03 9.99995262e-01 6.08359384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399072329 meters 0.34109424196510896 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.84 [[ 9.99985033e-01 -4.15803927e-03 3.55601551e-03 -3.69653620e+01] [ 4.16264373e-03 9.99990506e-01 -1.28841763e-03 -6.90550396e+01] [-3.55062446e-03 1.30320078e-03 9.99992847e-01 6.08353393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42907232899995 meters 0.33870986285821264 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.84 [[ 9.99987707e-01 -3.96887861e-03 2.97231644e-03 -3.69638165e+01] [ 3.97240508e-03 9.99991412e-01 -1.18147379e-03 -6.90550638e+01] [-2.96760179e-03 1.19326651e-03 9.99994885e-01 6.08351968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459072329 meters 0.3348165314609465 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99986251e-01 -4.30496604e-03 2.99412567e-03 -3.69636094e+01] [ 4.31024968e-03 9.99989161e-01 -1.76046260e-03 -6.90531763e+01] [-2.98651449e-03 1.77334382e-03 9.99993968e-01 6.08348677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48907232899995 meters 0.33068119957515707 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99986417e-01 -4.15904147e-03 3.14121650e-03 -3.69637403e+01] [ 4.16354395e-03 9.99990313e-01 -1.42817982e-03 -6.90540540e+01] [-3.13524621e-03 1.44123902e-03 9.99994047e-01 6.08344795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519072329 meters 0.3250370595316481 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99990242e-01 -3.69101469e-03 2.42724329e-03 -3.69615761e+01] [ 3.69329238e-03 9.99992743e-01 -9.34573226e-04 -6.90547726e+01] [-2.42377616e-03 9.43528626e-04 9.99996618e-01 6.08339046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54907232899996 meters 0.3216207979847813 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99990183e-01 -3.83716760e-03 2.21590665e-03 -3.69611789e+01] [ 3.84004266e-03 9.99991789e-01 -1.29467167e-03 -6.90537180e+01] [-2.21092059e-03 1.30316813e-03 9.99996707e-01 6.08341441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579072329 meters 0.31940651338257 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99989770e-01 -3.83854258e-03 2.39282087e-03 -3.69616690e+01] [ 3.84149069e-03 9.99991867e-01 -1.22868631e-03 -6.90539564e+01] [-2.38808504e-03 1.23786574e-03 9.99996382e-01 6.08342220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60907232899996 meters 0.3110299279355363 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99989126e-01 -3.79152033e-03 2.71516396e-03 -3.69625764e+01] [ 3.79432475e-03 9.99992273e-01 -1.02846864e-03 -6.90547098e+01] [-2.71124352e-03 1.03875967e-03 9.99995785e-01 6.08343635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639072329 meters 0.30776121675012613 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99989638e-01 -3.75697083e-03 2.57069302e-03 -3.69620782e+01] [ 3.75964077e-03 9.99992397e-01 -1.03456576e-03 -6.90545775e+01] [-2.56678664e-03 1.04421992e-03 9.99996161e-01 6.08341732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66907232899996 meters 0.30684408541442687 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.83 [[ 9.99991108e-01 -3.55134162e-03 2.27403060e-03 -3.69610499e+01] [ 3.55313672e-03 9.99993379e-01 -7.85838819e-04 -6.90550560e+01] [-2.27122476e-03 7.93911773e-04 9.99997106e-01 6.08337420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699072329 meters 0.30436501493766566 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.83 [[ 9.99992477e-01 -3.44756547e-03 1.77763055e-03 -3.69599603e+01] [ 3.44890852e-03 9.99993769e-01 -7.53015630e-04 -6.90551207e+01] [-1.77502341e-03 7.59140850e-04 9.99998136e-01 6.08339742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72907232899996 meters 0.2874845235876031 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99992654e-01 -3.62749161e-03 1.23819678e-03 -3.69588473e+01] [ 3.62918227e-03 9.99992482e-01 -1.36592285e-03 -6.90533017e+01] [-1.23323260e-03 1.37040646e-03 9.99998301e-01 6.08344165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759072329 meters 0.29045748941631605 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99992107e-01 -3.69922431e-03 1.44943576e-03 -3.69593291e+01] [ 3.70126250e-03 9.99992162e-01 -1.40604379e-03 -6.90531677e+01] [-1.44422312e-03 1.41139744e-03 9.99997961e-01 6.08343550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78907232899996 meters 0.27890788370206493 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99970209e-01 -7.69137244e-03 6.51702044e-04 -3.69570120e+01] [ 7.69487107e-03 9.99955005e-01 -5.54772706e-03 -6.90529784e+01] [-6.09003085e-04 5.55257655e-03 9.99984399e-01 6.08340386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819072329 meters 0.2820955943539327 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99993286e-01 -3.49352518e-03 1.10599971e-03 -3.69580798e+01] [ 3.49492227e-03 9.99993094e-01 -1.26378777e-03 -6.90528390e+01] [-1.10157700e-03 1.26764467e-03 9.99998590e-01 6.08338219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84907232899997 meters 0.27516222285336345 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99992044e-01 -3.60972493e-03 1.69758595e-03 -3.69596607e+01] [ 3.61188119e-03 9.99992672e-01 -1.26884566e-03 -6.90530429e+01] [-1.69299332e-03 1.27496705e-03 9.99997754e-01 6.08340400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879072329 meters 0.26537674058148514 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99989130e-01 -3.79775370e-03 2.70483888e-03 -3.69619109e+01] [ 3.80107634e-03 9.99992026e-01 -1.22432472e-03 -6.90533641e+01] [-2.70016763e-03 1.23459271e-03 9.99995592e-01 6.08337496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90907232899997 meters 0.2667757896677846 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.83 [[ 9.99987601e-01 -3.66236719e-03 3.37415942e-03 -3.69633632e+01] [ 3.66469011e-03 9.99993052e-01 -6.82518322e-04 -6.90549783e+01] [-3.37163634e-03 6.94875108e-04 9.99994075e-01 6.08334090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93907232899994 meters 0.24701231194355389 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99984412e-01 -3.53794325e-03 4.31963305e-03 -3.69653452e+01] [ 3.53764945e-03 9.99993740e-01 7.56544496e-05 -6.90572266e+01] [-4.31987367e-03 -6.03719228e-05 9.99990667e-01 6.08327714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96907232899997 meters 0.2420889637528043 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99984026e-01 -3.52518181e-03 4.41830256e-03 -3.69653806e+01] [ 3.52463996e-03 9.99993780e-01 1.30416673e-04 -6.90572808e+01] [-4.41873482e-03 -1.14841664e-04 9.99990231e-01 6.08324520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99907232899994 meters 0.24656007034229196 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99980754e-01 -3.40090877e-03 5.18890520e-03 -3.69667500e+01] [ 3.39728969e-03 9.99993980e-01 7.06120722e-04 -6.90587760e+01] [-5.19127541e-03 -6.88478919e-04 9.99986288e-01 6.08315793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.029072329 meters 0.24110312384895666 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99977366e-01 -3.41440405e-03 5.79738500e-03 -3.69680110e+01] [ 3.40895818e-03 9.99993739e-01 9.48988394e-04 -6.90594466e+01] [-5.80058893e-03 -9.29203871e-04 9.99982745e-01 6.08311611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05907232899995 meters 0.22512393668396966 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99971522e-01 -3.46259229e-03 6.70562675e-03 -3.69698587e+01] [ 3.45435354e-03 9.99993265e-01 1.23982451e-03 -6.90603115e+01] [-6.70987459e-03 -1.21662559e-03 9.99976748e-01 6.08305331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.089072329 meters 0.21608068436881184 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99962808e-01 -3.43108270e-03 7.91271788e-03 -3.69724373e+01] [ 3.41477757e-03 9.99992021e-01 2.07321330e-03 -6.90629173e+01] [-7.91976811e-03 -2.04611602e-03 9.99966545e-01 6.08297405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11907232899995 meters 0.2413653435746899 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99962867e-01 -3.11504150e-03 8.03504042e-03 -3.69727072e+01] [ 3.09363854e-03 9.99991637e-01 2.67475819e-03 -6.90647484e+01] [-8.04330521e-03 -2.64980136e-03 9.99964141e-01 6.08296513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.149072329 meters 0.22802960675113582 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99938037e-01 -7.56148774e-03 8.16988337e-03 -3.69724217e+01] [ 7.57707974e-03 9.99969528e-01 -1.87920813e-03 -6.90637354e+01] [-8.15542480e-03 1.94099555e-03 9.99964860e-01 6.08288513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17907232899995 meters 0.2425189755248005 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99940451e-01 -7.37937111e-03 8.03986963e-03 -3.69720826e+01] [ 7.39252270e-03 9.99971383e-01 -1.60730866e-03 -6.90645396e+01] [-8.02777863e-03 1.66664787e-03 9.99966388e-01 6.08288536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.209072329 meters 0.23480486141354742 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99940792e-01 -7.57178448e-03 7.81537683e-03 -3.69717966e+01] [ 7.58805203e-03 9.99969101e-01 -2.05393005e-03 -6.90633065e+01] [-7.79958342e-03 2.11311193e-03 9.99967350e-01 6.08293116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23907232899995 meters 0.3391085395602869 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99939711e-01 -7.59471969e-03 7.93062050e-03 -3.69720940e+01] [ 7.61119619e-03 9.99968934e-01 -2.04946988e-03 -6.90633133e+01] [-7.91480898e-03 2.10970782e-03 9.99966452e-01 6.08293404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.269072329 meters 0.33633929921282396 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99937370e-01 -7.44664135e-03 8.35482419e-03 -3.69727287e+01] [ 7.46040807e-03 9.99970862e-01 -1.61780275e-03 -6.90644145e+01] [-8.34253355e-03 1.68003183e-03 9.99963789e-01 6.08287016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29907232899996 meters 0.22640162315154372 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99935952e-01 -7.37935573e-03 8.58118516e-03 -3.69730618e+01] [ 7.39174012e-03 9.99971683e-01 -1.41238346e-03 -6.90649186e+01] [-8.57051969e-03 1.47572289e-03 9.99962184e-01 6.08283548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.329072329 meters 0.239573788899297 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99933329e-01 -7.44969387e-03 8.82270054e-03 -3.69735423e+01] [ 7.46275250e-03 9.99971105e-01 -1.44812182e-03 -6.90647613e+01] [-8.81165754e-03 1.51386690e-03 9.99960031e-01 6.08281671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35907232899996 meters 0.2303995965500539 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.07, Z:60.83 [[ 9.99935723e-01 -7.22800645e-03 8.73534885e-03 -3.69731821e+01] [ 7.23783662e-03 9.99973208e-01 -1.09424252e-03 -6.90657454e+01] [-8.72720562e-03 1.15739721e-03 9.99961247e-01 6.08279754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.389072329 meters 0.31314084987317736 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.07, Z:60.83 [[ 9.99936534e-01 -7.19480455e-03 8.66959939e-03 -3.69729342e+01] [ 7.20436378e-03 9.99973474e-01 -1.07188936e-03 -6.90657601e+01] [-8.66165739e-03 1.13428028e-03 9.99961844e-01 6.08278649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41907232899996 meters 0.31012695548424557 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99951000e-01 -3.34227010e-03 9.31807297e-03 -3.69749007e+01] [ 3.31698868e-03 9.99990780e-01 2.72729520e-03 -6.90647544e+01] [-9.32710241e-03 -2.69625362e-03 9.99952867e-01 6.08282585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.449072329 meters 0.30359978856880576 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.07, Z:60.83 [[ 9.99955956e-01 -3.20306235e-03 8.82195146e-03 -3.69739018e+01] [ 3.17829862e-03 9.99990974e-01 2.81964881e-03 -6.90650823e+01] [-8.83090335e-03 -2.79148582e-03 9.99957110e-01 6.08285933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47907232899996 meters 0.2983651913155848 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99959349e-01 -3.35316815e-03 8.37000446e-03 -3.69729819e+01] [ 3.33377776e-03 9.99991730e-01 2.32953056e-03 -6.90636874e+01] [-8.37774654e-03 -2.30153212e-03 9.99962257e-01 6.08289254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.509072329 meters 0.3006855815710449 Centerline is valid? [False, False] Translation: X:-36.97, Y:-69.06, Z:60.83 [[ 9.99965905e-01 -3.25769734e-03 7.58795326e-03 -3.69712291e+01] [ 3.24103151e-03 9.99992311e-01 2.20761529e-03 -6.90632340e+01] [-7.59508666e-03 -2.18294722e-03 9.99968774e-01 6.08291793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53907232899996 meters 0.2931485357076691 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.07, Z:60.83 [[ 9.99991280e-01 3.35302326e-03 2.48960359e-03 -3.69568023e+01] [-3.35889050e-03 9.99991583e-01 2.35626467e-03 -6.90654905e+01] [-2.48168203e-03 -2.36460643e-03 9.99994125e-01 6.08325359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.569072329 meters 0.28450190929271835 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.83 [[ 9.99994419e-01 2.99523935e-03 1.47973059e-03 -3.69549585e+01] [-2.99701223e-03 9.99994792e-01 1.19734583e-03 -6.90622922e+01] [-1.47613655e-03 -1.20177392e-03 9.99998188e-01 6.08336840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59907232899997 meters 0.28640481548253727 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.83 [[ 9.99995379e-01 3.03699553e-03 1.35538393e-04 -3.69519622e+01] [-3.03705381e-03 9.99995295e-01 4.31870750e-04 -6.90596856e+01] [-1.34226166e-04 -4.32280392e-04 9.99999898e-01 6.08343915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.629072329 meters 0.2898444386352087 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.84 [[ 9.99967496e-01 7.89927105e-03 -1.61514419e-03 -3.69474000e+01] [-7.89400436e-03 9.99963588e-01 3.24159300e-03 -6.90534268e+01] [ 1.64069160e-03 -3.22873768e-03 9.99993442e-01 6.08350877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65907232899997 meters 0.28359872735168645 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.84 [[ 9.99966480e-01 7.68458827e-03 -2.82593138e-03 -3.69448869e+01] [-7.67876276e-03 9.99968382e-01 2.06655181e-03 -6.90499403e+01] [ 2.84172263e-03 -2.04478288e-03 9.99993872e-01 6.08360630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68907232899994 meters 0.28290257868652746 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.84 [[ 9.99878668e-01 1.33710398e-02 -7.99158210e-03 -3.69313785e+01] [-1.33650609e-02 9.99910363e-01 8.01090812e-04 -6.90500846e+01] [ 8.00157718e-03 -6.94185632e-04 9.99967746e-01 6.08413635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71907232899997 meters 0.3137714600727961 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.84 [[ 9.99869264e-01 1.32773110e-02 -9.22862486e-03 -3.69290929e+01] [-1.32795717e-02 9.99911806e-01 -1.83722890e-04 -6.90473386e+01] [ 9.22537160e-03 3.06251056e-04 9.99957398e-01 6.08428539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74907232899994 meters 0.28159024897699453 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.85 [[ 9.99860021e-01 1.03999303e-02 -1.31064932e-02 -3.69176758e+01] [-1.02833976e-02 9.99907272e-01 8.92747029e-03 -6.90513909e+01] [ 1.31981229e-02 -8.79144135e-03 9.99874252e-01 6.08493374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779072329 meters 0.32952338639247575 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.86 [[ 9.99659862e-01 1.89040394e-02 -1.79665771e-02 -3.69062971e+01] [-1.87005694e-02 9.99759836e-01 1.14262548e-02 -6.90508290e+01] [ 1.81782646e-02 -1.10863831e-02 9.99773296e-01 6.08550446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80907232899995 meters 0.3303210871409959 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.86 [[ 9.99654902e-01 1.83616687e-02 -1.87863228e-02 -3.69049050e+01] [-1.81741541e-02 9.99783782e-01 1.01039654e-02 -6.90471270e+01] [ 1.89677865e-02 -9.75905297e-03 9.99772466e-01 6.08560830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839072329 meters 0.3263947959944124 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.86 [[ 9.99638385e-01 1.81037650e-02 -1.98834709e-02 -3.69028192e+01] [-1.79234327e-02 9.99796938e-01 9.21053945e-03 -6.90445093e+01] [ 2.00461788e-02 -8.85082873e-03 9.99759878e-01 6.08571413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86907232899995 meters 0.3263947959944124 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.86 [[ 9.99817467e-01 1.82091230e-02 -5.78444628e-03 -3.69068378e+01] [-1.81422836e-02 9.99770369e-01 1.14046551e-02 -6.90461969e+01] [ 5.99078676e-03 -1.12976303e-02 9.99918234e-01 6.08553079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899072329 meters 0.3216585775615372 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.86 [[ 9.99801281e-01 1.85331764e-02 -7.34304877e-03 -3.69032278e+01] [-1.84553300e-02 9.99774224e-01 1.05309797e-02 -6.90427102e+01] [ 7.53656339e-03 -1.03933686e-02 9.99917586e-01 6.08561126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92907232899995 meters 0.274565929992874 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.86 [[ 9.99850333e-01 1.48799430e-02 -8.82598289e-03 -3.68997156e+01] [-1.48245610e-02 9.99870216e-01 6.30745575e-03 -6.90413664e+01] [ 8.91869199e-03 -6.17567041e-03 9.99941157e-01 6.08562283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959072329 meters 0.28896205324644797 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.86 [[ 9.99891652e-01 1.07181211e-02 -1.00899120e-02 -3.68971203e+01] [-1.07006623e-02 9.99941157e-01 1.78272021e-03 -6.90401733e+01] [ 1.01084257e-02 -1.67455831e-03 9.99947506e-01 6.08568226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98907232899995 meters 0.2925824977920357 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.86 [[ 9.99888730e-01 1.07062214e-02 -1.03877241e-02 -3.68966942e+01] [-1.06893778e-02 9.99941463e-01 1.67566433e-03 -6.90399947e+01] [ 1.04050560e-02 -1.56443957e-03 9.99944642e-01 6.08572827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019072329 meters 0.28223131169622173 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.86 [[ 9.99878856e-01 1.07323647e-02 -1.12733771e-02 -3.68947963e+01] [-1.07180726e-02 9.99941679e-01 1.32743209e-03 -6.90387345e+01] [ 1.12869661e-02 -1.20644241e-03 9.99935572e-01 6.08577669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04907232899996 meters 0.2750203433107545 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.86 [[ 9.99871178e-01 1.06542176e-02 -1.20048265e-02 -3.68934306e+01] [-1.06446783e-02 9.99942976e-01 8.58236832e-04 -6.90373562e+01] [ 1.20132857e-02 -7.30338755e-04 9.99927571e-01 6.08585559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079072329 meters 0.2878145877742355 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.86 [[ 9.99874599e-01 1.06746621e-02 -1.16978061e-02 -3.68943094e+01] [-1.06633880e-02 9.99942618e-01 1.02573524e-03 -6.90380227e+01] [ 1.17080843e-02 -9.00868367e-04 9.99931052e-01 6.08586500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10907232899996 meters 0.27922909007053986 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.86 [[ 9.99911161e-01 6.50763125e-03 -1.16327648e-02 -3.68944722e+01] [-6.54166541e-03 9.99974427e-01 -2.89006286e-03 -6.90392384e+01] [ 1.16136599e-02 2.96590377e-03 9.99928161e-01 6.08585137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139072329 meters 0.2754414447442009 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.85 [[ 9.99972342e-01 6.72972788e-03 3.16645759e-03 -3.68977339e+01] [-6.73134867e-03 9.99977218e-01 5.01483126e-04 -6.90453467e+01] [-3.16301061e-03 -5.22783786e-04 9.99994861e-01 6.08543134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16907232899996 meters 0.2663061167087285 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.85 [[ 9.99989406e-01 2.66129673e-03 3.75573962e-03 -3.68989048e+01] [-2.64963760e-03 9.99991666e-01 -3.10591902e-03 -6.90474214e+01] [-3.76397409e-03 3.09593477e-03 9.99988124e-01 6.08537638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199072329 meters 0.26268504514387686 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.85 [[ 9.99985312e-01 2.84427994e-03 4.61355553e-03 -3.69006610e+01] [-2.83349354e-03 9.99993241e-01 -2.34283454e-03 -6.90496689e+01] [-4.62018803e-03 2.32972765e-03 9.99986613e-01 6.08530937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22907232899996 meters 0.2487985702722872 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.85 [[ 9.99983262e-01 -1.07300594e-03 5.68552733e-03 -3.69026169e+01] [ 1.10310399e-03 9.99985382e-01 -5.29331204e-03 -6.90535188e+01] [-5.67976446e-03 5.29949517e-03 9.99969827e-01 6.08518207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259072329 meters 0.23012247516084844 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.85 [[ 9.99979599e-01 -8.02146159e-04 6.33706519e-03 -3.69038427e+01] [ 8.30478256e-04 9.99989667e-01 -4.46948886e-03 -6.90558282e+01] [-6.33341452e-03 4.47466047e-03 9.99969932e-01 6.08511420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28907232899996 meters 0.23461504658663843 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99972799e-01 -8.37163287e-04 7.32806478e-03 -3.69059447e+01] [ 8.67804050e-04 9.99990891e-01 -4.17910924e-03 -6.90568010e+01] [-7.32449944e-03 4.18535489e-03 9.99964417e-01 6.08506637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319072329 meters 0.25949726086710484 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99959226e-01 -1.52847018e-03 8.89999286e-03 -3.69096822e+01] [ 1.55877543e-03 9.99993008e-01 -3.39914707e-03 -6.90604942e+01] [-8.89473514e-03 3.41288157e-03 9.99954617e-01 6.08497695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34907232899997 meters 0.23422550549970653 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99951652e-01 -1.47037439e-03 9.72271334e-03 -3.69113320e+01] [ 1.49874241e-03 9.99994640e-01 -2.91106353e-03 -6.90618685e+01] [-9.71838087e-03 2.92549463e-03 9.99948496e-01 6.08491425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379072329 meters 0.23809025843770126 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99944090e-01 -1.48212191e-03 1.04700106e-02 -3.69128437e+01] [ 1.50963163e-03 9.99995428e-01 -2.62006383e-03 -6.90626753e+01] [-1.04660795e-02 2.63572320e-03 9.99941755e-01 6.08486098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40907232899997 meters 0.225356271060737 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99937531e-01 -1.46502739e-03 1.10809571e-02 -3.69141343e+01] [ 1.49071984e-03 9.99996219e-01 -2.31070918e-03 -6.90635608e+01] [-1.10775300e-02 2.32708343e-03 9.99935934e-01 6.08482853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43907232899994 meters 0.23814454534759769 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99928877e-01 -1.43022357e-03 1.18404096e-02 -3.69158019e+01] [ 1.45324480e-03 9.99997070e-01 -1.93591782e-03 -6.90647469e+01] [-1.18376062e-02 1.95298715e-03 9.99928026e-01 6.08479703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46907232899997 meters 0.24522478211689183 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99919387e-01 -1.48128962e-03 1.26105616e-02 -3.69174052e+01] [ 1.50302936e-03 9.99997400e-01 -1.71462817e-03 -6.90654080e+01] [-1.26079889e-02 1.73344399e-03 9.99919014e-01 6.08475492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49907232899994 meters 0.22247913730503663 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99898237e-01 -2.47444891e-03 1.40496637e-02 -3.69212207e+01] [ 2.49735063e-03 9.99995581e-01 -1.61274419e-03 -6.90679318e+01] [-1.40456109e-02 1.64766701e-03 9.99899998e-01 6.08474507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.529072329 meters 0.2178179054510286 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99888477e-01 -2.35766383e-03 1.47470323e-02 -3.69226193e+01] [ 2.37342860e-03 9.99996630e-01 -1.05160254e-03 -6.90695039e+01] [-1.47445033e-02 1.08648629e-03 9.99890704e-01 6.08468909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55907232899995 meters 0.21779927272829 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99883142e-01 -2.19919669e-03 1.51283414e-02 -3.69233061e+01] [ 2.20847846e-03 9.99997383e-01 -5.96856729e-04 -6.90707572e+01] [-1.51269892e-02 6.30197597e-04 9.99885382e-01 6.08464859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.589072329 meters 0.2636540555207876 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99882781e-01 -2.11715551e-03 1.51638653e-02 -3.69231160e+01] [ 2.12399701e-03 9.99997650e-01 -4.35080461e-04 -6.90710826e+01] [-1.51629085e-02 4.67237466e-04 9.99884927e-01 6.08460432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61907232899995 meters 0.21032244896589708 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99889050e-01 -2.17978056e-03 1.47355667e-02 -3.69221073e+01] [ 2.19095264e-03 9.99997325e-01 -7.42070000e-04 -6.90700941e+01] [-1.47339097e-02 7.74272596e-04 9.99891150e-01 6.08461382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.649072329 meters 0.22410769829763677 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99892465e-01 -2.36686270e-03 1.44725898e-02 -3.69212961e+01] [ 2.38467193e-03 9.99996420e-01 -1.21341558e-03 -6.90684954e+01] [-1.44696660e-02 1.24779747e-03 9.99894530e-01 6.08459250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67907232899995 meters 0.22621696549058978 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99898958e-01 -2.34233529e-03 1.40209837e-02 -3.69201919e+01] [ 2.36132237e-03 9.99996317e-01 -1.33778877e-03 -6.90680174e+01] [-1.40177986e-02 1.37076166e-03 9.99900806e-01 6.08459260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.709072329 meters 0.22404967767115433 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99902868e-01 -2.30286430e-03 1.37459232e-02 -3.69193689e+01] [ 2.32223331e-03 9.99996333e-01 -1.39327800e-03 -6.90676969e+01] [-1.37426643e-02 1.42506391e-03 9.99904550e-01 6.08457328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73907232899995 meters 0.2442036156124246 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99909484e-01 -2.24206102e-03 1.32663499e-02 -3.69181536e+01] [ 2.26216115e-03 9.99996316e-01 -1.50030977e-03 -6.90672009e+01] [-1.32629373e-02 1.53018459e-03 9.99910873e-01 6.08457399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.769072329 meters 0.23930097487791616 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99917386e-01 -2.75912234e-03 1.25542447e-02 -3.69169798e+01] [ 2.79462375e-03 9.99992144e-01 -2.81117722e-03 -6.90635006e+01] [-1.25463897e-02 2.84602937e-03 9.99917241e-01 6.08468164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79907232899996 meters 0.22689080628928807 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99913713e-01 -3.15530560e-03 1.27519084e-02 -3.69177361e+01] [ 3.19982975e-03 9.99988851e-01 -3.47267425e-03 -6.90616912e+01] [-1.27408089e-02 3.51317854e-03 9.99912661e-01 6.08473123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.829072329 meters 0.2269759990890521 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99911970e-01 -3.18226208e-03 1.28812110e-02 -3.69182285e+01] [ 3.22725909e-03 9.99988758e-01 -3.47395084e-03 -6.90617969e+01] [-1.28700112e-02 3.51521604e-03 9.99910999e-01 6.08476112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85907232899996 meters 0.2787801385161941 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99901654e-01 -3.06595783e-03 1.36851258e-02 -3.69198484e+01] [ 3.10592603e-03 9.99990971e-01 -2.90026018e-03 -6.90634689e+01] [-1.36761102e-02 2.94247994e-03 9.99902148e-01 6.08469917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.889072329 meters 0.2625944730064177 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99896260e-01 -2.77019469e-03 1.41348982e-02 -3.69206131e+01] [ 2.80128548e-03 9.99993700e-01 -2.18025197e-03 -6.90654991e+01] [-1.41287694e-02 2.21962168e-03 9.99897720e-01 6.08464201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91907232899996 meters 0.22365710470141495 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99895590e-01 -2.65911797e-03 1.42034626e-02 -3.69205310e+01] [ 2.68709941e-03 9.99994486e-01 -1.95132274e-03 -6.90660307e+01] [-1.41981955e-02 1.98928512e-03 9.99897222e-01 6.08460309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.949072329 meters 0.21635038066419138 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99901196e-01 -2.77857403e-03 1.37796262e-02 -3.69194312e+01] [ 2.81186085e-03 9.99993174e-01 -2.39686903e-03 -6.90645266e+01] [-1.37728723e-02 2.43537860e-03 9.99902184e-01 6.08460325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97907232899996 meters 0.2452504070330256 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99905771e-01 -2.76459001e-03 1.34464118e-02 -3.69185562e+01] [ 2.79849842e-03 9.99992950e-01 -2.50358227e-03 -6.90641217e+01] [-1.34393957e-02 2.54097613e-03 9.99906459e-01 6.08459677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.009072329 meters 0.26172332720214214 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99920611e-01 -2.49395658e-03 1.23511536e-02 -3.69159937e+01] [ 2.52479045e-03 9.99993734e-01 -2.48147297e-03 -6.90637038e+01] [-1.23448876e-02 2.51246005e-03 9.99920642e-01 6.08461399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03907232899996 meters 0.22986110924374875 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99966054e-01 7.74707751e-04 8.20307535e-03 -3.69062508e+01] [-7.41633555e-04 9.99991588e-01 -4.03420097e-03 -6.90631722e+01] [-8.20613167e-03 4.02798035e-03 9.99958217e-01 6.08503708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.069072329 meters 0.2459372193799109 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99965223e-01 5.15798480e-04 8.32383676e-03 -3.69066008e+01] [-4.78653290e-04 9.99989922e-01 -4.46388349e-03 -6.90619002e+01] [-8.32605534e-03 4.45974402e-03 9.99955393e-01 6.08504883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09907232899997 meters 0.2358779981989219 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99961422e-01 6.57744187e-04 8.75907356e-03 -3.69074951e+01] [-6.22437328e-04 9.99991674e-01 -4.03300583e-03 -6.90631556e+01] [-8.76165331e-03 4.02739827e-03 9.99953506e-01 6.08502006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.129072329 meters 0.2503717515888483 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99959547e-01 8.21766844e-04 8.95702438e-03 -3.69079359e+01] [-7.88970910e-04 9.99992975e-01 -3.66439516e-03 -6.90642573e+01] [-8.95997273e-03 3.65718009e-03 9.99953171e-01 6.08501279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15907232899997 meters 0.24871912100837734 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99958658e-01 9.56561448e-04 9.04253823e-03 -3.69079822e+01] [-9.25890571e-04 9.99993807e-01 -3.39542177e-03 -6.90649543e+01] [-9.04573016e-03 3.38690899e-03 9.99953351e-01 6.08498965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18907232899994 meters 0.23485514745771172 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99952402e-01 1.20549857e-03 9.68199339e-03 -3.69092550e+01] [-1.17941784e-03 9.99995662e-01 -2.69899356e-03 -6.90670067e+01] [-9.68520503e-03 2.68744598e-03 9.99949486e-01 6.08493878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21907232899997 meters 0.23878745485603514 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99950269e-01 1.20695007e-03 9.89959621e-03 -3.69096749e+01] [-1.18107797e-03 9.99995873e-01 -2.61888029e-03 -6.90672050e+01] [-9.90271622e-03 2.60705786e-03 9.99947568e-01 6.08491903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24907232899994 meters 0.24410748898268203 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99948780e-01 1.31508574e-03 1.00353475e-02 -3.69097151e+01] [-1.29125541e-03 9.99996332e-01 -2.38074909e-03 -6.90677592e+01] [-1.00384416e-02 2.36766896e-03 9.99946811e-01 6.08487301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279072329 meters 0.24183256463093933 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99944252e-01 1.30292565e-03 1.04783055e-02 -3.69103892e+01] [-1.27923417e-03 9.99996611e-01 -2.26738804e-03 -6.90679227e+01] [-1.04812243e-02 2.25385743e-03 9.99942530e-01 6.08480872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30907232899995 meters 0.2340340911506081 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99943000e-01 1.43336312e-03 1.05802566e-02 -3.69104465e+01] [-1.41229106e-03 9.99997005e-01 -1.99884326e-03 -6.90686233e+01] [-1.05830900e-02 1.98378692e-03 9.99942030e-01 6.08478049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339072329 meters 0.22122124111852162 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99937906e-01 1.40067756e-03 1.10554274e-02 -3.69113584e+01] [-1.37980662e-03 9.99997252e-01 -1.89524695e-03 -6.90688576e+01] [-1.10580516e-02 1.87987492e-03 9.99937091e-01 6.08473982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36907232899995 meters 0.2404530706838344 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99938950e-01 1.37404975e-03 1.09639366e-02 -3.69109204e+01] [-1.35233312e-03 9.99997110e-01 -1.98790108e-03 -6.90683929e+01] [-1.09666364e-02 1.97295282e-03 9.99937918e-01 6.08470887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399072329 meters 0.23922146467444136 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99939022e-01 1.38034928e-03 1.09565785e-02 -3.69109646e+01] [-1.35874057e-03 9.99997118e-01 -1.97941197e-03 -6.90684469e+01] [-1.09592792e-02 1.96440412e-03 9.99938016e-01 6.08471957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42907232899995 meters 0.21702661842563842 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99942761e-01 1.07148285e-03 1.06455366e-02 -3.69105782e+01] [-1.04304734e-03 9.99995875e-01 -2.67631392e-03 -6.90665185e+01] [-1.06483603e-02 2.66505693e-03 9.99939753e-01 6.08478409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459072329 meters 0.23544158296748824 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99947377e-01 8.13661024e-04 1.02264977e-02 -3.69097094e+01] [-7.79735155e-04 9.99994181e-01 -3.32099684e-03 -6.90645452e+01] [-1.02291404e-02 3.31284812e-03 9.99942193e-01 6.08481834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48907232899995 meters 0.2287737614910128 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99942334e-01 4.87746572e-04 1.07280281e-02 -3.69107692e+01] [-4.47074839e-04 9.99992706e-01 -3.79323728e-03 -6.90631786e+01] [-1.07298000e-02 3.78822231e-03 9.99935258e-01 6.08480441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519072329 meters 0.22920804745218784 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.85 [[ 9.99938417e-01 5.68462359e-04 1.10832340e-02 -3.69113231e+01] [-5.29717185e-04 9.99993740e-01 -3.49845872e-03 -6.90639007e+01] [-1.10851534e-02 3.49237229e-03 9.99932459e-01 6.08475165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54907232899996 meters 0.22785746263886225 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99928152e-01 6.83643037e-04 1.19676161e-02 -3.69131614e+01] [-6.48954247e-04 9.99995578e-01 -2.90219811e-03 -6.90657328e+01] [-1.19695472e-02 2.89422316e-03 9.99924174e-01 6.08469602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579072329 meters 0.21781818982667284 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99930093e-01 8.43209187e-04 1.17939797e-02 -3.69128609e+01] [-8.11883835e-04 9.99996131e-01 -2.66058164e-03 -6.90665164e+01] [-1.17961775e-02 2.65082030e-03 9.99926909e-01 6.08471338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60907232899996 meters 0.21971630491380204 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.85 [[ 9.99925230e-01 7.33454356e-04 1.22063914e-02 -3.69138785e+01] [-7.00251109e-04 9.99996044e-01 -2.72420425e-03 -6.90663962e+01] [-1.22083412e-02 2.71545302e-03 9.99921788e-01 6.08471400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639072329 meters 0.28416050605720283 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99918219e-01 6.93114410e-04 1.27700929e-02 -3.69150992e+01] [-6.59871118e-04 9.99996383e-01 -2.60724415e-03 -6.90667557e+01] [-1.27718538e-02 2.59860431e-03 9.99915060e-01 6.08468948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66907232899996 meters 0.27322694951222326 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99912814e-01 8.53265419e-04 1.31770897e-02 -3.69157979e+01] [-8.24869617e-04 9.99997327e-01 -2.16022188e-03 -6.90679752e+01] [-1.31788977e-02 2.14916416e-03 9.99910845e-01 6.08463936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699072329 meters 0.24908098339353377 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99907850e-01 8.21335976e-04 1.35505327e-02 -3.69164790e+01] [-7.93085650e-04 9.99997501e-01 -2.09005485e-03 -6.90681115e+01] [-1.35522155e-02 2.07911552e-03 9.99906003e-01 6.08459984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72907232899996 meters 0.24822160682478223 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99910423e-01 9.28269582e-04 1.33523025e-02 -3.69158761e+01] [-9.02101808e-04 9.99997661e-01 -1.96568424e-03 -6.90683757e+01] [-1.33540960e-02 1.95346302e-03 9.99908922e-01 6.08458486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759072329 meters 0.24822160682478223 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99910423e-01 9.28269582e-04 1.33523025e-02 -3.69158761e+01] [-9.02101808e-04 9.99997661e-01 -1.96568424e-03 -6.90683757e+01] [-1.33540960e-02 1.95346302e-03 9.99908922e-01 6.08458486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78907232899996 meters 0.2578175074318658 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99904910e-01 7.89900318e-04 1.37675921e-02 -3.69167074e+01] [-7.60980353e-04 9.99997493e-01 -2.10569476e-03 -6.90678999e+01] [-1.37692209e-02 2.09501766e-03 9.99903005e-01 6.08456085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819072329 meters 0.3198853964269562 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99893797e-01 7.72437353e-04 1.45532879e-02 -3.69184352e+01] [-7.45789855e-04 9.99998036e-01 -1.83636756e-03 -6.90687889e+01] [-1.45546778e-02 1.82531883e-03 9.99892409e-01 6.08453040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84907232899997 meters 0.339265208510129 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.85 [[ 9.99890204e-01 8.95489549e-04 1.47911148e-02 -3.69188726e+01] [-8.73114473e-04 9.99998465e-01 -1.51912593e-03 -6.90696760e+01] [-1.47924524e-02 1.50604480e-03 9.99889451e-01 6.08450750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879072329 meters 0.31113615635194364 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99996227e-01 -1.38597937e-03 2.37183370e-03 -3.69223879e+01] [ 1.40427802e-03 9.99969131e-01 -7.73078295e-03 -6.90590653e+01] [-2.36104578e-03 7.73408449e-03 9.99967304e-01 6.08477786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90907232899997 meters 0.283355830165284 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99994513e-01 -1.27690486e-03 3.05657222e-03 -3.69236549e+01] [ 1.29898184e-03 9.99973007e-01 -7.23173504e-03 -6.90604145e+01] [-3.04725548e-03 7.23566579e-03 9.99969179e-01 6.08470390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93907232899994 meters 0.29318399106943843 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.85 [[ 9.99991028e-01 -1.16721410e-03 4.07197092e-03 -3.69257199e+01] [ 1.19388442e-03 9.99977813e-01 -6.55346197e-03 -6.90624870e+01] [-4.06423128e-03 6.55826464e-03 9.99970235e-01 6.08462393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96907232899997 meters 0.29131990565874655 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.85 [[ 9.99990418e-01 -1.18281374e-03 4.21475346e-03 -3.69261359e+01] [ 1.21034758e-03 9.99977906e-01 -6.53617763e-03 -6.90625861e+01] [-4.20692926e-03 6.54121632e-03 9.99969757e-01 6.08463404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99907232899994 meters 0.3068601879718661 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.85 [[ 9.99986482e-01 -1.20607294e-03 5.05777334e-03 -3.69281623e+01] [ 1.23788774e-03 9.99979440e-01 -6.29187278e-03 -6.90636177e+01] [-5.05008089e-03 6.29804868e-03 9.99967415e-01 6.08462858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.029072329 meters 0.28242256163074525 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.85 [[ 9.99986314e-01 -1.09541916e-03 5.11585461e-03 -3.69281759e+01] [ 1.12649529e-03 9.99980909e-01 -6.07554854e-03 -6.90641902e+01] [-5.10910167e-03 6.08122838e-03 9.99968457e-01 6.08461016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05907232899995 meters 0.27512453579438023 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.85 [[ 9.99988277e-01 -1.06959383e-03 4.72242445e-03 -3.69270975e+01] [ 1.09887747e-03 9.99980159e-01 -6.20274109e-03 -6.90635998e+01] [-4.71569634e-03 6.20785774e-03 9.99969612e-01 6.08460131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.089072329 meters 0.29609491203228894 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.85 [[ 9.99989017e-01 -1.04711412e-03 4.56822512e-03 -3.69265056e+01] [ 1.07552941e-03 9.99980064e-01 -6.22218700e-03 -6.90633761e+01] [-4.56161871e-03 6.22703192e-03 9.99970207e-01 6.08457250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11907232899995 meters 0.29756662109471943 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.85 [[ 9.99989902e-01 -7.12497424e-04 4.43719013e-03 -3.69257468e+01] [ 7.37700492e-04 9.99983591e-01 -5.68091706e-03 -6.90646456e+01] [-4.43306968e-03 5.68413301e-03 9.99974019e-01 6.08450863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.149072329 meters 0.26052720046925126 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.84 [[ 9.99986920e-01 -7.09997341e-04 5.06522315e-03 -3.69270435e+01] [ 7.37817051e-04 9.99984644e-01 -5.49254410e-03 -6.90651729e+01] [-5.06124568e-03 5.49620946e-03 9.99972087e-01 6.08447129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17907232899995 meters 0.27525552001031783 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.84 [[ 9.99986347e-01 -5.27543612e-04 5.19882326e-03 -3.69271052e+01] [ 5.54161700e-04 9.99986740e-01 -5.11991186e-03 -6.90661672e+01] [-5.19605334e-03 5.12272294e-03 9.99973379e-01 6.08442874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.209072329 meters 0.29188344520237364 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.84 [[ 9.99981398e-01 3.81543795e-03 4.75876166e-03 -3.69258122e+01] [-3.81086565e-03 9.99992269e-01 -9.69516044e-04 -6.90653470e+01] [-4.76242400e-03 9.51363008e-04 9.99988207e-01 6.08440540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23907232899995 meters 0.2953316608212899 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.84 [[ 9.99984568e-01 3.95296797e-03 3.90347992e-03 -3.69236933e+01] [-3.94858643e-03 9.99991566e-01 -1.12953869e-03 -6.90644326e+01] [-3.90791203e-03 1.11410804e-03 9.99991743e-01 6.08441026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.269072329 meters 0.29082273761159166 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.84 [[ 9.99988312e-01 3.85955431e-03 2.91192136e-03 -3.69211957e+01] [-3.85377743e-03 9.99990600e-01 -1.98687954e-03 -6.90613860e+01] [-2.91956246e-03 1.97563443e-03 9.99993786e-01 6.08443601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29907232899996 meters 0.2864760124951096 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.84 [[ 9.99990252e-01 3.71136555e-03 2.39218981e-03 -3.69202399e+01] [-3.70538006e-03 9.99990006e-01 -2.50168968e-03 -6.90599145e+01] [-2.40145058e-03 2.49280132e-03 9.99994009e-01 6.08449879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.329072329 meters 0.2869385455550086 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99991810e-01 3.42499893e-03 2.15619604e-03 -3.69200496e+01] [-3.41827791e-03 9.99989312e-01 -3.11308155e-03 -6.90582373e+01] [-2.16683529e-03 3.10568558e-03 9.99992830e-01 6.08456536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35907232899996 meters 0.28730830092090254 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99993029e-01 3.22457833e-03 1.88249841e-03 -3.69196336e+01] [-3.21779119e-03 9.99988352e-01 -3.59735219e-03 -6.90568535e+01] [-1.89407643e-03 3.59126962e-03 9.99991758e-01 6.08461536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.389072329 meters 0.2771728200137492 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99992494e-01 3.16271229e-03 2.23816105e-03 -3.69204762e+01] [-3.15461840e-03 9.99988506e-01 -3.61064738e-03 -6.90568549e+01] [-2.24955477e-03 3.60355973e-03 9.99990977e-01 6.08461172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41907232899996 meters 0.2702056454424458 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99991481e-01 3.33744158e-03 2.42869447e-03 -3.69208408e+01] [-3.32956325e-03 9.99989206e-01 -3.24070077e-03 -6.90579574e+01] [-2.43948390e-03 3.23258668e-03 9.99991800e-01 6.08459248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.449072329 meters 0.26170223111204927 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99991850e-01 3.43702155e-03 2.11843734e-03 -3.69197841e+01] [-3.43023035e-03 9.99988993e-01 -3.20110115e-03 -6.90577276e+01] [-2.12941627e-03 3.19380833e-03 9.99992633e-01 6.08455482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47907232899996 meters 0.2569511907043541 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99992258e-01 3.70692471e-03 1.32038187e-03 -3.69175934e+01] [-3.70287794e-03 9.99988480e-01 -3.05421701e-03 -6.90575529e+01] [-1.33168841e-03 3.04930415e-03 9.99994464e-01 6.08452348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.509072329 meters 0.2564111061680926 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.85 [[ 9.99992881e-01 3.66980360e-03 8.78228518e-04 -3.69164196e+01] [-3.66688941e-03 9.99987841e-01 -3.29718095e-03 -6.90566264e+01] [-8.90317846e-04 3.29393711e-03 9.99994179e-01 6.08451777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53907232899996 meters 0.25350231807894913 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99987056e-01 5.06736334e-03 -4.57832687e-04 -3.69119380e+01] [-5.06859925e-03 9.99983401e-01 -2.73989746e-03 -6.90550030e+01] [ 4.43941031e-04 2.74218257e-03 9.99996142e-01 6.08441288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.569072329 meters 0.3006549815103571 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99987013e-01 5.05702925e-03 -6.33460135e-04 -3.69115180e+01] [-5.05880428e-03 9.99983192e-01 -2.83258308e-03 -6.90546699e+01] [ 6.19125032e-04 2.83575084e-03 9.99995788e-01 6.08442153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59907232899997 meters 0.32333575444663004 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99986665e-01 5.11902191e-03 -6.82522834e-04 -3.69116312e+01] [-5.12089241e-03 9.99983058e-01 -2.76757585e-03 -6.90549790e+01] [ 6.68343989e-04 2.77103407e-03 9.99995937e-01 6.08446068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.629072329 meters 0.29319532860260084 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99985918e-01 5.28487328e-03 -4.83137625e-04 -3.69119853e+01] [-5.28602503e-03 9.99983114e-01 -2.41453663e-03 -6.90559958e+01] [ 4.70368946e-04 2.41705651e-03 9.99996968e-01 6.08443793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65907232899997 meters 0.2843950789253005 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99998519e-01 1.40971730e-03 -9.87452916e-04 -3.69103591e+01] [-1.41577092e-03 9.99980044e-01 -6.15690957e-03 -6.90571141e+01] [ 9.78753708e-04 6.15829846e-03 9.99980559e-01 6.08438299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68907232899994 meters 0.308359083720711 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99998380e-01 1.41949509e-03 -1.10702252e-03 -3.69099506e+01] [-1.42632413e-03 9.99979808e-01 -6.19264129e-03 -6.90568766e+01] [ 1.09820974e-03 6.19421023e-03 9.99980213e-01 6.08437132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71907232899997 meters 0.2689985086254582 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99998092e-01 1.27027640e-03 -1.48431051e-03 -3.69091326e+01] [-1.28005450e-03 9.99977365e-01 -6.60536200e-03 -6.90555414e+01] [ 1.47588628e-03 6.60724939e-03 9.99977083e-01 6.08440091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74907232899994 meters 0.2662941415059751 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99997955e-01 1.30177122e-03 -1.54783595e-03 -3.69090569e+01] [-1.31191276e-03 9.99977562e-01 -6.56920803e-03 -6.90556562e+01] [ 1.53924962e-03 6.57122522e-03 9.99977225e-01 6.08441721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779072329 meters 0.26616654457252553 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99996089e-01 1.61408895e-03 -2.28403302e-03 -3.69067517e+01] [-1.62887357e-03 9.99977639e-01 -6.48604685e-03 -6.90548598e+01] [ 2.27351289e-03 6.48974188e-03 9.99976357e-01 6.08436642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80907232899995 meters 0.25871379260114213 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99996102e-01 1.53686637e-03 -2.33100621e-03 -3.69066165e+01] [-1.55232988e-03 9.99976706e-01 -6.64659374e-03 -6.90543227e+01] [ 2.32073699e-03 6.65018633e-03 9.99975194e-01 6.08436763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839072329 meters 0.2847831643283128 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99995122e-01 1.52258609e-03 -2.72721902e-03 -3.69055350e+01] [-1.54122607e-03 9.99975380e-01 -6.84578019e-03 -6.90534703e+01] [ 2.71672858e-03 6.84995006e-03 9.99972848e-01 6.08436143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86907232899995 meters 0.2605948587813419 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.84 [[ 9.99994862e-01 1.48818491e-03 -2.83927845e-03 -3.69049386e+01] [-1.50785021e-03 9.99974804e-01 -6.93663919e-03 -6.90528750e+01] [ 2.82888391e-03 6.94088475e-03 9.99971910e-01 6.08432022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899072329 meters 0.27042077860505037 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99995065e-01 1.60440772e-03 -2.70099281e-03 -3.69050266e+01] [-1.62243093e-03 9.99976346e-01 -6.68389406e-03 -6.90534608e+01] [ 2.69020523e-03 6.68824325e-03 9.99974015e-01 6.08428435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92907232899995 meters 0.25515068941981306 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99995070e-01 1.66048225e-03 -2.66519695e-03 -3.69051021e+01] [-1.67797845e-03 9.99976970e-01 -6.57593412e-03 -6.90537686e+01] [ 2.65421635e-03 6.58037384e-03 9.99974827e-01 6.08428374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959072329 meters 0.25762448779480196 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.84 [[ 9.99994378e-01 -2.51658005e-03 -2.21596535e-03 -3.69058559e+01] [ 2.49326394e-03 9.99942158e-01 -1.04625104e-02 -6.90549551e+01] [ 2.24216692e-03 1.04569266e-02 9.99942811e-01 6.08423021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98907232899995 meters 0.27595993697401777 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99996376e-01 -2.26490096e-03 -1.45555035e-03 -3.69072796e+01] [ 2.25067720e-03 9.99950416e-01 -9.70053645e-03 -6.90571097e+01] [ 1.47744894e-03 9.69722532e-03 9.99951889e-01 6.08414895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019072329 meters 0.268368264679127 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99997453e-01 -2.21131065e-03 -4.52546391e-04 -3.69093586e+01] [ 2.20705241e-03 9.99955215e-01 -9.20309892e-03 -6.90586435e+01] [ 4.72877035e-04 9.20207668e-03 9.99957548e-01 6.08408114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04907232899996 meters 0.2603737586967834 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99979865e-01 -6.30511091e-03 7.17112955e-04 -3.69116017e+01] [ 6.31333884e-03 9.99906654e-01 -1.21171508e-02 -6.90626291e+01] [-6.40646035e-04 1.21214342e-02 9.99926327e-01 6.08395108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079072329 meters 0.27398969293293207 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.84 [[ 9.99979863e-01 -6.13967929e-03 1.60540822e-03 -3.69132487e+01] [ 6.15770254e-03 9.99915216e-01 -1.14735947e-02 -6.90643634e+01] [-1.53482791e-03 1.14832493e-02 9.99932887e-01 6.08385879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10907232899996 meters 0.26013309112045413 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.84 [[ 9.99973772e-01 -6.53741659e-03 3.11735380e-03 -3.69167593e+01] [ 6.56997398e-03 9.99922757e-01 -1.05506282e-02 -6.90678387e+01] [-3.04813915e-03 1.05708324e-02 9.99939481e-01 6.08377509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139072329 meters 0.23737722671692468 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.84 [[ 9.99970836e-01 -6.48885841e-03 4.02775714e-03 -3.69186620e+01] [ 6.52920671e-03 9.99927813e-01 -1.00865789e-02 -6.90692236e+01] [-3.96201600e-03 1.01125828e-02 9.99941017e-01 6.08371515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16907232899996 meters 0.24683537775714112 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.84 [[ 9.99965227e-01 -6.61059037e-03 5.08381802e-03 -3.69210372e+01] [ 6.66000241e-03 9.99930145e-01 -9.76475488e-03 -6.90703343e+01] [-5.01891209e-03 9.79827357e-03 9.99939400e-01 6.08367178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199072329 meters 0.24677028365941026 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.84 [[ 9.99961838e-01 -6.48763657e-03 5.85093809e-03 -3.69225034e+01] [ 6.54150796e-03 9.99935954e-01 -9.23565712e-03 -6.90717803e+01] [-5.79064577e-03 9.27357862e-03 9.99940233e-01 6.08359866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22907232899996 meters 0.2565219841766871 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.83 [[ 9.99946278e-01 -6.97333328e-03 7.66895351e-03 -3.69261352e+01] [ 7.03319374e-03 9.99944795e-01 -7.80648757e-03 -6.90763378e+01] [-7.61409291e-03 7.86000543e-03 9.99940121e-01 6.08337843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259072329 meters 0.22958644181944057 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.83 [[ 9.99933669e-01 -7.22003833e-03 8.97374122e-03 -3.69288730e+01] [ 7.28695344e-03 9.99945723e-01 -7.44657601e-03 -6.90776068e+01] [-8.91948959e-03 7.51147331e-03 9.99932008e-01 6.08328434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28907232899996 meters 0.23945150162272802 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.83 [[ 9.99930289e-01 -6.98087210e-03 9.52283235e-03 -3.69297411e+01] [ 7.04558897e-03 9.99952198e-01 -6.77943427e-03 -6.90793711e+01] [-9.47505078e-03 6.84605563e-03 9.99931675e-01 6.08320313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319072329 meters 0.2389855938812168 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.83 [[ 9.99910590e-01 -7.65694640e-03 1.09628367e-02 -3.69330626e+01] [ 7.73232615e-03 9.99946642e-01 -6.85013980e-03 -6.90801321e+01] [-1.09098005e-02 6.93429555e-03 9.99916442e-01 6.08316626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34907232899997 meters 0.23378131322484885 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.83 [[ 9.99898020e-01 -7.96223052e-03 1.18554818e-02 -3.69353825e+01] [ 8.04676234e-03 9.99942421e-01 -7.09964199e-03 -6.90797836e+01] [-1.17982701e-02 7.19431621e-03 9.99904517e-01 6.08319517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379072329 meters 0.28188622088270576 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.83 [[ 9.99885722e-01 -8.11409729e-03 1.27555476e-02 -3.69377531e+01] [ 8.20372559e-03 9.99941917e-01 -6.99006330e-03 -6.90805649e+01] [-1.26980886e-02 7.09390751e-03 9.99894212e-01 6.08322683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40907232899997 meters 0.2455509094132582 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.83 [[ 9.99875823e-01 -8.02275541e-03 1.35636739e-02 -3.69398160e+01] [ 8.11114880e-03 9.99946143e-01 -6.47451771e-03 -6.90823807e+01] [-1.35109999e-02 6.58373071e-03 9.99887047e-01 6.08324091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43907232899994 meters 0.24081543407325726 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.83 [[ 9.99865690e-01 -8.14397262e-03 1.42224290e-02 -3.69410770e+01] [ 8.23715030e-03 9.99944914e-01 -6.50521561e-03 -6.90821842e+01] [-1.41686673e-02 6.62149418e-03 9.99877695e-01 6.08318913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46907232899997 meters 0.2575536212973955 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.09, Z:60.83 [[ 9.99847503e-01 -8.19254468e-03 1.54224887e-02 -3.69436044e+01] [ 8.27643319e-03 9.99951259e-01 -5.38341759e-03 -6.90856417e+01] [-1.53776331e-02 5.51023983e-03 9.99866574e-01 6.08308458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49907232899994 meters 0.24962200123687148 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.09, Z:60.83 [[ 9.99838684e-01 -8.05102644e-03 1.60557592e-02 -3.69449881e+01] [ 8.13052750e-03 9.99954978e-01 -4.89244670e-03 -6.90871246e+01] [-1.60156472e-02 5.02219926e-03 9.99859128e-01 6.08305300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.529072329 meters 0.24140718020277477 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.09, Z:60.83 [[ 9.99827773e-01 -7.97660733e-03 1.67570093e-02 -3.69465243e+01] [ 8.05287343e-03 9.99957500e-01 -4.48875948e-03 -6.90883652e+01] [-1.67204920e-02 4.62292847e-03 9.99849516e-01 6.08302097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55907232899995 meters 0.27211704843149026 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.09, Z:60.83 [[ 9.99797499e-01 -8.63141453e-03 1.81785501e-02 -3.69496309e+01] [ 8.70997954e-03 9.99953048e-01 -4.24712067e-03 -6.90898920e+01] [-1.81410379e-02 4.40459542e-03 9.99825736e-01 6.08292671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.589072329 meters 0.2756000062433503 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99939375e-01 -1.01647169e-02 4.23375376e-03 -3.69478758e+01] [ 1.01995430e-02 9.99913643e-01 -8.28710141e-03 -6.90828432e+01] [-4.14915211e-03 8.32978136e-03 9.99956699e-01 6.08314103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61907232899995 meters 0.24960657915917633 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99861564e-01 -1.55926017e-02 5.80726954e-03 -3.69516953e+01] [ 1.56666759e-02 9.99793584e-01 -1.29361977e-02 -6.90835079e+01] [-5.60436185e-03 1.30253874e-02 9.99899460e-01 6.08313052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.649072329 meters 0.22887703442985605 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99958120e-01 -7.03281481e-03 5.85635346e-03 -3.69522072e+01] [ 7.05823522e-03 9.99965710e-01 -4.33135839e-03 -6.90833989e+01] [-5.82569100e-03 4.37251251e-03 9.99973471e-01 6.08314935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67907232899995 meters 0.22887703442985605 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99958120e-01 -7.03281481e-03 5.85635346e-03 -3.69522072e+01] [ 7.05823522e-03 9.99965710e-01 -4.33135839e-03 -6.90833989e+01] [-5.82569100e-03 4.37251251e-03 9.99973471e-01 6.08314935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.709072329 meters 0.2743324190363404 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99976527e-01 -3.28127255e-03 6.01494361e-03 -3.69529879e+01] [ 3.28686419e-03 9.99994175e-01 -9.19974148e-04 -6.90808141e+01] [-6.01188988e-03 9.39722856e-04 9.99981487e-01 6.08320352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73907232899995 meters 0.24431460204838734 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99981065e-01 -3.28178417e-03 5.20571037e-03 -3.69511509e+01] [ 3.28897757e-03 9.99993648e-01 -1.37387133e-03 -6.90792767e+01] [-5.20116856e-03 1.39096678e-03 9.99985506e-01 6.08324873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.769072329 meters 0.26652651591559967 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99979068e-01 -3.33910230e-03 5.54210408e-03 -3.69518066e+01] [ 3.34669312e-03 9.99993474e-01 -1.36095657e-03 -6.90792218e+01] [-5.53752354e-03 1.37947580e-03 9.99983716e-01 6.08322389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79907232899996 meters 0.23507203814847474 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99979530e-01 -3.04688520e-03 5.62642448e-03 -3.69516337e+01] [ 3.05146739e-03 9.99995019e-01 -8.06001756e-04 -6.90806986e+01] [-5.62394066e-03 8.23154108e-04 9.99983847e-01 6.08316733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.829072329 meters 0.3306310859991948 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99975125e-01 -3.06616063e-03 6.35208215e-03 -3.69530485e+01] [ 3.06965197e-03 9.99995143e-01 -5.39960184e-04 -6.90814139e+01] [-6.35039569e-03 5.59445433e-04 9.99979680e-01 6.08310370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85907232899996 meters 0.23433731002006333 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99975424e-01 -2.81158214e-03 6.42226462e-03 -3.69529044e+01] [ 2.81207566e-03 9.99996044e-01 -6.78167928e-05 -6.90827012e+01] [-6.42204854e-03 8.58750202e-05 9.99979375e-01 6.08305612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.889072329 meters 0.25756661008164694 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99974214e-01 -2.64424411e-03 6.67684740e-03 -3.69536171e+01] [ 2.64227815e-03 9.99996463e-01 3.03249309e-04 -6.90839294e+01] [-6.67762565e-03 -2.85599401e-04 9.99977664e-01 6.08306446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91907232899996 meters 0.22935735352851258 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.08, Z:60.83 [[ 9.99964957e-01 -2.91912992e-03 7.84618767e-03 -3.69563218e+01] [ 2.91646775e-03 9.99995686e-01 3.50715699e-04 -6.90847032e+01] [-7.84717760e-03 -3.27820255e-04 9.99969157e-01 6.08303753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.949072329 meters 0.23554067010984117 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.09, Z:60.83 [[ 9.99964478e-01 -2.67450111e-03 7.99312227e-03 -3.69567288e+01] [ 2.66799105e-03 9.99996101e-01 8.25009205e-04 -6.90862154e+01] [-7.99529759e-03 -8.03654320e-04 9.99967714e-01 6.08303942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97907232899996 meters 0.31411285758471713 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.08, Z:60.83 [[ 9.99963255e-01 -2.97799814e-03 8.03866732e-03 -3.69569810e+01] [ 2.97565630e-03 9.99995527e-01 3.03266448e-04 -6.90847064e+01] [-8.03953449e-03 -2.79334993e-04 9.99967643e-01 6.08306179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.009072329 meters 0.24295572414024894 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.08, Z:60.83 [[ 9.99965460e-01 -3.18659057e-03 7.67626070e-03 -3.69562588e+01] [ 3.18824838e-03 9.99994897e-01 -2.03738519e-04 -6.90832120e+01] [-7.67557229e-03 2.28205308e-04 9.99970516e-01 6.08308985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03907232899996 meters 0.23947615997405633 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99958793e-01 -4.95841065e-03 7.60431051e-03 -3.69546643e+01] [ 4.96440275e-03 9.99987381e-01 -7.69314949e-04 -6.90845378e+01] [-7.60039997e-03 8.07034108e-04 9.99970791e-01 6.08285243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.069072329 meters 0.23638432848419202 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99983751e-01 2.47956393e-06 5.70075734e-03 -3.69503703e+01] [-1.85971070e-05 9.99996003e-01 2.82721222e-03 -6.90809423e+01] [-5.70072755e-03 -2.82727230e-03 9.99979754e-01 6.08295018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09907232899997 meters 0.29278958492864215 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.83 [[ 9.99989848e-01 -4.41187898e-05 4.50570801e-03 -3.69474915e+01] [ 3.64011173e-05 9.99998532e-01 1.71293328e-03 -6.90770279e+01] [-4.50577697e-03 -1.71275188e-03 9.99988382e-01 6.08300041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.129072329 meters 0.29128196061983236 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.07, Z:60.83 [[ 9.99991514e-01 -5.36685062e-04 4.08464643e-03 -3.69468970e+01] [ 5.33863056e-04 9.99999618e-01 6.91940297e-04 -6.90740808e+01] [-4.08501623e-03 -6.89753783e-04 9.99991418e-01 6.08307122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15907232899997 meters 0.2370410199333739 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99997270e-01 1.08401601e-05 2.33656353e-03 -3.69429672e+01] [-1.10508489e-05 9.99999996e-01 9.01574971e-05 -6.90711544e+01] [-2.33656254e-03 -9.01830720e-05 9.99997266e-01 6.08317142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18907232899994 meters 0.2942158404532456 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99999238e-01 1.94198548e-04 1.21884769e-03 -3.69402236e+01] [-1.93687392e-04 9.99999893e-01 -4.19479816e-04 -6.90691554e+01] [-1.21892902e-03 4.19243421e-04 9.99999169e-01 6.08320888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21907232899997 meters 0.2823799528064345 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99999486e-01 1.99780265e-04 9.93828518e-04 -3.69396139e+01] [-1.99258967e-04 9.99999843e-01 -5.24605795e-04 -6.90687301e+01] [-9.93933167e-04 5.24407497e-04 9.99999369e-01 6.08320790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24907232899994 meters 0.28736116996119493 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99999847e-01 4.34354973e-04 3.43806390e-04 -3.69381711e+01] [-4.34225833e-04 9.99999835e-01 -3.75604503e-04 -6.90689721e+01] [-3.43969479e-04 3.75455155e-04 9.99999870e-01 6.08324517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279072329 meters 0.2784308419064955 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99999841e-01 5.34746216e-04 -1.79632900e-04 -3.69368620e+01] [-5.34828710e-04 9.99999751e-01 -4.59504319e-04 -6.90685369e+01] [ 1.79387137e-04 4.59600319e-04 9.99999878e-01 6.08325354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30907232899995 meters 0.27273517646062756 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99998963e-01 9.13082865e-04 -1.11342294e-03 -3.69340982e+01] [-9.13358377e-04 9.99999552e-01 -2.46962099e-04 -6.90681693e+01] [ 1.11319695e-03 2.47978797e-04 9.99999350e-01 6.08319333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339072329 meters 0.2774412685752442 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99997789e-01 1.09418563e-03 -1.79590189e-03 -3.69324830e+01] [-1.09455066e-03 9.99999381e-01 -2.02288051e-04 -6.90680326e+01] [ 1.79567944e-03 2.04253309e-04 9.99998367e-01 6.08321630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36907232899995 meters 0.27169161674562137 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996112e-01 1.31975678e-03 -2.45655813e-03 -3.69304599e+01] [-1.32031775e-03 9.99999103e-01 -2.26747968e-04 -6.90672516e+01] [ 2.45625668e-03 2.29990524e-04 9.99996957e-01 6.08317721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399072329 meters 0.31600790908233467 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99993807e-01 1.67230133e-03 -3.09672170e-03 -3.69286004e+01] [-1.67210856e-03 9.99998600e-01 6.48359965e-05 -6.90675600e+01] [ 3.09682579e-03 -5.96575401e-05 9.99995203e-01 6.08314642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42907232899995 meters 0.30089042704552343 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99994129e-01 1.41040582e-03 -3.12289177e-03 -3.69286541e+01] [-1.41173768e-03 9.99998913e-01 -4.24319565e-04 -6.90661138e+01] [ 3.12228992e-03 4.28725778e-04 9.99995034e-01 6.08316932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459072329 meters 0.2575407805015527 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99994878e-01 1.52874998e-03 -2.81201626e-03 -3.69294424e+01] [-1.52909048e-03 9.99998824e-01 -1.18941285e-04 -6.90671468e+01] [ 2.81183113e-03 1.23240503e-04 9.99996039e-01 6.08316750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48907232899995 meters 0.2564402888341743 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99989945e-01 2.11138495e-03 -3.95617566e-03 -3.69269392e+01] [-2.11167870e-03 9.99997768e-01 -7.00769642e-05 -6.90664271e+01] [ 3.95601887e-03 7.84304314e-05 9.99992172e-01 6.08323858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519072329 meters 0.24895376179003165 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99988876e-01 2.18113686e-03 -4.18227176e-03 -3.69265294e+01] [-2.18129653e-03 9.99997620e-01 -3.36187186e-05 -6.90665341e+01] [ 4.18218848e-03 4.27411195e-05 9.99991254e-01 6.08326485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54907232899996 meters 0.2775925455650732 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99989183e-01 2.19512555e-03 -4.10063179e-03 -3.69269483e+01] [-2.19512316e-03 9.99997591e-01 5.08422572e-06 -6.90668005e+01] [ 4.10063307e-03 3.91722107e-06 9.99991592e-01 6.08329724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579072329 meters 0.26844107854083654 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99990460e-01 1.92299551e-03 -3.92199041e-03 -3.69275350e+01] [-1.92461960e-03 9.99998064e-01 -4.10366502e-04 -6.90656138e+01] [ 3.92119369e-03 4.17910927e-04 9.99992225e-01 6.08332017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60907232899996 meters 0.25047023007883246 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99990874e-01 1.95064013e-03 -3.80103586e-03 -3.69277821e+01] [-1.95184449e-03 9.99998046e-01 -3.13166072e-04 -6.90658837e+01] [ 3.80041756e-03 3.20582245e-04 9.99992727e-01 6.08331213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639072329 meters 0.26021246246903895 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99990751e-01 1.91608957e-03 -3.85040343e-03 -3.69275877e+01] [-1.91761467e-03 9.99998084e-01 -3.92434756e-04 -6.90655620e+01] [ 3.84964411e-03 3.99814717e-04 9.99992510e-01 6.08330592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66907232899996 meters 0.2593188596725788 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99992645e-01 1.88061065e-03 -3.34266984e-03 -3.69284899e+01] [-1.88148051e-03 9.99998197e-01 -2.57105152e-04 -6.90658446e+01] [ 3.34218030e-03 2.63392429e-04 9.99994380e-01 6.08325076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699072329 meters 0.2514499559046001 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99993910e-01 1.88192451e-03 -2.93914782e-03 -3.69292975e+01] [-1.88224674e-03 9.99998223e-01 -1.06871314e-04 -6.90662420e+01] [ 2.93894147e-03 1.12402865e-04 9.99995675e-01 6.08321835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72907232899996 meters 0.25677922595751673 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99993861e-01 -1.47454573e-03 -3.17858021e-03 -3.69273357e+01] [ 1.46526431e-03 9.99994662e-01 -2.92034137e-03 -6.90693973e+01] [ 3.18286942e-03 2.91566598e-03 9.99990684e-01 6.08302353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759072329 meters 0.25593392053904096 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99994769e-01 -1.38317300e-03 -2.92385063e-03 -3.69276510e+01] [ 1.37535998e-03 9.99995483e-01 -2.67249272e-03 -6.90699908e+01] [ 2.92753395e-03 2.66845740e-03 9.99992154e-01 6.08297506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78907232899996 meters 0.24106957163071596 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99994971e-01 -1.17949869e-03 -2.94405399e-03 -3.69272755e+01] [ 1.17264482e-03 9.99996601e-01 -2.32868260e-03 -6.90708268e+01] [ 2.94679066e-03 2.32521856e-03 9.99992955e-01 6.08292744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819072329 meters 0.24503513904372273 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99995330e-01 -1.24826399e-03 -2.78956475e-03 -3.69276703e+01] [ 1.24156954e-03 9.99996349e-01 -2.40026244e-03 -6.90706313e+01] [ 2.79255072e-03 2.39678779e-03 9.99993229e-01 6.08292887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84907232899997 meters 0.23085104166589335 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996828e-01 -1.40843874e-03 -2.08793932e-03 -3.69294592e+01] [ 1.40336408e-03 9.99996063e-01 -2.42993556e-03 -6.90707696e+01] [ 2.09135351e-03 2.42699771e-03 9.99994868e-01 6.08293577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879072329 meters 0.23204282234970783 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99997807e-01 -1.38949978e-03 -1.56723361e-03 -3.69307157e+01] [ 1.38602355e-03 9.99996582e-01 -2.21697865e-03 -6.90714865e+01] [ 1.57030874e-03 2.21480156e-03 9.99996314e-01 6.08292819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90907232899997 meters 0.25712344995501213 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99998368e-01 -1.48716118e-03 -1.02537836e-03 -3.69318813e+01] [ 1.48489248e-03 9.99996456e-01 -2.20976768e-03 -6.90715057e+01] [ 1.02866100e-03 2.20824150e-03 9.99997033e-01 6.08290077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93907232899994 meters 0.2622521007775298 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99998588e-01 -1.40755434e-03 -9.18098972e-04 -3.69320640e+01] [ 1.40569124e-03 9.99996958e-01 -2.02679770e-03 -6.90720295e+01] [ 9.20949007e-04 2.02550427e-03 9.99997525e-01 6.08288617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96907232899997 meters 0.27274481408095513 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99998809e-01 -1.44214227e-03 -5.50539099e-04 -3.69329944e+01] [ 1.44105947e-03 9.99997037e-01 -1.96215400e-03 -6.90723057e+01] [ 5.53367172e-04 1.96135831e-03 9.99997923e-01 6.08288514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99907232899994 meters 0.258840593877892 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99998915e-01 -1.45468574e-03 -2.33952503e-04 -3.69335950e+01] [ 1.45424478e-03 9.99997186e-01 -1.87409044e-03 -6.90724940e+01] [ 2.36678057e-04 1.87374819e-03 9.99998217e-01 6.08285559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.029072329 meters 0.24010812899512657 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99999073e-01 -1.34923094e-03 -1.84267620e-04 -3.69335194e+01] [ 1.34891971e-03 9.99997681e-01 -1.67876735e-03 -6.90729581e+01] [ 1.86532237e-04 1.67851723e-03 9.99998574e-01 6.08282779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05907232899995 meters 0.26695276361236164 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99999091e-01 -1.34760916e-03 4.10093398e-05 -3.69337275e+01] [ 1.34767308e-03 9.99997811e-01 -1.60074035e-03 -6.90729820e+01] [-3.88520777e-05 1.60079416e-03 9.99998718e-01 6.08277618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.089072329 meters 0.2470908218802599 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99999012e-01 -1.37218956e-03 3.03694194e-04 -3.69341628e+01] [ 1.37265963e-03 9.99997852e-01 -1.55306860e-03 -6.90730199e+01] [-3.01562438e-04 1.55348394e-03 9.99998748e-01 6.08274255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11907232899995 meters 0.2443763064198019 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99998640e-01 -1.47197723e-03 7.43916589e-04 -3.69351853e+01] [ 1.47315452e-03 9.99997660e-01 -1.58449778e-03 -6.90729339e+01] [-7.41582503e-04 1.58559153e-03 9.99998468e-01 6.08273202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.149072329 meters 0.24063010801638854 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99998605e-01 -1.35999989e-03 9.69407561e-04 -3.69356898e+01] [ 1.36127197e-03 9.99998212e-01 -1.31277547e-03 -6.90737410e+01] [-9.67620453e-04 1.31409326e-03 9.99998668e-01 6.08272356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17907232899995 meters 0.25505811644663917 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.83 [[ 9.99998940e-01 -1.14635785e-03 8.97215703e-04 -3.69354539e+01] [ 1.14723354e-03 9.99998866e-01 -9.76103186e-04 -6.90746812e+01] [-8.96095721e-04 9.77131467e-04 9.99999121e-01 6.08271938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.209072329 meters 0.22991927311830224 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99999216e-01 -1.13106881e-03 5.37210192e-04 -3.69344365e+01] [ 1.13165093e-03 9.99998772e-01 -1.08451637e-03 -6.90741719e+01] [-5.35982870e-04 1.08512345e-03 9.99999268e-01 6.08270858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23907232899995 meters 0.25938718315492015 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99999797e-01 -2.80990425e-04 -5.72009506e-04 -3.69306188e+01] [ 2.80512761e-04 9.99999612e-01 -8.34970936e-04 -6.90729574e+01] [ 5.72243903e-04 8.34810311e-04 9.99999488e-01 6.08259934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.269072329 meters 0.2504214406668731 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99999044e-01 -1.01919096e-04 -1.37884795e-03 -3.69284908e+01] [ 1.00596164e-04 9.99999535e-01 -9.59482516e-04 -6.90720819e+01] [ 1.37894510e-03 9.59342892e-04 9.99998589e-01 6.08259776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29907232899996 meters 0.25888524494001813 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996878e-01 4.42365468e-04 -2.45947517e-03 -3.69255234e+01] [-4.45321290e-04 9.99999179e-01 -1.20139215e-03 -6.90701168e+01] [ 2.45894170e-03 1.20248366e-03 9.99996254e-01 6.08261172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.329072329 meters 0.24635871406600834 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996646e-01 3.14019387e-04 -2.57080942e-03 -3.69254438e+01] [-3.17795357e-04 9.99998871e-01 -1.46850968e-03 -6.90693616e+01] [ 2.57034537e-03 1.46932174e-03 9.99995617e-01 6.08264508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35907232899996 meters 0.23184782043670832 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996298e-01 2.29641428e-04 -2.71145814e-03 -3.69251173e+01] [-2.34193308e-04 9.99998564e-01 -1.67855912e-03 -6.90686846e+01] [ 2.71106878e-03 1.67918791e-03 9.99994915e-01 6.08265396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.389072329 meters 0.27771368474853425 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996722e-01 2.60741951e-04 -2.54712057e-03 -3.69254070e+01] [-2.64751512e-04 9.99998726e-01 -1.57394415e-03 -6.90689256e+01] [ 2.54670694e-03 1.57461334e-03 9.99995517e-01 6.08263838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41907232899996 meters 0.2755309241027755 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99997188e-01 4.16300332e-04 -2.33457268e-03 -3.69261640e+01] [-4.19206582e-04 9.99999138e-01 -1.24452311e-03 -6.90700816e+01] [ 2.33405257e-03 1.24549828e-03 9.99996500e-01 6.08267535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.449072329 meters 0.27479452858139897 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996102e-01 1.69299042e-04 -2.78698552e-03 -3.69252583e+01] [-1.74714761e-04 9.99998097e-01 -1.94308848e-03 -6.90679787e+01] [ 2.78665125e-03 1.94356784e-03 9.99994229e-01 6.08272477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47907232899996 meters 0.2778695012412462 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996481e-01 9.95198205e-05 -2.65098255e-03 -3.69253585e+01] [-1.04911997e-04 9.99997926e-01 -2.03396818e-03 -6.90675409e+01] [ 2.65077463e-03 2.03423915e-03 9.99994418e-01 6.08269233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.509072329 meters 0.2748212695232927 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99996266e-01 1.79479847e-04 -2.72698636e-03 -3.69251615e+01] [-1.84758835e-04 9.99998109e-01 -1.93570348e-03 -6.90678147e+01] [ 2.72663378e-03 1.93620008e-03 9.99994408e-01 6.08269323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53907232899996 meters 0.26802830036437797 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.83 [[ 9.99994868e-01 1.25180253e-04 -3.20127682e-03 -3.69240981e+01] [-1.32309868e-04 9.99997511e-01 -2.22700112e-03 -6.90668638e+01] [ 3.20099008e-03 2.22741326e-03 9.99992396e-01 6.08272065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.569072329 meters 0.26802830036437797 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.83 [[ 9.99994868e-01 1.25180253e-04 -3.20127682e-03 -3.69240981e+01] [-1.32309868e-04 9.99997511e-01 -2.22700112e-03 -6.90668638e+01] [ 3.20099008e-03 2.22741326e-03 9.99992396e-01 6.08272065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59907232899997 meters 0.2697651569672426 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.83 [[ 9.99994457e-01 1.93743398e-04 -3.32385027e-03 -3.69237466e+01] [-2.00998089e-04 9.99997598e-01 -2.18242165e-03 -6.90668857e+01] [ 3.32341946e-03 2.18307764e-03 9.99992094e-01 6.08272213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.629072329 meters 0.26095699434601194 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.83 [[ 9.99995893e-01 2.71617082e-04 -2.85323216e-03 -3.69246116e+01] [-2.76956501e-04 9.99998211e-01 -1.87112980e-03 -6.90677036e+01] [ 2.85271883e-03 1.87191233e-03 9.99994179e-01 6.08267493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65907232899997 meters 0.25257828259559745 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99997382e-01 3.68665207e-04 -2.25818932e-03 -3.69258451e+01] [-3.72011822e-04 9.99998833e-01 -1.48174995e-03 -6.90688293e+01] [ 2.25764042e-03 1.48258614e-03 9.99996352e-01 6.08263596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68907232899994 meters 0.26402322636289915 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99998629e-01 5.25591499e-04 -1.56996959e-03 -3.69272410e+01] [-5.27069615e-04 9.99999418e-01 -9.41227647e-04 -6.90703932e+01] [ 1.56947398e-03 9.42053840e-04 9.99998325e-01 6.08258368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71907232899997 meters 0.26948588460426787 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.83 [[ 9.99993437e-01 -3.38576746e-03 -1.28951162e-03 -3.69274070e+01] [ 3.38004371e-03 9.99984540e-01 -4.41530770e-03 -6.90727212e+01] [ 1.30444089e-03 4.41092011e-03 9.99989421e-01 6.08251060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74907232899994 meters 0.23776980494279504 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99994226e-01 -3.37377011e-03 -4.07831044e-04 -3.69291641e+01] [ 3.37212149e-03 9.99986403e-01 -3.97767690e-03 -6.90739607e+01] [ 4.21245267e-04 3.97627867e-03 9.99992006e-01 6.08243699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779072329 meters 0.25427471815560637 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.82 [[ 9.99993757e-01 -3.43293457e-03 8.37406345e-04 -3.69316699e+01] [ 3.43539708e-03 9.99989727e-01 -2.95714245e-03 -6.90770858e+01] [-8.27246066e-04 2.96000082e-03 9.99995277e-01 6.08231315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80907232899995 meters 0.25031691653482574 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.82 [[ 9.99995232e-01 -3.04321980e-03 5.23670432e-04 -3.69307215e+01] [ 3.04445983e-03 9.99992525e-01 -2.38368193e-03 -6.90786371e+01] [-5.16412449e-04 2.38526486e-03 9.99997022e-01 6.08229022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839072329 meters 0.24908413235794702 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.82 [[ 9.99995342e-01 -3.05181239e-03 -4.27855979e-05 -3.69292430e+01] [ 3.05168447e-03 9.99991630e-01 -2.72510113e-03 -6.90772885e+01] [ 5.11017372e-05 2.72495786e-03 9.99996286e-01 6.08229585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86907232899995 meters 0.2590109637820795 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.82 [[ 9.99992830e-01 -3.66388357e-03 9.57113017e-04 -3.69311280e+01] [ 3.66697008e-03 9.99988017e-01 -3.24321335e-03 -6.90760230e+01] [-9.45218792e-04 3.24669980e-03 9.99994283e-01 6.08221390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899072329 meters 0.23095539102524937 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.82 [[ 9.99992759e-01 -3.72020765e-03 8.01579791e-04 -3.69306685e+01] [ 3.72292388e-03 9.99987242e-01 -3.41418091e-03 -6.90754006e+01] [-7.88868102e-04 3.41714041e-03 9.99993850e-01 6.08220831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92907232899995 meters 0.24547803586990885 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99991993e-01 -3.97491206e-03 4.62841433e-04 -3.69300851e+01] [ 3.97673839e-03 9.99984036e-01 -4.01422709e-03 -6.90736203e+01] [-4.46877844e-04 4.01603554e-03 9.99991836e-01 6.08225637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959072329 meters 0.23134045645917678 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99991459e-01 -4.13036225e-03 -1.49577068e-04 -3.69288239e+01] [ 4.12964060e-03 9.99981166e-01 -4.54033142e-03 -6.90720260e+01] [ 1.68327464e-04 4.53967494e-03 9.99989681e-01 6.08230827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98907232899995 meters 0.2827744400452005 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99990483e-01 -4.27879090e-03 -8.51527549e-04 -3.69272776e+01] [ 4.27437001e-03 9.99977719e-01 -5.12751929e-03 -6.90701543e+01] [ 8.73448159e-04 5.12383075e-03 9.99986492e-01 6.08235260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019072329 meters 0.3135164050728329 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99997815e-01 -1.81720648e-03 -1.03364606e-03 -3.69249918e+01] [ 1.81495360e-03 9.99995985e-01 -2.17632512e-03 -6.90695858e+01] [ 1.03759674e-03 2.17444435e-03 9.99997098e-01 6.08211172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04907232899996 meters 0.2430709114092612 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99996656e-01 -1.67321595e-03 -1.97173565e-03 -3.69224340e+01] [ 1.66843391e-03 9.99995669e-01 -2.42444990e-03 -6.90681034e+01] [ 1.97578373e-03 2.42115208e-03 9.99995117e-01 6.08209814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079072329 meters 0.2668689020616602 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99995884e-01 -1.77360661e-03 -2.25549279e-03 -3.69218454e+01] [ 1.76751387e-03 9.99994792e-01 -2.70041942e-03 -6.90672558e+01] [ 2.26027053e-03 2.69642169e-03 9.99993810e-01 6.08212259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10907232899996 meters 0.2571283545834368 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99994309e-01 -1.85776280e-03 -2.81611402e-03 -3.69209131e+01] [ 1.84870732e-03 9.99993124e-01 -3.21479638e-03 -6.90657708e+01] [ 2.82206699e-03 3.20957192e-03 9.99990867e-01 6.08221291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139072329 meters 0.2748704632903752 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99993558e-01 -1.99596154e-03 -2.98318931e-03 -3.69206439e+01] [ 1.98544841e-03 9.99991823e-01 -3.52294179e-03 -6.90648700e+01] [ 2.99019657e-03 3.51699612e-03 9.99989345e-01 6.08223924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16907232899996 meters 0.2657865177091328 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99992818e-01 -1.94516701e-03 -3.25283255e-03 -3.69199066e+01] [ 1.93369319e-03 9.99991911e-01 -3.52676521e-03 -6.90647182e+01] [ 3.25966639e-03 3.52044989e-03 9.99988490e-01 6.08223527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199072329 meters 0.29817329751747895 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99991490e-01 -1.69766637e-03 -3.76015316e-03 -3.69183752e+01] [ 1.68512838e-03 9.99993019e-01 -3.33509838e-03 -6.90648381e+01] [ 3.76578879e-03 3.32873366e-03 9.99987369e-01 6.08220391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22907232899996 meters 0.27414876927604864 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99991873e-01 -1.82710335e-03 -3.59376076e-03 -3.69188871e+01] [ 1.81451029e-03 9.99992214e-01 -3.50429067e-03 -6.90643792e+01] [ 3.60013548e-03 3.49774128e-03 9.99987402e-01 6.08221726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259072329 meters 0.28795247318348444 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99991697e-01 -1.78124420e-03 -3.66515650e-03 -3.69188104e+01] [ 1.76857670e-03 9.99992462e-01 -3.45653920e-03 -6.90645614e+01] [ 3.67128582e-03 3.45002839e-03 9.99987309e-01 6.08223360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28907232899996 meters 0.2599753934388152 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99991377e-01 -1.80787722e-03 -3.73871441e-03 -3.69190364e+01] [ 1.79459703e-03 9.99992080e-01 -3.55238105e-03 -6.90644943e+01] [ 3.74510706e-03 3.54564093e-03 9.99986701e-01 6.08229718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319072329 meters 0.31013753256460935 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99991655e-01 -1.77012195e-03 -3.68200382e-03 -3.69192014e+01] [ 1.75734671e-03 9.99992435e-01 -3.46998884e-03 -6.90647541e+01] [ 3.68811827e-03 3.46348932e-03 9.99987201e-01 6.08230119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34907232899997 meters 0.2957422988837586 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99994394e-01 -1.63528732e-03 -2.92199522e-03 -3.69209884e+01] [ 1.62665212e-03 9.99994310e-01 -2.95517878e-03 -6.90664759e+01] [ 2.92681116e-03 2.95040915e-03 9.99991364e-01 6.08227771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379072329 meters 0.2947485987399596 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99996189e-01 -1.57868332e-03 -2.26478415e-03 -3.69224244e+01] [ 1.57272337e-03 9.99995302e-01 -2.63094834e-03 -6.90674799e+01] [ 2.26892695e-03 2.62737644e-03 9.99993974e-01 6.08224442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40907232899997 meters 0.27725532790767976 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99997516e-01 -1.56352154e-03 -1.58822589e-03 -3.69237004e+01] [ 1.55978838e-03 9.99996025e-01 -2.34904452e-03 -6.90682249e+01] [ 1.59189236e-03 2.34656139e-03 9.99995980e-01 6.08217586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43907232899994 meters 0.28798597049273783 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99998254e-01 -1.18640812e-03 -1.44384787e-03 -3.69235862e+01] [ 1.18401620e-03 9.99997927e-01 -1.65635586e-03 -6.90700832e+01] [ 1.44580999e-03 1.65464342e-03 9.99997586e-01 6.08210504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46907232899997 meters 0.2750080517324286 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99985472e-01 -5.17227695e-03 -1.51745596e-03 -3.69227241e+01] [ 5.16399078e-03 9.99972007e-01 -5.41458939e-03 -6.90713185e+01] [ 1.54541923e-03 5.40667460e-03 9.99984190e-01 6.08201364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49907232899994 meters 0.28729535916713045 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.82 [[ 9.99987288e-01 -4.88581302e-03 -1.24594618e-03 -3.69232293e+01] [ 4.87972844e-03 9.99976378e-01 -4.84065336e-03 -6.90730230e+01] [ 1.26956728e-03 4.83451194e-03 9.99987508e-01 6.08198502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.529072329 meters 0.2655043197150608 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99986446e-01 -5.18152358e-03 -5.09902749e-04 -3.69254606e+01] [ 5.17882953e-03 9.99973328e-01 -5.15007831e-03 -6.90726230e+01] [ 5.36574401e-04 5.14736781e-03 9.99986608e-01 6.08204453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55907232899995 meters 0.2614037024020255 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99985924e-01 -5.30586010e-03 4.79794658e-06 -3.69264778e+01] [ 5.30581414e-03 9.99972593e-01 -5.16355825e-03 -6.90725258e+01] [ 2.25993026e-05 5.16351103e-03 9.99986669e-01 6.08200257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.589072329 meters 0.2651011955417113 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99999249e-01 -1.00150527e-03 7.06426015e-04 -3.69274995e+01] [ 1.00192956e-03 9.99999318e-01 -6.00517524e-04 -6.90730581e+01] [-7.05824112e-04 6.01224862e-04 9.99999570e-01 6.08188208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61907232899995 meters 0.259332043235932 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99999244e-01 -9.16646610e-04 8.19323728e-04 -3.69274647e+01] [ 9.16989026e-04 9.99999492e-01 -4.17647568e-04 -6.90734449e+01] [-8.18940477e-04 4.18398563e-04 9.99999577e-01 6.08183506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.649072329 meters 0.24898281657207802 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99999050e-01 -9.24383489e-04 1.02244357e-03 -3.69279870e+01] [ 9.24756507e-04 9.99999506e-01 -3.64417228e-04 -6.90736151e+01] [-1.02210621e-03 3.65362393e-04 9.99999411e-01 6.08183805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67907232899995 meters 0.24425101744296368 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99998375e-01 -1.08604853e-03 1.43866884e-03 -3.69291252e+01] [ 1.08679785e-03 9.99999274e-01 -5.20159786e-04 -6.90732739e+01] [-1.43810288e-03 5.21722483e-04 9.99998830e-01 6.08185457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.709072329 meters 0.2709813496800909 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99996899e-01 -1.23957365e-03 2.15987672e-03 -3.69312132e+01] [ 1.24080234e-03 9.99999069e-01 -5.67623812e-04 -6.90736608e+01] [-2.15917110e-03 5.70302032e-04 9.99997506e-01 6.08191031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73907232899995 meters 0.2611616967322624 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99997196e-01 -1.28571131e-03 1.98875240e-03 -3.69311559e+01] [ 1.28712600e-03 9.99998919e-01 -7.10232813e-04 -6.90733940e+01] [-1.98783709e-03 7.12790596e-04 9.99997770e-01 6.08196773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.769072329 meters 0.2555474110170972 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99996646e-01 -1.34342461e-03 2.21413883e-03 -3.69316503e+01] [ 1.34508421e-03 9.99998815e-01 -7.48227730e-04 -6.90732363e+01] [-2.21313102e-03 7.51203424e-04 9.99997269e-01 6.08196002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79907232899996 meters 0.25344001017810613 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99994937e-01 -1.32833553e-03 2.89172432e-03 -3.69329379e+01] [ 1.32969290e-03 9.99999007e-01 -4.67524081e-04 -6.90739799e+01] [-2.89110042e-03 4.71366819e-04 9.99995710e-01 6.08189739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.829072329 meters 0.23384132332439064 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.08, Z:60.82 [[ 9.99994626e-01 -1.10896769e-03 3.08506747e-03 -3.69330444e+01] [ 1.10903295e-03 9.99999385e-01 -1.94447552e-05 -6.90751624e+01] [-3.08504401e-03 2.28660922e-05 9.99995241e-01 6.08184117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85907232899996 meters 0.2294494018096981 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99989997e-01 -1.09164310e-03 4.33762356e-03 -3.69353392e+01] [ 1.08771099e-03 9.99998996e-01 9.08768043e-04 -6.90780385e+01] [-4.33861125e-03 -9.04040872e-04 9.99990180e-01 6.08169019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.889072329 meters 0.2310205320481402 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99989537e-01 -8.07282096e-04 4.50263106e-03 -3.69354647e+01] [ 8.00723509e-04 9.99998616e-01 1.45822463e-03 -6.90795970e+01] [-4.50380203e-03 -1.45460401e-03 9.99988800e-01 6.08164418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91907232899996 meters 0.2194697504569485 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99988276e-01 -9.63926210e-04 4.74532597e-03 -3.69360251e+01] [ 9.57969714e-04 9.99998751e-01 1.25734730e-03 -6.90789626e+01] [-4.74653203e-03 -1.25278668e-03 9.99987950e-01 6.08163797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.949072329 meters 0.21486244677740327 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99986242e-01 -8.01959521e-04 5.18383424e-03 -3.69371788e+01] [ 7.93102344e-04 9.99998223e-01 1.71044498e-03 -6.90805434e+01] [-5.18519673e-03 -1.70631014e-03 9.99985101e-01 6.08163908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97907232899996 meters 0.244534040296163 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99984067e-01 -7.87166332e-04 5.58985939e-03 -3.69381211e+01] [ 7.76656485e-04 9.99997927e-01 1.88208491e-03 -6.90810994e+01] [-5.59132932e-03 -1.87771353e-03 9.99982605e-01 6.08162576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.009072329 meters 0.25214033552319826 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99981365e-01 -6.31564156e-04 6.07215559e-03 -3.69389603e+01] [ 6.17407656e-04 9.99997088e-01 2.33297166e-03 -6.90823619e+01] [-6.07361133e-03 -2.32917919e-03 9.99978843e-01 6.08156626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03907232899996 meters 0.2404748468009746 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99976446e-01 -8.22843258e-04 6.81398621e-03 -3.69404514e+01] [ 8.07736144e-04 9.99997211e-01 2.21952967e-03 -6.90820196e+01] [-6.81579353e-03 -2.21397349e-03 9.99974321e-01 6.08151577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.069072329 meters 0.24552619844661427 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99968586e-01 -1.06434495e-03 7.85456031e-03 -3.69431430e+01] [ 1.04410777e-03 9.99996126e-01 2.58013984e-03 -6.90837986e+01] [-7.85727604e-03 -2.57185778e-03 9.99965824e-01 6.08151796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09907232899997 meters 0.21330091109791083 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99959798e-01 -1.50997905e-03 8.83870513e-03 -3.69455225e+01] [ 1.49086757e-03 9.99996538e-01 2.16843803e-03 -6.90830298e+01] [-8.84194883e-03 -2.15517351e-03 9.99958587e-01 6.08151760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.129072329 meters 0.2458703511875713 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99957693e-01 -1.32828054e-03 9.10203452e-03 -3.69460946e+01] [ 1.30474894e-03 9.99995793e-01 2.59076197e-03 -6.90843189e+01] [-9.10543749e-03 -2.57877649e-03 9.99955219e-01 6.08150270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15907232899997 meters 0.2505924951640146 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99956792e-01 -1.53959239e-03 9.16756575e-03 -3.69464536e+01] [ 1.51911019e-03 9.99996336e-01 2.24074651e-03 -6.90833613e+01] [-9.17098199e-03 -2.22672315e-03 9.99955466e-01 6.08152874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18907232899994 meters 0.2760343871769374 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99954900e-01 -1.68735101e-03 9.34619087e-03 -3.69470762e+01] [ 1.66843487e-03 9.99996545e-01 2.03136861e-03 -6.90828611e+01] [-9.34958621e-03 -2.01568349e-03 9.99954260e-01 6.08155572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21907232899997 meters 0.23718053332457517 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99951345e-01 -1.79699912e-03 9.69943572e-03 -3.69478715e+01] [ 1.77810549e-03 9.99996506e-01 1.95618248e-03 -6.90826483e+01] [-9.70291709e-03 -1.93884068e-03 9.99951046e-01 6.08153967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24907232899994 meters 0.2529629983910791 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.81 [[ 9.99945235e-01 -1.57750928e-03 1.03459204e-02 -3.69490719e+01] [ 1.54974697e-03 9.99995179e-01 2.69087475e-03 -6.90848233e+01] [-1.03501154e-02 -2.67469382e-03 9.99942859e-01 6.08146491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279072329 meters 0.25024988529700415 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.81 [[ 9.99941476e-01 -1.68088634e-03 1.06873034e-02 -3.69498987e+01] [ 1.65293482e-03 9.99995192e-01 2.62369079e-03 -6.90846827e+01] [-1.06916622e-02 -2.60587182e-03 9.99939447e-01 6.08145749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30907232899995 meters 0.2528560760879129 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.81 [[ 9.99941481e-01 -1.68698336e-03 1.06859023e-02 -3.69500242e+01] [ 1.65917261e-03 9.99995215e-01 2.61089486e-03 -6.90847376e+01] [-1.06902557e-02 -2.59301232e-03 9.99939496e-01 6.08147361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339072329 meters 0.2410562116857362 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99944990e-01 -1.99212087e-03 1.02980047e-02 -3.69493294e+01] [ 1.97223285e-03 9.99996171e-01 1.94104391e-03 -6.90827733e+01] [-1.03018321e-02 -1.92062707e-03 9.99945090e-01 6.08151458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36907232899995 meters 0.23697109653767798 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99943949e-01 -2.20349005e-03 1.03558765e-02 -3.69495191e+01] [ 2.18715701e-03 9.99996347e-01 1.58823612e-03 -6.90817209e+01] [-1.03593383e-02 -1.56549717e-03 9.99945115e-01 6.08152065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399072329 meters 0.23785348849836024 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99943705e-01 -2.31151694e-03 1.03558506e-02 -3.69494000e+01] [ 2.29716926e-03 9.99996385e-01 1.39714714e-03 -6.90810832e+01] [-1.03590427e-02 -1.37327934e-03 9.99945401e-01 6.08150173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42907232899995 meters 0.26151281100458035 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.81 [[ 9.99931128e-01 -2.67509438e-03 1.14273048e-02 -3.69516297e+01] [ 2.65795175e-03 9.99995320e-01 1.51507093e-03 -6.90818696e+01] [-1.14313043e-02 -1.48459336e-03 9.99933558e-01 6.08142724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459072329 meters 0.25659599134979033 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.81 [[ 9.99932087e-01 -2.62243442e-03 1.13553641e-02 -3.69515568e+01] [ 2.60461892e-03 9.99995354e-01 1.58341032e-03 -6.90821393e+01] [-1.13594637e-02 -1.55372639e-03 9.99934272e-01 6.08144307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48907232899995 meters 0.25659599134979033 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.81 [[ 9.99932087e-01 -2.62243442e-03 1.13553641e-02 -3.69515568e+01] [ 2.60461892e-03 9.99995354e-01 1.58341032e-03 -6.90821393e+01] [-1.13594637e-02 -1.55372639e-03 9.99934272e-01 6.08144307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519072329 meters 0.2696448195341677 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99928956e-01 -2.88453387e-03 1.15655995e-02 -3.69525583e+01] [ 2.87130834e-03 9.99995205e-01 1.15996439e-03 -6.90811654e+01] [-1.15688900e-02 -1.12667358e-03 9.99932443e-01 6.08151859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54907232899996 meters 0.264463917137795 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99931300e-01 -3.01776039e-03 1.13264462e-02 -3.69525074e+01] [ 3.00841303e-03 9.99995120e-01 8.42215645e-04 -6.90804489e+01] [-1.13289325e-02 -8.08083156e-04 9.99935499e-01 6.08160074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579072329 meters 0.439214899873384 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99931057e-01 -3.03305950e-03 1.13438019e-02 -3.69529490e+01] [ 3.02404823e-03 9.99995098e-01 8.11446509e-04 -6.90805672e+01] [-1.13462075e-02 -7.77086361e-04 9.99935328e-01 6.08165975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60907232899996 meters 0.4358811268683429 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99931765e-01 -3.11987791e-03 1.12574846e-02 -3.69530084e+01] [ 3.11311024e-03 9.99994963e-01 6.18643552e-04 -6.90801243e+01] [-1.12593580e-02 -5.83555548e-04 9.99936441e-01 6.08170071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639072329 meters 0.42687960436717426 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99934045e-01 -3.20650920e-03 1.10283595e-02 -3.69527145e+01] [ 3.20254793e-03 9.99994801e-01 3.76830430e-04 -6.90795010e+01] [-1.10295105e-02 -3.41486726e-04 9.99939115e-01 6.08174469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66907232899996 meters 0.41774065915451036 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99930583e-01 -3.25867077e-03 1.13229672e-02 -3.69534915e+01] [ 3.25453242e-03 9.99994630e-01 3.83890300e-04 -6.90796056e+01] [-1.13241574e-02 -3.47012688e-04 9.99935819e-01 6.08174916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699072329 meters 0.23384597745140495 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99930319e-01 -3.27581010e-03 1.13413797e-02 -3.69534455e+01] [ 3.27203448e-03 9.99994585e-01 3.51446246e-04 -6.90794856e+01] [-1.13424696e-02 -3.14312372e-04 9.99935623e-01 6.08173297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72907232899996 meters 0.24687960776316983 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99933385e-01 -3.22454487e-03 1.10827614e-02 -3.69528484e+01] [ 3.22080367e-03 9.99994750e-01 3.55401150e-04 -6.90795219e+01] [-1.10838492e-02 -3.19682076e-04 9.99938521e-01 6.08173909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759072329 meters 0.2606519214778552 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99933992e-01 -3.37474482e-03 1.09828737e-02 -3.69526770e+01] [ 3.37431446e-03 9.99994305e-01 5.77151870e-05 -6.90786419e+01] [-1.09830059e-02 -2.06517079e-05 9.99939685e-01 6.08174954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78907232899996 meters 0.4051965634822886 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99949165e-01 -2.33763007e-03 9.80829293e-03 -3.69492174e+01] [ 2.33124933e-03 9.99997064e-01 6.61928399e-04 -6.90783942e+01] [-9.80981147e-03 -6.39029173e-04 9.99951678e-01 6.08167408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819072329 meters 0.3988177800562457 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99955765e-01 -2.28954415e-03 9.12281952e-03 -3.69476523e+01] [ 2.28569992e-03 9.99997295e-01 4.31789477e-04 -6.90775814e+01] [-9.12378344e-03 -4.10918349e-04 9.99958293e-01 6.08169995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84907232899997 meters 0.3970374784059433 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.08, Z:60.82 [[ 9.99965212e-01 -1.89154969e-03 8.12380925e-03 -3.69452727e+01] [ 1.88621427e-03 9.99998000e-01 6.64374940e-04 -6.90778324e+01] [-8.12504970e-03 -6.49028583e-04 9.99966781e-01 6.08171235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879072329 meters 0.39790001288790317 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99968821e-01 -1.98309112e-03 7.64362733e-03 -3.69444771e+01] [ 1.98084192e-03 9.99997993e-01 3.01817797e-04 -6.90768964e+01] [-7.64421052e-03 -2.86667569e-04 9.99970742e-01 6.08177670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90907232899997 meters 0.3961388501740791 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99971852e-01 -2.05946853e-03 7.21486107e-03 -3.69437027e+01] [ 2.05944039e-03 9.99997879e-01 1.13298225e-05 -6.90761052e+01] [-7.21486910e-03 3.52907272e-06 9.99973972e-01 6.08182407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93907232899994 meters 0.3840759701964553 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99976202e-01 -2.01561801e-03 6.59789882e-03 -3.69424375e+01] [ 2.01706697e-03 9.99997943e-01 -2.12962114e-04 -6.90753637e+01] [-6.59745600e-03 2.26265450e-04 9.99978211e-01 6.08187546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96907232899997 meters 0.37335826870438577 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.08, Z:60.82 [[ 9.99975851e-01 -2.07159499e-03 6.63365878e-03 -3.69427148e+01] [ 2.07364152e-03 9.99997805e-01 -3.01644101e-04 -6.90751850e+01] [-6.63301933e-03 3.15392647e-04 9.99977952e-01 6.08190418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99907232899994 meters 0.36479851188375656 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99982541e-01 -2.02856660e-03 5.55007966e-03 -3.69402716e+01] [ 2.03375810e-03 9.99997500e-01 -9.29908426e-04 -6.90729372e+01] [-5.54817941e-03 9.41179710e-04 9.99984166e-01 6.08196429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.029072329 meters 0.3648005878161974 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99984126e-01 -2.22255313e-03 5.17765927e-03 -3.69395419e+01] [ 2.22994714e-03 9.99996502e-01 -1.42272606e-03 -6.90714482e+01] [-5.17447907e-03 1.43424938e-03 9.99985584e-01 6.08200236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05907232899995 meters 0.3663466234447254 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99983245e-01 -2.23098383e-03 5.34150098e-03 -3.69397113e+01] [ 2.23842917e-03 9.99996531e-01 -1.38829345e-03 -6.90714335e+01] [-5.33838519e-03 1.40022676e-03 9.99984770e-01 6.08196762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.089072329 meters 0.3613371248761109 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99983894e-01 -2.15032165e-03 5.25242998e-03 -3.69392374e+01] [ 2.15706825e-03 9.99996855e-01 -1.27914459e-03 -6.90716016e+01] [-5.24966289e-03 1.29045384e-03 9.99985388e-01 6.08193113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11907232899995 meters 0.3468397464981817 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99983937e-01 -2.14853670e-03 5.24496616e-03 -3.69391422e+01] [ 2.15534655e-03 9.99996841e-01 -1.29305059e-03 -6.90714817e+01] [-5.24217142e-03 1.30433454e-03 9.99985409e-01 6.08192320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.149072329 meters 0.34517737450004093 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99983147e-01 -2.19862955e-03 5.37332793e-03 -3.69395017e+01] [ 2.20586616e-03 9.99996668e-01 -1.34120987e-03 -6.90713524e+01] [-5.37036120e-03 1.35304011e-03 9.99984664e-01 6.08193016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17907232899995 meters 0.33905015125607013 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99987124e-01 -2.06402691e-03 4.63598364e-03 -3.69378612e+01] [ 2.07069635e-03 9.99996828e-01 -1.43428544e-03 -6.90708349e+01] [-4.63300853e-03 1.44386669e-03 9.99988225e-01 6.08197224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.209072329 meters 0.33873238935395866 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99989134e-01 -2.28381843e-03 4.06389013e-03 -3.69364676e+01] [ 2.29241694e-03 9.99995141e-01 -2.11243513e-03 -6.90686173e+01] [-4.05904596e-03 2.12172831e-03 9.99989511e-01 6.08198835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23907232899995 meters 0.3404759312704146 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.07, Z:60.82 [[ 9.99991897e-01 -2.25483226e-03 3.33503057e-03 -3.69345234e+01] [ 2.26256291e-03 9.99994758e-01 -2.31606255e-03 -6.90675968e+01] [-3.32979076e-03 2.32358950e-03 9.99991757e-01 6.08197178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.269072329 meters 0.32912746174380225 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99996049e-01 1.64720201e-03 2.27797775e-03 -3.69321793e+01] [-1.64866107e-03 9.99998437e-01 6.38780668e-04 -6.90633243e+01] [-2.27692199e-03 -6.42533757e-04 9.99997201e-01 6.08203662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29907232899996 meters 0.3264965048660616 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99997581e-01 1.41382222e-03 1.68478541e-03 -3.69308648e+01] [-1.41371092e-03 9.99998998e-01 -6.72546521e-05 -6.90611155e+01] [-1.68487881e-03 6.48726899e-05 9.99998578e-01 6.08207655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.329072329 meters 0.3161548937483772 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99998416e-01 1.30500113e-03 1.20995992e-03 -3.69299252e+01] [-1.30447858e-03 9.99999056e-01 -4.32562534e-04 -6.90600110e+01] [-1.21052328e-03 4.30983482e-04 9.99999174e-01 6.08212144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35907232899996 meters 0.3143157451036154 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99998295e-01 1.21310993e-03 1.39207653e-03 -3.69305419e+01] [-1.21235477e-03 9.99999118e-01 -5.43180679e-04 -6.90597597e+01] [-1.39273424e-03 5.41492062e-04 9.99998884e-01 6.08214748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.389072329 meters 0.3139605071578438 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99996913e-01 2.42041113e-03 -5.62665680e-04 -3.69261880e+01] [-2.42082123e-03 9.99996804e-01 -7.29324734e-04 -6.90575316e+01] [ 5.60898616e-04 7.30684595e-04 9.99999576e-01 6.08226800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41907232899996 meters 0.31335441477287806 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99995631e-01 2.53658461e-03 -1.51758936e-03 -3.69237505e+01] [-2.53827079e-03 9.99996162e-01 -1.11020126e-03 -6.90558132e+01] [ 1.51476741e-03 1.11404846e-03 9.99998232e-01 6.08227891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.449072329 meters 0.30677629873552 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.82 [[ 9.99972622e-01 6.91949229e-03 -2.62228802e-03 -3.69209718e+01] [-6.91282283e-03 9.99972870e-01 2.54395794e-03 -6.90533590e+01] [ 2.63981978e-03 -2.52576088e-03 9.99993326e-01 6.08230226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47907232899996 meters 0.30498290514274234 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.82 [[ 9.99970718e-01 6.76801311e-03 -3.57178724e-03 -3.69189205e+01] [-6.76175142e-03 9.99975586e-01 1.76227102e-03 -6.90508838e+01] [ 3.58362711e-03 -1.73806788e-03 9.99992068e-01 6.08236485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.509072329 meters 0.3016871459143149 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.82 [[ 9.99966527e-01 6.68457984e-03 -4.71816297e-03 -3.69165562e+01] [-6.68020209e-03 9.99977243e-01 9.43000301e-04 -6.90482197e+01] [ 4.72435916e-03 -9.11450454e-04 9.99988425e-01 6.08245070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53907232899996 meters 0.25731589897645596 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99935457e-01 8.43571920e-03 -7.61056685e-03 -3.69103160e+01] [-8.43911996e-03 9.99964304e-01 -4.14843850e-04 -6.90427862e+01] [ 7.60679567e-03 4.79043561e-04 9.99970953e-01 6.08273994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.569072329 meters 0.23405628334966555 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99930967e-01 8.06732829e-03 -8.54282916e-03 -3.69087994e+01] [-8.08051746e-03 9.99966211e-01 -1.51049781e-03 -6.90398074e+01] [ 8.53035483e-03 1.57942402e-03 9.99962369e-01 6.08288462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59907232899997 meters 0.23413470691303018 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99925693e-01 7.87368908e-03 -9.30661711e-03 -3.69072945e+01] [-7.89519095e-03 9.99966243e-01 -2.27590686e-03 -6.90375520e+01] [ 9.28838316e-03 2.34921527e-03 9.99954103e-01 6.08296569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.629072329 meters 0.22916900610424562 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99916670e-01 7.91388506e-03 -1.01992166e-02 -3.69054567e+01] [-7.94310940e-03 9.99964454e-01 -2.82803609e-03 -6.90356952e+01] [ 1.01764733e-02 2.90881392e-03 9.99943988e-01 6.08304977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65907232899997 meters 0.23439430668418554 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99911627e-01 7.84424980e-03 -1.07334023e-02 -3.69041513e+01] [-7.87829739e-03 9.99964056e-01 -3.13351785e-03 -6.90345821e+01] [ 1.07084364e-02 3.21780187e-03 9.99937486e-01 6.08305995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68907232899994 meters 0.2476471507841884 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99904957e-01 7.73594799e-03 -1.14118952e-02 -3.69024853e+01] [-7.77735786e-03 9.99963316e-01 -3.58875365e-03 -6.90328918e+01] [ 1.13837142e-02 3.67716696e-03 9.99928442e-01 6.08307520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71907232899997 meters 0.23311721437514815 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99884429e-01 8.85688861e-03 -1.23565081e-02 -3.68990338e+01] [-8.89989049e-03 9.99954514e-01 -3.42946208e-03 -6.90301175e+01] [ 1.23255717e-02 3.53903731e-03 9.99917774e-01 6.08300652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74907232899994 meters 0.31570847119019335 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.83 [[ 9.99966560e-01 6.96347012e-03 -4.28817642e-03 -3.68941701e+01] [-6.94020557e-03 9.99961247e-01 5.41646897e-03 -6.90344087e+01] [ 4.32572766e-03 -5.38652702e-03 9.99976136e-01 6.08320903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779072329 meters 0.244248373980179 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.83 [[ 9.99961361e-01 6.92670194e-03 -5.41272154e-03 -3.68918213e+01] [-6.90419583e-03 9.99967489e-01 4.16568418e-03 -6.90303818e+01] [ 5.44140002e-03 -4.12815273e-03 9.99976674e-01 6.08332744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80907232899995 meters 0.3015801011996998 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.83 [[ 9.99959451e-01 6.59138321e-03 -6.13597279e-03 -3.68905355e+01] [-6.57123365e-03 9.99972970e-01 3.29823085e-03 -6.90279027e+01] [ 6.15754684e-03 -3.25777620e-03 9.99975735e-01 6.08341422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839072329 meters 0.25450899447562897 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.83 [[ 9.99957984e-01 6.21974116e-03 -6.73389210e-03 -3.68893710e+01] [-6.20403715e-03 9.99977992e-01 2.35046892e-03 -6.90250930e+01] [ 6.74836321e-03 -2.30859285e-03 9.99974565e-01 6.08347857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86907232899995 meters 0.30003934750735545 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99951300e-01 6.13526958e-03 -7.73023163e-03 -3.68871213e+01] [-6.12242201e-03 9.99979839e-01 1.68455944e-03 -6.90226880e+01] [ 7.74041101e-03 -1.63714966e-03 9.99968702e-01 6.08352715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899072329 meters 0.2916868119496335 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99950875e-01 5.96967471e-03 -7.91263032e-03 -3.68868384e+01] [-5.95926104e-03 9.99981347e-01 1.33900698e-03 -6.90217188e+01] [ 7.92047616e-03 -1.29178777e-03 9.99967798e-01 6.08355431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92907232899995 meters 0.286867958882817 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99953536e-01 5.79975481e-03 -7.69991574e-03 -3.68872705e+01] [-5.79139009e-03 9.99982616e-01 1.10819137e-03 -6.90210025e+01] [ 7.70620912e-03 -1.06354667e-03 9.99969741e-01 6.08354000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959072329 meters 0.2911265526930794 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99956083e-01 5.77305879e-03 -7.38269801e-03 -3.68879553e+01] [-5.76450300e-03 9.99982689e-01 1.17965293e-03 -6.90212200e+01] [ 7.38938041e-03 -1.13704354e-03 9.99972052e-01 6.08352072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98907232899995 meters 0.2800133708091444 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99956684e-01 5.69616581e-03 -7.36097923e-03 -3.68879858e+01] [-5.68853016e-03 9.99983261e-01 1.05783582e-03 -6.90208241e+01] [ 7.36688162e-03 -1.01591684e-03 9.99972348e-01 6.08351848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019072329 meters 0.29061608432612807 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99956350e-01 5.42003771e-03 -7.61065438e-03 -3.68875676e+01] [-5.41644048e-03 9.99985209e-01 4.93188817e-04 -6.90191522e+01] [ 7.61321492e-03 -4.51944633e-04 9.99970917e-01 6.08355601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04907232899996 meters 0.28508650889784853 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99958945e-01 5.23486161e-03 -7.39626517e-03 -3.68881893e+01] [-5.23330151e-03 9.99986280e-01 2.30268907e-04 -6.90184319e+01] [ 7.39736912e-03 -1.91552567e-04 9.99972621e-01 6.08357305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079072329 meters 0.3485381536417671 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99960025e-01 5.36004879e-03 -7.15668461e-03 -3.68886649e+01] [-5.35638378e-03 9.99985513e-01 5.31178426e-04 -6.90193258e+01] [ 7.15942808e-03 -4.92823242e-04 9.99974250e-01 6.08354974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10907232899996 meters 0.2750649064540974 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.84 [[ 9.99971391e-01 1.08795215e-03 -7.48551356e-03 -3.68878101e+01] [-1.11604764e-03 9.99992345e-01 -3.75016106e-03 -6.90192445e+01] [ 7.48137626e-03 3.75840796e-03 9.99964951e-01 6.08354778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139072329 meters 0.33283048948710736 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.83 [[ 9.99978894e-01 1.12649016e-03 -6.39858225e-03 -3.68901888e+01] [-1.14685370e-03 9.99994287e-01 -3.17973056e-03 -6.90213090e+01] [ 6.39496376e-03 3.18700169e-03 9.99974473e-01 6.08349355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16907232899996 meters 0.33273757720371966 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.83 [[ 9.99984129e-01 1.12615001e-03 -5.52031433e-03 -3.68920622e+01] [-1.14170223e-03 9.99995386e-01 -2.81492967e-03 -6.90225430e+01] [ 5.51711883e-03 2.82118755e-03 9.99980801e-01 6.08344445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199072329 meters 0.25537993646064266 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.83 [[ 9.99984516e-01 1.12736916e-03 -5.44953141e-03 -3.68921693e+01] [-1.14258017e-03 9.99995458e-01 -2.78894505e-03 -6.90225819e+01] [ 5.44636249e-03 2.79512840e-03 9.99981262e-01 6.08343451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22907232899996 meters 0.3187855801898659 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.83 [[ 9.99989155e-01 1.16354274e-03 -4.50957705e-03 -3.68943288e+01] [-1.17402123e-03 9.99996616e-01 -2.32165914e-03 -6.90243114e+01] [ 4.50686044e-03 2.32692830e-03 9.99987137e-01 6.08341066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259072329 meters 0.3195845518029507 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99991574e-01 1.27756792e-03 -3.90113270e-03 -3.68956273e+01] [-1.28498574e-03 9.99997370e-01 -1.89953820e-03 -6.90256200e+01] [ 3.89869565e-03 1.90453509e-03 9.99990586e-01 6.08337191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28907232899996 meters 0.297227255421581 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99989162e-01 -2.84689399e-03 -3.68383781e-03 -3.68959338e+01] [ 2.82567063e-03 9.99979455e-01 -5.75364304e-03 -6.90269287e+01] [ 3.70014214e-03 5.74317137e-03 9.99976662e-01 6.08333992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319072329 meters 0.29713300510338386 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99990556e-01 -2.68166535e-03 -3.42009052e-03 -3.68963125e+01] [ 2.66322393e-03 9.99981953e-01 -5.38528767e-03 -6.90279175e+01] [ 3.43447034e-03 5.37612834e-03 9.99979651e-01 6.08329599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34907232899997 meters 0.2891787974128497 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99991494e-01 -2.51381861e-03 -3.26989172e-03 -3.68965363e+01] [ 2.49731897e-03 9.99984179e-01 -5.04026245e-03 -6.90288968e+01] [ 3.28251030e-03 5.03205362e-03 9.99981952e-01 6.08327084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379072329 meters 0.2891787974128497 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99991494e-01 -2.51381861e-03 -3.26989172e-03 -3.68965363e+01] [ 2.49731897e-03 9.99984179e-01 -5.04026245e-03 -6.90288968e+01] [ 3.28251030e-03 5.03205362e-03 9.99981952e-01 6.08327084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40907232899997 meters 0.2922233658455979 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99992964e-01 -2.60085324e-03 -2.70322810e-03 -3.68977428e+01] [ 2.58726045e-03 9.99984054e-01 -5.01974776e-03 -6.90289752e+01] [ 2.71624062e-03 5.01271848e-03 9.99983747e-01 6.08324318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43907232899994 meters 0.2832558598466772 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99995732e-01 -2.47195793e-03 -1.55765946e-03 -3.68999876e+01] [ 2.46568887e-03 9.99988905e-01 -4.01381756e-03 -6.90320468e+01] [ 1.56756417e-03 4.00995972e-03 9.99990731e-01 6.08312158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46907232899997 meters 0.27410513727525637 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.83 [[ 9.99997217e-01 -2.23972480e-03 -7.41394948e-04 -3.69015015e+01] [ 2.23728889e-03 9.99992150e-01 -3.27025928e-03 -6.90341137e+01] [ 7.48713609e-04 3.26859146e-03 9.99994378e-01 6.08303318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49907232899994 meters 0.2679080074644326 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.83 [[ 9.99997026e-01 -2.37787920e-03 5.42072448e-04 -3.69044055e+01] [ 2.37913180e-03 9.99994474e-01 -2.32195020e-03 -6.90375664e+01] [-5.36548136e-04 2.32323295e-03 9.99997157e-01 6.08294994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.529072329 meters 0.2601593432750562 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.83 [[ 9.99978984e-01 -6.45405207e-03 6.13923491e-04 -3.69043880e+01] [ 6.45773133e-03 9.99959973e-01 -6.19276419e-03 -6.90388689e+01] [-5.73930495e-04 6.19659859e-03 9.99980636e-01 6.08292929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55907232899995 meters 0.25567357869959184 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99978790e-01 -6.40207694e-03 1.19684896e-03 -3.69057330e+01] [ 6.40902858e-03 9.99962071e-01 -5.89760018e-03 -6.90398301e+01] [-1.15904668e-03 5.90514574e-03 9.99981893e-01 6.08291125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.589072329 meters 0.24478015134199435 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99976511e-01 -6.54224832e-03 2.04356604e-03 -3.69077268e+01] [ 6.55406260e-03 9.99961533e-01 -5.82902285e-03 -6.90403013e+01] [-2.00535251e-03 5.84227959e-03 9.99980923e-01 6.08289834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61907232899995 meters 0.24311881402655736 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99976316e-01 -6.45600291e-03 2.38468043e-03 -3.69083657e+01] [ 6.46915884e-03 9.99963668e-01 -5.55096308e-03 -6.90410608e+01] [-2.34875676e-03 5.56625849e-03 9.99981750e-01 6.08286456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.649072329 meters 0.23917092578698962 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99975497e-01 -6.22199782e-03 3.20822908e-03 -3.69100512e+01] [ 6.23724896e-03 9.99969191e-01 -4.76586699e-03 -6.90434186e+01] [-3.17847703e-03 4.78576074e-03 9.99983497e-01 6.08279943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67907232899995 meters 0.23600251452549728 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.83 [[ 9.99972461e-01 -6.25009734e-03 4.00171261e-03 -3.69117411e+01] [ 6.26822886e-03 9.99970073e-01 -4.53454589e-03 -6.90441959e+01] [-3.97325150e-03 4.55950466e-03 9.99981712e-01 6.08275538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.709072329 meters 0.32898759248166726 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.83 [[ 9.99970533e-01 -6.08467541e-03 4.68087060e-03 -3.69131468e+01] [ 6.10328801e-03 9.99973485e-01 -3.97235667e-03 -6.90458535e+01] [-4.65657599e-03 4.00080832e-03 9.99981155e-01 6.08270782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73907232899995 meters 0.33163180364017747 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.83 [[ 9.99965536e-01 -6.03974180e-03 5.69640992e-03 -3.69153521e+01] [ 6.05956045e-03 9.99975626e-01 -3.46832861e-03 -6.90474756e+01] [-5.67532327e-03 3.50272681e-03 9.99977761e-01 6.08265721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.769072329 meters 0.3145300031033277 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.83 [[ 9.99927200e-01 -1.00060999e-02 6.74340553e-03 -3.69175502e+01] [ 1.00508886e-02 9.99927436e-01 -6.64101456e-03 -6.90510450e+01] [-6.67646554e-03 6.70830831e-03 9.99955211e-01 6.08258331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79907232899996 meters 0.4208360744551586 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.83 [[ 9.99923625e-01 -9.77979887e-03 7.55647847e-03 -3.69191471e+01] [ 9.82423393e-03 9.99934536e-01 -5.86582075e-03 -6.90532757e+01] [-7.49861725e-03 5.93960936e-03 9.99954245e-01 6.08250794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.829072329 meters 0.22131142349209054 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99915626e-01 -9.62294246e-03 8.72582578e-03 -3.69214383e+01] [ 9.66399089e-03 9.99942377e-01 -4.67434646e-03 -6.90569429e+01] [-8.68034201e-03 4.75827836e-03 9.99951004e-01 6.08237781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85907232899996 meters 0.22959705872057562 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99911433e-01 -9.64305265e-03 9.17263161e-03 -3.69221746e+01] [ 9.68514372e-03 9.99942721e-01 -4.55546857e-03 -6.90571562e+01] [-9.12817759e-03 4.64390337e-03 9.99947554e-01 6.08231715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.889072329 meters 0.2448536701563511 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99911110e-01 -9.37968693e-03 9.47594977e-03 -3.69225272e+01] [ 9.41769950e-03 9.99947752e-01 -3.97485197e-03 -6.90587134e+01] [-9.43817181e-03 4.06374029e-03 9.99947202e-01 6.08225321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91907232899996 meters 0.24484132764392624 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99909437e-01 -9.44355710e-03 9.58833986e-03 -3.69228619e+01] [ 9.48273770e-03 9.99946840e-01 -4.04906772e-03 -6.90585189e+01] [-9.54959254e-03 4.13962474e-03 9.99945833e-01 6.08226315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.949072329 meters 0.3902273447386094 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99911570e-01 -9.55108585e-03 9.25357338e-03 -3.69221817e+01] [ 9.59212106e-03 9.99944313e-01 -4.40033804e-03 -6.90574588e+01] [-9.21103007e-03 4.48871031e-03 9.99947503e-01 6.08229585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97907232899996 meters 0.3770572702126141 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99935116e-01 -5.42396884e-03 1.00171957e-02 -3.69241119e+01] [ 5.42505333e-03 9.99985281e-01 -8.10931734e-05 -6.90578099e+01] [-1.00166084e-02 1.35431733e-04 9.99949823e-01 6.08229038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.009072329 meters 0.36926875741175585 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.82 [[ 9.99939878e-01 -5.64620591e-03 9.40001435e-03 -3.69229230e+01] [ 5.65351118e-03 9.99983737e-01 -7.50763668e-04 -6.90558752e+01] [-9.39562251e-03 8.03861617e-04 9.99955537e-01 6.08235153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03907232899996 meters 0.36833470859389295 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.82 [[ 9.99937842e-01 -5.93452649e-03 9.43888662e-03 -3.69231179e+01] [ 5.94658061e-03 9.99981538e-01 -1.24951770e-03 -6.90543996e+01] [-9.43129706e-03 1.30556914e-03 9.99954672e-01 6.08236872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.069072329 meters 0.3629404915082201 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.82 [[ 9.99939478e-01 -6.03693930e-03 9.19762836e-03 -3.69226111e+01] [ 6.05106467e-03 9.99980554e-01 -1.50870859e-03 -6.90536099e+01] [-9.18834152e-03 1.56427272e-03 9.99956563e-01 6.08238629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09907232899997 meters 0.3571649567614584 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.82 [[ 9.99935121e-01 -6.03956269e-03 9.65803874e-03 -3.69236564e+01] [ 6.05286192e-03 9.99980772e-01 -1.34837479e-03 -6.90541106e+01] [-9.64970944e-03 1.40674609e-03 9.99952451e-01 6.08237275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.129072329 meters 0.34445701035377796 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.82 [[ 9.99932968e-01 -6.08539207e-03 9.85027977e-03 -3.69241495e+01] [ 6.09920823e-03 9.99980457e-01 -1.37318434e-03 -6.90540681e+01] [-9.84173090e-03 1.43317120e-03 9.99950542e-01 6.08237335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15907232899997 meters 0.3427175000685216 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99927928e-01 -5.75028245e-03 1.05391309e-02 -3.69256198e+01] [ 5.75567021e-03 9.99983320e-01 -4.80954885e-04 -6.90568454e+01] [-1.05361895e-02 5.41579983e-04 9.99944346e-01 6.08232718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18907232899994 meters 0.3320432896064578 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99922649e-01 -5.73300165e-03 1.10375793e-02 -3.69266875e+01] [ 5.73637413e-03 9.99983509e-01 -2.73909999e-04 -6.90574783e+01] [-1.10358270e-02 3.37204497e-04 9.99939047e-01 6.08229755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21907232899997 meters 0.32790047197716965 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99919093e-01 -5.64467532e-03 1.13993560e-02 -3.69274563e+01] [ 5.64483240e-03 9.99984068e-01 1.83957668e-05 -6.90583564e+01] [-1.13992782e-02 4.59531755e-05 9.99935025e-01 6.08227267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24907232899994 meters 0.32387174071151514 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99922953e-01 -5.57800974e-03 1.10893157e-02 -3.69267478e+01] [ 5.57806513e-03 9.99984442e-01 2.59342139e-05 -6.90583549e+01] [-1.10892878e-02 3.59247094e-05 9.99938511e-01 6.08228453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279072329 meters 0.33875547513112203 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99920382e-01 -5.48193401e-03 1.13656911e-02 -3.69270987e+01] [ 5.47895304e-03 9.99984947e-01 2.93398858e-04 -6.90590216e+01] [-1.13671284e-02 -2.31103410e-04 9.99935365e-01 6.08222938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30907232899995 meters 0.3092962425805949 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99913975e-01 -5.55724226e-03 1.18810453e-02 -3.69283067e+01] [ 5.55351511e-03 9.99984519e-01 3.46675169e-04 -6.90592727e+01] [-1.18827879e-02 -2.80663782e-04 9.99929358e-01 6.08221537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339072329 meters 0.3020382984844619 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99904791e-01 -5.49208943e-03 1.26588456e-02 -3.69301290e+01] [ 5.48304116e-03 9.99984687e-01 7.49373487e-04 -6.90606689e+01] [-1.26627674e-02 -6.79893168e-04 9.99919593e-01 6.08219343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36907232899995 meters 0.292243897092609 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99889911e-01 -5.82587567e-03 1.36464030e-02 -3.69325137e+01] [ 5.81794626e-03 9.99982883e-01 6.20689935e-04 -6.90607219e+01] [-1.36497855e-02 -5.41227565e-04 9.99906691e-01 6.08218761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399072329 meters 0.2861643313451674 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99886088e-01 -5.89501398e-03 1.38945717e-02 -3.69330713e+01] [ 5.88738643e-03 9.99982495e-01 5.89799009e-04 -6.90606325e+01] [-1.38978053e-02 -5.07929111e-04 9.99903292e-01 6.08217518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42907232899995 meters 0.27788176634655726 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.06, Z:60.82 [[ 9.99878229e-01 -5.67447517e-03 1.45371224e-02 -3.69343736e+01] [ 5.65590022e-03 9.99983136e-01 1.31855398e-03 -6.90627640e+01] [-1.45443594e-02 -1.23617290e-03 9.99893461e-01 6.08212267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459072329 meters 0.2711922235865594 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.82 [[ 9.99862998e-01 -6.01344256e-03 1.54215486e-02 -3.69366118e+01] [ 5.99835089e-03 9.99981485e-01 1.02467765e-03 -6.90623741e+01] [-1.54274249e-02 -9.32033403e-04 9.99880556e-01 6.08213425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48907232899995 meters 0.2637458526823427 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.82 [[ 9.99858009e-01 -5.73007928e-03 1.58470201e-02 -3.69375253e+01] [ 5.70367151e-03 9.99982270e-01 1.71111322e-03 -6.90644620e+01] [-1.58565439e-02 -1.62048406e-03 9.99872964e-01 6.08210500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519072329 meters 0.2626874472701822 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.82 [[ 9.99839685e-01 -6.05547455e-03 1.68503746e-02 -3.69400758e+01] [ 6.02917983e-03 9.99980527e-01 1.61084641e-03 -6.90647730e+01] [-1.68598009e-02 -1.50899423e-03 9.99856725e-01 6.08211477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54907232899996 meters 0.27250966654993036 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.82 [[ 9.99839505e-01 -6.12586589e-03 1.68356144e-02 -3.69401672e+01] [ 6.10188115e-03 9.99980295e-01 1.47564223e-03 -6.90644486e+01] [-1.68443222e-02 -1.37267648e-03 9.99857182e-01 6.08213285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579072329 meters 0.25433782148375517 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.82 [[ 9.99835652e-01 -6.13405825e-03 1.70599758e-02 -3.69407043e+01] [ 6.10848957e-03 9.99980141e-01 1.55045837e-03 -6.90647034e+01] [-1.70691476e-02 -1.44599287e-03 9.99853266e-01 6.08212660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60907232899996 meters 0.24592259594380786 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99817232e-01 -6.23598624e-03 1.80724954e-02 -3.69428173e+01] [ 6.20441310e-03 9.99979128e-01 1.80257014e-03 -6.90656137e+01] [-1.80833590e-02 -1.69011146e-03 9.99835054e-01 6.08206258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639072329 meters 0.2541569736544755 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.07, Z:60.82 [[ 9.99804724e-01 -6.31722995e-03 1.87245083e-02 -3.69441987e+01] [ 6.28236633e-03 9.99978422e-01 1.92016263e-03 -6.90659824e+01] [-1.87362344e-02 -1.80215345e-03 9.99822837e-01 6.08202375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66907232899996 meters 0.2421808986175263 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.07, Z:60.82 [[ 9.99787626e-01 -6.49287281e-03 1.95587486e-02 -3.69460697e+01] [ 6.45217424e-03 9.99976888e-01 2.14322368e-03 -6.90668410e+01] [-1.95722123e-02 -2.01657207e-03 9.99806412e-01 6.08198466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699072329 meters 0.2815477475220392 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99932932e-01 -9.55199512e-03 6.54914912e-03 -3.69480703e+01] [ 9.57653634e-03 9.99947201e-01 -3.72617415e-03 -6.90572654e+01] [-6.51321094e-03 3.78864241e-03 9.99971612e-01 6.08227280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72907232899996 meters 0.2211069751783118 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99928275e-01 -9.52857483e-03 7.25607107e-03 -3.69495684e+01] [ 9.55290487e-03 9.99948839e-01 -3.32581555e-03 -6.90584497e+01] [-7.22400956e-03 3.39489357e-03 9.99968144e-01 6.08222833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759072329 meters 0.24400420326559516 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99929182e-01 -9.43083656e-03 7.25881894e-03 -3.69495675e+01] [ 9.45393784e-03 9.99950334e-01 -3.15480498e-03 -6.90589560e+01] [-7.22870597e-03 3.22320599e-03 9.99968678e-01 6.08222911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78907232899996 meters 0.2644128099851161 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99924584e-01 -9.36595976e-03 7.94389824e-03 -3.69511436e+01] [ 9.38828580e-03 9.99952071e-01 -2.77784474e-03 -6.90601999e+01] [-7.91750031e-03 2.85221483e-03 9.99964588e-01 6.08220678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819072329 meters 0.2537711495779785 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99919860e-01 -9.39872176e-03 8.48161905e-03 -3.69522375e+01] [ 9.42149929e-03 9.99952106e-01 -2.64956825e-03 -6.90605179e+01] [-8.45631028e-03 2.72926548e-03 9.99960520e-01 6.08217084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84907232899997 meters 0.21439058640351955 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99946851e-01 -5.27356911e-03 8.85920459e-03 -3.69530927e+01] [ 5.26024708e-03 9.99985000e-01 1.52637892e-03 -6.90600881e+01] [-8.86712117e-03 -1.47969619e-03 9.99959592e-01 6.08214084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879072329 meters 0.2370070547222114 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99946978e-01 -5.32678525e-03 8.81290286e-03 -3.69529678e+01] [ 5.31448222e-03 9.99984871e-01 1.41885569e-03 -6.90597611e+01] [-8.82032747e-03 -1.37194444e-03 9.99960159e-01 6.08213756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90907232899997 meters 0.23266559663205658 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99945537e-01 -5.34396457e-03 8.96462595e-03 -3.69534290e+01] [ 5.33126575e-03 9.99984752e-01 1.43984694e-03 -6.90598991e+01] [-8.97218375e-03 -1.39197571e-03 9.99958780e-01 6.08214823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93907232899994 meters 0.2471506953917212 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99947425e-01 -5.31938805e-03 8.76654146e-03 -3.69527129e+01] [ 5.30719383e-03 9.99984917e-01 1.41367311e-03 -6.90596809e+01] [-8.77392912e-03 -1.36707305e-03 9.99960574e-01 6.08211511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96907232899997 meters 0.24909542366792345 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99952293e-01 -5.35328180e-03 8.17026052e-03 -3.69515231e+01] [ 5.34434183e-03 9.99985097e-01 1.11564940e-03 -6.90588466e+01] [-8.17611114e-03 -1.07193151e-03 9.99966001e-01 6.08216194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99907232899994 meters 0.25966549037579073 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99954300e-01 -5.46497671e-03 7.84425323e-03 -3.69511399e+01] [ 5.45884195e-03 9.99984778e-01 8.03268437e-04 -6.90581130e+01] [-7.84852367e-03 -7.60411189e-04 9.99968911e-01 6.08222570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.029072329 meters 0.24982697506291196 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.06, Z:60.82 [[ 9.99962821e-01 -5.31538629e-03 6.79000976e-03 -3.69484758e+01] [ 5.31320390e-03 9.99985827e-01 3.39410655e-04 -6.90561409e+01] [-6.79171763e-03 -3.03321329e-04 9.99976890e-01 6.08223473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05907232899995 meters 0.2476646721502662 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99965982e-01 -5.43281747e-03 6.20643068e-03 -3.69471373e+01] [ 5.43370418e-03 9.99985229e-01 -1.26016012e-04 -6.90546945e+01] [-6.20565439e-03 1.59735633e-04 9.99980732e-01 6.08225732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.089072329 meters 0.2548862356533408 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99968997e-01 -5.45409761e-03 5.67963313e-03 -3.69459150e+01] [ 5.45623787e-03 9.99985049e-01 -3.61404052e-04 -6.90539042e+01] [-5.67757708e-03 3.92382277e-04 9.99983805e-01 6.08227696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11907232899995 meters 0.2518471970899233 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.82 [[ 9.99986589e-01 -1.67316336e-03 4.90135755e-03 -3.69447001e+01] [ 1.66032047e-03 9.99995181e-01 2.62317043e-03 -6.90502117e+01] [-4.90572293e-03 -2.61499743e-03 9.99984548e-01 6.08238995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.149072329 meters 0.246641667452936 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.82 [[ 9.99989170e-01 -1.62395631e-03 4.36156820e-03 -3.69435187e+01] [ 1.61308734e-03 9.99995588e-01 2.49435131e-03 -6.90498073e+01] [-4.36559968e-03 -2.48728870e-03 9.99987377e-01 6.08241638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17907232899995 meters 0.296348976822914 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.82 [[ 9.99990354e-01 -1.65600073e-03 4.06804420e-03 -3.69430032e+01] [ 1.64654524e-03 9.99995938e-01 2.32658432e-03 -6.90494070e+01] [-4.07188050e-03 -2.31986366e-03 9.99989019e-01 6.08244785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.209072329 meters 0.23537067786282223 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99992514e-01 -1.66749850e-03 3.49147609e-03 -3.69419007e+01] [ 1.66035684e-03 9.99996526e-01 2.04735402e-03 -6.90486616e+01] [-3.49487792e-03 -2.04154160e-03 9.99991809e-01 6.08250238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23907232899995 meters 0.2986071809823748 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99992782e-01 -1.86616882e-03 3.30973369e-03 -3.69415203e+01] [ 1.86080242e-03 9.99996950e-01 1.62373794e-03 -6.90473885e+01] [-3.31275377e-03 -1.61756745e-03 9.99993205e-01 6.08251439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.269072329 meters 0.31207638491140105 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99994127e-01 -1.93757457e-03 2.82713020e-03 -3.69406210e+01] [ 1.93393168e-03 9.99997297e-01 1.29070956e-03 -6.90464439e+01] [-2.82962341e-03 -1.28523450e-03 9.99995171e-01 6.08256784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29907232899996 meters 0.31207638491140105 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99994127e-01 -1.93757457e-03 2.82713020e-03 -3.69406210e+01] [ 1.93393168e-03 9.99997297e-01 1.29070956e-03 -6.90464439e+01] [-2.82962341e-03 -1.28523450e-03 9.99995171e-01 6.08256784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.329072329 meters 0.2264260325176223 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99993753e-01 -1.97942851e-03 2.92855345e-03 -3.69410299e+01] [ 1.97577472e-03 9.99997267e-01 1.25000894e-03 -6.90464307e+01] [-2.93101975e-03 -1.24421497e-03 9.99994931e-01 6.08259034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35907232899996 meters 0.22363992503930494 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99994368e-01 -2.13030346e-03 2.59349656e-03 -3.69404162e+01] [ 2.12813792e-03 9.99997385e-01 8.37463025e-04 -6.90452497e+01] [-2.59527383e-03 -8.31938990e-04 9.99996286e-01 6.08262981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.389072329 meters 0.2751171443728647 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99994518e-01 -2.19198470e-03 2.48193118e-03 -3.69401989e+01] [ 2.19028218e-03 9.99997364e-01 6.88476947e-04 -6.90447922e+01] [-2.48343377e-03 -6.83037043e-04 9.99996683e-01 6.08264213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41907232899996 meters 0.2764015835123344 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99994394e-01 -2.23998690e-03 2.48879675e-03 -3.69401333e+01] [ 2.23849232e-03 9.99997313e-01 6.03146824e-04 -6.90444808e+01] [-2.49014110e-03 -5.97572291e-04 9.99996721e-01 6.08263096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.449072329 meters 0.26801865511491935 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99994895e-01 -2.17744977e-03 2.33836629e-03 -3.69392015e+01] [ 2.17593127e-03 9.99997420e-01 6.51731979e-04 -6.90441765e+01] [-2.33977937e-03 -6.46640528e-04 9.99997054e-01 6.08255227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47907232899996 meters 0.2852541198261362 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99995744e-01 -1.97260168e-03 2.14977332e-03 -3.69385583e+01] [ 1.97058237e-03 9.99997616e-01 9.41030816e-04 -6.90448963e+01] [-2.15162447e-03 -9.36790505e-04 9.99997246e-01 6.08252835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.509072329 meters 0.27530066689335875 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.82 [[ 9.99995002e-01 -2.02032925e-03 2.43211582e-03 -3.69390777e+01] [ 2.01801062e-03 9.99997507e-01 9.55413089e-04 -6.90448585e+01] [-2.43404001e-03 -9.50500278e-04 9.99996586e-01 6.08249965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53907232899996 meters 0.27354197512092704 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99995703e-01 -1.96871136e-03 2.17194624e-03 -3.69384457e+01] [ 1.96668830e-03 9.99997631e-01 9.33197609e-04 -6.90447357e+01] [-2.17377829e-03 -9.28922058e-04 9.99997206e-01 6.08250625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.569072329 meters 0.2671342867000565 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99993129e-01 -2.13209779e-03 3.03256288e-03 -3.69408053e+01] [ 2.12902441e-03 9.99997217e-01 1.01632704e-03 -6.90456505e+01] [-3.03472135e-03 -1.00986366e-03 9.99994885e-01 6.08254841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59907232899997 meters 0.31874853656249846 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99994660e-01 -2.03514196e-03 2.55713152e-03 -3.69396646e+01] [ 2.03260303e-03 9.99997439e-01 9.95089469e-04 -6.90454845e+01] [-2.55915012e-03 -9.89886522e-04 9.99996235e-01 6.08255521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.629072329 meters 0.26115957582059585 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.83 [[ 9.99995941e-01 -1.85484214e-03 2.16295252e-03 -3.69383695e+01] [ 1.85236549e-03 9.99997627e-01 1.14647471e-03 -6.90455815e+01] [-2.16507392e-03 -1.14246348e-03 9.99997004e-01 6.08251162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65907232899997 meters 0.2581299960300297 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99995919e-01 -1.96074055e-03 2.07807475e-03 -3.69382201e+01] [ 1.95881910e-03 9.99997653e-01 9.26259738e-04 -6.90449101e+01] [-2.07988602e-03 -9.22185385e-04 9.99997412e-01 6.08252350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68907232899994 meters 0.3088857079814217 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99995573e-01 -2.30716052e-03 1.87931326e-03 -3.69380176e+01] [ 2.30672794e-03 9.99997313e-01 2.32318392e-04 -6.90428819e+01] [-1.87984420e-03 -2.27982299e-04 9.99998207e-01 6.08257514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71907232899997 meters 0.27105572418520163 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99996012e-01 -2.30093927e-03 1.63768429e-03 -3.69374739e+01] [ 2.30068585e-03 9.99997341e-01 1.56611170e-04 -6.90426379e+01] [-1.63804029e-03 -1.52842749e-04 9.99998647e-01 6.08258702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74907232899994 meters 0.29373814010152915 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99996336e-01 -2.35619592e-03 1.33288402e-03 -3.69367393e+01] [ 2.35631700e-03 9.99997220e-01 -8.92789689e-05 -6.90418289e+01] [-1.33266996e-03 9.24193390e-05 9.99999108e-01 6.08259679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779072329 meters 0.2770860770663439 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99996557e-01 -2.46995845e-03 8.85840175e-04 -3.69357090e+01] [ 2.47039994e-03 9.99996825e-01 -4.97641023e-04 -6.90404864e+01] [-8.84608210e-04 4.99827689e-04 9.99999484e-01 6.08262033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80907232899995 meters 0.28677127177649037 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.83 [[ 9.99996687e-01 -2.48547657e-03 6.69625427e-04 -3.69352098e+01] [ 2.48587695e-03 9.99996732e-01 -5.97743088e-04 -6.90401432e+01] [-6.68137562e-04 5.99405714e-04 9.99999597e-01 6.08263139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839072329 meters 0.2763547058250712 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.83 [[ 9.99996610e-01 -2.59038545e-03 2.65860141e-04 -3.69342881e+01] [ 2.59064191e-03 9.99996175e-01 -9.68856737e-04 -6.90389635e+01] [-2.63349412e-04 9.69542200e-04 9.99999495e-01 6.08265226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86907232899995 meters 0.29198687581947214 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.83 [[ 9.99997289e-01 -2.28870172e-03 -4.28111547e-04 -3.69324167e+01] [ 2.28836005e-03 9.99997064e-01 -7.96876041e-04 -6.90389850e+01] [ 4.29934102e-04 7.95894207e-04 9.99999591e-01 6.08264302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899072329 meters 0.28466490951313433 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.83 [[ 9.99997199e-01 -2.24414888e-03 -7.51600613e-04 -3.69317763e+01] [ 2.24351808e-03 9.99997131e-01 -8.39057427e-04 -6.90388761e+01] [ 7.53481427e-04 8.37368847e-04 9.99999366e-01 6.08267241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92907232899995 meters 0.274532697914912 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.83 [[ 9.99996481e-01 -2.20438986e-03 -1.47605514e-03 -3.69298967e+01] [ 2.20255940e-03 9.99996805e-01 -1.24057867e-03 -6.90371929e+01] [ 1.47878514e-03 1.23732321e-03 9.99998141e-01 6.08268274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959072329 meters 0.24499297333647163 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.83 [[ 9.99996420e-01 -2.16748509e-03 -1.56893017e-03 -3.69294188e+01] [ 2.16558400e-03 9.99996920e-01 -1.21239676e-03 -6.90371205e+01] [ 1.57155319e-03 1.20899477e-03 9.99998034e-01 6.08264887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98907232899995 meters 0.23044386503857248 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.83 [[ 9.99996670e-01 -2.16540523e-03 -1.40406150e-03 -3.69295597e+01] [ 2.16378512e-03 9.99996993e-01 -1.15436522e-03 -6.90371509e+01] [ 1.40655695e-03 1.15132329e-03 9.99998348e-01 6.08260799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019072329 meters 0.24652601694000972 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.83 [[ 9.99996572e-01 -1.93079722e-03 -1.76873564e-03 -3.69285269e+01] [ 1.92924131e-03 9.99997751e-01 -8.80960408e-04 -6.90377668e+01] [ 1.77043262e-03 8.77545070e-04 9.99998048e-01 6.08259282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04907232899996 meters 0.23535785265945042 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99995705e-01 -1.16743549e-03 -2.68841088e-03 -3.69254362e+01] [ 1.16685326e-03 9.99999295e-01 -2.18127852e-04 -6.90382583e+01] [ 2.68866363e-03 2.14989934e-04 9.99996362e-01 6.08249561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079072329 meters 0.3324955576221759 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.83 [[ 9.99994096e-01 -1.30464845e-03 -3.17895354e-03 -3.69245580e+01] [ 1.30251564e-03 9.99998925e-01 -6.72895043e-04 -6.90369912e+01] [ 3.17982802e-03 6.68750433e-04 9.99994721e-01 6.08255434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10907232899996 meters 0.23913214787136516 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.82 [[ 9.99991375e-01 -7.37914238e-04 -4.08727428e-03 -3.69218037e+01] [ 7.37103776e-04 9.99999708e-01 -1.99791989e-04 -6.90372223e+01] [ 4.08742052e-03 1.96777521e-04 9.99991627e-01 6.08248914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139072329 meters 0.22637578079502402 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99975707e-01 4.05605187e-03 -5.66867860e-03 -3.69182556e+01] [-4.03738020e-03 9.99986400e-01 3.30140171e-03 -6.90341084e+01] [ 5.68199216e-03 -3.27843490e-03 9.99978483e-01 6.08260473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16907232899996 meters 0.2468200257785207 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99971304e-01 3.75873409e-03 -6.57745507e-03 -3.69165135e+01] [-3.74384062e-03 9.99990404e-01 2.27517110e-03 -6.90311732e+01] [ 6.58594372e-03 -2.25048087e-03 9.99975780e-01 6.08270303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199072329 meters 0.25006814509033626 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.83 [[ 9.99959477e-01 4.05802142e-03 -8.03602186e-03 -3.69132325e+01] [-4.04862567e-03 9.99991102e-01 1.18512683e-03 -6.90269239e+01] [ 8.04075963e-03 -1.15254396e-03 9.99967008e-01 6.08282044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22907232899996 meters 0.2507313458360991 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99947184e-01 4.47893441e-03 -9.25036132e-03 -3.69102287e+01] [-4.47338967e-03 9.99989802e-01 6.20011992e-04 -6.90241915e+01] [ 9.25304397e-03 -5.78598775e-04 9.99957022e-01 6.08286861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259072329 meters 0.26435599575355706 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99942571e-01 4.25919018e-03 -9.83428381e-03 -3.69089987e+01] [-4.25949363e-03 9.99990928e-01 -9.91138922e-06 -6.90222631e+01] [ 9.83415239e-03 5.17998893e-05 9.99951642e-01 6.08291187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28907232899996 meters 0.3088581681070468 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99943091e-01 3.92202777e-03 -9.92131473e-03 -3.69089757e+01] [-3.92843058e-03 9.99992088e-01 -6.25953077e-04 -6.90204684e+01] [ 9.91878122e-03 6.64892651e-04 9.99950587e-01 6.08294580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319072329 meters 0.3063861801398362 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99941272e-01 3.95355396e-03 -1.00906580e-02 -3.69085549e+01] [-3.96021040e-03 9.99991954e-01 -6.39767293e-04 -6.90203696e+01] [ 1.00880475e-02 6.79690849e-04 9.99948883e-01 6.08294920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34907232899997 meters 0.2848832234898407 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99940444e-01 4.05955368e-03 -1.01305789e-02 -3.69081476e+01] [-4.06467834e-03 9.99991621e-01 -4.85321590e-04 -6.90206214e+01] [ 1.01285239e-02 5.26470231e-04 9.99948567e-01 6.08290693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379072329 meters 0.2937182462277304 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99931589e-01 4.45764349e-03 -1.08142026e-02 -3.69057700e+01] [-4.45927583e-03 9.99990049e-01 -1.26836114e-04 -6.90206097e+01] [ 1.08135296e-02 1.75050950e-04 9.99941517e-01 6.08281283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40907232899997 meters 0.28739218835702207 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99930822e-01 4.19092434e-03 -1.09903660e-02 -3.69053289e+01] [-4.19845277e-03 9.99990967e-01 -6.62019940e-04 -6.90189382e+01] [ 1.09874922e-02 7.08116675e-04 9.99939385e-01 6.08281808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43907232899994 meters 0.2857333455542644 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.83 [[ 9.99924662e-01 4.26569986e-03 -1.15097693e-02 -3.69039932e+01] [-4.27481826e-03 9.99990568e-01 -7.67745119e-04 -6.90183490e+01] [ 1.15063858e-02 8.16889451e-04 9.99933466e-01 6.08282136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46907232899997 meters 0.2861871348413133 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.83 [[ 9.99923276e-01 4.27776218e-03 -1.16251249e-02 -3.69038410e+01] [-4.28715703e-03 9.99990503e-01 -7.83350833e-04 -6.90183604e+01] [ 1.16216635e-02 8.33129467e-04 9.99932119e-01 6.08284119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49907232899994 meters 0.29237494958002247 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.83 [[ 9.99917356e-01 4.14572709e-03 -1.21693862e-02 -3.69026704e+01] [-4.16176204e-03 9.99990504e-01 -1.29261798e-03 -6.90167793e+01] [ 1.21639118e-02 1.34315724e-03 9.99925115e-01 6.08288279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.529072329 meters 0.2820576575279177 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.83 [[ 9.99976971e-01 6.46558833e-03 2.06248182e-03 -3.69036506e+01] [-6.46884611e-03 9.99977834e-01 1.57680445e-03 -6.90211562e+01] [-2.05224113e-03 -1.59011001e-03 9.99996630e-01 6.08250163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55907232899995 meters 0.26962740662377305 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.83 [[ 9.99980236e-01 6.01764061e-03 1.82068680e-03 -3.69039525e+01] [-6.01890856e-03 9.99981647e-01 6.91735002e-04 -6.90190541e+01] [-1.81649077e-03 -7.02679878e-04 9.99998103e-01 6.08264506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.589072329 meters 0.2737635198136404 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.83 [[ 9.99997310e-01 1.82702100e-03 1.42904336e-03 -3.69030505e+01] [-1.82196086e-03 9.99992095e-01 -3.53425395e-03 -6.90192224e+01] [-1.43548922e-03 3.53164079e-03 9.99992733e-01 6.08265279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61907232899995 meters 0.2923420444575729 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.83 [[ 9.99995976e-01 1.93384322e-03 2.07564799e-03 -3.69043540e+01] [-1.92743435e-03 9.99993383e-01 -3.08522003e-03 -6.90205515e+01] [-2.08160059e-03 3.08120694e-03 9.99993087e-01 6.08260126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.649072329 meters 0.245157688176306 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99992960e-01 2.14747355e-03 3.07721960e-03 -3.69065834e+01] [-2.14068098e-03 9.99995269e-01 -2.20896790e-03 -6.90234165e+01] [-3.08194874e-03 2.20236500e-03 9.99992826e-01 6.08255101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67907232899995 meters 0.24648900716013075 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99991356e-01 2.16239624e-03 3.55135744e-03 -3.69076631e+01] [-2.15532489e-03 9.99995690e-01 -1.99378914e-03 -6.90241261e+01] [-3.55565350e-03 1.98611758e-03 9.99991706e-01 6.08253278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.709072329 meters 0.2648385237090721 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.83 [[ 9.99989748e-01 2.17343604e-03 3.97233976e-03 -3.69086371e+01] [-2.16619649e-03 9.99995987e-01 -1.82588327e-03 -6.90246584e+01] [-3.97629226e-03 1.81725969e-03 9.99990443e-01 6.08252215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73907232899995 meters 0.2511948666073983 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.83 [[ 9.99984797e-01 1.46382398e-03 5.31630433e-03 -3.69122882e+01] [-1.45666545e-03 9.99998028e-01 -1.35014684e-03 -6.90278691e+01] [-5.31827022e-03 1.34238224e-03 9.99984957e-01 6.08251956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.769072329 meters 0.24514518180363712 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99981460e-01 1.66432229e-03 5.85741197e-03 -3.69132802e+01] [-1.65984122e-03 9.99998326e-01 -7.69803971e-04 -6.90295036e+01] [-5.85868337e-03 7.60067326e-04 9.99982549e-01 6.08245863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79907232899996 meters 0.2823829895444294 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99977885e-01 2.06655182e-03 6.32133939e-03 -3.69135741e+01] [-2.06762311e-03 9.99997849e-01 1.62941330e-04 -6.90317672e+01] [-6.32098907e-03 -1.76007874e-04 9.99980007e-01 6.08231958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.829072329 meters 0.2597396488977148 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99974613e-01 2.09880984e-03 6.80937294e-03 -3.69143449e+01] [-2.10149482e-03 9.99997717e-01 3.87175497e-04 -6.90322508e+01] [-6.80854479e-03 -4.01475530e-04 9.99976741e-01 6.08225094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85907232899996 meters 0.2823155962444467 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99972892e-01 2.25859539e-03 7.00809890e-03 -3.69145744e+01] [-2.26397849e-03 9.99997148e-01 7.60286873e-04 -6.90332550e+01] [-7.00636173e-03 -7.76132448e-04 9.99975154e-01 6.08220536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.889072329 meters 0.30445814651261255 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99973379e-01 2.24067456e-03 6.94411996e-03 -3.69144154e+01] [-2.24558565e-03 9.99997234e-01 6.99514109e-04 -6.90330348e+01] [-6.94253337e-03 -7.15089103e-04 9.99975645e-01 6.08220858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91907232899996 meters 0.2647929738688998 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99973628e-01 2.27990286e-03 6.89530050e-03 -3.69142123e+01] [-2.28510387e-03 9.99997111e-01 7.46498981e-04 -6.90330906e+01] [-6.89357863e-03 -7.62235772e-04 9.99975948e-01 6.08219710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.949072329 meters 0.2764282432618956 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99977461e-01 2.11440041e-03 6.37232419e-03 -3.69131905e+01] [-2.11595656e-03 9.99997733e-01 2.37471811e-04 -6.90316199e+01] [-6.37180764e-03 -2.50950020e-04 9.99979668e-01 6.08224140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97907232899996 meters 0.2656061086880456 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99979031e-01 1.98476857e-03 6.16423197e-03 -3.69127544e+01] [-1.98433893e-03 9.99998028e-01 -7.58141132e-05 -6.90306643e+01] [-6.16437029e-03 6.35805980e-05 9.99980998e-01 6.08225844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.009072329 meters 0.2882028859413183 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99980711e-01 2.01679686e-03 5.87455983e-03 -3.69121397e+01] [-2.01612700e-03 9.99997960e-01 -1.19947643e-04 -6.90305004e+01] [-5.87478976e-03 1.08101471e-04 9.99982737e-01 6.08227758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03907232899996 meters 0.280135530075773 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99980592e-01 1.81355682e-03 5.96041613e-03 -3.69124545e+01] [-1.81088005e-03 9.99998257e-01 -4.54458110e-04 -6.90295494e+01] [-5.96122993e-03 4.43655692e-04 9.99982133e-01 6.08229467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.069072329 meters 0.27738167221570503 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99979978e-01 1.67585189e-03 6.10202421e-03 -3.69128498e+01] [-1.67190929e-03 9.99998390e-01 -6.51156672e-04 -6.90290003e+01] [-6.10310563e-03 6.40941604e-04 9.99981170e-01 6.08230276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09907232899997 meters 0.2760742515844528 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99981227e-01 1.68821420e-03 5.89029866e-03 -3.69122393e+01] [-1.68403555e-03 9.99998327e-01 -7.14299690e-04 -6.90287007e+01] [-5.89149469e-03 7.04366808e-04 9.99982397e-01 6.08229325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.129072329 meters 0.2635662413686795 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99981846e-01 1.63443284e-03 5.79966906e-03 -3.69120689e+01] [-1.62954673e-03 9.99998313e-01 -8.47105473e-04 -6.90283042e+01] [-5.80104381e-03 8.37639263e-04 9.99982823e-01 6.08230428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15907232899997 meters 0.2669728662783684 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99983271e-01 1.63747112e-03 5.54761108e-03 -3.69114943e+01] [-1.63229413e-03 9.99998228e-01 -9.37590970e-04 -6.90279973e+01] [-5.54913653e-03 9.28519952e-04 9.99984172e-01 6.08231597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18907232899994 meters 0.2669728662783684 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99983271e-01 1.63747112e-03 5.54761108e-03 -3.69114943e+01] [-1.63229413e-03 9.99998228e-01 -9.37590970e-04 -6.90279973e+01] [-5.54913653e-03 9.28519952e-04 9.99984172e-01 6.08231597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21907232899997 meters 0.2600755157977588 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99980943e-01 1.18172531e-03 6.05940478e-03 -3.69128055e+01] [-1.17201980e-03 9.99998025e-01 -1.60502797e-03 -6.90262633e+01] [-6.06128951e-03 1.59789564e-03 9.99980354e-01 6.08233596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24907232899994 meters 0.25754624565657985 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99983383e-01 1.09591683e-03 5.65971921e-03 -3.69120296e+01] [-1.08503946e-03 9.99997559e-01 -1.92460524e-03 -6.90253046e+01] [-5.66181460e-03 1.91843224e-03 9.99982132e-01 6.08237746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279072329 meters 0.2522611911967495 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99986434e-01 1.22048988e-03 5.06387897e-03 -3.69108992e+01] [-1.21050368e-03 9.99997318e-01 -1.97464226e-03 -6.90250310e+01] [-5.06627541e-03 1.96848562e-03 9.99985229e-01 6.08244403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30907232899995 meters 0.2778382977437616 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.82 [[ 9.99984836e-01 1.09853991e-03 5.39634425e-03 -3.69116793e+01] [-1.08729102e-03 9.99997231e-01 -2.08703032e-03 -6.90247193e+01] [-5.39862199e-03 2.08113128e-03 9.99983262e-01 6.08244127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339072329 meters 0.240429936636352 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.82 [[ 9.99984804e-01 1.14681692e-03 5.39220225e-03 -3.69115862e+01] [-1.13600149e-03 9.99997338e-01 -2.00838932e-03 -6.90248959e+01] [-5.39449115e-03 2.00223325e-03 9.99983445e-01 6.08242881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36907232899995 meters 0.2396144458554608 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99979818e-01 1.47270629e-03 6.18022863e-03 -3.69127704e+01] [-1.46603500e-03 9.99998338e-01 -1.08384877e-03 -6.90273764e+01] [-6.18181455e-03 1.07476646e-03 9.99980315e-01 6.08229365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399072329 meters 0.23480868311212946 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99977252e-01 1.58876984e-03 6.55522335e-03 -3.69133429e+01] [-1.58405026e-03 9.99998483e-01 -7.25101877e-04 -6.90283008e+01] [-6.55636543e-03 7.14701579e-04 9.99978251e-01 6.08223264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42907232899995 meters 0.23879302165087682 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.82 [[ 9.99971156e-01 1.81912566e-03 7.37415958e-03 -3.69149171e+01] [-1.81926951e-03 9.99998345e-01 1.27996336e-05 -6.90305029e+01] [-7.37412409e-03 -2.62148480e-05 9.99972810e-01 6.08215320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459072329 meters 0.25537778288736246 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99966483e-01 1.93712993e-03 7.95490471e-03 -3.69161554e+01] [-1.94092361e-03 9.99998006e-01 4.69206111e-04 -6.90318993e+01] [-7.95397994e-03 -4.84630247e-04 9.99968249e-01 6.08211899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48907232899995 meters 0.23488524742298367 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99961485e-01 1.93642756e-03 8.56029611e-03 -3.69176132e+01] [-1.94252363e-03 9.99997866e-01 7.03876204e-04 -6.90327535e+01] [-8.55891483e-03 -7.20477671e-04 9.99963112e-01 6.08211410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519072329 meters 0.23833819007741444 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99958860e-01 1.98910850e-03 8.84999305e-03 -3.69182498e+01] [-1.99716765e-03 9.99997599e-01 9.01894486e-04 -6.90333449e+01] [-8.84817783e-03 -9.19532302e-04 9.99960431e-01 6.08209952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54907232899996 meters 0.2425925306293097 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99955761e-01 -2.09831237e-03 9.16912364e-03 -3.69189075e+01] [ 2.12514015e-03 9.99993487e-01 -2.91711995e-03 -6.90348630e+01] [-9.16294289e-03 2.93647657e-03 9.99953708e-01 6.08207866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579072329 meters 0.2626458645334006 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.82 [[ 9.99949177e-01 -1.87846141e-03 9.90530589e-03 -3.69202580e+01] [ 1.90005149e-03 9.99995839e-01 -2.17068782e-03 -6.90369283e+01] [-9.90118712e-03 2.18939809e-03 9.99948585e-01 6.08199634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60907232899996 meters 0.2513510864443823 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.82 [[ 9.99943437e-01 -1.71606082e-03 1.04965290e-02 -3.69213961e+01] [ 1.73336708e-03 9.99997153e-01 -1.63988560e-03 -6.90384363e+01] [-1.04936850e-02 1.65798718e-03 9.99943565e-01 6.08194131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639072329 meters 0.2265085498051124 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.82 [[ 9.99934152e-01 -1.49504380e-03 1.13779340e-02 -3.69231349e+01] [ 1.50276906e-03 9.99998646e-01 -6.70449024e-04 -6.90412354e+01] [-1.13769163e-02 6.87503283e-04 9.99935044e-01 6.08185521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66907232899996 meters 0.2755723666035635 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.82 [[ 9.99928297e-01 -1.56020460e-03 1.18728989e-02 -3.69244156e+01] [ 1.56734417e-03 9.99998596e-01 -5.92051948e-04 -6.90416324e+01] [-1.18719585e-02 6.10618416e-04 9.99929339e-01 6.08186431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699072329 meters 0.2338193097166421 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99905126e-01 -5.90126373e-03 1.24464134e-02 -3.69256398e+01] [ 5.96194619e-03 9.99970495e-01 -4.84404258e-03 -6.90418909e+01] [-1.24174602e-02 4.91778785e-03 9.99910807e-01 6.08184625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72907232899996 meters 0.2204493824275602 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99891469e-01 -5.90717714e-03 1.34964739e-02 -3.69280588e+01] [ 5.96718501e-03 9.99972471e-01 -4.41025318e-03 -6.90434628e+01] [-1.34700502e-02 4.49031049e-03 9.99899192e-01 6.08181964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759072329 meters 0.21581876180479434 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99869429e-01 -6.26449042e-03 1.48956819e-02 -3.69314694e+01] [ 6.32767960e-03 9.99971165e-01 -4.19877432e-03 -6.90449859e+01] [-1.48689492e-02 4.29248118e-03 9.99880237e-01 6.08181299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78907232899996 meters 0.24727116930636395 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.82 [[ 9.99850136e-01 -6.26934965e-03 1.61369662e-02 -3.69342222e+01] [ 6.32780491e-03 9.99973593e-01 -3.57393692e-03 -6.90471190e+01] [-1.61141338e-02 3.67551289e-03 9.99863403e-01 6.08175880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819072329 meters 0.3053365742561802 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.82 [[ 9.99794627e-01 -1.02240231e-02 1.74978088e-02 -3.69367578e+01] [ 1.03301407e-02 9.99928731e-01 -5.98501553e-03 -6.90525182e+01] [-1.74353708e-02 6.16454120e-03 9.99828989e-01 6.08159631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84907232899997 meters 0.30024973218394546 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.82 [[ 9.99789199e-01 -9.95541368e-03 1.79568158e-02 -3.69374823e+01] [ 1.00519876e-02 9.99935453e-01 -5.29590281e-03 -6.90544148e+01] [-1.79029339e-02 5.47528812e-03 9.99824738e-01 6.08152693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879072329 meters 0.29585574592690705 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.81 [[ 9.99780814e-01 -9.82075868e-03 1.84899237e-02 -3.69383124e+01] [ 9.91153196e-03 9.99939243e-01 -4.82411353e-03 -6.90555996e+01] [-1.84414239e-02 5.00631962e-03 9.99817409e-01 6.08144639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90907232899997 meters 0.26420649119096473 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.81 [[ 9.99743948e-01 -1.05144493e-02 2.00370739e-02 -3.69413674e+01] [ 1.06120762e-02 9.99932303e-01 -4.77222573e-03 -6.90565192e+01] [-1.99855401e-02 4.98363875e-03 9.99787848e-01 6.08132283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93907232899994 meters 0.23458870088727218 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.06, Z:60.81 [[ 9.99730585e-01 -1.06403021e-02 2.06286550e-02 -3.69426588e+01] [ 1.07419673e-02 9.99930668e-01 -4.82381428e-03 -6.90563992e+01] [-2.05758979e-02 5.04410701e-03 9.99775570e-01 6.08129943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96907232899997 meters 0.22224281248887742 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.82 [[ 9.99898021e-01 -1.25774029e-02 6.76438993e-03 -3.69422524e+01] [ 1.26351460e-02 9.99883512e-01 -8.56244727e-03 -6.90514858e+01] [-6.65590861e-03 8.64704314e-03 9.99940462e-01 6.08161017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99907232899994 meters 0.25854881441119776 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99930023e-01 -8.75007905e-03 7.96146895e-03 -3.69450045e+01] [ 8.78618399e-03 9.99951224e-01 -4.51134049e-03 -6.90512672e+01] [-7.92160604e-03 4.58097574e-03 9.99958131e-01 6.08157239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.029072329 meters 0.26033070606594416 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.82 [[ 9.99929639e-01 -8.77606565e-03 7.98107767e-03 -3.69448976e+01] [ 8.81262212e-03 9.99950785e-01 -4.55681683e-03 -6.90510296e+01] [-7.94069396e-03 4.62683043e-03 9.99957768e-01 6.08154945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05907232899995 meters 0.24990782432428146 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99951812e-01 -4.71410427e-03 8.61104564e-03 -3.69465219e+01] [ 4.71808415e-03 9.99988772e-01 -4.41926792e-04 -6.90506326e+01] [-8.60886566e-03 4.82533135e-04 9.99962827e-01 6.08155538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.089072329 meters 0.25334327715277205 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99949630e-01 -4.83042349e-03 8.79795303e-03 -3.69469963e+01] [ 4.83579087e-03 9.99988134e-01 -5.88900359e-04 -6.90501954e+01] [-8.79500400e-03 6.31415757e-04 9.99961124e-01 6.08155747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11907232899995 meters 0.24274628507665238 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99949139e-01 -4.83605072e-03 8.85051508e-03 -3.69470767e+01] [ 4.84140770e-03 9.99988110e-01 -5.83948256e-04 -6.90501709e+01] [-8.84758585e-03 6.26767508e-04 9.99960663e-01 6.08155125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.149072329 meters 0.24663006430295034 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99944211e-01 -4.88838955e-03 9.36363297e-03 -3.69481080e+01] [ 4.89326366e-03 9.99987904e-01 -4.97697317e-04 -6.90504079e+01] [-9.36108677e-03 5.43488276e-04 9.99956036e-01 6.08151310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17907232899995 meters 0.2433644818447568 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99942834e-01 -4.83770795e-03 9.53550155e-03 -3.69485934e+01] [ 4.84122455e-03 9.99988221e-01 -3.45742862e-04 -6.90509284e+01] [-9.53371663e-03 3.91886601e-04 9.99954476e-01 6.08152066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.209072329 meters 0.24616598995412203 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99933850e-01 -4.91436379e-03 1.03992727e-02 -3.69506743e+01] [ 4.91632280e-03 9.99987902e-01 -1.62823856e-04 -6.90517292e+01] [-1.03983467e-02 2.13939266e-04 9.99945913e-01 6.08151941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23907232899995 meters 0.23940832480169613 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99925656e-01 -4.99455274e-03 1.11237444e-02 -3.69523011e+01] [ 4.99501038e-03 9.99987525e-01 -1.33582762e-05 -6.90522863e+01] [-1.11235389e-02 6.89205018e-05 9.99938129e-01 6.08149455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.269072329 meters 0.2350470276732053 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99922893e-01 -4.82079783e-03 1.14441259e-02 -3.69528595e+01] [ 4.81634110e-03 9.99988314e-01 4.16962792e-04 -6.90535232e+01] [-1.14460023e-02 -3.61811828e-04 9.99934427e-01 6.08145451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29907232899996 meters 0.22441571222945933 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99916078e-01 -4.83451214e-03 1.20193504e-02 -3.69538515e+01] [ 4.82683706e-03 9.99988128e-01 6.67486951e-04 -6.90541304e+01] [-1.20224347e-02 -6.09415488e-04 9.99927542e-01 6.08138308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.329072329 meters 0.2716317956341233 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99915860e-01 -4.91120552e-03 1.20063868e-02 -3.69539850e+01] [ 4.90526491e-03 9.99987832e-01 5.24185706e-04 -6.90537805e+01] [-1.20088151e-02 -4.65247093e-04 9.99927783e-01 6.08140834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35907232899996 meters 0.24606393233331114 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99916660e-01 -5.00494368e-03 1.19006120e-02 -3.69539846e+01] [ 5.00154010e-03 9.99987442e-01 3.15745453e-04 -6.90532758e+01] [-1.19020429e-02 -2.56197750e-04 9.99929135e-01 6.08144864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.389072329 meters 0.25932666570107177 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99912278e-01 -5.15366683e-03 1.22014998e-02 -3.69548776e+01] [ 5.15205761e-03 9.99986715e-01 1.63316104e-04 -6.90529784e+01] [-1.22021794e-02 -1.00438948e-04 9.99925546e-01 6.08146880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41907232899996 meters 0.26821913793622176 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.81 [[ 9.99891430e-01 -5.78975624e-03 1.35502002e-02 -3.69577995e+01] [ 5.78674599e-03 9.99983222e-01 2.61352598e-04 -6.90542016e+01] [-1.35514860e-02 -1.82912657e-04 9.99908158e-01 6.08138390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.449072329 meters 0.25372470440806 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.81 [[ 9.99890649e-01 -5.67955561e-03 1.36540358e-02 -3.69577425e+01] [ 5.67326579e-03 9.99983782e-01 4.99345626e-04 -6.90547648e+01] [-1.36566504e-02 -4.21828048e-04 9.99906655e-01 6.08133517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47907232899996 meters 0.2438018474272006 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.81 [[ 9.99889279e-01 -5.52398819e-03 1.38171908e-02 -3.69582723e+01] [ 5.51297138e-03 9.99984455e-01 8.35288248e-04 -6.90559148e+01] [-1.38215902e-02 -7.59021987e-04 9.99904189e-01 6.08135074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.509072329 meters 0.24425748546272957 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.81 [[ 9.99886615e-01 -5.66418485e-03 1.39525790e-02 -3.69587624e+01] [ 5.65601710e-03 9.99983809e-01 6.24784510e-04 -6.90553656e+01] [-1.39558920e-02 -5.45797643e-04 9.99902463e-01 6.08137325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53907232899996 meters 0.2487571880105472 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.06, Z:60.81 [[ 9.99891785e-01 -5.48822524e-03 1.36491263e-02 -3.69580533e+01] [ 5.47709365e-03 9.99984637e-01 8.52800515e-04 -6.90560410e+01] [-1.36535969e-02 -7.77950686e-04 9.99906483e-01 6.08137908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.569072329 meters 0.24316587966600164 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.81 [[ 9.99896484e-01 -5.58434414e-03 1.32603538e-02 -3.69571376e+01] [ 5.57811425e-03 9.99984314e-01 5.06752549e-04 -6.90549823e+01] [-1.32629757e-02 -4.32732324e-04 9.99911949e-01 6.08138649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59907232899997 meters 0.261968790513271 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.81 [[ 9.99900788e-01 -5.66015458e-03 1.28987056e-02 -3.69564492e+01] [ 5.65754010e-03 9.99983967e-01 2.39173494e-04 -6.90542475e+01] [-1.28998526e-02 -1.66174821e-04 9.99916780e-01 6.08141781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.629072329 meters 0.29309334632715695 Centerline is valid? [False, False] Translation: X:-36.96, Y:-69.05, Z:60.81 [[ 9.99904167e-01 -5.79140049e-03 1.25744206e-02 -3.69558437e+01] [ 5.79329500e-03 9.99983212e-01 -1.14243845e-04 -6.90532311e+01] [-1.25735479e-02 1.87080224e-04 9.99920932e-01 6.08145029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65907232899997 meters 0.27514261578888005 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99912662e-01 -5.87678632e-03 1.18377343e-02 -3.69542222e+01] [ 5.88469707e-03 9.99982484e-01 -6.33544634e-04 -6.90516174e+01] [-1.18338038e-02 7.03150782e-04 9.99929731e-01 6.08148661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68907232899994 meters 0.241087711510856 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99922596e-01 -5.60106414e-03 1.11099264e-02 -3.69519248e+01] [ 5.60723360e-03 9.99984142e-01 -5.24239257e-04 -6.90511119e+01] [-1.11068139e-02 5.86494631e-04 9.99938145e-01 6.08142210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71907232899997 meters 0.24209300630510044 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.81 [[ 9.99922460e-01 -5.78814284e-03 1.10259268e-02 -3.69518317e+01] [ 5.79835224e-03 9.99982790e-01 -8.94202343e-04 -6.90500227e+01] [-1.10205612e-02 9.58065214e-04 9.99938813e-01 6.08144039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74907232899994 meters 0.23618704194469015 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99944309e-01 -1.71073666e-03 1.04140153e-02 -3.69507777e+01] [ 1.68178422e-03 9.99994699e-01 2.78826459e-03 -6.90482629e+01] [-1.04187301e-02 -2.77059518e-03 9.99941885e-01 6.08150446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779072329 meters 0.2437311387103867 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.05, Z:60.82 [[ 9.99956864e-01 -1.73781260e-03 9.12411147e-03 -3.69480989e+01] [ 1.72177636e-03 9.99996960e-01 1.76512718e-03 -6.90451696e+01] [-9.12715119e-03 -1.74934136e-03 9.99956817e-01 6.08160689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80907232899995 meters 0.2484799601229407 Centerline is valid? [False, False] Translation: X:-36.95, Y:-69.04, Z:60.82 [[ 9.99967244e-01 -1.64629225e-03 7.92467099e-03 -3.69453993e+01] [ 1.63599652e-03 9.99997810e-01 1.30550735e-03 -6.90434697e+01] [-7.92680287e-03 -1.29249985e-03 9.99967747e-01 6.08165751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839072329 meters 0.25478775962852224 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99989757e-01 3.55401229e-03 2.80269667e-03 -3.69326664e+01] [-3.55365547e-03 9.99993677e-01 -1.32282614e-04 -6.90432933e+01] [-2.80314909e-03 1.22321440e-04 9.99996064e-01 6.08218785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86907232899995 meters 0.2539162274023131 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99992930e-01 3.36744122e-03 1.67354494e-03 -3.69304370e+01] [-3.36556143e-03 9.99993704e-01 -1.12478998e-03 -6.90404162e+01] [-1.67732207e-03 1.11914961e-03 9.99997967e-01 6.08230228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899072329 meters 0.3062365659024355 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99971435e-01 7.55283802e-03 2.87977913e-04 -3.69273964e+01] [-7.55331172e-03 9.99970061e-01 1.68093711e-03 -6.90358568e+01] [-2.75273446e-04 -1.68306429e-03 9.99998546e-01 6.08242620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92907232899995 meters 0.228832811843903 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99971861e-01 7.45439413e-03 -8.42695014e-04 -3.69249652e+01] [-7.45363163e-03 9.99971812e-01 9.04387997e-04 -6.90333371e+01] [ 8.49412925e-04 -8.98081410e-04 9.99999236e-01 6.08250059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959072329 meters 0.2397473227337678 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99971912e-01 7.26358324e-03 -1.84808831e-03 -3.69230010e+01] [-7.26365850e-03 9.99973619e-01 -3.40147245e-05 -6.90305805e+01] [ 1.84779249e-03 4.74376514e-05 9.99998292e-01 6.08260069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98907232899995 meters 0.25934002799792594 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99971021e-01 7.07526374e-03 -2.81034935e-03 -3.69210218e+01] [-7.07760101e-03 9.99974615e-01 -8.22591481e-04 -6.90281852e+01] [ 2.80445796e-03 8.42458175e-04 9.99995713e-01 6.08267740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019072329 meters 0.29477941426998605 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99959663e-01 7.95302126e-03 -4.17384994e-03 -3.69172232e+01] [-7.95656804e-03 9.99967998e-01 -8.33846011e-04 -6.90262748e+01] [ 4.16708478e-03 8.67021897e-04 9.99990942e-01 6.08265496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04907232899996 meters 0.29469314374356853 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99958258e-01 7.87703990e-03 -4.62968355e-03 -3.69163540e+01] [-7.88251020e-03 9.99968254e-01 -1.16451498e-03 -6.90253434e+01] [ 4.62036365e-03 1.20095990e-03 9.99988605e-01 6.08270061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079072329 meters 0.23672771051042324 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.83 [[ 9.99980502e-01 3.61320160e-03 -5.09321094e-03 -3.69152289e+01] [-3.64145581e-03 9.99977973e-01 -5.54911086e-03 -6.90249505e+01] [ 5.07304870e-03 5.56754937e-03 9.99971633e-01 6.08270968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10907232899996 meters 0.23672771051042324 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.83 [[ 9.99980502e-01 3.61320160e-03 -5.09321094e-03 -3.69152289e+01] [-3.64145581e-03 9.99977973e-01 -5.54911086e-03 -6.90249505e+01] [ 5.07304870e-03 5.56754937e-03 9.99971633e-01 6.08270968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139072329 meters 0.2316082586595332 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.83 [[ 9.99982799e-01 3.42636154e-03 -4.76052491e-03 -3.69162902e+01] [-3.45382444e-03 9.99977373e-01 -5.77268750e-03 -6.90244705e+01] [ 4.74063788e-03 5.78903022e-03 9.99972006e-01 6.08274766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16907232899996 meters 0.23349828181307933 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.83 [[ 9.99983742e-01 3.42006676e-03 -4.56283561e-03 -3.69169848e+01] [-3.44611115e-03 9.99977746e-01 -5.71234030e-03 -6.90247912e+01] [ 4.54319749e-03 5.72797147e-03 9.99973274e-01 6.08277749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199072329 meters 0.27591602156057826 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99984445e-01 3.49706724e-03 -4.34514933e-03 -3.69173337e+01] [-3.52098311e-03 9.99978629e-01 -5.50863389e-03 -6.90253129e+01] [ 4.32579240e-03 5.52384740e-03 9.99975387e-01 6.08274849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22907232899996 meters 0.26315334726707573 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99985178e-01 3.57929053e-03 -4.10274565e-03 -3.69176110e+01] [-3.60093788e-03 9.99979571e-01 -5.28112072e-03 -6.90258246e+01] [ 4.08375917e-03 5.29581618e-03 9.99977638e-01 6.08269929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259072329 meters 0.2601876446977217 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99984571e-01 3.66240282e-03 -4.17655021e-03 -3.69171461e+01] [-3.68396267e-03 9.99979869e-01 -5.16616080e-03 -6.90259672e+01] [ 4.15754557e-03 5.18146735e-03 9.99977933e-01 6.08266035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28907232899996 meters 0.2765465510130648 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99985298e-01 3.61074180e-03 -4.04560461e-03 -3.69171937e+01] [-3.63181893e-03 9.99979808e-01 -5.21470631e-03 -6.90256302e+01] [ 4.02669396e-03 5.22932255e-03 9.99978220e-01 6.08262335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319072329 meters 0.2523507190628719 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.83 [[ 9.99985361e-01 3.73268344e-03 -3.91734402e-03 -3.69172581e+01] [-3.75210827e-03 9.99980644e-01 -4.96309652e-03 -6.90262465e+01] [ 3.89874253e-03 4.97772216e-03 9.99980011e-01 6.08258619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34907232899997 meters 0.27138320746547007 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99992175e-01 -2.43304548e-04 -3.94842957e-03 -3.69165939e+01] [ 2.09138160e-04 9.99962555e-01 -8.65126585e-03 -6.90277216e+01] [ 3.95038661e-03 8.65037239e-03 9.99954782e-01 6.08249892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379072329 meters 0.2594658331847205 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99994902e-01 -1.68284599e-04 -3.18873676e-03 -3.69180924e+01] [ 1.42017531e-04 9.99966074e-01 -8.23588930e-03 -6.90289101e+01] [ 3.19001455e-03 8.23539446e-03 9.99961000e-01 6.08243646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40907232899997 meters 0.25462750013960983 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99995917e-01 -1.90840385e-04 -2.85123899e-03 -3.69187237e+01] [ 1.67571980e-04 9.99966702e-01 -8.15881614e-03 -6.90290590e+01] [ 2.85270108e-03 8.15830504e-03 9.99962651e-01 6.08240284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43907232899994 meters 0.2687700270768585 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99996991e-01 -5.64530324e-05 -2.45244508e-03 -3.69193265e+01] [ 3.73872221e-05 9.99969785e-01 -7.77355515e-03 -6.90300294e+01] [ 2.45280982e-03 7.77344007e-03 9.99966778e-01 6.08234138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46907232899997 meters 0.2637072754627805 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99997851e-01 1.23657430e-04 -2.06927456e-03 -3.69198330e+01] [-1.38801295e-04 9.99973200e-01 -7.31989918e-03 -6.90311713e+01] [ 2.06831395e-03 7.32017067e-03 9.99971068e-01 6.08227155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49907232899994 meters 0.24749302733697015 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998374e-01 6.16887656e-05 -1.80201089e-03 -3.69203450e+01] [-7.49308380e-05 9.99972990e-01 -7.34935449e-03 -6.90310295e+01] [ 1.80150884e-03 7.34947757e-03 9.99971369e-01 6.08224745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.529072329 meters 0.2456429074889872 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998843e-01 8.39379095e-05 -1.51907381e-03 -3.69211059e+01] [-9.48914241e-05 9.99973989e-01 -7.21201831e-03 -6.90315244e+01] [ 1.51842893e-03 7.21215411e-03 9.99972839e-01 6.08225561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55907232899995 meters 0.25168656179750515 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998913e-01 7.07632575e-05 -1.47286443e-03 -3.69213889e+01] [-8.13947655e-05 9.99973936e-01 -7.21944507e-03 -6.90315982e+01] [ 1.47231517e-03 7.21955710e-03 9.99972855e-01 6.08228055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.589072329 meters 0.2513426714973636 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999701e-01 -5.97416520e-05 -7.70724990e-04 -3.69231115e+01] [ 5.41887275e-05 9.99974058e-01 -7.20281674e-03 -6.90318776e+01] [ 7.71135304e-04 7.20277282e-03 9.99973762e-01 6.08228048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61907232899995 meters 0.238662940058562 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999517e-01 1.07225849e-04 -9.76597624e-04 -3.69224646e+01] [-1.14044888e-04 9.99975598e-01 -6.98506792e-03 -6.90323987e+01] [ 9.75824812e-04 6.98517592e-03 9.99975127e-01 6.08226239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.649072329 meters 0.2401953023261944 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999156e-01 1.28343909e-04 -1.29266717e-03 -3.69214041e+01] [-1.37493824e-04 9.99974922e-01 -7.08072302e-03 -6.90317962e+01] [ 1.29172598e-03 7.08089478e-03 9.99974096e-01 6.08222906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67907232899995 meters 0.23999820453992518 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998644e-01 3.69401349e-05 -1.64653227e-03 -3.69204397e+01] [-4.90888266e-05 9.99972774e-01 -7.37892055e-03 -6.90307268e+01] [ 1.64621486e-03 7.37899137e-03 9.99971420e-01 6.08222413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.709072329 meters 0.25146724271516724 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998151e-01 -2.06908333e-04 -1.91164423e-03 -3.69198267e+01] [ 1.91735740e-04 9.99968509e-01 -7.93371050e-03 -6.90289390e+01] [ 1.91322558e-03 7.93332931e-03 9.99966700e-01 6.08224382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73907232899995 meters 0.23464511492386478 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998565e-01 -1.99074010e-04 -1.68238466e-03 -3.69204265e+01] [ 1.85873114e-04 9.99969225e-01 -7.84305568e-03 -6.90292640e+01] [ 1.68389423e-03 7.84273171e-03 9.99967828e-01 6.08224736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.769072329 meters 0.22843018964676767 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998533e-01 -9.21979542e-05 -1.71023200e-03 -3.69205436e+01] [ 7.90810101e-05 9.99970596e-01 -7.66816960e-03 -6.90298693e+01] [ 1.71088871e-03 7.66802311e-03 9.99969137e-01 6.08227748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79907232899996 meters 0.22219042981653117 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998443e-01 -2.22402146e-04 -1.75066746e-03 -3.69205425e+01] [ 2.08538569e-04 9.99968652e-01 -7.91522642e-03 -6.90291507e+01] [ 1.75237295e-03 7.91484901e-03 9.99967142e-01 6.08229458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.829072329 meters 0.23989536370752362 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998536e-01 -1.64639097e-04 -1.70300026e-03 -3.69204971e+01] [ 1.51349697e-04 9.99969563e-01 -7.80070930e-03 -6.90293986e+01] [ 1.70423273e-03 7.80044014e-03 9.99968124e-01 6.08227078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85907232899996 meters 0.23809799167991183 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99989554e-01 4.02124073e-03 -2.17281173e-03 -3.69191777e+01] [-4.02982024e-03 9.99984044e-01 -3.95873345e-03 -6.90276662e+01] [ 2.15685804e-03 3.96744814e-03 9.99989804e-01 6.08226078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.889072329 meters 0.2545210585825263 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99988095e-01 4.02436851e-03 -2.75928961e-03 -3.69177043e+01] [-4.03601522e-03 9.99982915e-01 -4.22841189e-03 -6.90266058e+01] [ 2.74222578e-03 4.23949809e-03 9.99987253e-01 6.08226846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91907232899996 meters 0.23542704910878076 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99988326e-01 3.94387361e-03 -2.79178867e-03 -3.69177580e+01] [-3.95608954e-03 9.99982566e-01 -4.38375269e-03 -6.90261876e+01] [ 2.77445103e-03 4.39474608e-03 9.99986494e-01 6.08229054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.949072329 meters 0.24576058536839393 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99988799e-01 3.67745284e-03 -2.97966990e-03 -3.69176198e+01] [-3.69219097e-03 9.99980903e-01 -4.95591966e-03 -6.90246180e+01] [ 2.96138783e-03 4.96686566e-03 9.99983280e-01 6.08234920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97907232899996 meters 0.2734269181325769 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99988141e-01 3.74898178e-03 -3.10838319e-03 -3.69173739e+01] [-3.76409192e-03 9.99981059e-01 -4.86957801e-03 -6.90248892e+01] [ 3.09006836e-03 4.88122051e-03 9.99983312e-01 6.08236159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.009072329 meters 0.2327883019003758 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99987665e-01 3.67903443e-03 -3.33687101e-03 -3.69169461e+01] [-3.69598745e-03 9.99980222e-01 -5.08865924e-03 -6.90242459e+01] [ 3.31808366e-03 5.10092951e-03 9.99981485e-01 6.08238908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03907232899996 meters 0.2507017500884768 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99986205e-01 3.76746714e-03 -3.66017756e-03 -3.69159474e+01] [-3.78596439e-03 9.99980032e-01 -5.05993406e-03 -6.90240370e+01] [ 3.64104134e-03 5.07372156e-03 9.99980500e-01 6.08236814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.069072329 meters 0.2402593428321023 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99987149e-01 3.78930517e-03 -3.36796901e-03 -3.69164646e+01] [-3.80587562e-03 9.99980618e-01 -4.92729772e-03 -6.90243510e+01] [ 3.34923270e-03 4.94005247e-03 9.99982189e-01 6.08233649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09907232899997 meters 0.2259468269828005 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99988365e-01 3.84880430e-03 -2.90813026e-03 -3.69175433e+01] [-3.86235644e-03 9.99981641e-01 -4.66893204e-03 -6.90251906e+01] [ 2.89010706e-03 4.68010995e-03 9.99984872e-01 6.08232444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.129072329 meters 0.24291480525012843 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99990163e-01 3.82642022e-03 -2.24311499e-03 -3.69190650e+01] [-3.83645980e-03 9.99982567e-01 -4.48864379e-03 -6.90258195e+01] [ 2.22590044e-03 4.49720526e-03 9.99987410e-01 6.08230422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15907232899997 meters 0.24204318961371357 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99990899e-01 3.92197295e-03 -1.67906872e-03 -3.69203219e+01] [-3.92885653e-03 9.99983811e-01 -4.11616423e-03 -6.90269816e+01] [ 1.66289806e-03 4.12272359e-03 9.99990119e-01 6.08227946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18907232899994 meters 0.23968341437946558 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99991371e-01 4.03105775e-03 -1.00427747e-03 -3.69218078e+01] [-4.03467805e-03 9.99985275e-01 -3.62931227e-03 -6.90284801e+01] [ 9.89632715e-04 3.63333289e-03 9.99992910e-01 6.08224596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21907232899997 meters 0.22894117236691702 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99991180e-01 4.04866937e-03 -1.11704191e-03 -3.69214470e+01] [-4.05270925e-03 9.99985169e-01 -3.63834443e-03 -6.90283532e+01] [ 1.10229489e-03 3.64283939e-03 9.99992757e-01 6.08223952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24907232899994 meters 0.23718764732857694 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99990530e-01 4.13765038e-03 -1.34903903e-03 -3.69207263e+01] [-4.14242997e-03 9.99985085e-01 -3.55962849e-03 -6.90284279e+01] [ 1.33429041e-03 3.56518308e-03 9.99992755e-01 6.08222245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279072329 meters 0.23212605725831612 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99989654e-01 4.19259100e-03 -1.76444109e-03 -3.69196081e+01] [-4.19896886e-03 9.99984608e-01 -3.62661652e-03 -6.90280292e+01] [ 1.74920901e-03 3.63398783e-03 9.99991867e-01 6.08221461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30907232899995 meters 0.25620209889974377 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99989144e-01 4.15398408e-03 -2.11113667e-03 -3.69187377e+01] [-4.16209427e-03 9.99983920e-01 -3.85185757e-03 -6.90272493e+01] [ 2.09510217e-03 3.86060250e-03 9.99990353e-01 6.08222131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339072329 meters 0.27700747179851404 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99988550e-01 4.01563143e-03 -2.60287194e-03 -3.69176924e+01] [-4.02679545e-03 9.99982655e-01 -4.29816381e-03 -6.90258784e+01] [ 2.58556695e-03 4.30859583e-03 9.99987375e-01 6.08225983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36907232899995 meters 0.2567110396257271 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99989711e-01 3.62364195e-03 -2.72878395e-03 -3.69176414e+01] [-3.63738832e-03 9.99980636e-01 -5.04954366e-03 -6.90236914e+01] [ 2.71043337e-03 5.05941735e-03 9.99983528e-01 6.08230940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399072329 meters 0.26643312023272225 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99989910e-01 3.62300422e-03 -2.65572231e-03 -3.69177395e+01] [-3.63632719e-03 9.99980742e-01 -5.02916215e-03 -6.90237032e+01] [ 2.63745049e-03 5.03876848e-03 9.99983827e-01 6.08229773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42907232899995 meters 0.26654765931081603 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99988462e-01 3.69982565e-03 -3.06382184e-03 -3.69167983e+01] [-3.71517827e-03 9.99980496e-01 -5.02049980e-03 -6.90236347e+01] [ 3.04518711e-03 5.03182452e-03 9.99982704e-01 6.08231394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459072329 meters 0.2592683981444757 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99990958e-01 3.28786655e-03 -2.69712511e-03 -3.69179421e+01] [-3.30301309e-03 9.99978692e-01 -5.63070975e-03 -6.90220658e+01] [ 2.67855462e-03 5.63956748e-03 9.99980510e-01 6.08235892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48907232899995 meters 0.2475344181162433 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99992088e-01 3.22749271e-03 -2.32529315e-03 -3.69188491e+01] [-3.24053494e-03 9.99978917e-01 -5.62709286e-03 -6.90221106e+01] [ 2.30708273e-03 5.63458353e-03 9.99981464e-01 6.08235788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519072329 meters 0.2516450729392137 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99993243e-01 3.32042867e-03 -1.57725612e-03 -3.69204303e+01] [-3.32850469e-03 9.99981222e-01 -5.14557434e-03 -6.90235751e+01] [ 1.56014099e-03 5.15078948e-03 9.99985518e-01 6.08230687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54907232899996 meters 0.2401197663236574 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99993092e-01 3.66315140e-03 -6.30217089e-04 -3.69223702e+01] [-3.66556171e-03 9.99985805e-01 -3.86690413e-03 -6.90274649e+01] [ 6.16043088e-04 3.86918752e-03 9.99992325e-01 6.08221519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579072329 meters 0.23488050282264925 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99992532e-01 3.68211157e-03 -1.17401822e-03 -3.69209199e+01] [-3.68682702e-03 9.99985043e-01 -4.03996264e-03 -6.90266528e+01] [ 1.15912507e-03 4.04426087e-03 9.99991150e-01 6.08220575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60907232899996 meters 0.2618634895298814 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99992631e-01 3.48763692e-03 -1.60433525e-03 -3.69195080e+01] [-3.49485681e-03 9.99983679e-01 -4.51966530e-03 -6.90248051e+01] [ 1.58854611e-03 4.52523892e-03 9.99988499e-01 6.08216609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639072329 meters 0.22804476436714868 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99990209e-01 3.73452407e-03 -2.37406460e-03 -3.69172967e+01] [-3.74521358e-03 9.99982797e-01 -4.51423640e-03 -6.90240445e+01] [ 2.35716524e-03 4.52308358e-03 9.99986993e-01 6.08213741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66907232899996 meters 0.22839245542521408 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99991113e-01 3.49656710e-03 -2.35527356e-03 -3.69174277e+01] [-3.50814465e-03 9.99981696e-01 -4.92952206e-03 -6.90228132e+01] [ 2.33799405e-03 4.93774090e-03 9.99985076e-01 6.08215324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699072329 meters 0.28007706398646753 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99991251e-01 3.44824255e-03 -2.36814858e-03 -3.69176676e+01] [-3.46016030e-03 9.99981277e-01 -5.04699550e-03 -6.90226235e+01] [ 2.35070097e-03 5.05514552e-03 9.99984460e-01 6.08219862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72907232899996 meters 0.24781661688448972 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99991033e-01 3.36617256e-03 -2.56947371e-03 -3.69173059e+01] [-3.37966609e-03 9.99980427e-01 -5.26532525e-03 -6.90219916e+01] [ 2.55169942e-03 5.27396200e-03 9.99982837e-01 6.08222366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759072329 meters 0.272883102035987 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99991369e-01 3.26223644e-03 -2.57304215e-03 -3.69174259e+01] [-3.27623905e-03 9.99979745e-01 -5.45673290e-03 -6.90214770e+01] [ 2.55518888e-03 5.46511570e-03 9.99981802e-01 6.08224614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78907232899996 meters 0.27106174841263714 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99991092e-01 3.59324033e-03 -2.21464243e-03 -3.69180722e+01] [-3.60374016e-03 9.99982199e-01 -4.75547974e-03 -6.90235216e+01] [ 2.19751542e-03 4.76341837e-03 9.99986240e-01 6.08220306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819072329 meters 0.27137364295242566 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99991965e-01 3.59377693e-03 -1.77597882e-03 -3.69190181e+01] [-3.60193978e-03 9.99982865e-01 -4.61463423e-03 -6.90239451e+01] [ 1.75936442e-03 4.62099412e-03 9.99987775e-01 6.08217933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84907232899997 meters 0.26659442948425693 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99992075e-01 3.61229033e-03 -1.67360167e-03 -3.69189935e+01] [-3.61985889e-03 9.99983135e-01 -4.54157957e-03 -6.90239845e+01] [ 1.65716795e-03 4.54760178e-03 9.99988286e-01 6.08213852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879072329 meters 0.26177549127383515 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99986589e-01 4.49129675e-03 -2.57866035e-03 -3.69155364e+01] [-4.50066518e-03 9.99983251e-01 -3.63882469e-03 -6.90245338e+01] [ 2.56227412e-03 3.65038158e-03 9.99990055e-01 6.08198618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90907232899997 meters 0.258508117316313 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99987396e-01 4.23127627e-03 -2.70243631e-03 -3.69153358e+01] [-4.24244446e-03 9.99982429e-01 -4.14036172e-03 -6.90230190e+01] [ 2.68486981e-03 4.15177447e-03 9.99987777e-01 6.08200849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93907232899994 meters 0.24826933089590278 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99987448e-01 4.31209083e-03 -2.55160812e-03 -3.69158692e+01] [-4.32218540e-03 9.99982803e-01 -3.96396036e-03 -6.90236899e+01] [ 2.53447128e-03 3.97493912e-03 9.99988888e-01 6.08203060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96907232899997 meters 0.26731509803381215 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99995655e-01 5.43164344e-06 -2.94779234e-03 -3.69150864e+01] [-3.00938210e-05 9.99965001e-01 -8.36634133e-03 -6.90234716e+01] [ 2.94764373e-03 8.36639369e-03 9.99960657e-01 6.08206330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99907232899994 meters 0.26731509803381215 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99995655e-01 5.43164344e-06 -2.94779234e-03 -3.69150864e+01] [-3.00938210e-05 9.99965001e-01 -8.36634133e-03 -6.90234716e+01] [ 2.94764373e-03 8.36639369e-03 9.99960657e-01 6.08206330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.029072329 meters 0.26937534041601346 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.82 [[ 9.99995341e-01 1.72308562e-05 -3.05233666e-03 -3.69147318e+01] [-4.28101300e-05 9.99964883e-01 -8.38035979e-03 -6.90233100e+01] [ 3.05208507e-03 8.38045142e-03 9.99960226e-01 6.08205257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05907232899995 meters 0.26586814919123064 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99996051e-01 8.22644562e-05 -2.80916045e-03 -3.69150935e+01] [-1.05244766e-04 9.99966527e-01 -8.18132256e-03 -6.90237975e+01] [ 2.80839339e-03 8.18158590e-03 9.99962587e-01 6.08201462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.089072329 meters 0.2634646696470682 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99997018e-01 1.44002077e-04 -2.43769708e-03 -3.69158070e+01] [-1.63369080e-04 9.99968413e-01 -7.94646079e-03 -6.90244401e+01] [ 2.43647577e-03 7.94683534e-03 9.99965455e-01 6.08198039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11907232899995 meters 0.26739304294883326 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99998984e-01 2.92347089e-04 -1.39503841e-03 -3.69177890e+01] [-3.02136981e-04 9.99975296e-01 -7.02260817e-03 -6.90271223e+01] [ 1.39295090e-03 7.02302253e-03 9.99974368e-01 6.08186143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.149072329 meters 0.25693044458618314 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999591e-01 3.18685376e-04 -8.46382835e-04 -3.69187080e+01] [-3.24439153e-04 9.99976782e-01 -6.80666361e-03 -6.90276021e+01] [ 8.44193999e-04 6.80693543e-03 9.99976476e-01 6.08179227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17907232899995 meters 0.257722739577705 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999818e-01 5.53728946e-04 -2.38438281e-04 -3.69198740e+01] [-5.55182293e-04 9.99981002e-01 -6.13897298e-03 -6.90295221e+01] [ 2.35034424e-04 6.13910425e-03 9.99981128e-01 6.08173127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.209072329 meters 0.23872325200977243 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999792e-01 5.89102616e-04 -2.61270634e-04 -3.69197966e+01] [-5.90682121e-04 9.99981299e-01 -6.08717099e-03 -6.90296491e+01] [ 2.57679779e-04 6.08732406e-03 9.99981439e-01 6.08172920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23907232899995 meters 0.24353572753179367 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999568e-01 5.61424706e-04 7.41034870e-04 -3.69221610e+01] [-5.57258577e-04 9.99984107e-01 -5.61032622e-03 -6.90314976e+01] [-7.44172869e-04 5.60991085e-03 9.99983987e-01 6.08170068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.269072329 meters 0.2405192196550309 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999450e-01 5.35627410e-04 9.01316194e-04 -3.69225210e+01] [-5.30564610e-04 9.99984134e-01 -5.60801280e-03 -6.90314980e+01] [-9.04305699e-04 5.60753151e-03 9.99983869e-01 6.08169356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29907232899996 meters 0.23226971363378812 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999348e-01 6.05194785e-04 9.67953645e-04 -3.69229077e+01] [-5.99886091e-04 9.99984830e-01 -5.47536920e-03 -6.90320627e+01] [-9.71252626e-04 5.47478497e-03 9.99984542e-01 6.08172494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.329072329 meters 0.2675373670879833 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999595e-01 5.28386891e-04 7.27897602e-04 -3.69223800e+01] [-5.24231114e-04 9.99983631e-01 -5.69769602e-03 -6.90313671e+01] [-7.30896274e-04 5.69731213e-03 9.99983503e-01 6.08173891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35907232899996 meters 0.2637699175473911 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999415e-01 4.16124904e-04 9.98564228e-04 -3.69229549e+01] [-4.10318811e-04 9.99983051e-01 -5.80761866e-03 -6.90310081e+01] [-1.00096400e-03 5.80720553e-03 9.99982637e-01 6.08172427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.389072329 meters 0.23223562619612498 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999914e-01 3.54742583e-04 2.16692516e-04 -3.69208889e+01] [-3.53369565e-04 9.99980069e-01 -6.30376376e-03 -6.90289796e+01] [-2.18924410e-04 6.30368665e-03 9.99980108e-01 6.08172307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41907232899996 meters 0.33056055404274876 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999901e-01 4.34340636e-04 9.13971545e-05 -3.69205338e+01] [-4.33764730e-04 9.99980627e-01 -6.20953179e-03 -6.90292027e+01] [-9.40924358e-05 6.20949153e-03 9.99980716e-01 6.08171822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.449072329 meters 0.2603525426060354 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999952e-01 2.72677966e-04 -1.47189326e-04 -3.69202088e+01] [-2.73640844e-04 9.99978302e-01 -6.58187339e-03 -6.90281729e+01] [ 1.45391401e-04 6.58191335e-03 9.99978328e-01 6.08176352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47907232899996 meters 0.3314154866570278 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999936e-01 5.14362605e-05 -3.54251682e-04 -3.69197148e+01] [-5.39288534e-05 9.99975219e-01 -7.03980872e-03 -6.90267180e+01] [ 3.53880802e-04 7.03982738e-03 9.99975157e-01 6.08177398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.509072329 meters 0.32209526026054375 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99992171e-01 3.93302120e-03 -4.34398177e-04 -3.69197521e+01] [-3.93452970e-03 9.99986036e-01 -3.52814195e-03 -6.90243230e+01] [ 4.20515854e-04 3.52982348e-03 9.99993682e-01 6.08181998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53907232899996 meters 0.25310287610282434 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.02, Z:60.82 [[ 9.99992573e-01 3.85135371e-03 1.45634561e-04 -3.69212758e+01] [-3.85081991e-03 9.99986449e-01 -3.50336058e-03 -6.90245877e+01] [-1.59125268e-04 3.50277374e-03 9.99993853e-01 6.08183579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.569072329 meters 0.3198655259394573 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999509e-01 1.69514115e-05 9.90399494e-04 -3.69234408e+01] [-1.03361197e-05 9.99977695e-01 -6.67904091e-03 -6.90283879e+01] [-9.90490622e-04 6.67902740e-03 9.99977205e-01 6.08183894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59907232899997 meters 0.3151179745797687 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.82 [[ 9.99999059e-01 2.36404807e-04 1.35158152e-03 -3.69241431e+01] [-2.28054387e-04 9.99980908e-01 -6.17507773e-03 -6.90298588e+01] [-1.35301553e-03 6.17476368e-03 9.99980021e-01 6.08180572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.629072329 meters 0.3046154951470666 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.82 [[ 9.99997807e-01 2.51670144e-04 2.07892497e-03 -3.69257150e+01] [-2.39425649e-04 9.99982637e-01 -5.88797117e-03 -6.90308024e+01] [-2.08037071e-03 5.88746051e-03 9.99980505e-01 6.08176819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65907232899997 meters 0.2860570874748752 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.82 [[ 9.99995260e-01 2.98095927e-04 3.06432973e-03 -3.69274096e+01] [-2.81732276e-04 9.99985707e-01 -5.33908787e-03 -6.90322358e+01] [-3.06587749e-03 5.33819924e-03 9.99981052e-01 6.08164317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68907232899994 meters 0.2801972533601357 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.82 [[ 9.99993834e-01 5.20174429e-04 3.47296370e-03 -3.69281025e+01] [-5.03582760e-04 9.99988465e-01 -4.77654702e-03 -6.90337903e+01] [-3.47540828e-03 4.77476864e-03 9.99982561e-01 6.08158945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71907232899997 meters 0.31904755297446946 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99993558e-01 1.05619103e-03 3.43065245e-03 -3.69277258e+01] [-1.04302958e-03 9.99992099e-01 -3.83595302e-03 -6.90363578e+01] [-3.43467684e-03 3.83235003e-03 9.99986758e-01 6.08154682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74907232899994 meters 0.2727942878578429 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.82 [[ 9.99993433e-01 8.41479073e-04 3.52490263e-03 -3.69278516e+01] [-8.26725936e-04 9.99990902e-01 -4.18477089e-03 -6.90352211e+01] [-3.52839196e-03 4.18182928e-03 9.99985031e-01 6.08153597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779072329 meters 0.26473805459814104 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99986394e-01 -3.51844014e-03 3.85128398e-03 -3.69282932e+01] [ 3.55102215e-03 9.99957687e-01 -8.48614951e-03 -6.90351294e+01] [-3.82126301e-03 8.49971004e-03 9.99956575e-01 6.08148700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80907232899995 meters 0.29413787807329483 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99980626e-01 -3.62927366e-03 5.05727474e-03 -3.69309773e+01] [ 3.66901392e-03 9.99962292e-01 -7.87104204e-03 -6.90374431e+01] [-5.02851788e-03 7.88944476e-03 9.99956234e-01 6.08141801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839072329 meters 0.296839285529728 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99979320e-01 -3.54485778e-03 5.36587345e-03 -3.69315446e+01] [ 3.58566996e-03 9.99964573e-01 -7.61546414e-03 -6.90381346e+01] [-5.33868762e-03 7.63454690e-03 9.99956605e-01 6.08138633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86907232899995 meters 0.27221571764928143 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99975534e-01 -3.51826482e-03 6.04592488e-03 -3.69327559e+01] [ 3.56234476e-03 9.99967041e-01 -7.29561548e-03 -6.90389144e+01] [-6.02005771e-03 7.31697466e-03 9.99955109e-01 6.08131025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899072329 meters 0.2818170789936347 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99973836e-01 -3.48016439e-03 6.34153489e-03 -3.69332044e+01] [ 3.52535283e-03 9.99968377e-01 -7.12859904e-03 -6.90392935e+01] [-6.31652565e-03 7.15076867e-03 9.99954483e-01 6.08126548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92907232899995 meters 0.2643012703755368 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99973118e-01 -3.38749054e-03 6.50299650e-03 -3.69334204e+01] [ 3.43240168e-03 9.99970252e-01 -6.90752963e-03 -6.90398625e+01] [-6.47940385e-03 6.92966483e-03 9.99954998e-01 6.08123808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959072329 meters 0.2675112281373116 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99972993e-01 -3.46976056e-03 6.47870084e-03 -3.69334157e+01] [ 3.51556821e-03 9.99968809e-01 -7.07254975e-03 -6.90393726e+01] [-6.45395871e-03 7.09513506e-03 9.99954002e-01 6.08124872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98907232899995 meters 0.26200482271838993 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99972955e-01 -3.36329599e-03 6.54040492e-03 -3.69336076e+01] [ 3.40828916e-03 9.99970522e-01 -6.88032978e-03 -6.90399780e+01] [-6.51707153e-03 6.90243530e-03 9.99954941e-01 6.08125675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019072329 meters 0.25282850195356876 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99973198e-01 -3.33196287e-03 6.51937534e-03 -3.69330253e+01] [ 3.37649613e-03 9.99970962e-01 -6.83186963e-03 -6.90397349e+01] [-6.49642250e-03 6.85369916e-03 9.99955411e-01 6.08118040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04907232899996 meters 0.2605413930571228 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99972816e-01 -3.29406255e-03 6.59668825e-03 -3.69329368e+01] [ 3.33852549e-03 9.99971709e-01 -6.74056091e-03 -6.90398441e+01] [-6.57429779e-03 6.76240088e-03 9.99955523e-01 6.08113979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079072329 meters 0.31694960036794856 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99972579e-01 -3.16481153e-03 6.69512473e-03 -3.69330320e+01] [ 3.20818175e-03 9.99973877e-01 -6.47708950e-03 -6.90405654e+01] [-6.67445107e-03 6.49839107e-03 9.99956610e-01 6.08111712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10907232899996 meters 0.33948051144988406 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99967900e-01 -3.38448047e-03 7.26254865e-03 -3.69341809e+01] [ 3.43324505e-03 9.99971577e-01 -6.71259770e-03 -6.90398375e+01] [-7.23962356e-03 6.73731633e-03 9.99951097e-01 6.08108237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139072329 meters 0.3018225701027866 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99954692e-01 -3.99517306e-03 8.64012654e-03 -3.69377233e+01] [ 4.05347938e-03 9.99969061e-01 -6.74136800e-03 -6.90409932e+01] [-8.61292630e-03 6.77608514e-03 9.99939949e-01 6.08110003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16907232899996 meters 0.29365464116538936 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99945265e-01 -4.18360394e-03 9.58982378e-03 -3.69400282e+01] [ 4.24798902e-03 9.99968509e-01 -6.70338859e-03 -6.90414785e+01] [-9.56147747e-03 6.74375914e-03 9.99931548e-01 6.08110292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199072329 meters 0.2788426211033648 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99929247e-01 -4.82422644e-03 1.08732709e-02 -3.69428509e+01] [ 4.90166923e-03 9.99962732e-01 -7.10694764e-03 -6.90410909e+01] [-1.08385801e-02 7.15974198e-03 9.99915628e-01 6.08105734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22907232899996 meters 0.25768124661783304 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99930878e-01 -4.62291631e-03 1.08105138e-02 -3.69422586e+01] [ 4.69629053e-03 9.99966043e-01 -6.77179544e-03 -6.90418093e+01] [-1.07788412e-02 6.82209667e-03 9.99918634e-01 6.08099506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259072329 meters 0.25421304029632646 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99927747e-01 -4.60268686e-03 1.11047644e-02 -3.69428147e+01] [ 4.67655322e-03 9.99967053e-01 -6.63500016e-03 -6.90421569e+01] [-1.10738597e-02 6.68645279e-03 9.99916327e-01 6.08096800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28907232899996 meters 0.2569063615242074 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99928758e-01 -4.44638185e-03 1.10774070e-02 -3.69425493e+01] [ 4.51704432e-03 9.99969559e-01 -6.36214022e-03 -6.90428468e+01] [-1.10487813e-02 6.41172411e-03 9.99918404e-01 6.08093972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319072329 meters 0.26966930794410665 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99932628e-01 -3.62945697e-04 1.16020967e-02 -3.69438675e+01] [ 3.88941997e-04 9.99997419e-01 -2.23847759e-03 -6.90423509e+01] [-1.16012543e-02 2.24283932e-03 9.99930188e-01 6.08093769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34907232899997 meters 0.26509216948178543 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99943811e-01 -1.30082360e-04 1.05998930e-02 -3.69416107e+01] [ 1.55232326e-04 9.99997175e-01 -2.37187401e-03 -6.90416039e+01] [-1.05995545e-02 2.37338618e-03 9.99941007e-01 6.08098400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379072329 meters 0.2478782644203199 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99947706e-01 -1.64754883e-04 1.02253772e-02 -3.69407295e+01] [ 1.90924990e-04 9.99996709e-01 -2.55840582e-03 -6.90409871e+01] [-1.02249221e-02 2.56022431e-03 9.99944447e-01 6.08099512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40907232899997 meters 0.2802413697226771 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99956310e-01 8.85887199e-05 9.34722249e-03 -3.69383102e+01] [-6.38939382e-05 9.99996507e-01 -2.64220348e-03 -6.90399922e+01] [-9.34742391e-03 2.64149081e-03 9.99952823e-01 6.08096999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43907232899994 meters 0.2748504151836563 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99959126e-01 -1.29129960e-04 9.04041662e-03 -3.69372870e+01] [ 1.57644227e-04 9.99995015e-01 -3.15344626e-03 -6.90381596e+01] [-9.03996436e-03 3.15474254e-03 9.99954162e-01 6.08094016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46907232899997 meters 0.2745101337457638 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99960331e-01 -1.01427507e-05 8.90704069e-03 -3.69368472e+01] [ 3.67715776e-05 9.99995531e-01 -2.98947928e-03 -6.90385697e+01] [-8.90697056e-03 2.98968821e-03 9.99955863e-01 6.08092490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49907232899994 meters 0.2984317800060934 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99960316e-01 3.77644294e-05 8.90870133e-03 -3.69367926e+01] [-1.18462895e-05 9.99995768e-01 -2.90934102e-03 -6.90387667e+01] [-8.90877349e-03 2.90912003e-03 9.99956084e-01 6.08091767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.529072329 meters 0.2619463960165972 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99968111e-01 2.75214055e-04 7.98133645e-03 -3.69345234e+01] [-2.50222821e-04 9.99995064e-01 -3.13203871e-03 -6.90374490e+01] [-7.98215903e-03 3.12994172e-03 9.99963244e-01 6.08094450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55907232899995 meters 0.2600675970437371 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99971638e-01 2.71003660e-04 7.52665929e-03 -3.69336735e+01] [-2.46110607e-04 9.99994498e-01 -3.30804694e-03 -6.90369596e+01] [-7.52751438e-03 3.30610073e-03 9.99966203e-01 6.08099660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.589072329 meters 0.2607449760513543 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99975554e-01 2.57731607e-04 6.98743554e-03 -3.69326816e+01] [-2.32848049e-04 9.99993630e-01 -3.56176563e-03 -6.90362612e+01] [-6.98830901e-03 3.56005155e-03 9.99969244e-01 6.08106062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61907232899995 meters 0.26852759660524816 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99972715e-01 2.12894226e-04 7.38408723e-03 -3.69338028e+01] [-1.86918889e-04 9.99993793e-01 -3.51825687e-03 -6.90365485e+01] [-7.38479042e-03 3.51678065e-03 9.99966548e-01 6.08108302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.649072329 meters 0.2757857736325993 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99970794e-01 1.72670907e-04 7.64074500e-03 -3.69345436e+01] [-1.45910578e-04 9.99993855e-01 -3.50273824e-03 -6.90366834e+01] [-7.64130286e-03 3.50152107e-03 9.99964674e-01 6.08109782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67907232899995 meters 0.3049069497313803 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99967857e-01 2.60963004e-04 8.01348661e-03 -3.69352957e+01] [-2.35136499e-04 9.99994776e-01 -3.22365291e-03 -6.90375075e+01] [-8.01428600e-03 3.22166503e-03 9.99962695e-01 6.08106742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.709072329 meters 0.29859830951063476 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.81 [[ 9.99966570e-01 5.03356438e-04 8.16116265e-03 -3.69355094e+01] [-4.81063702e-04 9.99996149e-01 -2.73329680e-03 -6.90389323e+01] [-8.16250704e-03 2.72927938e-03 9.99962962e-01 6.08104117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73907232899995 meters 0.2523007228791301 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99968750e-01 6.45185143e-04 7.87930008e-03 -3.69347362e+01] [-6.24835165e-04 9.99996464e-01 -2.58490256e-03 -6.90392661e+01] [-7.88093996e-03 2.57989852e-03 9.99965617e-01 6.08103057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.769072329 meters 0.24919675459094476 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99972558e-01 7.18132564e-04 7.37337062e-03 -3.69333785e+01] [-6.98572430e-04 9.99996231e-01 -2.65504036e-03 -6.90387940e+01] [-7.37524951e-03 2.64981666e-03 9.99969292e-01 6.08101846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79907232899996 meters 0.2981728829006299 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99975989e-01 4.81363109e-04 6.91296443e-03 -3.69319175e+01] [-4.58721845e-04 9.99994527e-01 -3.27640105e-03 -6.90364941e+01] [-6.91450373e-03 3.27315125e-03 9.99970738e-01 6.08098241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.829072329 meters 0.2881803272959862 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99974984e-01 5.93201185e-04 7.04832710e-03 -3.69320603e+01] [-5.71885806e-04 9.99995259e-01 -3.02580631e-03 -6.90371526e+01] [-7.05008859e-03 3.02169978e-03 9.99970582e-01 6.08095220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85907232899996 meters 0.27866389969616717 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99981996e-01 1.48814551e-03 5.81320558e-03 -3.69284558e+01] [-1.47417394e-03 9.99996017e-01 -2.40696515e-03 -6.90370990e+01] [-5.81676434e-03 2.39835214e-03 9.99980206e-01 6.08088569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.889072329 meters 0.22982474110520187 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.81 [[ 9.99982443e-01 1.05432546e-03 5.83113102e-03 -3.69286873e+01] [-1.03585181e-03 9.99994438e-01 -3.17022095e-03 -6.90348603e+01] [-5.83444104e-03 3.16412511e-03 9.99977974e-01 6.08092141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91907232899996 meters 0.22982474110520187 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.81 [[ 9.99982443e-01 1.05432546e-03 5.83113102e-03 -3.69286873e+01] [-1.03585181e-03 9.99994438e-01 -3.17022095e-03 -6.90348603e+01] [-5.83444104e-03 3.16412511e-03 9.99977974e-01 6.08092141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.949072329 meters 0.3412441915988461 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99981966e-01 1.18316701e-03 5.88792296e-03 -3.69289319e+01] [-1.16593736e-03 9.99995031e-01 -2.92884303e-03 -6.90356657e+01] [-5.89135902e-03 2.92192526e-03 9.99978377e-01 6.08093559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97907232899996 meters 0.31611900513790236 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99982994e-01 1.07150887e-03 5.73266891e-03 -3.69290383e+01] [-1.05311296e-03 9.99994290e-01 -3.21101747e-03 -6.90350884e+01] [-5.73607681e-03 3.20492572e-03 9.99978413e-01 6.08101700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.009072329 meters 0.3076486998882351 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.81 [[ 9.99983687e-01 9.80895840e-04 5.62699001e-03 -3.69288083e+01] [-9.61662950e-04 9.99993691e-01 -3.41965916e-03 -6.90344139e+01] [-5.63030883e-03 3.41419211e-03 9.99978321e-01 6.08102784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03907232899996 meters 0.25770049822237745 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.03, Z:60.81 [[ 9.99984216e-01 1.11043465e-03 5.50772608e-03 -3.69284444e+01] [-1.09260769e-03 9.99994159e-01 -3.23867226e-03 -6.90348841e+01] [-5.51129024e-03 3.23260335e-03 9.99979588e-01 6.08102088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.069072329 meters 0.2899484406076866 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99979949e-01 1.27191391e-03 6.20360451e-03 -3.69298446e+01] [-1.25531677e-03 9.99995625e-01 -2.67856254e-03 -6.90365546e+01] [-6.20698427e-03 2.67072134e-03 9.99977170e-01 6.08096348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09907232899997 meters 0.3116298298236658 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99973941e-01 1.12120641e-03 7.13169109e-03 -3.69320720e+01] [-1.10304949e-03 9.99996142e-01 -2.54937222e-03 -6.90373101e+01] [-7.13452195e-03 2.54143918e-03 9.99971319e-01 6.08095162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.129072329 meters 0.29878289051504103 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99971962e-01 1.17214940e-03 7.39603043e-03 -3.69325577e+01] [-1.15476960e-03 9.99996563e-01 -2.35371421e-03 -6.90378208e+01] [-7.39876391e-03 2.34510751e-03 9.99969879e-01 6.08092521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15907232899997 meters 0.2742375586701027 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99974150e-01 1.25682891e-03 7.07957625e-03 -3.69315960e+01] [-1.24045208e-03 9.99996546e-01 -2.31716681e-03 -6.90376907e+01] [-7.08246408e-03 2.30832504e-03 9.99972255e-01 6.08090378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18907232899994 meters 0.27229685869107995 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99973902e-01 1.37637920e-03 7.09225040e-03 -3.69312888e+01] [-1.36154306e-03 9.99996876e-01 -2.09628476e-03 -6.90381242e+01] [-7.09511353e-03 2.08657365e-03 9.99972652e-01 6.08085418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21907232899997 meters 0.26155343540568665 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99974922e-01 1.60333927e-03 6.89811404e-03 -3.69302061e+01] [-1.59112660e-03 9.99997158e-01 -1.77555904e-03 -6.90385952e+01] [-6.90094126e-03 1.76453874e-03 9.99974631e-01 6.08076279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24907232899994 meters 0.30051845132995825 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99973230e-01 1.54313436e-03 7.15246192e-03 -3.69306384e+01] [-1.53031480e-03 9.99997214e-01 -1.79745497e-03 -6.90384420e+01] [-7.15521570e-03 1.78646133e-03 9.99972805e-01 6.08073158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279072329 meters 0.2883373568580408 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99971963e-01 1.71021574e-03 7.29024894e-03 -3.69309053e+01] [-1.69967931e-03 9.99997503e-01 -1.45122807e-03 -6.90394833e+01] [-7.29271264e-03 1.43879629e-03 9.99972373e-01 6.08071563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30907232899995 meters 0.28183288914508264 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99977152e-01 1.60882203e-03 6.56565850e-03 -3.69291809e+01] [-1.59555300e-03 9.99996675e-01 -2.02571235e-03 -6.90375205e+01] [-6.56889568e-03 2.01519021e-03 9.99976394e-01 6.08074529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339072329 meters 0.26922885436994304 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99979690e-01 1.48540259e-03 6.19789544e-03 -3.69283720e+01] [-1.47043429e-03 9.99995993e-01 -2.41891885e-03 -6.90362673e+01] [-6.20146368e-03 2.40975612e-03 9.99977867e-01 6.08077309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36907232899995 meters 0.27655083990547574 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99978693e-01 1.26372239e-03 6.40442865e-03 -3.69295218e+01] [-1.24608375e-03 9.99995422e-01 -2.75737333e-03 -6.90357516e+01] [-6.40788388e-03 2.74933412e-03 9.99975690e-01 6.08087557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399072329 meters 0.2796842218022354 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99974928e-01 1.18985252e-03 6.98051616e-03 -3.69310508e+01] [-1.17127743e-03 9.99995764e-01 -2.66447573e-03 -6.90363310e+01] [-6.98365693e-03 2.65623281e-03 9.99972086e-01 6.08088874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42907232899995 meters 0.2705620089179977 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99970227e-01 1.13518843e-03 7.63264392e-03 -3.69324932e+01] [-1.11595791e-03 9.99996194e-01 -2.52329770e-03 -6.90368307e+01] [-7.63547929e-03 2.51470486e-03 9.99967687e-01 6.08085879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459072329 meters 0.2551219429544883 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99964025e-01 1.32211896e-03 8.37860098e-03 -3.69337529e+01] [-1.30723837e-03 9.99997559e-01 -1.78125081e-03 -6.90388738e+01] [-8.38093556e-03 1.77023390e-03 9.99963312e-01 6.08075016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48907232899995 meters 0.2624827869824614 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99960577e-01 1.60591550e-03 8.73300523e-03 -3.69340599e+01] [-1.59620865e-03 9.99998101e-01 -1.11836926e-03 -6.90405747e+01] [-8.73478465e-03 1.10438547e-03 9.99961241e-01 6.08065468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519072329 meters 0.257936538191573 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99968391e-01 1.77337910e-03 7.75058804e-03 -3.69316155e+01] [-1.76414435e-03 9.99997726e-01 -1.19816477e-03 -6.90398094e+01] [-7.75269521e-03 1.18445374e-03 9.99969246e-01 6.08064220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54907232899996 meters 0.2608301553952946 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99973501e-01 3.45573682e-03 6.40742942e-03 -3.69273163e+01] [-3.45495263e-03 9.99994023e-01 -1.33452177e-04 -6.90394802e+01] [-6.40785230e-03 1.11311276e-04 9.99979463e-01 6.08054534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579072329 meters 0.25499787759264375 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99976981e-01 3.40692435e-03 5.86769099e-03 -3.69264994e+01] [-3.40462469e-03 9.99994124e-01 -4.01864671e-04 -6.90388913e+01] [-5.86902563e-03 3.81878135e-04 9.99982704e-01 6.08062546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60907232899996 meters 0.2605759078802464 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99981188e-01 3.14264341e-03 5.26762331e-03 -3.69255613e+01] [-3.13594004e-03 9.99994263e-01 -1.28033590e-03 -6.90365285e+01] [-5.27161673e-03 1.26379287e-03 9.99985306e-01 6.08073085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639072329 meters 0.23973430994717088 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99983615e-01 3.18125652e-03 4.75906377e-03 -3.69243821e+01] [-3.17458540e-03 9.99993969e-01 -1.40866828e-03 -6.90360206e+01] [-4.76351640e-03 1.39353714e-03 9.99987683e-01 6.08074804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66907232899996 meters 0.25072387926590456 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99984083e-01 3.20059660e-03 4.64645419e-03 -3.69242540e+01] [-3.19404455e-03 9.99993895e-01 -1.41685386e-03 -6.90360600e+01] [-4.65096060e-03 1.40199033e-03 9.99988201e-01 6.08077225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699072329 meters 0.25628210535568774 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99985420e-01 3.29773448e-03 4.27618180e-03 -3.69231760e+01] [-3.29167436e-03 9.99993569e-01 -1.42344442e-03 -6.90357689e+01] [-4.28084845e-03 1.40934787e-03 9.99989844e-01 6.08075286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72907232899996 meters 0.29572160333244074 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99986023e-01 3.21672211e-03 4.19609878e-03 -3.69230280e+01] [-3.21003163e-03 9.99993567e-01 -1.60021485e-03 -6.90352171e+01] [-4.20121924e-03 1.58672288e-03 9.99989916e-01 6.08076458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759072329 meters 0.2889269100154254 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99989279e-01 3.29433839e-03 3.25412669e-03 -3.69212795e+01] [-3.28773695e-03 9.99992531e-01 -2.03190632e-03 -6.90338688e+01] [-3.26079617e-03 2.02118583e-03 9.99992641e-01 6.08088109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78907232899996 meters 0.28675421653419264 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99989043e-01 3.18507602e-03 3.43063118e-03 -3.69219359e+01] [-3.17765091e-03 9.99992602e-01 -2.16763679e-03 -6.90336033e+01] [-3.43750988e-03 2.15671169e-03 9.99991766e-01 6.08091485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819072329 meters 0.28072793967777904 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99989714e-01 3.24665417e-03 3.16718645e-03 -3.69214229e+01] [-3.23985584e-03 9.99992442e-01 -2.14926193e-03 -6.90336721e+01] [-3.17414042e-03 2.13897859e-03 9.99992675e-01 6.08093735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84907232899997 meters 0.2738106164639704 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99992014e-01 3.12668997e-03 2.48930823e-03 -3.69197707e+01] [-3.12007362e-03 9.99991602e-01 -2.65736503e-03 -6.90318291e+01] [-2.49759608e-03 2.64957698e-03 9.99993371e-01 6.08095887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879072329 meters 0.2678975727673514 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99993340e-01 2.97426769e-03 2.11496503e-03 -3.69187770e+01] [-2.96774972e-03 9.99990858e-01 -3.07831868e-03 -6.90303647e+01] [-2.12410144e-03 3.07202150e-03 9.99993025e-01 6.08095581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90907232899997 meters 0.2644430691349103 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99993463e-01 3.04747077e-03 1.94602952e-03 -3.69180943e+01] [-3.04158933e-03 9.99990820e-01 -3.01812204e-03 -6.90302960e+01] [-1.95520929e-03 3.01218329e-03 9.99993552e-01 6.08092226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93907232899994 meters 0.26765721277087146 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99993198e-01 3.14065657e-03 1.93404633e-03 -3.69176438e+01] [-3.13511191e-03 9.99990986e-01 -2.86326369e-03 -6.90304400e+01] [-1.94302142e-03 2.85718077e-03 9.99994031e-01 6.08085964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96907232899997 meters 0.3223176807757366 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99992564e-01 3.07551574e-03 2.32650136e-03 -3.69184239e+01] [-3.06891057e-03 9.99991266e-01 -2.83736038e-03 -6.90304563e+01] [-2.33520739e-03 2.83019945e-03 9.99993268e-01 6.08082836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99907232899994 meters 0.24835556095780603 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99991786e-01 3.00279569e-03 2.72242389e-03 -3.69192763e+01] [-2.99513236e-03 9.99991554e-01 -2.81461322e-03 -6.90304914e+01] [-2.73085260e-03 2.80643608e-03 9.99992333e-01 6.08080783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.029072329 meters 0.2496984364200671 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99993814e-01 -1.23310386e-03 3.29420367e-03 -3.69205659e+01] [ 1.25538609e-03 9.99976291e-01 -6.77058913e-03 -6.90316759e+01] [-3.28577673e-03 6.77468275e-03 9.99971653e-01 6.08078673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05907232899995 meters 0.24129751894726806 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99991680e-01 -1.01449544e-03 3.95104063e-03 -3.69219058e+01] [ 1.03850417e-03 9.99980982e-01 -6.07925648e-03 -6.90337127e+01] [-3.94479811e-03 6.08330907e-03 9.99973716e-01 6.08073366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.089072329 meters 0.29179090809931396 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99987488e-01 -1.00325415e-03 4.90075735e-03 -3.69239956e+01] [ 1.03109767e-03 9.99983324e-01 -5.68225332e-03 -6.90350358e+01] [-4.89497489e-03 5.68723538e-03 9.99971847e-01 6.08069242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11907232899995 meters 0.22534496829201442 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99969890e-01 -5.21385083e-03 5.74765220e-03 -3.69252432e+01] [ 5.26644270e-03 9.99944056e-01 -9.17330798e-03 -6.90371003e+01] [-5.69950240e-03 9.20330145e-03 9.99941406e-01 6.08054250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.149072329 meters 0.2866359457029387 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99977038e-01 -1.21319399e-03 6.66726941e-03 -3.69273777e+01] [ 1.24668204e-03 9.99986618e-01 -5.02089469e-03 -6.90368572e+01] [-6.66108887e-03 5.02909136e-03 9.99965168e-01 6.08051622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17907232899995 meters 0.2689401662261105 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.80 [[ 9.99971665e-01 -1.30073864e-03 7.41465840e-03 -3.69289861e+01] [ 1.33695439e-03 9.99987192e-01 -4.88148292e-03 -6.90373253e+01] [-7.40821390e-03 4.89125766e-03 9.99960596e-01 6.08047975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.209072329 meters 0.26760664004495427 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.80 [[ 9.99959616e-01 -1.76651562e-03 8.81163582e-03 -3.69321834e+01] [ 1.80772374e-03 9.99987458e-01 -4.67078718e-03 -6.90387216e+01] [-8.80327428e-03 4.68652756e-03 9.99950268e-01 6.08042845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23907232899995 meters 0.2596818134991956 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.80 [[ 9.99952988e-01 -1.74802020e-03 9.53758465e-03 -3.69337352e+01] [ 1.78928769e-03 9.99989068e-01 -4.32001229e-03 -6.90397889e+01] [-9.52992891e-03 4.33687468e-03 9.99945184e-01 6.08038264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.269072329 meters 0.3774197084580463 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.80 [[ 9.99946380e-01 -1.88265471e-03 1.01829714e-02 -3.69349470e+01] [ 1.92686740e-03 9.99988753e-01 -4.33375974e-03 -6.90396286e+01] [-1.01746979e-02 4.35314860e-03 9.99938761e-01 6.08032441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29907232899996 meters 0.26048905561564917 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.80 [[ 9.99933009e-01 -2.40697251e-03 1.13218592e-02 -3.69374790e+01] [ 2.45523378e-03 9.99987952e-01 -4.25069704e-03 -6.90403131e+01] [-1.13114915e-02 4.27821009e-03 9.99926871e-01 6.08025691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.329072329 meters 0.36824606197046533 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.80 [[ 9.99930442e-01 -2.53761412e-03 1.15182769e-02 -3.69379779e+01] [ 2.58869862e-03 9.99986871e-01 -4.42234175e-03 -6.90397685e+01] [-1.15069035e-02 4.45185149e-03 9.99923883e-01 6.08026373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35907232899996 meters 0.3516889753531441 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.80 [[ 9.99923924e-01 -2.55211803e-03 1.20678436e-02 -3.69395531e+01] [ 2.60332833e-03 9.99987666e-01 -4.22973041e-03 -6.90406779e+01] [-1.20569000e-02 4.26082519e-03 9.99918235e-01 6.08030187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.389072329 meters 0.3464623106723797 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.80 [[ 9.99922621e-01 -2.50804901e-03 1.21844889e-02 -3.69396885e+01] [ 2.55827404e-03 9.99988289e-01 -4.10821053e-03 -6.90409656e+01] [-1.21740426e-02 4.13906390e-03 9.99917327e-01 6.08027820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41907232899996 meters 0.35138723119184917 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.80 [[ 9.99914240e-01 -2.51138761e-03 1.28532556e-02 -3.69410923e+01] [ 2.56097302e-03 9.99989337e-01 -3.84280519e-03 -6.90417549e+01] [-1.28434678e-02 3.87539247e-03 9.99910009e-01 6.08023707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.449072329 meters 0.3320438751154675 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.80 [[ 9.99915731e-01 -2.01494534e-03 1.28246293e-02 -3.69404856e+01] [ 2.05313741e-03 9.99993495e-01 -2.96555628e-03 -6.90439767e+01] [-1.28185705e-02 2.99163710e-03 9.99913363e-01 6.08015450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47907232899996 meters 0.32716488962909906 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99905053e-01 -1.86455056e-03 1.36531353e-02 -3.69421899e+01] [ 1.89536508e-03 9.99995685e-01 -2.24436379e-03 -6.90462188e+01] [-1.36488917e-02 2.27002837e-03 9.99904273e-01 6.08008923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.509072329 meters 0.3229859429135411 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99903462e-01 -1.65461602e-03 1.37959892e-02 -3.69420931e+01] [ 1.67994501e-03 9.99996924e-01 -1.82458102e-03 -6.90472523e+01] [-1.37929278e-02 1.84758138e-03 9.99903166e-01 6.08001918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53907232899996 meters 0.3116850496410921 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99892682e-01 -1.40039074e-03 1.45829668e-02 -3.69435464e+01] [ 1.41393747e-03 9.99998578e-01 -9.18673678e-04 -6.90499330e+01] [-1.45816596e-02 9.39194491e-04 9.99893241e-01 6.07992883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.569072329 meters 0.3110448577345621 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99895644e-01 -1.33730823e-03 1.43844664e-02 -3.69433250e+01] [ 1.34996910e-03 9.99998710e-01 -8.70502137e-04 -6.90502215e+01] [-1.43832837e-02 8.89829880e-04 9.99896159e-01 6.07997001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59907232899997 meters 0.3058457760504622 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99911704e-01 -8.41633701e-04 1.32617907e-02 -3.69409552e+01] [ 8.55383076e-04 9.99999103e-01 -1.03112800e-03 -6.90490781e+01] [-1.32609110e-02 1.04238087e-03 9.99911527e-01 6.08005456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.629072329 meters 0.310065969161009 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99911229e-01 -7.86263697e-04 1.33009418e-02 -3.69411215e+01] [ 7.98445384e-04 9.99999267e-01 -9.10565950e-04 -6.90494812e+01] [-1.33002161e-02 9.21105194e-04 9.99911124e-01 6.08006599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65907232899997 meters 0.3048569731861344 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99912498e-01 -9.16113112e-04 1.31968398e-02 -3.69411630e+01] [ 9.31896872e-04 9.99998858e-01 -1.18992607e-03 -6.90488171e+01] [-1.31957346e-02 1.20212005e-03 9.99912210e-01 6.08011037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68907232899994 meters 0.28996228682196423 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99900412e-01 -9.92902607e-04 1.40776565e-02 -3.69430332e+01] [ 1.00454876e-03 9.99999159e-01 -8.20231835e-04 -6.90501173e+01] [-1.40768303e-02 8.34291842e-04 9.99900568e-01 6.08004847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71907232899997 meters 0.288887184895383 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99898705e-01 -1.08009583e-03 1.41920141e-02 -3.69430760e+01] [ 1.09358511e-03 9.99998958e-01 -9.42757759e-04 -6.90495912e+01] [-1.41909810e-02 9.58182437e-04 9.99898844e-01 6.08001231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74907232899994 meters 0.2758292615480765 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99909904e-01 -1.04945786e-03 1.33821407e-02 -3.69410983e+01] [ 1.06579903e-03 9.99998695e-01 -1.21404471e-03 -6.90484378e+01] [-1.33808492e-02 1.22819800e-03 9.99909718e-01 6.08002404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779072329 meters 0.2817630192184114 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99921998e-01 -8.47791651e-04 1.24611248e-02 -3.69391077e+01] [ 8.65383000e-04 9.99998637e-01 -1.40637411e-03 -6.90475711e+01] [-1.24599155e-02 1.41704805e-03 9.99921368e-01 6.08008112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80907232899995 meters 0.2817630192184114 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99921998e-01 -8.47791651e-04 1.24611248e-02 -3.69391077e+01] [ 8.65383000e-04 9.99998637e-01 -1.40637411e-03 -6.90475711e+01] [-1.24599155e-02 1.41704805e-03 9.99921368e-01 6.08008112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839072329 meters 0.30940964889367173 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99922476e-01 -1.04185005e-03 1.24079201e-02 -3.69392620e+01] [ 1.06413331e-03 9.99997833e-01 -1.78942320e-03 -6.90465465e+01] [-1.24060289e-02 1.80248816e-03 9.99921418e-01 6.08012753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86907232899995 meters 0.26266647104972907 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99923695e-01 -1.27921867e-03 1.22869040e-02 -3.69390330e+01] [ 1.30720689e-03 9.99996569e-01 -2.27012991e-03 -6.90450190e+01] [-1.22839578e-02 2.28601821e-03 9.99921936e-01 6.08014571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899072329 meters 0.295255745552298 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.04, Z:60.80 [[ 9.99919079e-01 -1.46190569e-03 1.26371691e-02 -3.69398136e+01] [ 1.49357809e-03 9.99995767e-01 -2.49721565e-03 -6.90443071e+01] [-1.26334649e-02 2.51588818e-03 9.99917029e-01 6.08013503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92907232899995 meters 0.29054789627048394 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99913599e-01 -1.35444262e-03 1.30751407e-02 -3.69406922e+01] [ 1.38226577e-03 9.99996799e-01 -2.11913986e-03 -6.90454251e+01] [-1.30722286e-02 2.13703008e-03 9.99912271e-01 6.08009942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959072329 meters 0.25264595818050506 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99903470e-01 -1.45016877e-03 1.38183785e-02 -3.69421968e+01] [ 1.47628117e-03 9.99997144e-01 -1.87967331e-03 -6.90462854e+01] [-1.38156132e-02 1.89989168e-03 9.99902755e-01 6.08003613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98907232899995 meters 0.2508118715180387 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99919959e-01 -6.32021350e-04 1.26363260e-02 -3.69388565e+01] [ 6.47984937e-04 9.99998997e-01 -1.25925483e-03 -6.90465817e+01] [-1.26355175e-02 1.26734219e-03 9.99919366e-01 6.07996107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019072329 meters 0.2738411813938745 Centerline is valid? [False, False] Translation: X:-36.94, Y:-69.05, Z:60.80 [[ 9.99933486e-01 2.03169271e-04 1.15318131e-02 -3.69353749e+01] [-1.90620190e-04 9.99999389e-01 -1.08930276e-03 -6.90450556e+01] [-1.15320274e-02 1.08703211e-03 9.99932913e-01 6.07987391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04907232899996 meters 0.2746006452610931 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.80 [[ 9.99946676e-01 8.08858117e-04 1.02952134e-02 -3.69320514e+01] [-8.01110686e-04 9.99999393e-01 -7.56629093e-04 -6.90448796e+01] [-1.02958192e-02 7.48341140e-04 9.99946717e-01 6.07983218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079072329 meters 0.2691383268000083 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.80 [[ 9.99956926e-01 7.36834695e-04 9.25218483e-03 -3.69298547e+01] [-7.22132506e-04 9.99998472e-01 -1.59229071e-03 -6.90422494e+01] [-9.25334395e-03 1.58554082e-03 9.99955930e-01 6.07991494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10907232899996 meters 0.26354120046223445 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.80 [[ 9.99979392e-01 2.90307069e-03 5.72605373e-03 -3.69222884e+01] [-2.88534961e-03 9.99991030e-01 -3.10065231e-03 -6.90391742e+01] [-5.73500379e-03 3.08406675e-03 9.99978799e-01 6.08027452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139072329 meters 0.2657717611542177 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.80 [[ 9.99982113e-01 2.57593445e-03 5.39806287e-03 -3.69217666e+01] [-2.55508834e-03 9.99989266e-01 -3.86512169e-03 -6.90369481e+01] [-5.40796123e-03 3.85126003e-03 9.99977961e-01 6.08033190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16907232899996 meters 0.2650709902459409 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.80 [[ 9.99967183e-01 6.90603831e-03 4.23560806e-03 -3.69194186e+01] [-6.90384633e-03 9.99976027e-01 -5.31914567e-04 -6.90339264e+01] [-4.23917994e-03 5.02655124e-04 9.99990888e-01 6.08046117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199072329 meters 0.2763014190531812 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99972108e-01 6.78506138e-03 3.12174229e-03 -3.69170092e+01] [-6.78068145e-03 9.99976015e-01 -1.41149124e-03 -6.90311156e+01] [-3.13124447e-03 1.39028433e-03 9.99994131e-01 6.08054297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22907232899996 meters 0.2778794532739395 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.81 [[ 9.99969704e-01 7.63154667e-03 1.53290048e-03 -3.69129918e+01] [-7.62855410e-03 9.99969003e-01 -1.94867572e-03 -6.90275129e+01] [-1.54772438e-03 1.93692287e-03 9.99996926e-01 6.08059939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259072329 meters 0.2642110489644177 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.81 [[ 9.99968894e-01 7.88657161e-03 1.13560368e-04 -3.69094900e+01] [-7.88623523e-03 9.99965236e-01 -2.70800139e-03 -6.90242319e+01] [-1.34913267e-04 2.70702159e-03 9.99996327e-01 6.08064287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28907232899996 meters 0.2672258152438424 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.02, Z:60.81 [[ 9.99962970e-01 8.47065883e-03 -1.51860805e-03 -3.69053111e+01] [-8.47615673e-03 9.99957411e-01 -3.65122753e-03 -6.90198394e+01] [ 1.48761507e-03 3.66396428e-03 9.99992181e-01 6.08069582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319072329 meters 0.2789549954384137 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.81 [[ 9.99958872e-01 8.71310969e-03 -2.51709649e-03 -3.69026794e+01] [-8.72277678e-03 9.99954523e-01 -3.85546846e-03 -6.90183344e+01] [ 2.48338890e-03 3.87726597e-03 9.99989400e-01 6.08069427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34907232899997 meters 0.29712834886416684 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.02, Z:60.81 [[ 9.99957914e-01 8.58322483e-03 -3.24017040e-03 -3.69010643e+01] [-8.59761071e-03 9.99953128e-01 -4.45234562e-03 -6.90163415e+01] [ 3.20180304e-03 4.48001596e-03 9.99984839e-01 6.08074237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379072329 meters 0.275899225208235 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.01, Z:60.81 [[ 9.99913504e-01 1.25201820e-02 -4.02868559e-03 -3.68991484e+01] [-1.25262485e-02 9.99920442e-01 -1.48411855e-03 -6.90121128e+01] [ 4.00978364e-03 1.53445450e-03 9.99990783e-01 6.08080018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40907232899997 meters 0.2674171003776224 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.01, Z:60.81 [[ 9.99912728e-01 1.23852837e-02 -4.59792809e-03 -3.68980089e+01] [-1.23943099e-02 9.99921306e-01 -1.93983158e-03 -6.90107258e+01] [ 4.57354090e-03 1.99665043e-03 9.99987548e-01 6.08085018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43907232899994 meters 0.2555169808973447 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.01, Z:60.81 [[ 9.99906337e-01 1.25292374e-02 -5.50780798e-03 -3.68957568e+01] [-1.25412916e-02 9.99919023e-01 -2.15950149e-03 -6.90095311e+01] [ 5.48030507e-03 2.22837425e-03 9.99982500e-01 6.08086760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46907232899997 meters 0.252964633593285 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.01, Z:60.81 [[ 9.99909680e-01 1.21656028e-02 -5.71228593e-03 -3.68956659e+01] [-1.21821755e-02 9.99921660e-01 -2.87546792e-03 -6.90075726e+01] [ 5.67685663e-03 2.94479628e-03 9.99979551e-01 6.08093601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49907232899994 meters 0.2903478252959043 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.01, Z:60.82 [[ 9.99938628e-01 6.10401436e-03 -9.24562808e-03 -3.68855390e+01] [-6.07266282e-03 9.99975729e-01 3.41524381e-03 -6.90134306e+01] [ 9.26625038e-03 -3.35888863e-03 9.99951426e-01 6.08163338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.529072329 meters 0.24432926592714688 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.01, Z:60.82 [[ 9.99947344e-01 2.01342187e-03 -1.00625850e-02 -3.68837351e+01] [-2.02116734e-03 9.99997669e-01 -7.59619127e-04 -6.90133271e+01] [ 1.00610321e-02 7.79917297e-04 9.99949082e-01 6.08166369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55907232899995 meters 0.29436450018286836 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.01, Z:60.82 [[ 9.99951978e-01 2.08373632e-03 -9.57601375e-03 -3.68847741e+01] [-2.08839789e-03 9.99997706e-01 -4.76822305e-04 -6.90142081e+01] [ 9.57499820e-03 4.96797934e-04 9.99954035e-01 6.08163495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.589072329 meters 0.24485377805915692 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99956416e-01 2.15439314e-03 -9.08433870e-03 -3.68857210e+01] [-2.15623767e-03 9.99997657e-01 -1.93255492e-04 -6.90150165e+01] [ 9.08390106e-03 2.12835062e-04 9.99958718e-01 6.08159050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61907232899995 meters 0.2837291084798168 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.81 [[ 9.99962531e-01 -1.61104821e-03 -8.50538911e-03 -3.68865061e+01] [ 1.58406446e-03 9.99993694e-01 -3.17833225e-03 -6.90187444e+01] [ 8.51045593e-03 3.16474008e-03 9.99958777e-01 6.08147809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.649072329 meters 0.28395692913321363 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.81 [[ 9.99968710e-01 -1.49719137e-03 -7.76766997e-03 -3.68880405e+01] [ 1.47619679e-03 9.99995244e-01 -2.70784570e-03 -6.90201950e+01] [ 7.77168719e-03 2.69629437e-03 9.99966165e-01 6.08142689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67907232899995 meters 0.2801232263570153 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.81 [[ 9.99976884e-01 -1.42307052e-03 -6.64878764e-03 -3.68905445e+01] [ 1.41081756e-03 9.99997299e-01 -1.84721434e-03 -6.90231393e+01] [ 6.65139840e-03 1.83779142e-03 9.99976190e-01 6.08136328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.709072329 meters 0.2711421468260482 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.81 [[ 9.99984602e-01 -1.59233036e-03 -5.31608362e-03 -3.68936361e+01] [ 1.58527355e-03 9.99997857e-01 -1.33139421e-03 -6.90254922e+01] [ 5.31819225e-03 1.32294626e-03 9.99984983e-01 6.08131730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73907232899995 meters 0.3230204498988169 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99990080e-01 -1.36537325e-03 -4.23976709e-03 -3.68960817e+01] [ 1.36506693e-03 9.99999065e-01 -7.51417948e-05 -6.90295376e+01] [ 4.23986572e-03 6.93534835e-05 9.99991009e-01 6.08125315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.769072329 meters 0.2841673463909047 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99975606e-01 -5.39463957e-03 -4.43684651e-03 -3.68951972e+01] [ 5.37730809e-03 9.99977902e-01 -3.90895767e-03 -6.90306644e+01] [ 4.45783588e-03 3.88500403e-03 9.99982517e-01 6.08120561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79907232899996 meters 0.24433434492706618 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99979860e-01 -5.36038550e-03 -3.39791326e-03 -3.68974709e+01] [ 5.34967695e-03 9.99980720e-01 -3.15279967e-03 -6.90331770e+01] [ 3.41474797e-03 3.13455843e-03 9.99989257e-01 6.08113837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.829072329 meters 0.30581636546231605 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99982523e-01 -5.29776213e-03 -2.62421797e-03 -3.68990127e+01] [ 5.29038568e-03 9.99982058e-01 -2.80992550e-03 -6.90342185e+01] [ 2.63905721e-03 2.79599326e-03 9.99992609e-01 6.08107715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85907232899996 meters 0.2459069054027404 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99983483e-01 -5.55965729e-03 -1.45767588e-03 -3.69017501e+01] [ 5.55596197e-03 9.99981373e-01 -2.52699155e-03 -6.90356678e+01] [ 1.47169794e-03 2.51885102e-03 9.99995745e-01 6.08104131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.889072329 meters 0.24493282892864746 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99980590e-01 -6.22940519e-03 1.16112472e-04 -3.69053487e+01] [ 6.22962511e-03 9.99978593e-01 -2.00116611e-03 -6.90386408e+01] [-1.03643912e-04 2.00185061e-03 9.99997991e-01 6.08095205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91907232899996 meters 0.267692100720977 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99981871e-01 -6.02051074e-03 -1.05366670e-04 -3.69045405e+01] [ 6.02032092e-03 9.99980403e-01 -1.71756529e-03 -6.90391893e+01] [ 1.15705226e-04 1.71689981e-03 9.99998519e-01 6.08091756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.949072329 meters 0.28209136930967016 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99980614e-01 -6.21204141e-03 4.27446719e-04 -3.69057611e+01] [ 6.21283861e-03 9.99978915e-01 -1.88970254e-03 -6.90387255e+01] [-4.15698795e-04 1.89232156e-03 9.99998123e-01 6.08090541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97907232899996 meters 0.2742773133493888 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99981532e-01 -6.03655724e-03 7.04381121e-04 -3.69061811e+01] [ 6.03758936e-03 9.99980689e-01 -1.47247431e-03 -6.90398606e+01] [-6.95478844e-04 1.47669988e-03 9.99998668e-01 6.08086350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.009072329 meters 0.3233271596421895 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99980637e-01 -5.95794818e-03 1.79687473e-03 -3.69084333e+01] [ 5.95905419e-03 9.99982058e-01 -6.10793573e-04 -6.90426199e+01] [-1.79320342e-03 6.21489420e-04 9.99998199e-01 6.08077251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03907232899996 meters 0.2698317872604911 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99981247e-01 -5.70765299e-03 2.21998725e-03 -3.69091013e+01] [ 5.70767548e-03 9.99983711e-01 -3.79526829e-06 -6.90443029e+01] [-2.21992943e-03 1.64661639e-05 9.99997536e-01 6.08071025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.069072329 meters 0.24980853891020594 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99978399e-01 -5.70521216e-03 3.26362954e-03 -3.69109569e+01] [ 5.70301578e-03 9.99983505e-01 6.81897881e-04 -6.90463129e+01] [-3.26746608e-03 -6.63270621e-04 9.99994442e-01 6.08057994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09907232899997 meters 0.2707622965717074 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99976667e-01 -5.67337746e-03 3.80504699e-03 -3.69121412e+01] [ 5.66988467e-03 9.99983495e-01 9.28097892e-04 -6.90470576e+01] [-3.81024964e-03 -9.06502059e-04 9.99992330e-01 6.08055697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.129072329 meters 0.2940636260922365 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99974770e-01 -5.72504487e-03 4.20505944e-03 -3.69129748e+01] [ 5.72103129e-03 9.99983168e-01 9.65872307e-04 -6.90471505e+01] [-4.21051832e-03 -9.41790662e-04 9.99990692e-01 6.08053032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15907232899997 meters 0.28555911987017135 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99974146e-01 -5.75786338e-03 4.30736557e-03 -3.69133105e+01] [ 5.75383095e-03 9.99982997e-01 9.47977514e-04 -6.90471301e+01] [-4.31275066e-03 -9.23169152e-04 9.99990274e-01 6.08054532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18907232899994 meters 0.27401091048701537 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99970485e-01 -5.84025081e-03 4.99210490e-03 -3.69150135e+01] [ 5.83476764e-03 9.99982359e-01 1.11222700e-03 -6.90478805e+01] [-4.99851252e-03 -1.08306640e-03 9.99986921e-01 6.08054521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21907232899997 meters 0.2758382901763226 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99971655e-01 -5.84185323e-03 4.75000616e-03 -3.69145110e+01] [ 5.83707815e-03 9.99982445e-01 1.01852186e-03 -6.90475866e+01] [-4.75587283e-03 -9.90766828e-04 9.99988200e-01 6.08056371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24907232899994 meters 0.29343251272306614 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99965829e-01 -6.07431271e-03 5.60750474e-03 -3.69162794e+01] [ 6.06927951e-03 9.99981164e-01 9.14163888e-04 -6.90474729e+01] [-5.61295204e-03 -8.80099136e-04 9.99983860e-01 6.08051827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279072329 meters 0.2614918386386012 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99960497e-01 -6.15792876e-03 6.40962993e-03 -3.69179863e+01] [ 6.15098452e-03 9.99980475e-01 1.10255710e-03 -6.90481196e+01] [-6.41629425e-03 -1.06308802e-03 9.99978850e-01 6.08047304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30907232899995 meters 0.2634864206015496 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99962462e-01 -6.10420648e-03 6.14922972e-03 -3.69174677e+01] [ 6.09744389e-03 9.99980786e-01 1.11789419e-03 -6.90482057e+01] [-6.15593542e-03 -1.08035764e-03 9.99980468e-01 6.08049283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339072329 meters 0.29606256321817204 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99959611e-01 -6.07165139e-03 6.62655233e-03 -3.69184543e+01] [ 6.06260367e-03 9.99980664e-01 1.38460778e-03 -6.90490221e+01] [-6.63483105e-03 -1.34437770e-03 9.99977086e-01 6.08045841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36907232899995 meters 0.29344339327752933 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99957341e-01 -6.10940558e-03 6.92751580e-03 -3.69189135e+01] [ 6.09974922e-03 9.99980396e-01 1.41418611e-03 -6.90489740e+01] [-6.93601984e-03 -1.37186967e-03 9.99975004e-01 6.08041413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399072329 meters 0.2770081361911506 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99957323e-01 -6.02775290e-03 7.00131685e-03 -3.69189739e+01] [ 6.01676177e-03 9.99980635e-01 1.58986857e-03 -6.90494743e+01] [-7.01076461e-03 -1.54767546e-03 9.99974227e-01 6.08039249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42907232899995 meters 0.2697094016877014 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99955740e-01 -6.00933511e-03 7.23925089e-03 -3.69194972e+01] [ 5.99717012e-03 9.99980570e-01 1.70095853e-03 -6.90498077e+01] [-7.24933186e-03 -1.65746823e-03 9.99972350e-01 6.08038024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459072329 meters 0.2649610853107873 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99953808e-01 -6.07187309e-03 7.45077576e-03 -3.69201040e+01] [ 6.05973416e-03 9.99980277e-01 1.65071227e-03 -6.90497628e+01] [-7.46065173e-03 -1.60548630e-03 9.99970880e-01 6.08039058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48907232899995 meters 0.25956349552897534 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99954186e-01 -6.16634445e-03 7.32139590e-03 -3.69201151e+01] [ 6.15604156e-03 9.99980030e-01 1.42893398e-03 -6.90492642e+01] [-7.33006100e-03 -1.38379770e-03 9.99972177e-01 6.08044224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519072329 meters 0.2582919149038053 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.80 [[ 9.99952043e-01 -6.32859377e-03 7.47397546e-03 -3.69208369e+01] [ 6.31997475e-03 9.99979337e-01 1.17625986e-03 -6.90487243e+01] [-7.48126509e-03 -1.12896811e-03 9.99971378e-01 6.08049326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54907232899996 meters 0.26326543011537046 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99956189e-01 -6.42801422e-03 6.80438981e-03 -3.69196188e+01] [ 6.42309032e-03 9.99979094e-01 7.45242331e-04 -6.90475555e+01] [-6.80903798e-03 -7.01504471e-04 9.99976572e-01 6.08056640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579072329 meters 0.2725458910468357 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99966046e-01 -6.21770148e-03 5.40800614e-03 -3.69166922e+01] [ 6.21641958e-03 9.99980646e-01 2.53814994e-04 -6.90455069e+01] [-5.40947961e-03 -2.20187941e-04 9.99985344e-01 6.08066597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60907232899996 meters 0.2601802391315659 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99967691e-01 -6.44285071e-03 4.80697049e-03 -3.69156005e+01] [ 6.44507471e-03 9.99979130e-01 -4.47314001e-04 -6.90434897e+01] [-4.80398819e-03 4.78280832e-04 9.99988346e-01 6.08074024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639072329 meters 0.24176391516159468 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99969901e-01 -6.38377065e-03 4.40966763e-03 -3.69145609e+01] [ 6.38622041e-03 9.99979461e-01 -5.41685327e-04 -6.90429934e+01] [-4.40611907e-03 5.69830132e-04 9.99990131e-01 6.08074267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66907232899996 meters 0.26699845828090774 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99966611e-01 -6.42261070e-03 5.05234973e-03 -3.69159528e+01] [ 6.42460035e-03 9.99979291e-01 -3.77674916e-04 -6.90435715e+01] [-5.04981944e-03 4.10121633e-04 9.99987165e-01 6.08070993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699072329 meters 0.2680538166729594 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99969376e-01 -6.09928697e-03 4.90354795e-03 -3.69153439e+01] [ 6.09868244e-03 9.99981393e-01 1.38228572e-04 -6.90449388e+01] [-4.90429980e-03 -1.08319157e-04 9.99987968e-01 6.08067549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72907232899996 meters 0.2680538166729594 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99969376e-01 -6.09928697e-03 4.90354795e-03 -3.69153439e+01] [ 6.09868244e-03 9.99981393e-01 1.38228572e-04 -6.90449388e+01] [-4.90429980e-03 -1.08319157e-04 9.99987968e-01 6.08067549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759072329 meters 0.27840322310358495 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99969776e-01 -5.96773784e-03 4.98336128e-03 -3.69153754e+01] [ 5.96587981e-03 9.99982129e-01 3.87628994e-04 -6.90456086e+01] [-4.98558549e-03 -3.57887144e-04 9.99987508e-01 6.08064998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78907232899996 meters 0.26214903007354046 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99970279e-01 -5.94039108e-03 4.91458062e-03 -3.69153257e+01] [ 5.93847455e-03 9.99982285e-01 4.04469305e-04 -6.90456929e+01] [-4.91689626e-03 -3.75272172e-04 9.99987842e-01 6.08067163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819072329 meters 0.2537813982968442 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99968524e-01 -5.98344002e-03 5.21053896e-03 -3.69159838e+01] [ 5.98138751e-03 9.99982028e-01 4.09410505e-04 -6.90457022e+01] [-5.21289500e-03 -3.78231366e-04 9.99986341e-01 6.08065937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84907232899997 meters 0.24171175882995521 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99966694e-01 -5.78375708e-03 5.75836773e-03 -3.69169043e+01] [ 5.77784268e-03 9.99982764e-01 1.04320260e-03 -6.90474847e+01] [-5.76430211e-03 -1.00989691e-03 9.99982876e-01 6.08058130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879072329 meters 0.24244847369861672 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99966550e-01 -5.77063536e-03 5.79649478e-03 -3.69169926e+01] [ 5.76445444e-03 9.99982800e-01 1.08246238e-03 -6.90476180e+01] [-5.80264157e-03 -1.04901254e-03 9.99982614e-01 6.08057907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90907232899997 meters 0.3966788855146363 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99971916e-01 -5.54644359e-03 5.04028757e-03 -3.69149864e+01] [ 5.54063292e-03 9.99983971e-01 1.16607659e-03 -6.90473274e+01] [-5.04667436e-03 -1.13811746e-03 9.99986618e-01 6.08056309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93907232899994 meters 0.24334945440093383 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99968596e-01 -5.91931123e-03 5.26963018e-03 -3.69153342e+01] [ 5.91635275e-03 9.99982332e-01 5.76833885e-04 -6.90454430e+01] [-5.27295154e-03 -5.45638779e-04 9.99985949e-01 6.08053729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96907232899997 meters 0.26318627473818595 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99974487e-01 -5.60450372e-03 4.42882036e-03 -3.69129468e+01] [ 5.60147453e-03 9.99984069e-01 6.96080896e-04 -6.90449428e+01] [-4.43265099e-03 -6.71255213e-04 9.99989950e-01 6.08050545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99907232899994 meters 0.2955787320220528 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99972092e-01 -5.86876318e-03 4.62297050e-03 -3.69135346e+01] [ 5.86746173e-03 9.99982743e-01 2.95030751e-04 -6.90437991e+01] [-4.62462218e-03 -2.67897415e-04 9.99989270e-01 6.08052344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.029072329 meters 0.32989307976345816 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99986733e-01 -1.94213449e-03 4.77098050e-03 -3.69143615e+01] [ 1.92301586e-03 9.99990117e-01 4.00860052e-03 -6.90422489e+01] [-4.77871859e-03 -3.99937267e-03 9.99980584e-01 6.08057907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05907232899995 meters 0.23224454941378309 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99988252e-01 -2.07443298e-03 4.38087999e-03 -3.69137116e+01] [ 2.05845122e-03 9.99991222e-01 3.64943363e-03 -6.90412573e+01] [-4.38841204e-03 -3.64037293e-03 9.99983745e-01 6.08063188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.089072329 meters 0.2402002756959927 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99990452e-01 -2.45902394e-03 3.61227034e-03 -3.69122729e+01] [ 2.44997583e-03 9.99993856e-01 2.50712143e-03 -6.90378950e+01] [-3.61841322e-03 -2.49824752e-03 9.99990333e-01 6.08072390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11907232899995 meters 0.23293736717598562 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99989865e-01 -2.38081304e-03 3.82129238e-03 -3.69128386e+01] [ 2.37047323e-03 9.99993524e-01 2.70809179e-03 -6.90385673e+01] [-3.82771510e-03 -2.69900607e-03 9.99989032e-01 6.08072957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.149072329 meters 0.22967082498932476 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99984964e-01 -2.51455565e-03 4.87328057e-03 -3.69156445e+01] [ 2.49888518e-03 9.99991697e-01 3.21901492e-03 -6.90410694e+01] [-4.88133450e-03 -3.20678875e-03 9.99982944e-01 6.08074457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17907232899995 meters 0.30114556406125964 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99980968e-01 -2.56992450e-03 5.60885659e-03 -3.69174649e+01] [ 2.55065358e-03 9.99990829e-01 3.44025575e-03 -6.90420420e+01] [-5.61764635e-03 -3.42588403e-03 9.99978352e-01 6.08073966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.209072329 meters 0.2964462144167002 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99977387e-01 -2.49616405e-03 6.24460367e-03 -3.69189153e+01] [ 2.47225740e-03 9.99989597e-01 3.83316290e-03 -6.90433318e+01] [-6.25410691e-03 -3.81763795e-03 9.99973156e-01 6.08071107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23907232899995 meters 0.2633992264208849 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99971092e-01 -2.61033182e-03 7.14156961e-03 -3.69211984e+01] [ 2.57917551e-03 9.99987132e-01 4.36840699e-03 -6.90455611e+01] [-7.15288071e-03 -4.34986134e-03 9.99964957e-01 6.08069307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.269072329 meters 0.25416917360427826 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99965352e-01 -2.80471078e-03 7.83758305e-03 -3.69225944e+01] [ 2.77163870e-03 9.99987224e-01 4.22735891e-03 -6.90452334e+01] [-7.84933943e-03 -4.20548950e-03 9.99960350e-01 6.08063910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29907232899996 meters 0.31738404108642604 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99964818e-01 -2.52936109e-03 7.99783898e-03 -3.69227083e+01] [ 2.49110728e-03 9.99985428e-01 4.78936810e-03 -6.90468468e+01] [-8.00983648e-03 -4.76927612e-03 9.99956547e-01 6.08058795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.329072329 meters 0.3175722165646172 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99964106e-01 -2.46105693e-03 8.10737370e-03 -3.69226148e+01] [ 2.42094466e-03 9.99984800e-01 4.95373247e-03 -6.90471826e+01] [-8.11944189e-03 -4.93392716e-03 9.99954864e-01 6.08052779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35907232899996 meters 0.30681017727492127 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99958300e-01 -2.91110088e-03 8.65582623e-03 -3.69242147e+01] [ 2.87308992e-03 9.99986190e-01 4.40056959e-03 -6.90459305e+01] [-8.66851719e-03 -4.37551712e-03 9.99952855e-01 6.08055678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.389072329 meters 0.30603698636053045 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99955859e-01 -2.98921610e-03 8.90752857e-03 -3.69249642e+01] [ 2.95034340e-03 9.99986082e-01 4.37397790e-03 -6.90460249e+01] [-8.92047936e-03 -4.34750456e-03 9.99950761e-01 6.08056845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41907232899996 meters 0.289817269910492 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99930434e-01 -6.89888174e-03 9.56726716e-03 -3.69263589e+01] [ 6.88898416e-03 9.99975701e-01 1.06709498e-03 -6.90491260e+01] [-9.57439645e-03 -1.00111200e-03 9.99953663e-01 6.08053095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.449072329 meters 0.28282574163257185 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99923304e-01 -6.96542215e-03 1.02405095e-02 -3.69279659e+01] [ 6.95393316e-03 9.99975152e-01 1.15709539e-03 -6.90495494e+01] [-1.02483147e-02 -1.08579483e-03 9.99946895e-01 6.08051800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47907232899996 meters 0.2770791743488325 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99913881e-01 -6.99484948e-03 1.11041439e-02 -3.69300564e+01] [ 6.97831267e-03 9.99974485e-01 1.52729416e-03 -6.90509809e+01] [-1.11145438e-02 -1.44967444e-03 9.99937181e-01 6.08050559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.509072329 meters 0.26634417990526166 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99909943e-01 -7.00590523e-03 1.14465050e-02 -3.69310838e+01] [ 6.98774097e-03 9.99974263e-01 1.62610714e-03 -6.90514858e+01] [-1.14576028e-02 -1.54597548e-03 9.99933164e-01 6.08052751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53907232899996 meters 0.2587387953296918 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.80 [[ 9.99906386e-01 -7.13741168e-03 1.16737595e-02 -3.69313488e+01] [ 7.12062996e-03 9.99973555e-01 1.47849232e-03 -6.90509485e+01] [-1.16840034e-02 -1.39522939e-03 9.99930766e-01 6.08047766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.569072329 meters 0.25915948282776935 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.80 [[ 9.99909855e-01 -6.92475082e-03 1.15034820e-02 -3.69307707e+01] [ 6.90432976e-03 9.99974520e-01 1.81397307e-03 -6.90518637e+01] [-1.15157502e-02 -1.73438572e-03 9.99932187e-01 6.08045358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59907232899997 meters 0.2601363683290658 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.80 [[ 9.99916549e-01 -7.04891119e-03 1.08262187e-02 -3.69291321e+01] [ 7.03672463e-03 9.99974565e-01 1.16333228e-03 -6.90496085e+01] [-1.08341435e-02 -1.08705408e-03 9.99940718e-01 6.08047314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.629072329 meters 0.2572975164057883 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99918465e-01 -7.00873458e-03 1.06742836e-02 -3.69290638e+01] [ 6.99651793e-03 9.99974826e-01 1.18140694e-03 -6.90498327e+01] [-1.06822951e-02 -1.10662780e-03 9.99942330e-01 6.08051986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65907232899997 meters 0.2560567178596038 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99923125e-01 -7.04135794e-03 1.02060200e-02 -3.69283607e+01] [ 7.03220192e-03 9.99974839e-01 9.32728953e-04 -6.90493050e+01] [-1.02123309e-02 -8.60886456e-04 9.99947482e-01 6.08059239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68907232899994 meters 0.2439672150728435 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99947185e-01 -3.32264594e-03 9.72564353e-03 -3.69276413e+01] [ 3.28410882e-03 9.99986704e-01 3.97571586e-03 -6.90455655e+01] [-9.73872411e-03 -3.94356581e-03 9.99944801e-01 6.08066375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71907232899997 meters 0.23971460440286393 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99952763e-01 -3.40597253e-03 9.10340239e-03 -3.69261693e+01] [ 3.37345590e-03 9.99987884e-01 3.58489182e-03 -6.90442311e+01] [-9.11550214e-03 -3.55401255e-03 9.99952137e-01 6.08067858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74907232899994 meters 0.2629617993581959 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99962414e-01 -3.33597970e-03 8.00258890e-03 -3.69235836e+01] [ 3.31414866e-03 9.99990755e-01 2.73970804e-03 -6.90409661e+01] [-8.01165453e-03 -2.71308330e-03 9.99964226e-01 6.08073002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779072329 meters 0.2683144030913465 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99962097e-01 -3.46041568e-03 7.98939542e-03 -3.69238246e+01] [ 3.44043357e-03 9.99990923e-01 2.51346905e-03 -6.90404487e+01] [-7.99802055e-03 -2.48588680e-03 9.99964925e-01 6.08076893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80907232899995 meters 0.2827901409194192 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99962577e-01 -3.49177057e-03 7.91528016e-03 -3.69239541e+01] [ 3.47266859e-03 9.99991028e-01 2.42576419e-03 -6.90403629e+01] [-7.92367935e-03 -2.39818627e-03 9.99965731e-01 6.08081586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839072329 meters 0.25795133078288507 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99964328e-01 -3.75217245e-03 7.56724484e-03 -3.69235998e+01] [ 3.73858187e-03 9.99991375e-01 1.80932107e-03 -6.90387641e+01] [-7.57396845e-03 -1.78096577e-03 9.99969731e-01 6.08089685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86907232899995 meters 0.266346425679435 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99964558e-01 -3.98539697e-03 7.41614286e-03 -3.69239601e+01] [ 3.97582390e-03 9.99991245e-01 1.30513831e-03 -6.90376651e+01] [-7.42127942e-03 -1.27560678e-03 9.99971648e-01 6.08101386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899072329 meters 0.2704890458264548 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99963250e-01 -4.09672551e-03 7.53098569e-03 -3.69244817e+01] [ 4.08822908e-03 9.99990990e-01 1.14324462e-03 -6.90373350e+01] [-7.53560140e-03 -1.11241421e-03 9.99970988e-01 6.08104779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92907232899995 meters 0.2613983312613995 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99965265e-01 -4.17949900e-03 7.21114473e-03 -3.69239187e+01] [ 4.17326028e-03 9.99990905e-01 8.79979207e-04 -6.90366240e+01] [-7.21475702e-03 -8.49854657e-04 9.99973612e-01 6.08108422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959072329 meters 0.24103134390354278 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99965137e-01 -4.29640679e-03 7.16000418e-03 -3.69237243e+01] [ 4.29181648e-03 9.99990575e-01 6.56345486e-04 -6.90358823e+01] [-7.16275663e-03 -6.25593180e-04 9.99974151e-01 6.08107456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98907232899995 meters 0.3000364713243735 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99971084e-01 -4.06108831e-03 6.42944598e-03 -3.69215927e+01] [ 4.05668719e-03 9.99991528e-01 6.97419282e-04 -6.90351945e+01] [-6.43222379e-03 -6.71316865e-04 9.99979088e-01 6.08102589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019072329 meters 0.29916724530765043 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99973213e-01 -3.88441600e-03 6.20363947e-03 -3.69207912e+01] [ 3.87863027e-03 9.99992032e-01 9.44393286e-04 -6.90357603e+01] [-6.20725846e-03 -9.20306364e-04 9.99980311e-01 6.08099168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04907232899996 meters 0.262292669287583 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99973844e-01 -3.89249493e-03 6.09589564e-03 -3.69204403e+01] [ 3.88720444e-03 9.99992058e-01 8.79485166e-04 -6.90354546e+01] [-6.09927062e-03 -8.55766169e-04 9.99981033e-01 6.08098325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079072329 meters 0.21430649610235616 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99977318e-01 -4.07437235e-03 5.36317179e-03 -3.69191939e+01] [ 4.07485862e-03 9.99991695e-01 -7.97443478e-05 -6.90327302e+01] [-5.36280234e-03 1.01596706e-04 9.99985615e-01 6.08109729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10907232899996 meters 0.21313660247323818 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.03, Z:60.81 [[ 9.99978660e-01 -4.15119149e-03 5.04459924e-03 -3.69185570e+01] [ 4.15280442e-03 9.99991329e-01 -3.09300063e-04 -6.90320437e+01] [-5.04327153e-03 3.30242697e-04 9.99987228e-01 6.08112422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139072329 meters 0.2688899708167524 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99997245e-01 2.26354790e-03 6.20985714e-04 -3.69067267e+01] [-2.26401834e-03 9.99997150e-01 7.57918656e-04 -6.90352352e+01] [-6.19268359e-04 -7.59322491e-04 9.99999520e-01 6.08147013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16907232899996 meters 0.23888782138247724 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.82 [[ 9.99996351e-01 2.58048768e-03 -7.99224633e-04 -3.69035110e+01] [-2.58040630e-03 9.99996665e-01 1.02837354e-04 -6.90323832e+01] [ 7.99487339e-04 -1.00774655e-04 9.99999675e-01 6.08155524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199072329 meters 0.28740887060072623 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99940415e-01 9.67325853e-03 -5.05911482e-03 -3.68941102e+01] [-9.66331563e-03 9.99951337e-01 1.98610895e-03 -6.90303131e+01] [ 5.07808077e-03 -1.93710278e-03 9.99985230e-01 6.08209467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22907232899996 meters 0.2705731763047423 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99942119e-01 9.32411334e-03 -5.36833073e-03 -3.68939611e+01] [-9.31749096e-03 9.99955801e-01 1.25729339e-03 -6.90284263e+01] [ 5.37981660e-03 -1.20720124e-03 9.99984800e-01 6.08219137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259072329 meters 0.2716978016157766 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99960681e-01 6.16766832e-03 -6.37154606e-03 -3.68906905e+01] [-6.18139067e-03 9.99978613e-01 -2.13624835e-03 -6.90287049e+01] [ 6.35823413e-03 2.17554937e-03 9.99977420e-01 6.08210628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28907232899996 meters 0.259081662444683 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99956403e-01 6.35505679e-03 -6.84146491e-03 -3.68894135e+01] [-6.36920279e-03 9.99977619e-01 -2.04788732e-03 -6.90286305e+01] [ 6.82829736e-03 2.09137272e-03 9.99974500e-01 6.08210093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319072329 meters 0.24339632911604805 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99951937e-01 6.40745502e-03 -7.42074192e-03 -3.68878659e+01] [-6.42390573e-03 9.99976957e-01 -2.19514555e-03 -6.90277918e+01] [ 7.40650562e-03 2.24271019e-03 9.99970057e-01 6.08209529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34907232899997 meters 0.25677676814875783 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99951899e-01 6.10587961e-03 -7.67581954e-03 -3.68872094e+01] [-6.12776150e-03 9.99977219e-01 -2.83047851e-03 -6.90257338e+01] [ 7.65836211e-03 2.87737795e-03 9.99966535e-01 6.08210298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379072329 meters 0.2792442978560011 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99953844e-01 6.16757491e-03 -7.36691447e-03 -3.68879759e+01] [-6.18713146e-03 9.99977388e-01 -2.63481136e-03 -6.90263698e+01] [ 7.35049749e-03 2.68026981e-03 9.99969393e-01 6.08210408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40907232899997 meters 0.2326709151383845 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99955053e-01 6.23389139e-03 -7.14354729e-03 -3.68884670e+01] [-6.25147632e-03 9.99977478e-01 -2.44197252e-03 -6.90269678e+01] [ 7.12816341e-03 2.48652048e-03 9.99971503e-01 6.08209100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43907232899994 meters 0.248380312850493 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99954671e-01 6.19260706e-03 -7.23236173e-03 -3.68879217e+01] [-6.21113738e-03 9.99977478e-01 -2.54249544e-03 -6.90263638e+01] [ 7.21645417e-03 2.58730139e-03 9.99970614e-01 6.08205056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46907232899997 meters 0.27245661849204394 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99950830e-01 6.19389241e-03 -7.74427523e-03 -3.68864901e+01] [-6.21539207e-03 9.99976889e-01 -2.75522216e-03 -6.90253223e+01] [ 7.72703070e-03 2.80322040e-03 9.99966217e-01 6.08203869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49907232899994 meters 0.24757116118726472 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99950629e-01 6.17296389e-03 -7.78684539e-03 -3.68864022e+01] [-6.19501433e-03 9.99976860e-01 -2.81082026e-03 -6.90251312e+01] [ 7.76931411e-03 2.85892111e-03 9.99965732e-01 6.08204423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.529072329 meters 0.2525891672098124 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99949960e-01 6.07861351e-03 -7.94528141e-03 -3.68860886e+01] [-6.10299880e-03 9.99976730e-01 -3.04851935e-03 -6.90243861e+01] [ 7.92656575e-03 3.09685684e-03 9.99963789e-01 6.08206357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55907232899995 meters 0.296730509164925 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99952581e-01 5.89842171e-03 -7.74880047e-03 -3.68866092e+01] [-5.92434805e-03 9.99976916e-01 -3.32717043e-03 -6.90236142e+01] [ 7.72899654e-03 3.37291925e-03 9.99964442e-01 6.08206977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.589072329 meters 0.2746824347422097 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99949195e-01 5.87746177e-03 -8.18919587e-03 -3.68856159e+01] [-5.90629112e-03 9.99976430e-01 -3.50068759e-03 -6.90229765e+01] [ 8.16842770e-03 3.54887751e-03 9.99960340e-01 6.08209341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61907232899995 meters 0.2746824347422097 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99949195e-01 5.87746177e-03 -8.18919587e-03 -3.68856159e+01] [-5.90629112e-03 9.99976430e-01 -3.50068759e-03 -6.90229765e+01] [ 8.16842770e-03 3.54887751e-03 9.99960340e-01 6.08209341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.649072329 meters 0.28861761023767385 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.02, Z:60.82 [[ 9.99947110e-01 5.71808395e-03 -8.54871639e-03 -3.68849764e+01] [-5.75184867e-03 9.99975734e-01 -3.93032814e-03 -6.90216863e+01] [ 8.52603500e-03 3.97929119e-03 9.99955735e-01 6.08214524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67907232899995 meters 0.27725461972791304 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99948156e-01 5.61923013e-03 -8.49170753e-03 -3.68854923e+01] [-5.65435342e-03 9.99975535e-01 -4.11785547e-03 -6.90213200e+01] [ 8.46836061e-03 4.16565710e-03 9.99955466e-01 6.08220702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.709072329 meters 0.27384091089744045 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99951385e-01 5.67566181e-03 -8.06315576e-03 -3.68863224e+01] [-5.70723343e-03 9.99976116e-01 -3.89794303e-03 -6.90219309e+01] [ 8.04083977e-03 3.94377185e-03 9.99959895e-01 6.08216822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73907232899995 meters 0.2817063302271088 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99955537e-01 5.80079821e-03 -7.43472768e-03 -3.68874887e+01] [-5.82650192e-03 9.99977108e-01 -3.44026482e-03 -6.90232035e+01] [ 7.41460120e-03 3.48343031e-03 9.99966444e-01 6.08210126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.769072329 meters 0.27811646403428797 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.02, Z:60.82 [[ 9.99957433e-01 5.92155747e-03 -7.07578843e-03 -3.68880138e+01] [-5.94371649e-03 9.99977485e-01 -3.11475303e-03 -6.90240205e+01] [ 7.05718493e-03 3.15667692e-03 9.99970115e-01 6.08204353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79907232899996 meters 0.25078503495438537 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99972732e-01 1.99402873e-03 -7.11048845e-03 -3.68875873e+01] [-2.04136490e-03 9.99975764e-01 -6.65620063e-03 -6.90260900e+01] [ 7.09704346e-03 6.67053423e-03 9.99952567e-01 6.08198927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.829072329 meters 0.2623281930428298 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99978900e-01 2.11365596e-03 -6.14264049e-03 -3.68896774e+01] [-2.15072671e-03 9.99979478e-01 -6.03465851e-03 -6.90280962e+01] [ 6.12975924e-03 6.04774232e-03 9.99962925e-01 6.08193647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85907232899996 meters 0.24230094341076847 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99995153e-01 -2.73635122e-03 -1.48542021e-03 -3.69021442e+01] [ 2.72973701e-03 9.99986432e-01 -4.43666935e-03 -6.90282425e+01] [ 1.49754034e-03 4.43259304e-03 9.99989055e-01 6.08147652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.889072329 meters 0.2437319971219404 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99996529e-01 -2.57010410e-03 -5.79275443e-04 -3.69039078e+01] [ 2.56792840e-03 9.99989762e-01 -3.72586630e-03 -6.90303119e+01] [ 5.88845376e-04 3.72436583e-03 9.99992891e-01 6.08138996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91907232899996 meters 0.24399643994308756 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.81 [[ 9.99997007e-01 -2.44387431e-03 1.17324174e-04 -3.69051503e+01] [ 2.44424395e-03 9.99991695e-01 -3.26114798e-03 -6.90315542e+01] [-1.09353364e-04 3.26142499e-03 9.99994676e-01 6.08131128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.949072329 meters 0.22493550399861084 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.81 [[ 9.99995233e-01 -2.75076544e-03 1.40235921e-03 -3.69082228e+01] [ 2.75427897e-03 9.99993058e-01 -2.50969485e-03 -6.90347349e+01] [-1.39544590e-03 2.51354537e-03 9.99995867e-01 6.08125396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97907232899996 meters 0.22678837204032468 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99994227e-01 -2.65612355e-03 2.11896964e-03 -3.69096633e+01] [ 2.66058002e-03 9.99994249e-01 -2.10309453e-03 -6.90359393e+01] [-2.11337138e-03 2.10872008e-03 9.99995543e-01 6.08119665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.009072329 meters 0.2599933572289317 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99975452e-01 -6.63555822e-03 2.25052031e-03 -3.69096420e+01] [ 6.64846777e-03 9.99961205e-01 -5.77811907e-03 -6.90377268e+01] [-2.21209195e-03 5.79293974e-03 9.99980774e-01 6.08115509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03907232899996 meters 0.2559214185191925 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99990893e-01 -2.67557069e-03 3.32504179e-03 -3.69124389e+01] [ 2.68063760e-03 9.99995251e-01 -1.52034148e-03 -6.90383726e+01] [-3.32095822e-03 1.52924087e-03 9.99993316e-01 6.08117112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.069072329 meters 0.24853284711114684 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99990102e-01 -2.64434931e-03 3.57809612e-03 -3.69128570e+01] [ 2.64932891e-03 9.99995528e-01 -1.38766553e-03 -6.90386843e+01] [-3.57441065e-03 1.39713135e-03 9.99992636e-01 6.08113843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09907232899997 meters 0.33482140617941786 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99987530e-01 -2.55205404e-03 4.29266899e-03 -3.69141802e+01] [ 2.55590958e-03 9.99996335e-01 -8.92921919e-04 -6.90401289e+01] [-4.29037448e-03 9.03882458e-04 9.99990388e-01 6.08105960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.129072329 meters 0.23387907699953417 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99988040e-01 -2.46693132e-03 4.22310087e-03 -3.69138584e+01] [ 2.47019153e-03 9.99996655e-01 -7.66951834e-04 -6.90404061e+01] [-4.22119472e-03 7.77374529e-04 9.99990789e-01 6.08103868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15907232899997 meters 0.2463940415040445 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99990546e-01 -2.34154215e-03 3.66389768e-03 -3.69122177e+01] [ 2.34447757e-03 9.99996934e-01 -7.97084828e-04 -6.90397878e+01] [-3.66202004e-03 8.05667219e-04 9.99992970e-01 6.08100816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18907232899994 meters 0.2821129947979062 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99990719e-01 -2.45574285e-03 3.54004708e-03 -3.69119134e+01] [ 2.45945641e-03 9.99996429e-01 -1.04504282e-03 -6.90389807e+01] [-3.53746808e-03 1.05373972e-03 9.99993188e-01 6.08101280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21907232899997 meters 0.32703195521562856 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99990096e-01 -2.63776091e-03 3.58470163e-03 -3.69122320e+01] [ 2.64269988e-03 9.99995564e-01 -1.37375239e-03 -6.90380522e+01] [-3.58106210e-03 1.38321207e-03 9.99992631e-01 6.08105006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24907232899994 meters 0.3161044060283363 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99988099e-01 -2.72445657e-03 4.04703645e-03 -3.69134650e+01] [ 2.73008379e-03 9.99995313e-01 -1.38558168e-03 -6.90381517e+01] [-4.04324252e-03 1.39661394e-03 9.99990851e-01 6.08106443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279072329 meters 0.2100940590004307 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99984383e-01 -2.56085501e-03 4.96751451e-03 -3.69155757e+01] [ 2.56427853e-03 9.99996479e-01 -6.82934566e-04 -6.90405074e+01] [-4.96574812e-03 6.95661991e-04 9.99987429e-01 6.08103106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30907232899995 meters 0.23737303234414614 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99982141e-01 -2.50536637e-03 5.42590453e-03 -3.69164278e+01] [ 2.50776757e-03 9.99996761e-01 -4.35786094e-04 -6.90411601e+01] [-5.42479515e-03 4.49385218e-04 9.99985185e-01 6.08098601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339072329 meters 0.2909793214138357 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99983205e-01 -2.36897227e-03 5.28941310e-03 -3.69159551e+01] [ 2.37025067e-03 9.99997163e-01 -2.35434000e-04 -6.90416655e+01] [-5.28884036e-03 2.47967280e-04 9.99985983e-01 6.08096638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36907232899995 meters 0.23319611444000868 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99982319e-01 -2.52186210e-03 5.38538822e-03 -3.69161736e+01] [ 2.52448252e-03 9.99996698e-01 -4.79836649e-04 -6.90408940e+01] [-5.38416036e-03 4.93423483e-04 9.99985384e-01 6.08096595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399072329 meters 0.28659521476419675 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99982715e-01 -2.71823537e-03 5.21362230e-03 -3.69158932e+01] [ 2.72287011e-03 9.99995904e-01 -8.82075447e-04 -6.90396694e+01] [-5.21120325e-03 8.96256217e-04 9.99986020e-01 6.08099432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42907232899995 meters 0.22769531433518864 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99982844e-01 -2.73484939e-03 5.18007286e-03 -3.69157235e+01] [ 2.73967367e-03 9.99995820e-01 -9.24448257e-04 -6.90394656e+01] [-5.17752298e-03 9.38624106e-04 9.99986156e-01 6.08098431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459072329 meters 0.27128004168129727 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99979656e-01 -2.67495834e-03 5.79062802e-03 -3.69167601e+01] [ 2.67863427e-03 9.99996216e-01 -6.27143285e-04 -6.90402017e+01] [-5.78892853e-03 6.42641501e-04 9.99983038e-01 6.08091062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48907232899995 meters 0.2849110848221022 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99961607e-01 -6.62767859e-03 5.73225383e-03 -3.69161416e+01] [ 6.65275766e-03 9.99968334e-01 -4.36713404e-03 -6.90416837e+01] [-5.70312835e-03 4.40510167e-03 9.99974034e-01 6.08084932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519072329 meters 0.2764372765950439 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99973442e-01 -2.42149026e-03 6.87403656e-03 -3.69187564e+01] [ 2.41887407e-03 9.99996999e-01 3.88878125e-04 -6.90433626e+01] [-6.87495760e-03 -3.72240368e-04 9.99976298e-01 6.08079160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54907232899996 meters 0.24532716709008312 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99965912e-01 -2.33005527e-03 7.92125568e-03 -3.69208714e+01] [ 2.31940138e-03 9.99996394e-01 1.35389488e-03 -6.90464263e+01] [-7.92438176e-03 -1.33547616e-03 9.99967710e-01 6.08068761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579072329 meters 0.2623326531094428 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99964948e-01 -2.37791455e-03 8.02801489e-03 -3.69213405e+01] [ 2.36752376e-03 9.99996348e-01 1.30357240e-03 -6.90464194e+01] [-8.03108535e-03 -1.28452019e-03 9.99966925e-01 6.08071536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60907232899996 meters 0.254975255587522 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99964548e-01 -2.41273922e-03 8.06729369e-03 -3.69217357e+01] [ 2.40270212e-03 9.99996328e-01 1.25363239e-03 -6.90464422e+01] [-8.07028876e-03 -1.23420465e-03 9.99966673e-01 6.08075861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639072329 meters 0.24725782464574947 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99961272e-01 -2.63987480e-03 8.39551359e-03 -3.69230320e+01] [ 2.63210272e-03 9.99996097e-01 9.36657404e-04 -6.90458886e+01] [-8.39795348e-03 -9.14523275e-04 9.99964318e-01 6.08083367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66907232899996 meters 0.21514471639740868 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99957827e-01 -2.53432020e-03 8.82729909e-03 -3.69241753e+01] [ 2.52314362e-03 9.99996001e-01 1.27704455e-03 -6.90470721e+01] [-8.83050023e-03 -1.25471815e-03 9.99960223e-01 6.08084170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699072329 meters 0.25515432253721704 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99959043e-01 -2.54738899e-03 8.68468042e-03 -3.69240359e+01] [ 2.53699158e-03 9.99996052e-01 1.20801919e-03 -6.90469580e+01] [-8.68772343e-03 -1.18593676e-03 9.99961558e-01 6.08087500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72907232899996 meters 0.21559462437124902 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99954326e-01 -2.64130307e-03 9.18524686e-03 -3.69251415e+01] [ 2.63036263e-03 9.99995817e-01 1.20296583e-03 -6.90469887e+01] [-9.18838584e-03 -1.17875036e-03 9.99957091e-01 6.08085289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759072329 meters 0.24837503258197538 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99950109e-01 -2.51647331e-03 9.66677828e-03 -3.69260019e+01] [ 2.50058048e-03 9.99995503e-01 1.65580115e-03 -6.90482195e+01] [-9.67090158e-03 -1.63154599e-03 9.99951905e-01 6.08079609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78907232899996 meters 0.2195421275154304 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99954401e-01 -2.72032825e-03 9.15403627e-03 -3.69250033e+01] [ 2.71047011e-03 9.99995734e-01 1.08915171e-03 -6.90465711e+01] [-9.15696006e-03 -1.06429030e-03 9.99957508e-01 6.08084109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819072329 meters 0.34434615774303196 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99956153e-01 -2.79931203e-03 8.93620490e-03 -3.69244825e+01] [ 2.79165743e-03 9.99995726e-01 8.68941139e-04 -6.90458690e+01] [-8.93859914e-03 -8.43956216e-04 9.99959694e-01 6.08084681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84907232899997 meters 0.2136080193753762 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99961920e-01 -2.78809581e-03 8.26952521e-03 -3.69230551e+01] [ 2.78348814e-03 9.99995964e-01 5.68644761e-04 -6.90449085e+01] [-8.27107727e-03 -5.45604982e-04 9.99965645e-01 6.08088708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879072329 meters 0.21684228134676545 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99961125e-01 -2.74222486e-03 8.38020285e-03 -3.69233463e+01] [ 2.73654475e-03 9.99996018e-01 6.89192149e-04 -6.90453093e+01] [-8.38205940e-03 -6.66232557e-04 9.99964648e-01 6.08088774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90907232899997 meters 0.21485229369319656 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99964303e-01 -2.74419341e-03 7.99138916e-03 -3.69221643e+01] [ 2.73991106e-03 9.99996097e-01 5.46768185e-04 -6.90445680e+01] [-7.99285841e-03 -5.24852972e-04 9.99967919e-01 6.08086039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93907232899994 meters 0.26776004782542484 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99963131e-01 -2.85267014e-03 8.09931744e-03 -3.69224124e+01] [ 2.84960890e-03 9.99995864e-01 3.89478717e-04 -6.90441073e+01] [-8.10039500e-03 -3.66384470e-04 9.99967124e-01 6.08085495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96907232899997 meters 0.31605624455774506 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99963728e-01 -2.77643914e-03 8.05192879e-03 -3.69221353e+01] [ 2.77240406e-03 9.99996026e-01 5.12251245e-04 -6.90443762e+01] [-8.05331902e-03 -4.89909464e-04 9.99967451e-01 6.08083128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99907232899994 meters 0.30965646786281986 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99964561e-01 -2.84028191e-03 7.92526430e-03 -3.69219350e+01] [ 2.83753891e-03 9.99995910e-01 3.57332154e-04 -6.90439532e+01] [-7.92624681e-03 -3.34831244e-04 9.99968531e-01 6.08084903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.029072329 meters 0.3089040267001349 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99969957e-01 -2.89695013e-03 7.18983690e-03 -3.69210290e+01] [ 2.89774795e-03 9.99995796e-01 -1.00549656e-04 -6.90428871e+01] [-7.18951539e-03 1.21380970e-04 9.99974148e-01 6.08099920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05907232899995 meters 0.30046004180731933 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99971799e-01 -3.03385836e-03 6.86992853e-03 -3.69206347e+01] [ 3.03725593e-03 9.99995270e-01 -4.84178122e-04 -6.90419236e+01] [-6.86842711e-03 5.05030199e-04 9.99976285e-01 6.08106605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.089072329 meters 0.293250606835829 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99974023e-01 -3.50212847e-03 6.29982193e-03 -3.69193459e+01] [ 3.51203362e-03 9.99992613e-01 -1.56191477e-03 -6.90385222e+01] [-6.29430537e-03 1.58399938e-03 9.99978936e-01 6.08110646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11907232899995 meters 0.2989300723252077 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99976253e-01 -3.45575456e-03 5.96246787e-03 -3.69183556e+01] [ 3.46527614e-03 9.99992736e-01 -1.58732849e-03 -6.90382509e+01] [-5.95693914e-03 1.60795239e-03 9.99980965e-01 6.08108836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.149072329 meters 0.2891324559872581 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99980344e-01 -3.43672452e-03 5.24413642e-03 -3.69164528e+01] [ 3.44682173e-03 9.99992221e-01 -1.91760550e-03 -6.90367449e+01] [-5.23750534e-03 1.93564341e-03 9.99984411e-01 6.08108227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17907232899995 meters 0.28578627626260295 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99980745e-01 -3.49654318e-03 5.12671420e-03 -3.69161145e+01] [ 3.50715548e-03 9.99991723e-01 -2.06247312e-03 -6.90362377e+01] [-5.11946024e-03 2.08041360e-03 9.99984731e-01 6.08107938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.209072329 meters 0.2784338860644653 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.81 [[ 9.99982899e-01 -3.62808399e-03 4.58674911e-03 -3.69149598e+01] [ 3.64007134e-03 9.99989974e-01 -2.60783234e-03 -6.90344390e+01] [-4.57724169e-03 2.62448384e-03 9.99986080e-01 6.08113210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23907232899995 meters 0.31348203865846197 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.81 [[ 9.99983649e-01 -3.60306380e-03 4.44072505e-03 -3.69146892e+01] [ 3.61472531e-03 9.99990032e-01 -2.62081439e-03 -6.90343949e+01] [-4.43123783e-03 2.63682354e-03 9.99986706e-01 6.08115061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.269072329 meters 0.268230243824993 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99981816e-01 -3.47551654e-03 4.92838092e-03 -3.69158382e+01] [ 3.48665420e-03 9.99991383e-01 -2.25311337e-03 -6.90355794e+01] [-4.92050772e-03 2.27025596e-03 9.99985317e-01 6.08114083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29907232899996 meters 0.2605599594812484 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99980141e-01 -3.35241506e-03 5.33660703e-03 -3.69166328e+01] [ 3.36260587e-03 9.99992538e-01 -1.90177906e-03 -6.90365714e+01] [-5.33019166e-03 1.91968619e-03 9.99983952e-01 6.08110477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.329072329 meters 0.2625424952167619 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99975842e-01 -3.32228753e-03 6.10558044e-03 -3.69182719e+01] [ 3.33176381e-03 9.99993260e-01 -1.54255324e-03 -6.90377159e+01] [-6.10041448e-03 1.56285833e-03 9.99980171e-01 6.08105669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35907232899996 meters 0.24916442220723448 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99968469e-01 -3.43897464e-03 7.15782463e-03 -3.69207444e+01] [ 3.44801491e-03 9.99993273e-01 -1.25103456e-03 -6.90389609e+01] [-7.15347420e-03 1.27567540e-03 9.99973600e-01 6.08103557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.389072329 meters 0.3171226125292946 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99960021e-01 -3.37506003e-03 8.28036692e-03 -3.69234183e+01] [ 3.37493754e-03 9.99994304e-01 2.87667773e-05 -6.90432694e+01] [-8.28041685e-03 -8.19906075e-07 9.99965717e-01 6.08097560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41907232899996 meters 0.30773718525906446 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99950291e-01 -3.49309612e-03 9.33886565e-03 -3.69255808e+01] [ 3.49076891e-03 9.99993872e-01 2.65485375e-04 -6.90441235e+01] [-9.33973579e-03 -2.32872356e-04 9.99956357e-01 6.08089948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.449072329 meters 0.30837664522680786 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99943373e-01 -3.35394113e-03 1.00995689e-02 -3.69270420e+01] [ 3.34478028e-03 9.99993979e-01 9.23808148e-04 -6.90459784e+01] [-1.01026065e-02 -8.89974997e-04 9.99948571e-01 6.08082017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47907232899996 meters 0.2994967555730476 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99942273e-01 -2.93665020e-03 1.03357098e-02 -3.69274299e+01] [ 2.91855056e-03 9.99994182e-01 1.76582256e-03 -6.90485070e+01] [-1.03408353e-02 -1.73555534e-03 9.99945026e-01 6.08078014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.509072329 meters 0.29218877734477616 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99941231e-01 -3.19960821e-03 1.03583959e-02 -3.69275568e+01] [ 3.18621503e-03 9.99994067e-01 1.30922173e-03 -6.90471744e+01] [-1.03625235e-02 -1.27614071e-03 9.99945493e-01 6.08079048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53907232899996 meters 0.29218877734477616 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99941231e-01 -3.19960821e-03 1.03583959e-02 -3.69275568e+01] [ 3.18621503e-03 9.99994067e-01 1.30922173e-03 -6.90471744e+01] [-1.03625235e-02 -1.27614071e-03 9.99945493e-01 6.08079048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.569072329 meters 0.278202119810369 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.05, Z:60.81 [[ 9.99941215e-01 -3.12383377e-03 1.03830751e-02 -3.69273997e+01] [ 3.10881420e-03 9.99994098e-01 1.46236843e-03 -6.90475273e+01] [-1.03875820e-02 -1.43000341e-03 9.99945025e-01 6.08075643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59907232899997 meters 0.27124122904675557 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99945308e-01 -3.62327113e-03 9.81087624e-03 -3.69263411e+01] [ 3.62013340e-03 9.99993390e-01 3.37561322e-04 -6.90441446e+01] [-9.81203447e-03 -3.02026179e-04 9.99951815e-01 6.08082545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.629072329 meters 0.27320926530388456 Centerline is valid? [False, False] Translation: X:-36.93, Y:-69.04, Z:60.81 [[ 9.99948484e-01 -3.66427698e-03 9.46585947e-03 -3.69258098e+01] [ 3.66296762e-03 9.99993279e-01 1.55657770e-04 -6.90437201e+01] [-9.46636622e-03 -1.20976614e-04 9.99955186e-01 6.08087644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65907232899997 meters 0.2671984601366325 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99955585e-01 -3.78825166e-03 8.63002529e-03 -3.69241286e+01] [ 3.79326669e-03 9.99992646e-01 -5.64820205e-04 -6.90415538e+01] [-8.62782214e-03 5.97531106e-04 9.99962601e-01 6.08095364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68907232899994 meters 0.26846466912754874 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99957490e-01 -4.00469382e-03 8.30549145e-03 -3.69234846e+01] [ 4.01366230e-03 9.99991380e-01 -1.06343877e-03 -6.90400420e+01] [-8.30116111e-03 1.09672900e-03 9.99964943e-01 6.08098464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71907232899997 meters 0.2690648928670194 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99956927e-01 -4.25743588e-03 8.24731143e-03 -3.69234336e+01] [ 4.27023727e-03 9.99989704e-01 -1.53520157e-03 -6.90386140e+01] [-8.24069049e-03 1.57035342e-03 9.99964812e-01 6.08100361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74907232899994 meters 0.2467305052676046 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99951384e-01 -4.47789494e-03 8.78510480e-03 -3.69246552e+01] [ 4.49362997e-03 9.99988333e-01 -1.77218218e-03 -6.90380045e+01] [-8.77706666e-03 1.81157303e-03 9.99959840e-01 6.08099312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779072329 meters 0.227195875698566 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99954685e-01 -4.62807012e-03 8.31913345e-03 -3.69235102e+01] [ 4.64662418e-03 9.99986757e-01 -2.21234424e-03 -6.90364707e+01] [-8.30878439e-03 2.25089988e-03 9.99962948e-01 6.08100817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80907232899995 meters 0.24912858009282568 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99957688e-01 -4.52703387e-03 8.00795930e-03 -3.69225854e+01] [ 4.54431740e-03 9.99987382e-01 -2.14141590e-03 -6.90364733e+01] [-7.99816399e-03 2.17771601e-03 9.99965643e-01 6.08099033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839072329 meters 0.2408092329747656 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99955628e-01 -4.53256761e-03 8.25821426e-03 -3.69231882e+01] [ 4.54985668e-03 9.99987494e-01 -2.07597703e-03 -6.90366921e+01] [-8.24870148e-03 2.11345861e-03 9.99963745e-01 6.08098616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86907232899995 meters 0.22874750325874946 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99958584e-01 -4.40997719e-03 7.96136268e-03 -3.69224117e+01] [ 4.42578813e-03 9.99988267e-01 -1.96943398e-03 -6.90368589e+01] [-7.95258411e-03 2.00458772e-03 9.99966368e-01 6.08098579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899072329 meters 0.3197442666960894 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99961423e-01 -4.20091512e-03 7.71400011e-03 -3.69217039e+01] [ 4.21394932e-03 9.99989720e-01 -1.67420589e-03 -6.90376297e+01] [-7.70688761e-03 1.70664771e-03 9.99968845e-01 6.08097367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92907232899995 meters 0.22902690008084006 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.04, Z:60.81 [[ 9.99973442e-01 -3.03474794e-04 7.28170492e-03 -3.69209526e+01] [ 2.90635319e-04 9.99998401e-01 1.76424458e-03 -6.90350312e+01] [-7.28222868e-03 -1.76208140e-03 9.99971932e-01 6.08102301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959072329 meters 0.31830081643997393 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99975565e-01 6.60012870e-03 2.30368820e-03 -3.69065490e+01] [-6.60453371e-03 9.99976366e-01 1.90981255e-03 -6.90361994e+01] [-2.29102874e-03 -1.92498067e-03 9.99995523e-01 6.08138308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98907232899995 meters 0.23224663961018055 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.03, Z:60.81 [[ 9.99979428e-01 6.14423540e-03 1.84169674e-03 -3.69059888e+01] [-6.14586266e-03 9.99980727e-01 8.79212941e-04 -6.90333867e+01] [-1.83625916e-03 -8.90513669e-04 9.99997918e-01 6.08148474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019072329 meters 0.22519576714419512 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99995248e-01 2.97524173e-03 8.07453924e-04 -3.69025137e+01] [-2.97326786e-03 9.99992616e-01 -2.43485336e-03 -6.90340184e+01] [-8.14692239e-04 2.43244101e-03 9.99996710e-01 6.08137509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04907232899996 meters 0.23695681195304125 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99995417e-01 3.02371297e-03 1.52847391e-04 -3.69007653e+01] [-3.02329292e-03 9.99991845e-01 -2.67748080e-03 -6.90327910e+01] [-1.60942078e-04 2.67700643e-03 9.99996404e-01 6.08137388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079072329 meters 0.2615743571258769 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99995580e-01 2.97267099e-03 -4.92162384e-05 -3.69001976e+01] [-2.97279858e-03 9.99991562e-01 -2.83527758e-03 -6.90322194e+01] [ 4.07874757e-05 2.83541136e-03 9.99995979e-01 6.08136910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10907232899996 meters 0.22832061930162056 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99995176e-01 3.03140091e-03 6.76621091e-04 -3.69019644e+01] [-3.02970672e-03 9.99992308e-01 -2.49103314e-03 -6.90334604e+01] [-6.84167206e-04 2.48897116e-03 9.99996668e-01 6.08136457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139072329 meters 0.27382563308846264 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.03, Z:60.81 [[ 9.99998843e-01 -1.19703210e-03 9.39087219e-04 -3.69027073e+01] [ 1.20317004e-03 9.99977740e-01 -6.56296226e-03 -6.90343082e+01] [-9.31210238e-04 6.56408455e-03 9.99978023e-01 6.08137806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16907232899996 meters 0.22012861462757208 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99998088e-01 -9.87959833e-04 1.68755718e-03 -3.69044279e+01] [ 9.97886493e-04 9.99982147e-01 -5.89158715e-03 -6.90364310e+01] [-1.68170640e-03 5.89325988e-03 9.99981220e-01 6.08135320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199072329 meters 0.27598478479162225 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99995899e-01 -9.29577651e-04 2.70882254e-03 -3.69066793e+01] [ 9.44353825e-04 9.99984655e-01 -5.45866907e-03 -6.90379217e+01] [-2.70370672e-03 5.46120477e-03 9.99981432e-01 6.08131177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22907232899996 meters 0.2683326221557995 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.81 [[ 9.99990559e-01 -1.25376829e-03 4.16062997e-03 -3.69099796e+01] [ 1.27152524e-03 9.99990084e-01 -4.26795371e-03 -6.90421338e+01] [-4.15523768e-03 4.27320376e-03 9.99982237e-01 6.08120001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259072329 meters 0.25950747851188094 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99988856e-01 -7.25056978e-04 4.66506567e-03 -3.69107214e+01] [ 7.39759823e-04 9.99994763e-01 -3.15073772e-03 -6.90453039e+01] [-4.66275678e-03 3.15415364e-03 9.99984155e-01 6.08111325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28907232899996 meters 0.2748334452483834 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99987546e-01 -4.16099339e-04 4.97341340e-03 -3.69112594e+01] [ 4.28644649e-04 9.99996729e-01 -2.52167504e-03 -6.90471319e+01] [-4.97234786e-03 2.52377546e-03 9.99984453e-01 6.08107713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319072329 meters 0.268344694738038 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99983421e-01 -2.63130865e-04 5.75220023e-03 -3.69127444e+01] [ 2.74451671e-04 9.99998027e-01 -1.96738197e-03 -6.90487599e+01] [-5.75167120e-03 1.96892806e-03 9.99981521e-01 6.08100043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34907232899997 meters 0.2647498662034562 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99982969e-01 -9.41375958e-05 5.83541702e-03 -3.69126834e+01] [ 1.03755849e-04 9.99998637e-01 -1.64797377e-03 -6.90495860e+01] [-5.83525393e-03 1.64855117e-03 9.99981616e-01 6.08096039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379072329 meters 0.26217623557060177 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99985472e-01 -1.49576658e-04 5.38833904e-03 -3.69116200e+01] [ 1.59970767e-04 9.99998127e-01 -1.92862113e-03 -6.90486300e+01] [-5.38804048e-03 1.92945509e-03 9.99983623e-01 6.08097365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40907232899997 meters 0.31589621435035103 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99985345e-01 -2.10752744e-04 5.40971484e-03 -3.69117049e+01] [ 2.21788621e-04 9.99997896e-01 -2.03949193e-03 -6.90482879e+01] [-5.40927363e-03 2.04066185e-03 9.99983288e-01 6.08098209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43907232899994 meters 0.24713528134038365 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99986054e-01 -2.09297175e-04 5.27707028e-03 -3.69114774e+01] [ 2.20351277e-04 9.99997783e-01 -2.09424782e-03 -6.90481290e+01] [-5.27662026e-03 2.09538143e-03 9.99983883e-01 6.08100179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46907232899997 meters 0.25274939642873534 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99982841e-01 -1.40215780e-04 5.85645339e-03 -3.69128003e+01] [ 1.50585425e-04 9.99998422e-01 -1.77023226e-03 -6.90491685e+01] [-5.85619593e-03 1.77108378e-03 9.99981284e-01 6.08098331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49907232899994 meters 0.2962109614744577 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99983889e-01 -1.68992174e-04 5.67397422e-03 -3.69123612e+01] [ 1.79666546e-04 9.99998215e-01 -1.88082958e-03 -6.90487637e+01] [-5.67364624e-03 1.88181870e-03 9.99982134e-01 6.08099072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.529072329 meters 0.3032315417668646 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99982068e-01 -3.66183903e-04 5.97746341e-03 -3.69132314e+01] [ 3.78957411e-04 9.99997647e-01 -2.13595193e-03 -6.90480923e+01] [-5.97666719e-03 2.13817883e-03 9.99979854e-01 6.08101050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55907232899995 meters 0.2319954807913426 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99981611e-01 -2.94818164e-04 6.05735567e-03 -3.69132916e+01] [ 3.06858104e-04 9.99997979e-01 -1.98682292e-03 -6.90484561e+01] [-6.05675768e-03 1.98864514e-03 9.99979680e-01 6.08099162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.589072329 meters 0.2744401017301344 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99976690e-01 1.31906082e-05 6.82784399e-03 -3.69146292e+01] [-5.81940425e-06 9.99999417e-01 -1.07959876e-03 -6.90509801e+01] [-6.82785425e-03 1.07953386e-03 9.99976107e-01 6.08089266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61907232899995 meters 0.31148207162653613 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99974299e-01 1.36158393e-04 7.16815478e-03 -3.69152965e+01] [-1.30760665e-04 9.99999708e-01 -7.53478233e-04 -6.90519198e+01] [-7.16825527e-03 7.52521555e-04 9.99974025e-01 6.08086265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.649072329 meters 0.2816076436807505 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99973875e-01 2.44565797e-04 7.22422286e-03 -3.69153418e+01] [-2.40629053e-04 9.99999822e-01 -5.45800825e-04 -6.90525168e+01] [-7.22435506e-03 5.44048208e-04 9.99973756e-01 6.08084691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67907232899995 meters 0.2699879401450651 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99971475e-01 6.11777547e-05 7.55283530e-03 -3.69162323e+01] [-5.54077007e-05 9.99999706e-01 -7.64165553e-04 -6.90519746e+01] [-7.55287984e-03 7.63725270e-04 9.99971185e-01 6.08086008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.709072329 meters 0.2638664502964677 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99971924e-01 3.01345955e-05 7.49339749e-03 -3.69161892e+01] [-2.38613844e-05 9.99999649e-01 -8.37253126e-04 -6.90517977e+01] [-7.49342009e-03 8.37050816e-04 9.99971574e-01 6.08087536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73907232899995 meters 0.2730254342501648 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99972604e-01 -1.84527718e-04 7.39983143e-03 -3.69160380e+01] [ 1.93766424e-04 9.99999203e-01 -1.24780468e-03 -6.90505679e+01] [-7.39959528e-03 1.24920434e-03 9.99971842e-01 6.08088897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.769072329 meters 0.2634350776896809 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99971149e-01 -1.88847453e-04 7.59373159e-03 -3.69165087e+01] [ 1.97876470e-04 9.99999274e-01 -1.18827550e-03 -6.90507838e+01] [-7.59350168e-03 1.18974384e-03 9.99970461e-01 6.08088360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79907232899996 meters 0.26562547025872785 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99968851e-01 -2.32287485e-04 7.88947419e-03 -3.69170723e+01] [ 2.41490092e-04 9.99999292e-01 -1.16550854e-03 -6.90507927e+01] [-7.88919787e-03 1.16737747e-03 9.99968198e-01 6.08085736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.829072329 meters 0.2502138020451777 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99970018e-01 -2.13942274e-04 7.74063122e-03 -3.69168462e+01] [ 2.22983510e-04 9.99999294e-01 -1.16717890e-03 -6.90508141e+01] [-7.74037605e-03 1.16886994e-03 9.99969360e-01 6.08088119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85907232899996 meters 0.26062356591647956 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99970038e-01 -2.04308366e-04 7.73834852e-03 -3.69168811e+01] [ 2.13259830e-04 9.99999309e-01 -1.15595927e-03 -6.90508546e+01] [-7.73810701e-03 1.15757491e-03 9.99969390e-01 6.08088896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.889072329 meters 0.2212294821872867 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99970166e-01 -1.98302595e-04 7.72192572e-03 -3.69166152e+01] [ 2.07211421e-04 9.99999314e-01 -1.15292229e-03 -6.90507221e+01] [-7.72169179e-03 1.15448796e-03 9.99969521e-01 6.08085745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91907232899996 meters 0.27598719951525036 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99968225e-01 -1.28914548e-04 7.97066139e-03 -3.69171972e+01] [ 1.36511462e-04 9.99999537e-01 -9.52572952e-04 -6.90513629e+01] [-7.97053490e-03 9.53630771e-04 9.99967780e-01 6.08084849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.949072329 meters 0.27409248762640775 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99965989e-01 -7.52235478e-05 8.24712596e-03 -3.69180396e+01] [ 8.15856926e-05 9.99999699e-01 -7.71104093e-04 -6.90520450e+01] [-8.24706547e-03 7.71750715e-04 9.99965695e-01 6.08086937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97907232899996 meters 0.26502490479091734 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99962616e-01 -2.62292847e-04 8.64279099e-03 -3.69191413e+01] [ 2.70866812e-04 9.99999472e-01 -9.90880992e-04 -6.90515203e+01] [-8.64252653e-03 9.93184994e-04 9.99962159e-01 6.08089147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.009072329 meters 0.29874434329223687 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99964346e-01 -7.11925949e-05 8.44402610e-03 -3.69188030e+01] [ 7.71874439e-05 9.99999745e-01 -7.09627739e-04 -6.90524006e+01] [-8.44397342e-03 7.10254210e-04 9.99964097e-01 6.08091422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03907232899996 meters 0.2940337266793452 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99964010e-01 -2.89903224e-04 8.47905720e-03 -3.69189424e+01] [ 2.99166990e-04 9.99999360e-01 -1.09129885e-03 -6.90512526e+01] [-8.47873540e-03 1.09379623e-03 9.99963457e-01 6.08092516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.069072329 meters 0.2708423607626815 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99962020e-01 1.01552125e-05 8.71538137e-03 -3.69189482e+01] [-6.24692634e-06 9.99999899e-01 -4.48462576e-04 -6.90528722e+01] [-8.71538505e-03 4.48391100e-04 9.99961920e-01 6.08083009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09907232899997 meters 0.2726386318546782 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99957106e-01 4.57019504e-05 9.26195083e-03 -3.69198170e+01] [-4.44153203e-05 9.99999989e-01 -1.39121313e-04 -6.90535641e+01] [-9.26195709e-03 1.38703973e-04 9.99957098e-01 6.08075114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.129072329 meters 0.26288168930643946 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99959676e-01 -5.04574031e-05 8.98022476e-03 -3.69190369e+01] [ 5.39638217e-05 9.99999922e-01 -3.90218118e-04 -6.90526705e+01] [-8.98020437e-03 3.90686990e-04 9.99959601e-01 6.08074169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15907232899997 meters 0.26829809021539347 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99960466e-01 -1.87845082e-05 8.89194315e-03 -3.69188529e+01] [ 2.20061928e-05 9.99999934e-01 -3.62217321e-04 -6.90527623e+01] [-8.89193576e-03 3.62398679e-04 9.99960400e-01 6.08074777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18907232899994 meters 0.2549056461159239 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99960999e-01 -1.89996551e-04 8.82974482e-03 -3.69189703e+01] [ 1.96114885e-04 9.99999741e-01 -6.92062356e-04 -6.90518854e+01] [-8.82961105e-03 6.93767009e-04 9.99960778e-01 6.08079318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21907232899997 meters 0.25921496875901695 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99962163e-01 -1.80403478e-04 8.69712524e-03 -3.69187305e+01] [ 1.86686704e-04 9.99999722e-01 -7.21642113e-04 -6.90518080e+01] [-8.69699264e-03 7.23238445e-04 9.99961919e-01 6.08080944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24907232899994 meters 0.258941503349229 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99961413e-01 -3.41275680e-04 8.77810599e-03 -3.69190364e+01] [ 3.49850175e-04 9.99999463e-01 -9.75287754e-04 -6.90510975e+01] [-8.77776844e-03 9.78321143e-04 9.99960996e-01 6.08082460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279072329 meters 0.24579078379103259 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99958248e-01 -3.78367472e-04 9.13011899e-03 -3.69197803e+01] [ 3.86858304e-04 9.99999494e-01 -9.28232354e-04 -6.90512171e+01] [-9.12976316e-03 9.31725661e-04 9.99957889e-01 6.08080309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30907232899995 meters 0.24518750879848733 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99961058e-01 -1.76097081e-04 8.82330920e-03 -3.69191160e+01] [ 1.82186554e-04 9.99999746e-01 -6.89358521e-04 -6.90519117e+01] [-8.82318557e-03 6.90939164e-04 9.99960836e-01 6.08081994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339072329 meters 0.2734195017750807 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99971693e-01 2.77520450e-04 7.51911263e-03 -3.69158353e+01] [-2.71111057e-04 9.99999599e-01 -8.53419333e-04 -6.90503950e+01] [-7.51934645e-03 8.51356660e-04 9.99971367e-01 6.08082252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36907232899995 meters 0.27091535219757734 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99976715e-01 -1.07137719e-04 6.82332063e-03 -3.69143053e+01] [ 1.19584958e-04 9.99998330e-01 -1.82383828e-03 -6.90474215e+01] [-6.82311383e-03 1.82461178e-03 9.99975058e-01 6.08086690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399072329 meters 0.31903146989771813 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99958895e-01 8.80626844e-03 2.15833924e-03 -3.69019604e+01] [-8.80717470e-03 9.99961132e-01 4.10744365e-04 -6.90456235e+01] [-2.15463823e-03 -4.29736352e-04 9.99997586e-01 6.08132371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42907232899995 meters 0.31903146989771813 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99958895e-01 8.80626844e-03 2.15833924e-03 -3.69019604e+01] [-8.80717470e-03 9.99961132e-01 4.10744365e-04 -6.90456235e+01] [-2.15463823e-03 -4.29736352e-04 9.99997586e-01 6.08132371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459072329 meters 0.3228678682113624 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99962635e-01 8.44070254e-03 1.86655555e-03 -3.69015204e+01] [-8.44012798e-03 9.99964332e-01 -3.15482580e-04 -6.90435174e+01] [-1.86915186e-03 2.99716824e-04 9.99998208e-01 6.08137088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48907232899995 meters 0.2621811035736045 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99963321e-01 8.35629478e-03 1.87843882e-03 -3.69016682e+01] [-8.35544280e-03 9.99964986e-01 -4.60950067e-04 -6.90431378e+01] [-1.88222488e-03 4.45237972e-04 9.99998129e-01 6.08138837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519072329 meters 0.3109161988139551 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99965641e-01 8.11896392e-03 1.67317616e-03 -3.69017322e+01] [-8.11735835e-03 9.99966589e-01 -9.64161574e-04 -6.90419101e+01] [-1.68094825e-03 9.50546676e-04 9.99998135e-01 6.08148048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54907232899996 meters 0.24304003250650802 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.82 [[ 9.99991837e-01 3.93031048e-03 9.36892429e-04 -3.69000784e+01] [-3.92531754e-03 9.99978394e-01 -5.27281724e-03 -6.90417487e+01] [-9.57595996e-04 5.26909660e-03 9.99985660e-01 6.08150520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579072329 meters 0.257428877641874 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.82 [[ 9.99992405e-01 3.88897752e-03 2.57422457e-04 -3.68985900e+01] [-3.88748265e-03 9.99976914e-01 -5.57301883e-03 -6.90407265e+01] [-2.79089859e-04 5.57197577e-03 9.99984437e-01 6.08154454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60907232899996 meters 0.24159576695089868 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99982649e-01 5.88368621e-03 -2.89139090e-04 -3.68945149e+01] [-5.88472757e-03 9.99975678e-01 -3.74338377e-03 -6.90400486e+01] [ 2.67107162e-04 3.74502033e-03 9.99992952e-01 6.08124975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639072329 meters 0.2451258017464258 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99981980e-01 5.99109148e-03 -3.82203112e-04 -3.68940722e+01] [-5.99242939e-03 9.99975561e-01 -3.60107139e-03 -6.90403197e+01] [ 3.60619423e-04 3.60329682e-03 9.99993443e-01 6.08122243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66907232899996 meters 0.24040352008338164 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99981095e-01 6.14812755e-03 -9.67181178e-05 -3.68945659e+01] [-6.14840900e-03 9.99975835e-01 -3.24437329e-03 -6.90413279e+01] [ 7.67689598e-05 3.24490662e-03 9.99994732e-01 6.08118705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699072329 meters 0.23683436087540924 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99980952e-01 6.16823318e-03 -2.20930448e-04 -3.68943623e+01] [-6.16891968e-03 9.99975676e-01 -3.25457688e-03 -6.90413394e+01] [ 2.00850085e-04 3.25587779e-03 9.99994679e-01 6.08120341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72907232899996 meters 0.2826465701115756 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99981645e-01 6.04478688e-03 -4.12777786e-04 -3.68939768e+01] [-6.04620800e-03 9.99975480e-01 -3.53303876e-03 -6.90404996e+01] [ 3.91411199e-04 3.53546965e-03 9.99993674e-01 6.08122209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759072329 meters 0.2452329662104784 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99981797e-01 6.01370021e-03 -4.90693969e-04 -3.68937853e+01] [-6.01543928e-03 9.99975343e-01 -3.62313238e-03 -6.90401953e+01] [ 4.68893438e-04 3.62601817e-03 9.99993316e-01 6.08122588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78907232899996 meters 0.27430472643611015 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99981610e-01 6.00396327e-03 -8.55240712e-04 -3.68930099e+01] [-6.00714076e-03 9.99974879e-01 -3.76250497e-03 -6.90397387e+01] [ 8.32629286e-04 3.76757333e-03 9.99992556e-01 6.08125246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819072329 meters 0.24712039664737862 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99982029e-01 5.93601181e-03 -8.40171351e-04 -3.68930026e+01] [-5.93922640e-03 9.99974848e-01 -3.87678081e-03 -6.90393473e+01] [ 8.17137602e-04 3.88170110e-03 9.99992132e-01 6.08124860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84907232899997 meters 0.26017748021825626 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99981588e-01 6.05489353e-03 -4.02388768e-04 -3.68939867e+01] [-6.05626800e-03 9.99975510e-01 -3.50715176e-03 -6.90404791e+01] [ 3.81143483e-04 3.50952416e-03 9.99993769e-01 6.08122889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879072329 meters 0.23591410869715074 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99981218e-01 6.12897975e-03 -3.61883189e-06 -3.68948144e+01] [-6.12895921e-03 9.99975950e-01 -3.24583072e-03 -6.90412225e+01] [-1.62748859e-05 3.24579193e-03 9.99994732e-01 6.08120182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90907232899997 meters 0.2455066362436042 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99997500e-01 2.00706362e-03 9.85292668e-04 -3.68967309e+01] [-2.00051263e-03 9.99976184e-01 -6.60532963e-03 -6.90439559e+01] [-9.98526519e-04 6.60334203e-03 9.99977699e-01 6.08109745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93907232899994 meters 0.2687710541614002 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99995992e-01 2.26381152e-03 1.70061938e-03 -3.68980551e+01] [-2.25377457e-03 9.99980168e-01 -5.88084824e-03 -6.90459677e+01] [-1.71389879e-03 5.87699186e-03 9.99981262e-01 6.08102107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96907232899997 meters 0.2551567689115751 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99995368e-01 -1.47544198e-03 2.66212244e-03 -3.68998089e+01] [ 1.49829281e-03 9.99961878e-01 -8.60221183e-03 -6.90505134e+01] [-2.64932889e-03 8.60616062e-03 9.99959457e-01 6.08089843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99907232899994 meters 0.2282990649130763 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99992414e-01 -1.46415514e-03 3.60939726e-03 -3.69019074e+01] [ 1.49355988e-03 9.99965611e-01 -8.15752773e-03 -6.90519541e+01] [-3.59732925e-03 8.16285670e-03 9.99960213e-01 6.08085906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.029072329 meters 0.22827617187918164 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99993169e-01 -1.43228049e-03 3.40737009e-03 -3.69014039e+01] [ 1.46006792e-03 9.99965587e-01 -8.16663238e-03 -6.90518831e+01] [-3.39555592e-03 8.17155158e-03 9.99960847e-01 6.08086135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05907232899995 meters 0.22450166900329768 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99989648e-01 -1.84692959e-03 4.15840875e-03 -3.69030936e+01] [ 1.88297360e-03 9.99960550e-01 -8.68057438e-03 -6.90505249e+01] [-4.14221229e-03 8.68831469e-03 9.99953677e-01 6.08085027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.089072329 meters 0.21191686480990468 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99981441e-01 -2.26249901e-03 5.65669582e-03 -3.69065405e+01] [ 2.30800869e-03 9.99964921e-01 -8.05173616e-03 -6.90530421e+01] [-5.63828034e-03 8.06464244e-03 9.99951584e-01 6.08078104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11907232899995 meters 0.25399520584183644 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99973349e-01 -2.38144747e-03 6.90140129e-03 -3.69091615e+01] [ 2.43370259e-03 9.99968361e-01 -7.57318781e-03 -6.90545749e+01] [-6.88314779e-03 7.58978194e-03 9.99947507e-01 6.08069826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.149072329 meters 0.24076613393976232 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.81 [[ 9.99954360e-01 -3.47995448e-03 8.89766211e-03 -3.69137456e+01] [ 3.54481107e-03 9.99967190e-01 -7.28382241e-03 -6.90567715e+01] [-8.87202281e-03 7.31503051e-03 9.99933887e-01 6.08059849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17907232899995 meters 0.2563246655916845 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99944110e-01 -3.59673779e-03 9.94184677e-03 -3.69160790e+01] [ 3.66684670e-03 9.99968477e-01 -7.04269073e-03 -6.90576980e+01] [-9.91620266e-03 7.07875234e-03 9.99925777e-01 6.08056159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.209072329 meters 0.2440624480254514 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99940382e-01 -3.50911385e-03 1.03401240e-02 -3.69168842e+01] [ 3.57902235e-03 9.99970813e-01 -6.75016588e-03 -6.90585135e+01] [-1.03161351e-02 6.78677098e-03 9.99923756e-01 6.08053159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23907232899995 meters 0.24987975672540752 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99931399e-01 -3.53793759e-03 1.11660756e-02 -3.69186774e+01] [ 3.61015681e-03 9.99972655e-01 -6.45421927e-03 -6.90594137e+01] [-1.11429357e-02 6.49408778e-03 9.99916827e-01 6.08049191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.269072329 meters 0.2423444948252806 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99922393e-01 -3.48856431e-03 1.19598610e-02 -3.69205265e+01] [ 3.56087837e-03 9.99975477e-01 -6.03044323e-03 -6.90608447e+01] [-1.19385302e-02 6.07256284e-03 9.99910294e-01 6.08047472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29907232899996 meters 0.24475557815914312 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99918526e-01 -3.51101604e-03 1.22724640e-02 -3.69213522e+01] [ 3.58443426e-03 9.99975782e-01 -5.96548537e-03 -6.90610776e+01] [-1.22512219e-02 6.00898918e-03 9.99906895e-01 6.08048215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.329072329 meters 0.2904596833961281 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99915150e-01 -3.41684957e-03 1.25705486e-02 -3.69220401e+01] [ 3.48867236e-03 9.99977692e-01 -5.69609184e-03 -6.90618956e+01] [-1.25508055e-02 5.73946305e-03 9.99904763e-01 6.08047322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35907232899996 meters 0.2766132566469316 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99907593e-01 -3.43649380e-03 1.31528079e-02 -3.69232456e+01] [ 3.50964491e-03 9.99978481e-01 -5.54259937e-03 -6.90623410e+01] [-1.31334778e-02 5.58824888e-03 9.99898136e-01 6.08043890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.389072329 meters 0.237055711517761 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99912784e-01 -3.26559828e-03 1.27968684e-02 -3.69223077e+01] [ 3.33445655e-03 9.99980058e-01 -5.36323189e-03 -6.90627556e+01] [-1.27790990e-02 5.40543473e-03 9.99903733e-01 6.08043122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41907232899996 meters 0.24594068950126965 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99910935e-01 -3.32865579e-03 1.29244913e-02 -3.69225011e+01] [ 3.39911487e-03 9.99979462e-01 -5.43346032e-03 -6.90624770e+01] [-1.29061398e-02 5.47690822e-03 9.99901713e-01 6.08041306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.449072329 meters 0.26178240901239624 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99917363e-01 -3.42348941e-03 1.23913788e-02 -3.69213038e+01] [ 3.49585175e-03 9.99976937e-01 -5.82279091e-03 -6.90612523e+01] [-1.23711587e-02 5.86562815e-03 9.99906270e-01 6.08044091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47907232899996 meters 0.2605184982046863 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.80 [[ 9.99921830e-01 -3.46609617e-03 1.20133551e-02 -3.69205726e+01] [ 3.53868329e-03 9.99975581e-01 -6.02622162e-03 -6.90606916e+01] [-1.19921742e-02 6.06826201e-03 9.99909678e-01 6.08047663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.509072329 meters 0.25037250388431154 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99928944e-01 4.39412273e-04 1.19127239e-02 -3.69206627e+01] [-4.10889959e-04 9.99997044e-01 -2.39661482e-03 -6.90586732e+01] [-1.19137418e-02 2.39154971e-03 9.99926169e-01 6.08053155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53907232899996 meters 0.2483693108966215 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99932309e-01 2.56806579e-04 1.16323307e-02 -3.69201818e+01] [-2.24095866e-04 9.99996018e-01 -2.81326764e-03 -6.90574608e+01] [-1.16330068e-02 2.81047045e-03 9.99928385e-01 6.08056850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.569072329 meters 0.2584333109132628 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99934794e-01 1.40854093e-04 1.14187532e-02 -3.69198051e+01] [-1.05525301e-04 9.99995207e-01 -3.09447070e-03 -6.90566513e+01] [-1.14191343e-02 3.09306396e-03 9.99930016e-01 6.08059513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59907232899997 meters 0.24329617663823888 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99940629e-01 8.14309421e-05 1.08964508e-02 -3.69187988e+01] [-4.43299264e-05 9.99994202e-01 -3.40506980e-03 -6.90557447e+01] [-1.08966649e-02 3.40438460e-03 9.99934834e-01 6.08064864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.629072329 meters 0.23954239475690986 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99943429e-01 1.11806741e-04 1.06360901e-02 -3.69181872e+01] [-7.51954397e-05 9.99994072e-01 -3.44251434e-03 -6.90556099e+01] [-1.06364119e-02 3.44151980e-03 9.99937509e-01 6.08065613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65907232899997 meters 0.29005995365418374 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99941520e-01 4.55934381e-05 1.08145836e-02 -3.69185653e+01] [-7.69905742e-06 9.99993861e-01 -3.50402312e-03 -6.90554042e+01] [-1.08146770e-02 3.50373494e-03 9.99935381e-01 6.08064559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68907232899994 meters 0.24054791662947705 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99942759e-01 1.78415991e-05 1.06994556e-02 -3.69182652e+01] [ 2.06376982e-05 9.99993533e-01 -3.59625779e-03 -6.90550860e+01] [-1.06994506e-02 3.59627275e-03 9.99936292e-01 6.08064639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71907232899997 meters 0.23082705961929656 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99942662e-01 1.02810266e-04 1.07080248e-02 -3.69181841e+01] [-6.59012836e-05 9.99994056e-01 -3.44714835e-03 -6.90554816e+01] [-1.07083156e-02 3.44624503e-03 9.99936726e-01 6.08063135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74907232899994 meters 0.25685584692353297 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.06, Z:60.81 [[ 9.99943428e-01 1.40846360e-04 1.06357914e-02 -3.69180731e+01] [-1.04600845e-04 9.99994186e-01 -3.40836067e-03 -6.90556156e+01] [-1.06362096e-02 3.40705534e-03 9.99937630e-01 6.08064340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779072329 meters 0.2632946740104123 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99943951e-01 -2.61383256e-05 1.05874849e-02 -3.69180932e+01] [ 6.54886045e-05 9.99993092e-01 -3.71634900e-03 -6.90547208e+01] [-1.05873146e-02 3.71683406e-03 9.99937045e-01 6.08066780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80907232899995 meters 0.2638593886909063 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99944472e-01 -1.57538378e-04 1.05370063e-02 -3.69179788e+01] [ 1.99303628e-04 9.99992128e-01 -3.96274071e-03 -6.90539401e+01] [-1.05362990e-02 3.96462073e-03 9.99936632e-01 6.08067271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839072329 meters 0.24817732735338635 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99946290e-01 -7.37675580e-05 1.03639639e-02 -3.69172932e+01] [ 1.13800861e-04 9.99992535e-01 -3.86220392e-03 -6.90540499e+01] [-1.03636016e-02 3.86317591e-03 9.99938834e-01 6.08063778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86907232899995 meters 0.25001771734770256 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99947276e-01 -2.57672251e-04 1.02654663e-02 -3.69170633e+01] [ 3.01034280e-04 9.99991039e-01 -4.22274687e-03 -6.90529207e+01] [-1.02642863e-02 4.22561449e-03 9.99938392e-01 6.08064355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899072329 meters 0.2534153556577373 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99946104e-01 -2.37689166e-04 1.03794558e-02 -3.69173296e+01] [ 2.80794754e-04 9.99991342e-01 -4.15171210e-03 -6.90531292e+01] [-1.03783791e-02 4.15440283e-03 9.99937513e-01 6.08064082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92907232899995 meters 0.2494306785322586 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99940895e-01 -3.12318231e-04 1.08677584e-02 -3.69184189e+01] [ 3.57249407e-04 9.99991397e-01 -4.13265983e-03 -6.90531691e+01] [-1.08663742e-02 4.13629807e-03 9.99932404e-01 6.08062640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959072329 meters 0.25294908340104905 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99942647e-01 -1.97556769e-04 1.07080953e-02 -3.69181532e+01] [ 2.40206917e-04 9.99992044e-01 -3.98184200e-03 -6.90536807e+01] [-1.07072235e-02 3.98418579e-03 9.99934739e-01 6.08064656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98907232899995 meters 0.2502433469063384 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99952592e-01 5.36674438e-05 9.73704521e-03 -3.69152606e+01] [-1.30045974e-05 9.99991280e-01 -4.17611237e-03 -6.90519883e+01] [-9.73718442e-03 4.17578776e-03 9.99943873e-01 6.08059244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019072329 meters 0.24247727964864746 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.05, Z:60.81 [[ 9.99953720e-01 -2.17284181e-04 9.61823149e-03 -3.69151956e+01] [ 2.62381198e-04 9.99988978e-01 -4.68768803e-03 -6.90504838e+01] [-9.61710692e-03 4.68999473e-03 9.99942756e-01 6.08063138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04907232899996 meters 0.2350519601560827 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99959356e-01 -2.11158907e-04 9.01345425e-03 -3.69139922e+01] [ 2.55690135e-04 9.99987767e-01 -4.93966212e-03 -6.90497780e+01] [-9.01230094e-03 4.94176600e-03 9.99947177e-01 6.08068401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079072329 meters 0.22632647281187493 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99968930e-01 3.61839599e-04 7.87449835e-03 -3.69113884e+01] [-3.24732647e-04 9.99988841e-01 -4.71306256e-03 -6.90497892e+01] [-7.87611585e-03 4.71035902e-03 9.99957889e-01 6.08073765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10907232899996 meters 0.24897930207859054 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99966836e-01 2.13097296e-04 8.14135240e-03 -3.69119110e+01] [-1.73226504e-04 9.99987991e-01 -4.89770942e-03 -6.90491829e+01] [-8.14229832e-03 4.89613670e-03 9.99954864e-01 6.08071702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139072329 meters 0.21607201644166243 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99973168e-01 4.74895835e-04 7.31010512e-03 -3.69097146e+01] [-4.40776755e-04 9.99989006e-01 -4.66828936e-03 -6.90493511e+01] [-7.31224170e-03 4.66494198e-03 9.99962384e-01 6.08068492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16907232899996 meters 0.258165403136917 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.81 [[ 9.99968427e-01 4.59475930e-03 6.48331788e-03 -3.69078661e+01] [-4.58816342e-03 9.99988942e-01 -1.03186944e-03 -6.90471986e+01] [-6.48798738e-03 1.00209034e-03 9.99978451e-01 6.08072889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199072329 meters 0.23859169585258944 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.81 [[ 9.99921814e-01 1.23153482e-02 2.16744045e-03 -3.68975348e+01] [-1.23177977e-02 9.99923505e-01 1.12047427e-03 -6.90461206e+01] [-2.15347562e-03 -1.14708476e-03 9.99997023e-01 6.08121779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22907232899996 meters 0.2337001793228248 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.81 [[ 9.99929960e-01 1.17757700e-02 1.18624686e-03 -3.68956712e+01] [-1.17752496e-02 9.99930570e-01 -4.44685626e-04 -6.90416914e+01] [-1.19140101e-03 4.30686127e-04 9.99999198e-01 6.08133357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259072329 meters 0.23224336378231167 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.81 [[ 9.99934281e-01 1.14641039e-02 9.32663523e-05 -3.68936977e+01] [-1.14639110e-02 9.99932562e-01 -1.85752300e-03 -6.90378714e+01] [-1.14554899e-04 1.85633172e-03 9.99998270e-01 6.08147680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28907232899996 meters 0.24324830664228791 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.82 [[ 9.99935806e-01 1.12975550e-02 -8.65249232e-04 -3.68919643e+01] [-1.12996558e-02 9.99933124e-01 -2.46288146e-03 -6.90361741e+01] [ 8.37366829e-04 2.47250038e-03 9.99996593e-01 6.08158140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319072329 meters 0.2414769204344339 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99932529e-01 1.14491295e-02 -1.96345227e-03 -3.68893465e+01] [-1.14546842e-02 9.99930356e-01 -2.84151784e-03 -6.90344951e+01] [ 1.93078262e-03 2.86381685e-03 9.99994035e-01 6.08162700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34907232899997 meters 0.2414769204344339 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.82 [[ 9.99932529e-01 1.14491295e-02 -1.96345227e-03 -3.68893465e+01] [-1.14546842e-02 9.99930356e-01 -2.84151784e-03 -6.90344951e+01] [ 1.93078262e-03 2.86381685e-03 9.99994035e-01 6.08162700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379072329 meters 0.24529921897635037 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.82 [[ 9.99758927e-01 2.08310156e-02 -6.93956137e-03 -3.68765337e+01] [-2.08327433e-02 9.99782959e-01 -1.76763018e-04 -6.90340644e+01] [ 6.93437305e-03 3.21290506e-04 9.99975905e-01 6.08216747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40907232899997 meters 0.23970599135848245 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.04, Z:60.83 [[ 9.99825495e-01 1.54609674e-02 -1.04851230e-02 -3.68666855e+01] [-1.53970287e-02 9.99862535e-01 6.15159645e-03 -6.90374856e+01] [ 1.05787913e-02 -5.98908323e-03 9.99926107e-01 6.08296890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43907232899994 meters 0.2277934442674606 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99872292e-01 1.10484102e-02 -1.15469974e-02 -3.68647049e+01] [-1.10336181e-02 9.99938225e-01 1.34395420e-03 -6.90359262e+01] [ 1.15611326e-02 -1.21637741e-03 9.99932428e-01 6.08305390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46907232899997 meters 0.24785299858767926 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.83 [[ 9.99870227e-01 1.08500164e-02 -1.19082249e-02 -3.68640486e+01] [-1.08402671e-02 9.99940853e-01 8.82947482e-04 -6.90346161e+01] [ 1.19171006e-02 -7.53744561e-04 9.99928705e-01 6.08309332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49907232899994 meters 0.2487854244058065 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.83 [[ 9.99871351e-01 1.08308143e-02 -1.18310775e-02 -3.68640605e+01] [-1.08212573e-02 9.99941069e-01 8.71505815e-04 -6.90345003e+01] [ 1.18398194e-02 -7.43366563e-04 9.99929631e-01 6.08306641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.529072329 meters 0.24537767433378796 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.83 [[ 9.99868982e-01 1.09200517e-02 -1.19487104e-02 -3.68636867e+01] [-1.09090232e-02 9.99940007e-01 9.87780764e-04 -6.90348091e+01] [ 1.19587802e-02 -8.57302588e-04 9.99928124e-01 6.08305363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55907232899995 meters 0.24564792311287323 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.83 [[ 9.99862558e-01 1.09091095e-02 -1.24842736e-02 -3.68625188e+01] [-1.08998664e-02 9.99940268e-01 8.08178603e-04 -6.90342220e+01] [ 1.24923444e-02 -6.71990610e-04 9.99921742e-01 6.08307755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.589072329 meters 0.2334925154541121 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.83 [[ 9.99856466e-01 1.06154815e-02 -1.32045279e-02 -3.68610441e+01] [-1.06171388e-02 9.99943635e-01 -5.54148320e-05 -6.90316417e+01] [ 1.32031954e-02 1.95601184e-04 9.99912815e-01 6.08313772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61907232899995 meters 0.2437447855393428 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.83 [[ 9.99853597e-01 1.04799659e-02 -1.35260801e-02 -3.68605124e+01] [-1.04862098e-02 9.99944942e-01 -3.90777814e-04 -6.90307177e+01] [ 1.35212401e-02 5.32557917e-04 9.99908442e-01 6.08318167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.649072329 meters 0.25168449051564173 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.83 [[ 9.99843832e-01 1.01840090e-02 -1.44428750e-02 -3.68587294e+01] [-1.02062939e-02 9.99946834e-01 -1.47010290e-03 -6.90274430e+01] [ 1.44271356e-02 1.61728155e-03 9.99894616e-01 6.08328249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67907232899995 meters 0.25121561132232173 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.83 [[ 9.99952646e-01 8.65247427e-03 -4.45421059e-03 -3.68549927e+01] [-8.62299087e-03 9.99941064e-01 6.59640797e-03 -6.90341093e+01] [ 4.51102333e-03 -6.55768699e-03 9.99968323e-01 6.08332862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.709072329 meters 0.23508048335615825 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.83 [[ 9.99975776e-01 4.37175650e-03 -5.41622469e-03 -3.68530227e+01] [-4.36113095e-03 9.99988546e-01 1.97206079e-03 -6.90328626e+01] [ 5.42478402e-03 -1.94839216e-03 9.99983388e-01 6.08338492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73907232899995 meters 0.2396979750625553 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.83 [[ 9.99977653e-01 4.43809830e-03 -4.99970818e-03 -3.68538784e+01] [-4.42690995e-03 9.99987677e-01 2.24664962e-03 -6.90336539e+01] [ 5.00961743e-03 -2.22446615e-03 9.99984978e-01 6.08335454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.769072329 meters 0.25003471979961084 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.83 [[ 9.99977491e-01 4.27189070e-03 -5.17384859e-03 -3.68537442e+01] [-4.26208473e-03 9.99989103e-01 1.90484044e-03 -6.90327580e+01] [ 5.18192949e-03 -1.88274618e-03 9.99984801e-01 6.08340100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79907232899996 meters 0.24789813356301413 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.83 [[ 9.99975197e-01 4.10231038e-03 -5.72513694e-03 -3.68528881e+01] [-4.09441549e-03 9.99990652e-01 1.39002704e-03 -6.90314200e+01] [ 5.73078574e-03 -1.36655148e-03 9.99982645e-01 6.08348689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.829072329 meters 0.3538911265793568 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.84 [[ 9.99979713e-01 3.92128417e-03 -5.01962948e-03 -3.68548509e+01] [-3.91483048e-03 9.99991499e-01 1.29487016e-03 -6.90316337e+01] [ 5.02466436e-03 -1.27519289e-03 9.99986563e-01 6.08353089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85907232899996 meters 0.2398311767353894 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.84 [[ 9.99984472e-01 1.27181294e-05 -5.57271237e-03 -3.68533514e+01] [-2.63651988e-05 9.99997001e-01 -2.44884308e-03 -6.90328904e+01] [ 5.57266452e-03 2.44895198e-03 9.99981474e-01 6.08350526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.889072329 meters 0.34832230316767737 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.03, Z:60.83 [[ 9.99986007e-01 1.73197460e-04 -5.28733550e-03 -3.68537591e+01] [-1.84192726e-04 9.99997822e-01 -2.07913158e-03 -6.90338640e+01] [ 5.28696388e-03 2.08007637e-03 9.99983861e-01 6.08345930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91907232899996 meters 0.31356089890928857 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99990182e-01 2.88549328e-04 -4.42173441e-03 -3.68552420e+01] [-2.95351374e-04 9.99998774e-01 -1.53774491e-03 -6.90353159e+01] [ 4.42128527e-03 1.53903578e-03 9.99989042e-01 6.08334819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.949072329 meters 0.31031704845228253 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99991553e-01 4.95365790e-04 -4.08018823e-03 -3.68557712e+01] [-4.99713468e-04 9.99999308e-01 -1.06460771e-03 -6.90366048e+01] [ 4.07965804e-03 1.06663764e-03 9.99991109e-01 6.08329699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97907232899996 meters 0.32975893713592613 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99992954e-01 5.19389836e-04 -3.71794399e-03 -3.68566082e+01] [-5.22703187e-04 9.99999467e-01 -8.90262179e-04 -6.90371463e+01] [ 3.71747961e-03 8.92199287e-04 9.99992692e-01 6.08328556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.009072329 meters 0.30231002086438374 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99993976e-01 5.47277945e-04 -3.42749746e-03 -3.68572983e+01] [-5.49820071e-04 9.99999574e-01 -7.40787327e-04 -6.90376290e+01] [ 3.42709059e-03 7.42667372e-04 9.99993852e-01 6.08327662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03907232899996 meters 0.29380150141944555 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99995910e-01 7.61408280e-04 -2.75685885e-03 -3.68589365e+01] [-7.61749851e-04 9.99999702e-01 -1.22850626e-04 -6.90396530e+01] [ 2.75676449e-03 1.24950160e-04 9.99996192e-01 6.08326997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.069072329 meters 0.30791817586213066 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99997761e-01 7.40447005e-04 -1.98250225e-03 -3.68605695e+01] [-7.40174138e-04 9.99999716e-01 1.38368113e-04 -6.90404797e+01] [ 1.98260414e-03 -1.36900406e-04 9.99998025e-01 6.08322790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09907232899997 meters 0.29549939690398813 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99993996e-01 -3.12765167e-03 -1.49200241e-03 -3.68612346e+01] [ 3.12291824e-03 9.99990117e-01 -3.16438735e-03 -6.90432955e+01] [ 1.50188476e-03 3.15970895e-03 9.99993880e-01 6.08314299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.129072329 meters 0.2913314657248276 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.83 [[ 9.99994842e-01 -3.19100778e-03 -3.64452398e-04 -3.68637245e+01] [ 3.18998054e-03 9.99991033e-01 -2.78521800e-03 -6.90446834e+01] [ 3.73336783e-04 2.78404104e-03 9.99996055e-01 6.08310527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15907232899997 meters 0.2849319147006441 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99995359e-01 -3.01206436e-03 4.56840132e-04 -3.68655389e+01] [ 3.01303793e-03 9.99993159e-01 -2.14559024e-03 -6.90466814e+01] [-4.50374351e-04 2.14695676e-03 9.99997594e-01 6.08306895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18907232899994 meters 0.2836923296787001 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99991956e-01 -3.51446247e-03 1.93317922e-03 -3.68692011e+01] [ 3.51780230e-03 9.99992321e-01 -1.72695990e-03 -6.90491024e+01] [-1.92709504e-03 1.73374655e-03 9.99996640e-01 6.08304749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21907232899997 meters 0.27516620325462215 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99991443e-01 -3.33804073e-03 2.44368284e-03 -3.68702437e+01] [ 3.34102164e-03 9.99993678e-01 -1.21678115e-03 -6.90505685e+01] [-2.43960573e-03 1.22493514e-03 9.99996274e-01 6.08301041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24907232899994 meters 0.2693253690602215 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99989088e-01 -3.35940268e-03 3.24641464e-03 -3.68717881e+01] [ 3.36268895e-03 9.99993839e-01 -1.00734795e-03 -6.90511110e+01] [-3.24301055e-03 1.01825364e-03 9.99994223e-01 6.08294516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279072329 meters 0.2529459829596834 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99985164e-01 -3.33999990e-03 4.30315382e-03 -3.68739599e+01] [ 3.34143454e-03 9.99994364e-01 -3.26245027e-04 -6.90531591e+01] [-4.30203991e-03 3.40618893e-04 9.99990688e-01 6.08286096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30907232899995 meters 0.26905293884119724 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99987424e-01 -3.12118782e-03 3.92564510e-03 -3.68730743e+01] [ 3.12143586e-03 9.99995127e-01 -5.70605967e-05 -6.90538791e+01] [-3.92544787e-03 6.93135285e-05 9.99992293e-01 6.08286996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339072329 meters 0.24256179228519748 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99985662e-01 -3.33187400e-03 4.19213630e-03 -3.68737011e+01] [ 3.33333444e-03 9.99994386e-01 -3.41436215e-04 -6.90530201e+01] [-4.19097514e-03 3.55405112e-04 9.99991155e-01 6.08286775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36907232899995 meters 0.25894214710642965 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99986907e-01 -3.27026421e-03 3.93577235e-03 -3.68730712e+01] [ 3.27161089e-03 9.99994592e-01 -3.35775885e-04 -6.90529767e+01] [-3.93465299e-03 3.48647804e-04 9.99992198e-01 6.08287328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399072329 meters 0.24674247565069193 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99984264e-01 -3.31849471e-03 4.52328794e-03 -3.68744589e+01] [ 3.31953588e-03 9.99994466e-01 -2.22690040e-04 -6.90534298e+01] [-4.52252391e-03 2.37701752e-04 9.99989745e-01 6.08286446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42907232899995 meters 0.28193394501707203 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99982085e-01 -3.32048178e-03 4.98028016e-03 -3.68755917e+01] [ 3.32071207e-03 9.99994486e-01 -3.79711000e-05 -6.90540642e+01] [-4.98012662e-03 5.45084962e-05 9.99987598e-01 6.08286508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459072329 meters 0.22854370016494685 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99980844e-01 -3.45292786e-03 5.13710189e-03 -3.68762765e+01] [ 3.45405186e-03 9.99994013e-01 -2.09944215e-04 -6.90537364e+01] [-5.13634621e-03 2.27684010e-04 9.99986783e-01 6.08290887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48907232899995 meters 0.2797151292330966 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99980345e-01 -3.45129129e-03 5.23423453e-03 -3.68763880e+01] [ 3.45227158e-03 9.99994025e-01 -1.78260590e-04 -6.90537599e+01] [-5.23358802e-03 1.96327086e-04 9.99986285e-01 6.08289081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519072329 meters 0.27047038907678467 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99980449e-01 -3.32238329e-03 5.29749895e-03 -3.68764501e+01] [ 3.32209961e-03 9.99994480e-01 6.23466915e-05 -6.90544417e+01] [-5.29767685e-03 -4.47466534e-05 9.99985966e-01 6.08287692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54907232899996 meters 0.22154702306500107 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99979008e-01 -3.27186382e-03 5.59267824e-03 -3.68771180e+01] [ 3.27050591e-03 9.99994620e-01 2.51929671e-04 -6.90549999e+01] [-5.59347243e-03 -2.33633495e-04 9.99984329e-01 6.08286846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579072329 meters 0.2750627766712214 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99975805e-01 -3.35693499e-03 6.09262056e-03 -3.68781844e+01] [ 3.35545983e-03 9.99994339e-01 2.52327072e-04 -6.90549652e+01] [-6.09343311e-03 -2.31877423e-04 9.99981408e-01 6.08284480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60907232899996 meters 0.27529963356737575 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99973847e-01 -3.18190419e-03 6.49472111e-03 -3.68790123e+01] [ 3.17728595e-03 9.99994692e-01 7.21269825e-04 -6.90563279e+01] [-6.49698165e-03 -7.00615375e-04 9.99978649e-01 6.08281678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639072329 meters 0.26510789786237926 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99966832e-01 -3.27312011e-03 7.45803360e-03 -3.68811795e+01] [ 3.26591202e-03 9.99994188e-01 9.78460412e-04 -6.90573218e+01] [-7.46119287e-03 -9.54070676e-04 9.99971710e-01 6.08278014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66907232899996 meters 0.2602626943392143 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99957845e-01 -3.49526523e-03 8.49062746e-03 -3.68834175e+01] [ 3.48680457e-03 9.99993410e-01 1.01106998e-03 -6.90576017e+01] [-8.49410546e-03 -9.81422196e-04 9.99963443e-01 6.08274227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699072329 meters 0.27490465329462915 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99957609e-01 -3.41045842e-03 8.55273294e-03 -3.68835614e+01] [ 3.40044714e-03 9.99993517e-01 1.18480502e-03 -6.90581349e+01] [-8.55671822e-03 -1.15567167e-03 9.99962723e-01 6.08274067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72907232899996 meters 0.2680987764972013 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99957112e-01 -3.39858204e-03 8.61534720e-03 -3.68840736e+01] [ 3.38814260e-03 9.99993509e-01 1.22603209e-03 -6.90584830e+01] [-8.61945804e-03 -1.19678949e-03 9.99962136e-01 6.08279235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759072329 meters 0.26518567809986926 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99957956e-01 -3.47080531e-03 8.48760481e-03 -3.68840807e+01] [ 3.46189439e-03 9.99993441e-01 1.06434152e-03 -6.90581486e+01] [-8.49124326e-03 -1.03491358e-03 9.99963413e-01 6.08284010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78907232899996 meters 0.25976252590360344 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99957086e-01 -3.68151510e-03 8.50128799e-03 -3.68842012e+01] [ 3.67564631e-03 9.99992996e-01 7.05862768e-04 -6.90571102e+01] [-8.50382708e-03 -6.74584749e-04 9.99963614e-01 6.08285344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819072329 meters 0.25286720338112023 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.83 [[ 9.99954265e-01 -3.72669354e-03 8.80791594e-03 -3.68849332e+01] [ 3.72020456e-03 9.99992797e-01 7.52989633e-04 -6.90572704e+01] [-8.81065866e-03 -7.20187946e-04 9.99960926e-01 6.08284959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84907232899997 meters 0.23709913673822786 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99949479e-01 -3.65193636e-03 9.36493488e-03 -3.68864898e+01] [ 3.64196575e-03 9.99992783e-01 1.08150745e-03 -6.90585341e+01] [-9.36881689e-03 -1.04734604e-03 9.99955563e-01 6.08287704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879072329 meters 0.24411372490851138 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99945707e-01 -3.73151461e-03 9.72922816e-03 -3.68874341e+01] [ 3.72130803e-03 9.99992507e-01 1.06695624e-03 -6.90585604e+01] [-9.73313662e-03 -1.03069286e-03 9.99952101e-01 6.08288291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90907232899997 meters 0.24277631324216326 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99942238e-01 -3.56161213e-03 1.01407771e-02 -3.68883139e+01] [ 3.54634810e-03 9.99992552e-01 1.52279656e-03 -6.90599339e+01] [-1.01461252e-02 -1.48674587e-03 9.99947421e-01 6.08285947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93907232899994 meters 0.22565674321972895 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99940963e-01 -3.45829609e-03 1.03010409e-02 -3.68885573e+01] [ 3.44028404e-03 9.99992523e-01 1.76577312e-03 -6.90606164e+01] [-1.03070705e-02 -1.73023036e-03 9.99945384e-01 6.08283344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96907232899997 meters 0.2696094403876472 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99939125e-01 -3.36562322e-03 1.05080142e-02 -3.68890189e+01] [ 3.34466595e-03 9.99992384e-01 2.01134511e-03 -6.90613636e+01] [-1.05147036e-02 -1.97607687e-03 9.99942766e-01 6.08282361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99907232899994 meters 0.2734647021571444 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99937237e-01 -3.25654902e-03 1.07199516e-02 -3.68894425e+01] [ 3.23230436e-03 9.99992181e-01 2.27818801e-03 -6.90621506e+01] [-1.07272868e-02 -2.24339488e-03 9.99939944e-01 6.08280608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.029072329 meters 0.26117013104876413 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99930474e-01 -3.33751632e-03 1.13096887e-02 -3.68911438e+01] [ 3.31072714e-03 9.99991672e-01 2.38658759e-03 -6.90628827e+01] [-1.13175598e-02 -2.34897837e-03 9.99933195e-01 6.08284002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05907232899995 meters 0.2557114822598393 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99934310e-01 -3.36027473e-03 1.09582789e-02 -3.68904974e+01] [ 3.33620367e-03 9.99991984e-01 2.21415026e-03 -6.90624542e+01] [-1.09656312e-02 -2.17744577e-03 9.99937505e-01 6.08287328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.089072329 meters 0.21660997859009765 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99930316e-01 -3.72641199e-03 1.12016833e-02 -3.68910108e+01] [ 3.70798908e-03 9.99991739e-01 1.66497398e-03 -6.90608284e+01] [-1.12077951e-02 -1.62332223e-03 9.99935873e-01 6.08286132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11907232899995 meters 0.25757085612914443 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99935780e-01 -3.49581488e-03 1.07803195e-02 -3.68902326e+01] [ 3.47483265e-03 9.99992033e-01 1.96446255e-03 -6.90617832e+01] [-1.07871010e-02 -1.92687659e-03 9.99939961e-01 6.08289865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.149072329 meters 0.25793600788646887 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99946293e-01 -3.45113112e-03 9.77250126e-03 -3.68880986e+01] [ 3.43723539e-03 9.99993058e-01 1.43836079e-03 -6.90601198e+01] [-9.77739739e-03 -1.40469315e-03 9.99951213e-01 6.08296058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17907232899995 meters 0.23685615440301203 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99938323e-01 -3.85624458e-03 1.04153929e-02 -3.68895424e+01] [ 3.84690533e-03 9.99992181e-01 9.16562865e-04 -6.90587496e+01] [-1.04188459e-02 -8.76439303e-04 9.99945338e-01 6.08294683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.209072329 meters 0.2395260578856399 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99930335e-01 -3.68656517e-03 1.12131157e-02 -3.68912723e+01] [ 3.66983218e-03 9.99992122e-01 1.51247967e-03 -6.90606292e+01] [-1.12186032e-02 -1.47122405e-03 9.99935987e-01 6.08290446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23907232899995 meters 0.2395260578856399 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99930335e-01 -3.68656517e-03 1.12131157e-02 -3.68912723e+01] [ 3.66983218e-03 9.99992122e-01 1.51247967e-03 -6.90606292e+01] [-1.12186032e-02 -1.47122405e-03 9.99935987e-01 6.08290446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.269072329 meters 0.24324378978935524 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99929092e-01 -3.54216629e-03 1.13694527e-02 -3.68919174e+01] [ 3.52163857e-03 9.99992134e-01 1.82502831e-03 -6.90617769e+01] [-1.13758279e-02 -1.78485980e-03 9.99933700e-01 6.08293827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29907232899996 meters 0.2259128487335748 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99932793e-01 -3.77660738e-03 1.09611304e-02 -3.68911511e+01] [ 3.76320331e-03 9.99992146e-01 1.24324103e-03 -6.90601116e+01] [-1.09657396e-02 -1.20190852e-03 9.99939152e-01 6.08297682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.329072329 meters 0.26199519326644144 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99928613e-01 -3.95753853e-03 1.12742075e-02 -3.68915442e+01] [ 3.94600698e-03 9.99991669e-01 1.04488717e-03 -6.90593536e+01] [-1.12782488e-02 -1.00032447e-03 9.99935898e-01 6.08291953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35907232899996 meters 0.21997170946251784 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99926120e-01 -3.92249466e-03 1.15051951e-02 -3.68920395e+01] [ 3.90894474e-03 9.99991640e-01 1.19997326e-03 -6.90598177e+01] [-1.15098058e-02 -1.15491143e-03 9.99933093e-01 6.08290485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.389072329 meters 0.21970204104909638 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99929346e-01 -3.92014495e-03 1.12220705e-02 -3.68914471e+01] [ 3.90796117e-03 9.99991751e-01 1.10742064e-03 -6.90595704e+01] [-1.12263192e-02 -1.06348698e-03 9.99936417e-01 6.08292057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41907232899996 meters 0.35486947394445933 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99937362e-01 -4.01504160e-03 1.04475628e-02 -3.68899708e+01] [ 4.00877971e-03 9.99991772e-01 6.20236659e-04 -6.90582037e+01] [-1.04499671e-02 -5.78315830e-04 9.99945230e-01 6.08299141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.449072329 meters 0.3523119887520745 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99936426e-01 -4.14107092e-03 1.04878683e-02 -3.68903587e+01] [ 4.13690799e-03 9.99991355e-01 4.18591115e-04 -6.90577501e+01] [-1.04895111e-02 -3.75177157e-04 9.99944913e-01 6.08303319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47907232899996 meters 0.3397780859343917 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99934090e-01 -3.97291703e-03 1.07717517e-02 -3.68907861e+01] [ 3.96447648e-03 9.99991818e-01 8.04822240e-04 -6.90588217e+01] [-1.07748611e-02 -7.62064838e-04 9.99941659e-01 6.08298895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.509072329 meters 0.3452350310900085 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99936925e-01 -3.90532046e-03 1.05306076e-02 -3.68903239e+01] [ 3.89670166e-03 9.99992056e-01 8.38846517e-04 -6.90589835e+01] [-1.05337999e-02 -7.97758971e-04 9.99944200e-01 6.08300914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53907232899996 meters 0.34315931553106427 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99949222e-01 -3.64467647e-03 9.39520062e-03 -3.68880366e+01] [ 3.63680081e-03 9.99993021e-01 8.55213120e-04 -6.90587649e+01] [-9.39825203e-03 -8.21001220e-04 9.99955498e-01 6.08308495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.569072329 meters 0.33598586365305616 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.83 [[ 9.99955345e-01 -3.81879498e-03 8.64435291e-03 -3.68867136e+01] [ 3.81747865e-03 9.99992699e-01 1.68771750e-04 -6.90569554e+01] [-8.64493431e-03 -1.35764581e-04 9.99962623e-01 6.08317512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59907232899997 meters 0.32954579015876073 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99963427e-01 -4.03221518e-03 7.54234023e-03 -3.68848204e+01] [ 4.03837765e-03 9.99991524e-01 -8.01999217e-04 -6.90544013e+01] [-7.53904247e-03 8.32428703e-04 9.99971235e-01 6.08331877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.629072329 meters 0.3230686638141439 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99963944e-01 -4.25315713e-03 7.34994936e-03 -3.68844686e+01] [ 4.26259001e-03 9.99990111e-01 -1.26820502e-03 -6.90530336e+01] [-7.34448280e-03 1.29948911e-03 9.99972185e-01 6.08334006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65907232899997 meters 0.31927188676031143 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99965895e-01 -4.13869179e-03 7.14702861e-03 -3.68839373e+01] [ 4.14697223e-03 9.99990747e-01 -1.14415531e-03 -6.90533677e+01] [-7.14222717e-03 1.17375482e-03 9.99973805e-01 6.08333664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68907232899994 meters 0.3142417677650441 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99969438e-01 -4.15608261e-03 6.62198199e-03 -3.68825400e+01] [ 4.16541462e-03 9.99990350e-01 -1.39607950e-03 -6.90523859e+01] [-6.61611586e-03 1.42362013e-03 9.99977100e-01 6.08332611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71907232899997 meters 0.31096292561269556 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.83 [[ 9.99980522e-01 -3.19746913e-04 6.23317540e-03 -3.68817794e+01] [ 3.07352220e-04 9.99997974e-01 1.98936026e-03 -6.90495369e+01] [-6.23379886e-03 -1.98740574e-03 9.99978595e-01 6.08335752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74907232899994 meters 0.31772504247821204 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.84 [[ 9.99979143e-01 6.25196632e-03 1.62037504e-03 -3.68675706e+01] [-6.25432088e-03 9.99979387e-01 1.45212282e-03 -6.90495608e+01] [-1.61126302e-03 -1.46222688e-03 9.99997633e-01 6.08369990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779072329 meters 0.36196451534681684 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.84 [[ 9.99979736e-01 6.13537289e-03 1.69819935e-03 -3.68677748e+01] [-6.13753130e-03 9.99980360e-01 1.26871888e-03 -6.90490018e+01] [-1.69038193e-03 -1.27911592e-03 9.99997753e-01 6.08370389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80907232899995 meters 0.30216599788628506 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.84 [[ 9.99997030e-01 2.19924560e-03 1.05027255e-03 -3.68660107e+01] [-2.19645540e-03 9.99994075e-01 -2.65044127e-03 -6.90496617e+01] [-1.05609529e-03 2.64812652e-03 9.99995936e-01 6.08367568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839072329 meters 0.3013590418247019 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.84 [[ 9.99996121e-01 2.48390710e-03 1.26049796e-03 -3.68663167e+01] [-2.48126326e-03 9.99994728e-01 -2.09469960e-03 -6.90512548e+01] [-1.26569436e-03 2.09156385e-03 9.99997012e-01 6.08363991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86907232899995 meters 0.34051657236878186 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.84 [[ 9.99995336e-01 3.05394361e-03 -4.58995968e-05 -3.68627681e+01] [-3.05402511e-03 9.99993541e-01 -1.89504538e-03 -6.90503582e+01] [ 4.01119386e-05 1.89517672e-03 9.99998203e-01 6.08360632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899072329 meters 0.33337611604595463 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.84 [[ 9.99995847e-01 2.87915269e-03 -1.25928336e-04 -3.68624934e+01] [-2.87942625e-03 9.99993370e-01 -2.22893641e-03 -6.90492719e+01] [ 1.19510053e-04 2.22928976e-03 9.99997508e-01 6.08359986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92907232899995 meters 0.32679668854737715 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.84 [[ 9.99995563e-01 2.96777087e-03 -2.59367338e-04 -3.68621709e+01] [-2.96831578e-03 9.99993334e-01 -2.12638323e-03 -6.90495579e+01] [ 2.53054990e-04 2.12714367e-03 9.99997706e-01 6.08360331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959072329 meters 0.2763033067570771 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.84 [[ 9.99995793e-01 2.88429430e-03 -3.09268443e-04 -3.68624935e+01] [-2.88500034e-03 9.99993177e-01 -2.30731680e-03 -6.90492782e+01] [ 3.02611352e-04 2.30819933e-03 9.99997290e-01 6.08367502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98907232899995 meters 0.3150311043906251 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.84 [[ 9.99995924e-01 2.82578533e-03 4.07653256e-04 -3.68641208e+01] [-2.82490014e-03 9.99993686e-01 -2.15590958e-03 -6.90498704e+01] [-4.13742819e-04 2.15474921e-03 9.99997593e-01 6.08366196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019072329 meters 0.2662178864728862 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.84 [[ 9.99995062e-01 3.06053714e-03 7.13931392e-04 -3.68647556e+01] [-3.05936166e-03 9.99993972e-01 -1.64180437e-03 -6.90513997e+01] [-7.18951892e-04 1.63961209e-03 9.99998397e-01 6.08363992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04907232899996 meters 0.26978780352390025 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.84 [[ 9.99993725e-01 3.31285629e-03 1.25465142e-03 -3.68653204e+01] [-3.31159770e-03 9.99994013e-01 -1.00389271e-03 -6.90529468e+01] [-1.25796966e-03 9.99731510e-04 9.99998709e-01 6.08351667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079072329 meters 0.3020490789080299 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99993493e-01 3.27329366e-03 1.51671791e-03 -3.68655662e+01] [-3.27179704e-03 9.99994159e-01 -9.88177772e-04 -6.90527886e+01] [-1.51994364e-03 9.83208948e-04 9.99998362e-01 6.08345734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10907232899996 meters 0.2908166894127071 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99993091e-01 3.40920097e-03 1.48143111e-03 -3.68653021e+01] [-3.40806551e-03 9.99993897e-01 -7.68314029e-04 -6.90533450e+01] [-1.48404141e-03 7.63259907e-04 9.99998608e-01 6.08343151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139072329 meters 0.24734689998392442 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99993155e-01 3.39370285e-03 1.47384562e-03 -3.68653943e+01] [-3.39253275e-03 9.99993929e-01 -7.95680713e-04 -6.90532835e+01] [-1.47653698e-03 7.90675197e-04 9.99998597e-01 6.08345210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16907232899996 meters 0.24728801838185474 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99993711e-01 3.22175638e-03 1.48250420e-03 -3.68655612e+01] [-3.22013242e-03 9.99994214e-01 -1.09650887e-03 -6.90524450e+01] [-1.48602831e-03 1.09172812e-03 9.99998300e-01 6.08347549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199072329 meters 0.25102884649721835 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99993026e-01 3.17343739e-03 1.96901957e-03 -3.68665359e+01] [-3.17141707e-03 9.99994442e-01 -1.02833091e-03 -6.90526194e+01] [-1.97227198e-03 1.02207916e-03 9.99997533e-01 6.08344176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22907232899996 meters 0.2423833960688849 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99997192e-01 -1.08977259e-03 2.10433231e-03 -3.68665067e+01] [ 1.10072433e-03 9.99985821e-01 -5.21025249e-03 -6.90528607e+01] [-2.09862448e-03 5.21255415e-03 9.99984212e-01 6.08338906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259072329 meters 0.23627584906449975 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99997216e-01 -7.38892871e-04 2.24112519e-03 -3.68665635e+01] [ 7.49103218e-04 9.99989329e-01 -4.55848952e-03 -6.90546855e+01] [-2.23773304e-03 4.56015566e-03 9.99987099e-01 6.08334490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28907232899996 meters 0.23138538734294398 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99995185e-01 -4.87168060e-04 3.06489298e-03 -3.68683954e+01] [ 4.98779146e-04 9.99992698e-01 -3.78879170e-03 -6.90571389e+01] [-3.06302482e-03 3.79030216e-03 9.99988126e-01 6.08330983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319072329 meters 0.22939395999218992 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99994120e-01 -4.64911301e-04 3.39774651e-03 -3.68691287e+01] [ 4.77226916e-04 9.99993317e-01 -3.62473041e-03 -6.90576289e+01] [-3.39603863e-03 3.62633059e-03 9.99987658e-01 6.08329404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34907232899997 meters 0.21797632919196822 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99994010e-01 -3.77667110e-04 3.44056945e-03 -3.68690884e+01] [ 3.89574064e-04 9.99993936e-01 -3.46073845e-03 -6.90580407e+01] [-3.43924158e-03 3.46205807e-03 9.99988093e-01 6.08327376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379072329 meters 0.26309217668115514 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99992958e-01 -2.93286327e-04 3.74148003e-03 -3.68695995e+01] [ 3.05279134e-04 9.99994817e-01 -3.20519609e-03 -6.90587016e+01] [-3.74052060e-03 3.20631572e-03 9.99987864e-01 6.08323894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40907232899997 meters 0.29500187147963847 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99990662e-01 -2.73724897e-04 4.31290483e-03 -3.68708069e+01] [ 2.86554371e-04 9.99995536e-01 -2.97433413e-03 -6.90594325e+01] [-4.31207142e-03 2.97554224e-03 9.99986276e-01 6.08320850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43907232899994 meters 0.29065267993123794 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99990039e-01 -3.57142062e-04 4.44909919e-03 -3.68709571e+01] [ 3.70827722e-04 9.99995202e-01 -3.07560689e-03 -6.90590302e+01] [-4.44797941e-03 3.07722611e-03 9.99985373e-01 6.08318087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46907232899997 meters 0.25869804965317256 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99985092e-01 -6.31428327e-04 5.42382863e-03 -3.68728892e+01] [ 6.48970136e-04 9.99994563e-01 -3.23306064e-03 -6.90586862e+01] [-5.42175770e-03 3.23653234e-03 9.99980065e-01 6.08311859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49907232899994 meters 0.27818359838584794 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99986202e-01 -5.25217293e-04 5.22692486e-03 -3.68722992e+01] [ 5.41500328e-04 9.99995004e-01 -3.11429536e-03 -6.90589405e+01] [-5.22526307e-03 3.11708277e-03 9.99981490e-01 6.08310531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.529072329 meters 0.2579099911303613 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99986387e-01 -5.12526230e-04 5.19257221e-03 -3.68720098e+01] [ 5.28688346e-04 9.99995019e-01 -3.11165092e-03 -6.90588219e+01] [-5.19095154e-03 3.11435381e-03 9.99981677e-01 6.08307701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55907232899995 meters 0.2772972664717419 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99987993e-01 -4.62196173e-04 4.87863048e-03 -3.68713364e+01] [ 4.77589245e-04 9.99994910e-01 -3.15451030e-03 -6.90586924e+01] [-4.87714764e-03 3.15680240e-03 9.99983124e-01 6.08309551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.589072329 meters 0.23488412716522095 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99988280e-01 -5.79835064e-04 4.80669921e-03 -3.68712784e+01] [ 5.96160269e-04 9.99994057e-01 -3.39560752e-03 -6.90579739e+01] [-4.80470176e-03 3.39843329e-03 9.99982683e-01 6.08311928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61907232899995 meters 0.24313056915056452 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99987230e-01 -5.22390247e-04 5.02656688e-03 -3.68718793e+01] [ 5.38549886e-04 9.99994690e-01 -3.21402986e-03 -6.90585721e+01] [-5.02486121e-03 3.21669588e-03 9.99982202e-01 6.08312861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.649072329 meters 0.24418208502351943 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99986784e-01 -4.71229765e-04 5.11955243e-03 -3.68721792e+01] [ 4.87047549e-04 9.99995111e-01 -3.08887386e-03 -6.90589983e+01] [-5.11807183e-03 3.09132650e-03 9.99982124e-01 6.08313866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67907232899995 meters 0.2582459159680541 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99988658e-01 -7.49377785e-04 4.70350800e-03 -3.68710764e+01] [ 7.67065196e-04 9.99992638e-01 -3.75979558e-03 -6.90567797e+01] [-4.70065586e-03 3.76336083e-03 9.99981870e-01 6.08313840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.709072329 meters 0.24655234347058208 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99988639e-01 -5.57289219e-04 4.73414253e-03 -3.68709121e+01] [ 5.73481609e-04 9.99993988e-01 -3.41967397e-03 -6.90576793e+01] [-4.73220833e-03 3.42235006e-03 9.99982947e-01 6.08310289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73907232899995 meters 0.22820389144376635 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99986283e-01 -6.04492058e-04 5.20267525e-03 -3.68718535e+01] [ 6.21862777e-04 9.99994236e-01 -3.33783528e-03 -6.90578540e+01] [-5.20062756e-03 3.34102485e-03 9.99980895e-01 6.08307022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.769072329 meters 0.3066908094760202 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99991236e-01 4.57691541e-04 4.16153917e-03 -3.68687267e+01] [-4.48253222e-04 9.99997326e-01 -2.26863743e-03 -6.90592058e+01] [-4.16256638e-03 2.26675213e-03 9.99988767e-01 6.08299040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79907232899996 meters 0.3035327344657665 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99991610e-01 5.38545830e-04 4.06070589e-03 -3.68683625e+01] [-5.29710542e-04 9.99997491e-01 -2.17656272e-03 -6.90593929e+01] [-4.06186788e-03 2.17439346e-03 9.99989387e-01 6.08297647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.829072329 meters 0.23385932542304574 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99989591e-01 2.05038338e-04 4.55813158e-03 -3.68693360e+01] [-1.93073599e-04 9.99996536e-01 -2.62520673e-03 -6.90580531e+01] [-4.55865405e-03 2.62429935e-03 9.99986166e-01 6.08294557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85907232899996 meters 0.23291323020233892 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99991660e-01 3.33863367e-04 4.07052116e-03 -3.68682663e+01] [-3.23417960e-04 9.99996654e-01 -2.56649883e-03 -6.90581786e+01] [-4.07136440e-03 2.56516095e-03 9.99988422e-01 6.08296895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.889072329 meters 0.23352763786661407 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99994277e-01 2.80871393e-04 3.37150758e-03 -3.68667519e+01] [-2.70634712e-04 9.99995354e-01 -3.03630471e-03 -6.90566958e+01] [-3.37234472e-03 3.03537489e-03 9.99989707e-01 6.08301480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91907232899996 meters 0.23335424815491865 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99995405e-01 1.99986460e-04 3.02499636e-03 -3.68661431e+01] [-1.89957652e-04 9.99994487e-01 -3.31523650e-03 -6.90559293e+01] [-3.02564268e-03 3.31464665e-03 9.99989929e-01 6.08305786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.949072329 meters 0.23079342348887108 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99994649e-01 8.50757805e-05 3.27043250e-03 -3.68666941e+01] [-7.38613006e-05 9.99994118e-01 -3.42901888e-03 -6.90555569e+01] [-3.27070499e-03 3.42875897e-03 9.99988773e-01 6.08304943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97907232899996 meters 0.2373652649699781 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99993832e-01 1.63304463e-04 3.50854807e-03 -3.68670093e+01] [-1.52068213e-04 9.99994860e-01 -3.20256381e-03 -6.90561110e+01] [-3.50905303e-03 3.20201052e-03 9.99988717e-01 6.08300662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.009072329 meters 0.23464876397836743 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99993069e-01 4.07379704e-04 3.70088766e-03 -3.68668126e+01] [-3.97364873e-04 9.99996259e-01 -2.70639413e-03 -6.90572331e+01] [-3.70197635e-03 2.70490477e-03 9.99989489e-01 6.08290650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03907232899996 meters 0.2630697298327828 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99994739e-01 6.09912938e-04 3.18595161e-03 -3.68653905e+01] [-6.01779590e-04 9.99996559e-01 -2.55321385e-03 -6.90573696e+01] [-3.18749789e-03 2.55128318e-03 9.99991665e-01 6.08288413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.069072329 meters 0.26285122780674164 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.83 [[ 9.99995768e-01 5.33564255e-04 2.85981789e-03 -3.68646372e+01] [-5.25458929e-04 9.99995846e-01 -2.83421275e-03 -6.90564529e+01] [-2.86131824e-03 2.83269804e-03 9.99991894e-01 6.08289981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09907232899997 meters 0.2545160018012314 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.83 [[ 9.99995702e-01 5.81060166e-04 2.87361986e-03 -3.68646627e+01] [-5.73167354e-04 9.99996064e-01 -2.74670562e-03 -6.90567125e+01] [-2.87520455e-03 2.74504675e-03 9.99992099e-01 6.08289912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.129072329 meters 0.2441426048004092 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.83 [[ 9.99995548e-01 4.61814248e-04 2.94797864e-03 -3.68648381e+01] [-4.53159947e-04 9.99995588e-01 -2.93566610e-03 -6.90561255e+01] [-2.94932136e-03 2.93431713e-03 9.99991346e-01 6.08289897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15907232899997 meters 0.2441426048004092 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.83 [[ 9.99995548e-01 4.61814248e-04 2.94797864e-03 -3.68648381e+01] [-4.53159947e-04 9.99995588e-01 -2.93566610e-03 -6.90561255e+01] [-2.94932136e-03 2.93431713e-03 9.99991346e-01 6.08289897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18907232899994 meters 0.24306478946081478 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.83 [[ 9.99996153e-01 4.87248503e-04 2.73054781e-03 -3.68641928e+01] [-4.79136872e-04 9.99995473e-01 -2.97056428e-03 -6.90558741e+01] [-2.73198285e-03 2.96924454e-03 9.99991860e-01 6.08288720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21907232899997 meters 0.25459401827123146 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.83 [[ 9.99996550e-01 5.09721615e-04 2.57681976e-03 -3.68636978e+01] [-5.02001015e-04 9.99995386e-01 -2.99593325e-03 -6.90557033e+01] [-2.57833496e-03 2.99462934e-03 9.99992192e-01 6.08287233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24907232899994 meters 0.23894392905609757 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.83 [[ 9.99996032e-01 3.45212356e-04 2.79576025e-03 -3.68641942e+01] [-3.36245882e-04 9.99994801e-01 -3.20700367e-03 -6.90550493e+01] [-2.79685282e-03 3.20605088e-03 9.99990949e-01 6.08286703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279072329 meters 0.23481649181863493 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99993508e-01 3.97041509e-04 3.58133194e-03 -3.68657592e+01] [-3.87066714e-04 9.99996046e-01 -2.78548254e-03 -6.90562430e+01] [-3.58242373e-03 2.78407824e-03 9.99989708e-01 6.08281062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30907232899995 meters 0.23274787637517635 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99989291e-01 3.29243059e-04 4.61625244e-03 -3.68680811e+01] [-3.17999021e-04 9.99996982e-01 -2.43627255e-03 -6.90575763e+01] [-4.61704064e-03 2.43477850e-03 9.99986377e-01 6.08277333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339072329 meters 0.22642673468586064 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99988218e-01 3.53463153e-04 4.84130985e-03 -3.68686028e+01] [-3.42245778e-04 9.99997256e-01 -2.31764497e-03 -6.90579293e+01] [-4.84211576e-03 2.31596075e-03 9.99985595e-01 6.08276834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36907232899995 meters 0.2277873749064692 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99984850e-01 3.42028877e-04 5.49379620e-03 -3.68699591e+01] [-3.30629793e-04 9.99997791e-01 -2.07567535e-03 -6.90586348e+01] [-5.49449400e-03 2.07382749e-03 9.99982755e-01 6.08273069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399072329 meters 0.2341151722066602 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99982614e-01 5.13969486e-04 5.87437965e-03 -3.68706316e+01] [-5.04392212e-04 9.99998542e-01 -1.63171162e-03 -6.90598850e+01] [-5.87520973e-03 1.62872026e-03 9.99981414e-01 6.08268618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42907232899995 meters 0.22536218230550228 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99979643e-01 3.97257189e-04 6.36828399e-03 -3.68716942e+01] [-3.86708952e-04 9.99998552e-01 -1.65751602e-03 -6.90597970e+01] [-6.36893322e-03 1.65501961e-03 9.99978349e-01 6.08266230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459072329 meters 0.23594940283360644 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99977504e-01 3.41262201e-04 6.69883519e-03 -3.68722031e+01] [-3.30295020e-04 9.99998604e-01 -1.63821530e-03 -6.90597096e+01] [-6.69938490e-03 1.63596585e-03 9.99976221e-01 6.08261654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48907232899995 meters 0.2391496879698783 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99978714e-01 4.29452073e-04 6.51054119e-03 -3.68717357e+01] [-4.19378236e-04 9.99998713e-01 -1.54859802e-03 -6.90599708e+01] [-6.51119786e-03 1.54583468e-03 9.99977607e-01 6.08261675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519072329 meters 0.26470026810345887 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99974353e-01 3.23500334e-04 7.15467106e-03 -3.68730598e+01] [-3.12529010e-04 9.99998774e-01 -1.53451410e-03 -6.90599776e+01] [-7.15515871e-03 1.53223871e-03 9.99973228e-01 6.08258042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54907232899996 meters 0.2264761622116235 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.83 [[ 9.99967970e-01 2.98853171e-04 7.99809003e-03 -3.68747382e+01] [-2.89322706e-04 9.99999247e-01 -1.19272301e-03 -6.90609175e+01] [-7.99844046e-03 1.19037078e-03 9.99967303e-01 6.08251738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579072329 meters 0.27250834627250875 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99962940e-01 3.06268925e-04 8.60372174e-03 -3.68756899e+01] [-2.98022163e-04 9.99999495e-01 -9.59776821e-04 -6.90613961e+01] [-8.60401135e-03 9.57177152e-04 9.99962527e-01 6.08243223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60907232899996 meters 0.2475621270705939 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99961743e-01 3.96794590e-04 8.73813690e-03 -3.68757896e+01] [-3.90321363e-04 9.99999648e-01 -7.42494707e-04 -6.90619348e+01] [-8.73842844e-03 7.39055620e-04 9.99961546e-01 6.08239540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639072329 meters 0.25506566387953045 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99961907e-01 5.30024464e-04 8.71228062e-03 -3.68753204e+01] [-5.25515927e-04 9.99999727e-01 -5.19773293e-04 -6.90623250e+01] [-8.71255374e-03 5.15175051e-04 9.99961912e-01 6.08233692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66907232899996 meters 0.32172198475987157 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.82 [[ 9.99964135e-01 4.48537101e-04 8.45736900e-03 -3.68748800e+01] [-4.42117193e-04 9.99999613e-01 -7.60944668e-04 -6.90616793e+01] [-8.45770704e-03 7.57178229e-04 9.99963946e-01 6.08236619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699072329 meters 0.2361618952069727 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99959654e-01 3.56448568e-04 8.97566969e-03 -3.68761289e+01] [-3.49774394e-04 9.99999661e-01 -7.45143810e-04 -6.90618174e+01] [-8.97593225e-03 7.41974287e-04 9.99959440e-01 6.08236422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72907232899996 meters 0.23593986695634775 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99954494e-01 3.43532179e-04 9.53370272e-03 -3.68773988e+01] [-3.38355371e-04 9.99999794e-01 -5.44608358e-04 -6.90624690e+01] [-9.53388785e-03 5.41357796e-04 9.99954405e-01 6.08235010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759072329 meters 0.2323904151546428 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99953107e-01 3.78836954e-04 9.67682391e-03 -3.68778203e+01] [-3.74710622e-04 9.99999838e-01 -4.28223343e-04 -6.90628700e+01] [-9.67698457e-03 4.24577253e-04 9.99953087e-01 6.08235988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78907232899996 meters 0.23594448273594168 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99953223e-01 5.66258831e-04 9.65561526e-03 -3.68774885e+01] [-5.65362364e-04 9.99999836e-01 -9.55734486e-05 -6.90637395e+01] [-9.65566779e-03 9.01100565e-05 9.99953379e-01 6.08231395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819072329 meters 0.23180066307512714 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.82 [[ 9.99962865e-01 5.19596590e-04 8.60224090e-03 -3.68750619e+01] [-5.12910675e-04 9.99999565e-01 -7.79417352e-04 -6.90612648e+01] [-8.60264214e-03 7.74976227e-04 9.99962696e-01 6.08234863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84907232899997 meters 0.27032197574317285 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.82 [[ 9.99967789e-01 2.08695559e-04 8.02350032e-03 -3.68738032e+01] [-1.96218664e-04 9.99998770e-01 -1.55579955e-03 -6.90588676e+01] [-8.02381515e-03 1.55417508e-03 9.99966601e-01 6.08238451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879072329 meters 0.279929957391833 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.82 [[ 9.99966659e-01 8.78326129e-06 8.16587868e-03 -3.68743635e+01] [ 6.36433112e-06 9.99998280e-01 -1.85495838e-03 -6.90580800e+01] [-8.16588092e-03 1.85494851e-03 9.99964938e-01 6.08241834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90907232899997 meters 0.28297147112160576 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.82 [[ 9.99974298e-01 -3.74646408e-06 7.16956583e-03 -3.68721957e+01] [ 2.03642015e-05 9.99997314e-01 -2.31774482e-03 -6.90564885e+01] [-7.16953789e-03 2.31783125e-03 9.99971612e-01 6.08247633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93907232899994 meters 0.23250882455946412 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.83 [[ 9.99979136e-01 -3.41395061e-04 6.45065441e-03 -3.68706516e+01] [ 3.62516557e-04 9.99994577e-01 -3.27343285e-03 -6.90535629e+01] [-6.44950190e-03 3.27570302e-03 9.99973837e-01 6.08252692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96907232899997 meters 0.23352060491521023 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.82 [[ 9.99985202e-01 3.55861872e-04 5.42852872e-03 -3.68674724e+01] [-3.41289600e-04 9.99996337e-01 -2.68507727e-03 -6.90538153e+01] [-5.42946435e-03 2.68318483e-03 9.99981661e-01 6.08243907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99907232899994 meters 0.2556795227019534 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.82 [[ 9.99988320e-01 3.40587827e-04 4.82108723e-03 -3.68661278e+01] [-3.26340354e-04 9.99995579e-01 -2.95571888e-03 -6.90529544e+01] [-4.82207260e-03 2.95411105e-03 9.99984010e-01 6.08246767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.029072329 meters 0.28512496215174243 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.82 [[ 9.99992144e-01 5.80383678e-04 3.92111731e-03 -3.68634518e+01] [-5.68272910e-04 9.99995068e-01 -3.08900976e-03 -6.90515323e+01] [-3.92289078e-03 3.08675723e-03 9.99987541e-01 6.08242448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05907232899995 meters 0.2760528857588541 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.82 [[ 9.99994788e-01 1.53552155e-03 2.84021655e-03 -3.68599650e+01] [-1.52985499e-03 9.99996837e-01 -1.99621300e-03 -6.90527747e+01] [-2.84327280e-03 1.99185748e-03 9.99993974e-01 6.08231418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.089072329 meters 0.24659243270330905 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.82 [[ 9.99996159e-01 1.86826437e-03 2.04737116e-03 -3.68579620e+01] [-1.86451829e-03 9.99996587e-01 -1.83008460e-03 -6.90527804e+01] [-2.05078325e-03 1.82626021e-03 9.99996230e-01 6.08232494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11907232899995 meters 0.2855159539125454 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.82 [[ 9.99995918e-01 2.03006375e-03 2.01063799e-03 -3.68581066e+01] [-2.02689446e-03 9.99996702e-01 -1.57704619e-03 -6.90536712e+01] [-2.01383287e-03 1.57296440e-03 9.99996735e-01 6.08236033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.149072329 meters 0.2653492597868595 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.82 [[ 9.99994644e-01 2.07494550e-03 2.53130213e-03 -3.68592146e+01] [-2.07158966e-03 9.99996973e-01 -1.32763580e-03 -6.90544279e+01] [-2.53404924e-03 1.32238487e-03 9.99995915e-01 6.08233091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17907232899995 meters 0.27524443378991303 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99993765e-01 2.38432204e-03 2.60486430e-03 -3.68593983e+01] [-2.38230904e-03 9.99996862e-01 -7.75613453e-04 -6.90561341e+01] [-2.60670544e-03 7.69403025e-04 9.99996307e-01 6.08232626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.209072329 meters 0.2752911222270262 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99992690e-01 2.49494580e-03 2.89735179e-03 -3.68600116e+01] [-2.49362108e-03 9.99996785e-01 -4.60742829e-04 -6.90570671e+01] [-2.89849201e-03 4.53514563e-04 9.99995697e-01 6.08230501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23907232899995 meters 0.2762385196042872 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99991583e-01 2.61470461e-03 3.16190152e-03 -3.68603699e+01] [-2.61422671e-03 9.99996571e-01 -1.55267754e-04 -6.90578455e+01] [-3.16229665e-03 1.47000520e-04 9.99994989e-01 6.08225947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.269072329 meters 0.2765039136124802 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99990131e-01 2.60777655e-03 3.59679909e-03 -3.68611390e+01] [-2.60778616e-03 9.99996600e-01 -2.01870917e-06 -6.90581769e+01] [-3.59679212e-03 -7.36099364e-06 9.99993531e-01 6.08221058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29907232899996 meters 0.25667791721569766 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99989734e-01 -1.39730017e-03 4.31034663e-03 -3.68623086e+01] [ 1.41219125e-03 9.99993039e-01 -3.45362326e-03 -6.90605351e+01] [-4.30549087e-03 3.45967484e-03 9.99984747e-01 6.08211258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.329072329 meters 0.2563960742731965 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99990877e-01 -1.15445739e-03 4.11255090e-03 -3.68616245e+01] [ 1.16720816e-03 9.99994516e-01 -3.09940249e-03 -6.90614436e+01] [-4.10895021e-03 3.10417442e-03 9.99986740e-01 6.08208482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35907232899996 meters 0.24443599706606944 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99989349e-01 -1.33292021e-03 4.41871915e-03 -3.68622865e+01] [ 1.34749458e-03 9.99993657e-01 -3.29698958e-03 -6.90608097e+01] [-4.41429650e-03 3.30290867e-03 9.99984802e-01 6.08206915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.389072329 meters 0.24460823504331336 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99988718e-01 -1.08288893e-03 4.62508862e-03 -3.68623083e+01] [ 1.09578939e-03 9.99995514e-01 -2.78761266e-03 -6.90620784e+01] [-4.62204920e-03 2.79264934e-03 9.99985419e-01 6.08199478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41907232899996 meters 0.24170294920117974 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99987144e-01 -1.08263476e-03 4.95374386e-03 -3.68628360e+01] [ 1.09582770e-03 9.99995858e-01 -2.66128766e-03 -6.90623135e+01] [-4.95084214e-03 2.66668190e-03 9.99984189e-01 6.08195057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.449072329 meters 0.23998823434180974 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99985606e-01 -9.80806091e-04 5.27503309e-03 -3.68633360e+01] [ 9.93243526e-04 9.99996732e-01 -2.35569010e-03 -6.90630803e+01] [-5.27270538e-03 2.36089559e-03 9.99983312e-01 6.08190500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47907232899996 meters 0.2936317771144509 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99969337e-01 -5.05260140e-03 5.98299533e-03 -3.68645707e+01] [ 5.08830706e-03 9.99969247e-01 -5.96775060e-03 -6.90650494e+01] [-5.95265867e-03 5.99801092e-03 9.99964294e-01 6.08182692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.509072329 meters 0.2531963830229531 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.82 [[ 9.99963283e-01 -5.01069802e-03 6.95164537e-03 -3.68666671e+01] [ 5.04867812e-03 9.99972367e-01 -5.45672055e-03 -6.90666699e+01] [-6.92411130e-03 5.49161682e-03 9.99960949e-01 6.08178277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53907232899996 meters 0.2366192425642757 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.82 [[ 9.99957121e-01 -5.09123711e-03 7.73528664e-03 -3.68683987e+01] [ 5.13256074e-03 9.99972614e-01 -5.33179837e-03 -6.90671239e+01] [-7.70792935e-03 5.37127158e-03 9.99955868e-01 6.08175519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.569072329 meters 0.26016330517377384 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.82 [[ 9.99944741e-01 -5.45637535e-03 8.98570587e-03 -3.68713219e+01] [ 5.50415956e-03 9.99970798e-01 -5.30168563e-03 -6.90678098e+01] [-8.95651548e-03 5.35085143e-03 9.99945573e-01 6.08173401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59907232899997 meters 0.2597296558770824 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.82 [[ 9.99939598e-01 -5.42268954e-03 9.56002133e-03 -3.68723256e+01] [ 5.47045075e-03 9.99972652e-01 -4.97688155e-03 -6.90685667e+01] [-9.53277180e-03 5.02887856e-03 9.99941917e-01 6.08166595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.629072329 meters 0.29870616745538264 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.82 [[ 9.99933087e-01 -5.23804053e-03 1.03142868e-02 -3.68733528e+01] [ 5.28204947e-03 9.99977043e-01 -4.24418619e-03 -6.90702405e+01] [-1.02918188e-02 4.29838277e-03 9.99937799e-01 6.08152783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65907232899997 meters 0.3160788009455741 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.81 [[ 9.99928740e-01 -5.13302911e-03 1.07780897e-02 -3.68741551e+01] [ 5.17481788e-03 9.99979188e-01 -3.85289487e-03 -6.90712462e+01] [-1.07580884e-02 3.90839497e-03 9.99934492e-01 6.08147077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68907232899994 meters 0.22824888034799737 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99916605e-01 -5.27682923e-03 1.17872309e-02 -3.68763772e+01] [ 5.32053335e-03 9.99979076e-01 -3.67947527e-03 -6.90719558e+01] [-1.17675683e-02 3.74188278e-03 9.99923758e-01 6.08143319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71907232899997 meters 0.3042449520044198 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99914789e-01 -5.09017683e-03 1.20210579e-02 -3.68770204e+01] [ 5.12963489e-03 9.99981549e-01 -3.25386296e-03 -6.90733206e+01] [-1.20042734e-02 3.31524933e-03 9.99922450e-01 6.08144212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74907232899994 meters 0.2866949743944838 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99904948e-01 -5.22615739e-03 1.27585886e-02 -3.68786861e+01] [ 5.26782993e-03 9.99980893e-01 -3.23481547e-03 -6.90735024e+01] [-1.27414392e-02 3.30171807e-03 9.99913373e-01 6.08142215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779072329 meters 0.26212547215447046 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99912582e-01 -5.05629630e-03 1.22172921e-02 -3.68772861e+01] [ 5.09500769e-03 9.99982092e-01 -3.13952858e-03 -6.90735561e+01] [-1.22011990e-02 3.20150133e-03 9.99920437e-01 6.08141270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80907232899995 meters 0.2571918971623695 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99908150e-01 -5.33555569e-03 1.24589004e-02 -3.68777812e+01] [ 5.38025644e-03 9.99979200e-01 -3.55709970e-03 -6.90722699e+01] [-1.24396622e-02 3.62380506e-03 9.99916058e-01 6.08140000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839072329 meters 0.28060729341381235 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99910341e-01 -5.21138699e-03 1.23350026e-02 -3.68774099e+01] [ 5.25355573e-03 9.99980458e-01 -3.38869451e-03 -6.90726903e+01] [-1.23171018e-02 3.45319331e-03 9.99918179e-01 6.08139391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86907232899995 meters 0.26319454759074257 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99910328e-01 -5.15862412e-03 1.23581412e-02 -3.68774628e+01] [ 5.19966785e-03 9.99981065e-01 -3.29136453e-03 -6.90729744e+01] [-1.23409283e-02 3.35532762e-03 9.99918218e-01 6.08139462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899072329 meters 0.2663730118175467 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99910849e-01 -5.07146846e-03 1.23520631e-02 -3.68774653e+01] [ 5.11063458e-03 9.99982007e-01 -3.14131780e-03 -6.90734394e+01] [-1.23359097e-02 3.20416463e-03 9.99918776e-01 6.08139715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92907232899995 meters 0.25909653292114304 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99917506e-01 -5.01551212e-03 1.18248090e-02 -3.68759603e+01] [ 5.05474919e-03 9.99981810e-01 -3.29065058e-03 -6.90726447e+01] [-1.18080897e-02 3.35015056e-03 9.99924670e-01 6.08137264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959072329 meters 0.26347105330509724 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99915233e-01 -5.18751798e-03 1.19422186e-02 -3.68761382e+01] [ 5.23032432e-03 9.99979999e-01 -3.55601700e-03 -6.90717731e+01] [-1.19235329e-02 3.61817725e-03 9.99922366e-01 6.08135557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98907232899995 meters 0.2502784333006252 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99928047e-01 -1.25850984e-03 1.19296300e-02 -3.68763567e+01] [ 1.25681660e-03 9.99999199e-01 1.49431104e-04 -6.90699958e+01] [-1.19298085e-02 -1.34426995e-04 9.99928828e-01 6.08138834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019072329 meters 0.30880776749837124 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99926470e-01 -1.65078079e-03 1.20137308e-02 -3.68768801e+01] [ 1.65713765e-03 9.99998492e-01 -5.19197849e-04 -6.90681418e+01] [-1.20128556e-02 5.39068078e-04 9.99927698e-01 6.08143892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04907232899996 meters 0.30880776749837124 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99926470e-01 -1.65078079e-03 1.20137308e-02 -3.68768801e+01] [ 1.65713765e-03 9.99998492e-01 -5.19197849e-04 -6.90681418e+01] [-1.20128556e-02 5.39068078e-04 9.99927698e-01 6.08143892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079072329 meters 0.3037140366538441 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.81 [[ 9.99922995e-01 -1.81122305e-03 1.22769859e-02 -3.68775239e+01] [ 1.81997403e-03 9.99998098e-01 -7.01660565e-04 -6.90676257e+01] [-1.22756917e-02 7.23950328e-04 9.99924389e-01 6.08143862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10907232899996 meters 0.296504812490892 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.82 [[ 9.99935133e-01 2.53593971e-03 1.11040109e-02 -3.68749706e+01] [-2.56926940e-03 9.99992234e-01 2.98835487e-03 -6.90653677e+01] [-1.10963463e-02 -3.01669022e-03 9.99933883e-01 6.08150722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139072329 meters 0.3053605027454635 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.82 [[ 9.99939240e-01 2.38140150e-03 1.07631184e-02 -3.68742320e+01] [-2.40926999e-03 9.99993777e-01 2.57703471e-03 -6.90641412e+01] [-1.07569145e-02 -2.60280939e-03 9.99938755e-01 6.08152335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16907232899996 meters 0.290318327129475 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.82 [[ 9.99940125e-01 2.33442694e-03 1.06909954e-02 -3.68741879e+01] [-2.36097435e-03 9.99994159e-01 2.47120867e-03 -6.90638989e+01] [-1.06851641e-02 -2.49630188e-03 9.99939796e-01 6.08154259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199072329 meters 0.30131917688360715 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99944757e-01 8.48043536e-03 6.21001032e-03 -3.68615186e+01] [-8.49977413e-03 9.99959088e-01 3.09438535e-03 -6.90682767e+01] [-6.18351452e-03 -3.14699809e-03 9.99975930e-01 6.08184027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22907232899996 meters 0.2895457126221089 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99954930e-01 8.16717521e-03 4.84103635e-03 -3.68590939e+01] [-8.17398167e-03 9.99965629e-01 1.38787678e-03 -6.90636569e+01] [-4.82953493e-03 -1.42738477e-03 9.99987319e-01 6.08203294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259072329 meters 0.28750525952360817 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.82 [[ 9.99957239e-01 8.56054804e-03 3.49824540e-03 -3.68560163e+01] [-8.56372251e-03 9.99962931e-01 8.93476388e-04 -6.90616320e+01] [-3.49046707e-03 -9.23396184e-04 9.99993482e-01 6.08210667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28907232899996 meters 0.2721788387871093 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99954446e-01 9.34771934e-03 1.93020911e-03 -3.68517983e+01] [-9.34790565e-03 9.99956304e-01 8.75195329e-05 -6.90574414e+01] [-1.92930666e-03 -1.05558959e-04 9.99998133e-01 6.08214185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319072329 meters 0.282548302020838 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99957198e-01 9.20511309e-03 9.31537413e-04 -3.68498205e+01] [-9.20451113e-03 9.99957427e-01 -6.48437690e-04 -6.90552795e+01] [-9.37466697e-04 6.39835589e-04 9.99999356e-01 6.08223147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34907232899997 meters 0.2793490508318106 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.82 [[ 9.99959439e-01 8.99564850e-03 4.45848965e-04 -3.68488889e+01] [-8.99507933e-03 9.99958746e-01 -1.26256031e-03 -6.90535060e+01] [-4.57188121e-04 1.25849865e-03 9.99999104e-01 6.08228472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379072329 meters 0.2823851804316708 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.82 [[ 9.99959695e-01 8.97823901e-03 1.38238852e-05 -3.68485165e+01] [-8.97820989e-03 9.99958663e-01 -1.43677083e-03 -6.90533338e+01] [-2.67229857e-05 1.43658881e-03 9.99998968e-01 6.08239131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40907232899997 meters 0.2710832607466083 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.82 [[ 9.99958530e-01 9.07485416e-03 -7.64533082e-04 -3.68469701e+01] [-9.07607494e-03 9.99957518e-01 -1.60871763e-03 -6.90527796e+01] [ 7.49901725e-04 1.61558988e-03 9.99998414e-01 6.08245463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43907232899994 meters 0.2671121577766311 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.82 [[ 9.99957948e-01 9.11524761e-03 -1.00726935e-03 -3.68465424e+01] [-9.11688297e-03 9.99957110e-01 -1.63107111e-03 -6.90527585e+01] [ 9.92358534e-04 1.64018568e-03 9.99998163e-01 6.08248455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46907232899997 meters 0.27405092990156055 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.82 [[ 9.99981945e-01 5.78819022e-03 -1.61440109e-03 -3.68441374e+01] [-5.79553419e-03 9.99972708e-01 -4.58207327e-03 -6.90553340e+01] [ 1.58783512e-03 4.59134686e-03 9.99988199e-01 6.08235184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49907232899994 meters 0.2630309828170384 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.82 [[ 9.99982239e-01 5.85036931e-03 -1.13785034e-03 -3.68449959e+01] [-5.85519945e-03 9.99973660e-01 -4.28900849e-03 -6.90560836e+01] [ 1.11272809e-03 4.29559465e-03 9.99990155e-01 6.08230023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.529072329 meters 0.24601001980152754 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99982053e-01 5.92403329e-03 -8.93906224e-04 -3.68454242e+01] [-5.92762097e-03 9.99974166e-01 -4.06568705e-03 -6.90566811e+01] [ 8.69797866e-04 4.07091283e-03 9.99991336e-01 6.08227169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55907232899995 meters 0.26763264855960045 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99982157e-01 5.96926665e-03 -2.29405307e-04 -3.68468341e+01] [-5.97008309e-03 9.99975184e-01 -3.74035119e-03 -6.90576527e+01] [ 2.07072461e-04 3.74165402e-03 9.99992979e-01 6.08223756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.589072329 meters 0.24256067636786313 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99997986e-01 1.99244057e-03 2.42187900e-04 -3.68477133e+01] [-1.99063303e-03 9.99971755e-01 -7.24755660e-03 -6.90600148e+01] [-2.56621385e-04 7.24705990e-03 9.99973707e-01 6.08218452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61907232899995 meters 0.23856605295074693 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99997369e-01 2.06019864e-03 1.00923064e-03 -3.68492978e+01] [-2.05327026e-03 9.99974645e-01 -6.81861011e-03 -6.90612741e+01] [-1.02325274e-03 6.81651994e-03 9.99976244e-01 6.08213229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.649072329 meters 0.2407549286580888 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99995383e-01 2.04699215e-03 2.24570647e-03 -3.68517710e+01] [-2.03404882e-03 9.99981395e-01 -5.75081460e-03 -6.90643425e+01] [-2.25743656e-03 5.74622018e-03 9.99980942e-01 6.08200005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67907232899995 meters 0.2843738015001954 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.82 [[ 9.99993679e-01 2.04499049e-03 2.90864391e-03 -3.68527653e+01] [-2.02901006e-03 9.99982891e-01 -5.48649839e-03 -6.90648230e+01] [-2.91981398e-03 5.48056204e-03 9.99980719e-01 6.08189683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.709072329 meters 0.2585066287098944 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.82 [[ 9.99992355e-01 2.14566946e-03 3.26887565e-03 -3.68530857e+01] [-2.12880218e-03 9.99984448e-01 -5.15473509e-03 -6.90654850e+01] [-3.27988518e-03 5.14773689e-03 9.99981371e-01 6.08180728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73907232899995 meters 0.2699656454867269 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.82 [[ 9.99988639e-01 2.39379694e-03 4.12210645e-03 -3.68543363e+01] [-2.37615457e-03 9.99988020e-01 -4.27953102e-03 -6.90676581e+01] [-4.13230140e-03 4.26968764e-03 9.99982347e-01 6.08166159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.769072329 meters 0.24340081494245508 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99984818e-01 2.45786008e-03 4.93175630e-03 -3.68559717e+01] [-2.43911758e-03 9.99989795e-01 -3.80279189e-03 -6.90690429e+01] [-4.94105270e-03 3.79070503e-03 9.99980608e-01 6.08160084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79907232899996 meters 0.2432942073220837 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99982675e-01 2.54454185e-03 5.30795993e-03 -3.68567823e+01] [-2.52589908e-03 9.99990629e-01 -3.51598058e-03 -6.90698871e+01] [-5.31685675e-03 3.50251230e-03 9.99979732e-01 6.08158027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.829072329 meters 0.24664788734768117 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99980205e-01 2.70188098e-03 5.68239294e-03 -3.68576033e+01] [-2.68432619e-03 9.99991609e-01 -3.09469102e-03 -6.90711577e+01] [-5.69070674e-03 3.07937637e-03 9.99979066e-01 6.08156238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85907232899996 meters 0.23355871146971557 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99981166e-01 2.64754889e-03 5.53698271e-03 -3.68575408e+01] [-2.62944020e-03 9.99991179e-01 -3.27522433e-03 -6.90707601e+01] [-5.54560518e-03 3.26060348e-03 9.99979307e-01 6.08161531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.889072329 meters 0.2404550133883972 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99980989e-01 2.53756427e-03 5.61984828e-03 -3.68579588e+01] [-2.51828703e-03 9.99990931e-01 -3.43463105e-03 -6.90704024e+01] [-5.62851291e-03 3.42041336e-03 9.99978310e-01 6.08164783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91907232899996 meters 0.2728953935968237 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99984351e-01 2.58517772e-03 4.96121829e-03 -3.68563332e+01] [-2.56717649e-03 9.99990111e-01 -3.63133245e-03 -6.90695320e+01] [-4.97055687e-03 3.61853931e-03 9.99981100e-01 6.08165818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.949072329 meters 0.3002252505409345 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99982935e-01 2.52660165e-03 5.26743363e-03 -3.68565748e+01] [-2.50749930e-03 9.99990268e-01 -3.62995525e-03 -6.90692671e+01] [-5.27655382e-03 3.61668522e-03 9.99979539e-01 6.08157920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97907232899996 meters 0.2691719902916754 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99981274e-01 2.88632121e-03 5.39640754e-03 -3.68565806e+01] [-2.87037628e-03 9.99991499e-01 -2.96014463e-03 -6.90711488e+01] [-5.40490560e-03 2.94459948e-03 9.99981058e-01 6.08152968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.009072329 meters 0.25708646356741105 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.82 [[ 9.99981360e-01 2.96785410e-03 5.33586365e-03 -3.68563220e+01] [-2.95269314e-03 9.99991588e-01 -2.84696895e-03 -6.90713987e+01] [-5.34426816e-03 2.83116071e-03 9.99981711e-01 6.08151521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03907232899996 meters 0.25083610221221764 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99976946e-01 2.81840839e-03 6.17764729e-03 -3.68580317e+01] [-2.80126929e-03 9.99992209e-01 -2.78127170e-03 -6.90716661e+01] [-6.18543792e-03 2.76390233e-03 9.99977050e-01 6.08145702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.069072329 meters 0.28718365216857067 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99973971e-01 2.83322904e-03 6.63549773e-03 -3.68588813e+01] [-2.81618783e-03 9.99992716e-01 -2.57612484e-03 -6.90721805e+01] [-6.64274815e-03 2.55737098e-03 9.99974667e-01 6.08141042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09907232899997 meters 0.265471422159188 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99968940e-01 3.07829304e-03 7.25562116e-03 -3.68596877e+01] [-3.06486165e-03 9.99993571e-01 -1.86156257e-03 -6.90739789e+01] [-7.26130495e-03 1.83926727e-03 9.99971945e-01 6.08128887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.129072329 meters 0.2860829671967572 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99968121e-01 3.11024573e-03 7.35415345e-03 -3.68597476e+01] [-3.09730568e-03 9.99993636e-01 -1.77029214e-03 -6.90741550e+01] [-7.35961269e-03 1.74745765e-03 9.99971391e-01 6.08126086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15907232899997 meters 0.2744265284727014 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99968479e-01 2.99368621e-03 7.35387126e-03 -3.68597417e+01] [-2.97922128e-03 9.99993608e-01 -1.97714879e-03 -6.90735104e+01] [-7.35974322e-03 1.95517765e-03 9.99971005e-01 6.08126052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18907232899994 meters 0.2830769623257373 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99969235e-01 2.84832135e-03 7.30865187e-03 -3.68599276e+01] [-2.83185705e-03 9.99993432e-01 -2.26207468e-03 -6.90728012e+01] [-7.31504698e-03 2.24130803e-03 9.99970733e-01 6.08130997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21907232899997 meters 0.289269966463577 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99968833e-01 2.78228390e-03 7.38867445e-03 -3.68602795e+01] [-2.76503264e-03 9.99993430e-01 -2.34401500e-03 -6.90726340e+01] [-7.39514762e-03 2.32351202e-03 9.99969956e-01 6.08133380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24907232899994 meters 0.2790625663098112 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99969217e-01 2.86547634e-03 7.30432248e-03 -3.68600172e+01] [-2.84926830e-03 9.99993458e-01 -2.22840728e-03 -6.90729381e+01] [-7.31066014e-03 2.20752671e-03 9.99970840e-01 6.08132745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279072329 meters 0.28316605989212945 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99970300e-01 2.92112214e-03 7.13207252e-03 -3.68594656e+01] [-2.90548476e-03 9.99993355e-01 -2.20192016e-03 -6.90729021e+01] [-7.13845721e-03 2.18113264e-03 9.99972142e-01 6.08131106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30907232899995 meters 0.24337881807969552 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99967715e-01 3.19914231e-03 7.37112647e-03 -3.68597917e+01] [-3.18726668e-03 9.99993605e-01 -1.62228522e-03 -6.90745349e+01] [-7.37626925e-03 1.59873910e-03 9.99971517e-01 6.08126784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339072329 meters 0.2486254192696459 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99965081e-01 3.19734799e-03 7.72098098e-03 -3.68604891e+01] [-3.18590642e-03 9.99993809e-01 -1.49372557e-03 -6.90748709e+01] [-7.72570914e-03 1.46907509e-03 9.99969077e-01 6.08123926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36907232899995 meters 0.2680566244438241 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.81 [[ 9.99961698e-01 3.28894512e-03 8.11084489e-03 -3.68613480e+01] [-3.27941572e-03 9.99993917e-01 -1.18791550e-03 -6.90758097e+01] [-8.11470254e-03 1.16127117e-03 9.99966401e-01 6.08121959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399072329 meters 0.22834015891050571 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.81 [[ 9.99957925e-01 3.07536068e-03 8.64230439e-03 -3.68624468e+01] [-3.06351017e-03 9.99994350e-01 -1.38412526e-03 -6.90752144e+01] [-8.64651224e-03 1.35759123e-03 9.99961697e-01 6.08118974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42907232899995 meters 0.23698975592391433 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99960212e-01 3.04838045e-03 8.38343635e-03 -3.68617015e+01] [-3.03558055e-03 9.99994208e-01 -1.53910953e-03 -6.90746308e+01] [-8.38807959e-03 1.51359969e-03 9.99963674e-01 6.08117802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459072329 meters 0.24033543125057874 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99964235e-01 2.79451580e-03 7.98245814e-03 -3.68609997e+01] [-2.77746686e-03 9.99993840e-01 -2.14608956e-03 -6.90728952e+01] [-7.98840624e-03 2.12384179e-03 9.99965837e-01 6.08122622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48907232899995 meters 0.28015296401640305 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99960975e-01 2.87205719e-03 8.35466819e-03 -3.68616769e+01] [-2.85659024e-03 9.99994185e-01 -1.86263856e-03 -6.90736488e+01] [-8.35996922e-03 1.83870001e-03 9.99963364e-01 6.08118723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519072329 meters 0.2303907583760243 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99959069e-01 3.00192043e-03 8.53514949e-03 -3.68620066e+01] [-2.98866742e-03 9.99994309e-01 -1.56508840e-03 -6.90745065e+01] [-8.53979919e-03 1.53951562e-03 9.99962350e-01 6.08116931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54907232899996 meters 0.27144109456715865 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.81 [[ 9.99956538e-01 2.83946236e-03 8.88030430e-03 -3.68628223e+01] [-2.82414552e-03 9.99994504e-01 -1.73687447e-03 -6.90740036e+01] [-8.88518728e-03 1.71171971e-03 9.99959061e-01 6.08116293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579072329 meters 0.24739422723645507 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.81 [[ 9.99949715e-01 3.05040371e-03 9.55315892e-03 -3.68639857e+01] [-3.04115755e-03 9.99994893e-01 -9.82241950e-04 -6.90760848e+01] [-9.55610637e-03 9.53139896e-04 9.99953885e-01 6.08107158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60907232899996 meters 0.27909387865128277 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.81 [[ 9.99951881e-01 2.99384079e-03 9.34195104e-03 -3.68634847e+01] [-2.98287252e-03 9.99994846e-01 -1.18779943e-03 -6.90754303e+01] [-9.34545897e-03 1.15987643e-03 9.99955658e-01 6.08107867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639072329 meters 0.2809220953480474 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.81 [[ 9.99949258e-01 3.06446218e-03 9.59637830e-03 -3.68638391e+01] [-3.05526807e-03 9.99994860e-01 -9.72595072e-04 -6.90759712e+01] [-9.59930945e-03 9.43226212e-04 9.99953481e-01 6.08103241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66907232899996 meters 0.2462677740742136 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.81 [[ 9.99945684e-01 3.13805020e-03 9.93886787e-03 -3.68645279e+01] [-3.13117294e-03 9.99994848e-01 -7.07441096e-04 -6.90767265e+01] [-9.94103664e-03 6.76282357e-04 9.99950358e-01 6.08100578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699072329 meters 0.2593382938629199 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99942498e-01 3.15754641e-03 1.02484292e-02 -3.68652314e+01] [-3.15197112e-03 9.99994876e-01 -5.60120828e-04 -6.90771782e+01] [-1.02501453e-02 5.27785867e-04 9.99947327e-01 6.08099421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72907232899996 meters 0.23608517419605454 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99935536e-01 3.18418072e-03 1.08988412e-02 -3.68666925e+01] [-3.18165599e-03 9.99994908e-01 -2.48981890e-04 -6.90781833e+01] [-1.08995785e-02 2.14289476e-04 9.99940575e-01 6.08097036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759072329 meters 0.3008913119318025 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99929955e-01 3.08537469e-03 1.14265377e-02 -3.68678302e+01] [-3.08296713e-03 9.99995222e-01 -2.28307001e-04 -6.90782254e+01] [-1.14271875e-02 1.93063369e-04 9.99934689e-01 6.08094473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78907232899996 meters 0.23100148073859064 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99919884e-01 3.01376691e-03 1.22940459e-02 -3.68695926e+01] [-3.01296868e-03 9.99995458e-01 -8.34490115e-05 -6.90786577e+01] [-1.22942416e-02 4.64007505e-05 9.99924422e-01 6.08089105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819072329 meters 0.2855447858062067 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99911013e-01 3.08447223e-03 1.29789079e-02 -3.68710275e+01] [-3.08957181e-03 9.99995158e-01 3.72880696e-04 -6.90800000e+01] [-1.29776949e-02 -4.12946782e-04 9.99915701e-01 6.08084306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84907232899997 meters 0.2788217511376308 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99904685e-01 3.17492433e-03 1.34365461e-02 -3.68719255e+01] [-3.18488500e-03 9.99994669e-01 7.19978206e-04 -6.90809747e+01] [-1.34341886e-02 -7.62703435e-04 9.99909466e-01 6.08080412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879072329 meters 0.27682183495497426 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99912082e-01 -8.10470929e-04 1.32352205e-02 -3.68707090e+01] [ 8.52422088e-04 9.99994630e-01 -3.16432717e-03 -6.90816112e+01] [-1.32325848e-02 3.17533096e-03 9.99907404e-01 6.08070133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90907232899997 meters 0.2793769743807611 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99899775e-01 -8.91786389e-04 1.41295608e-02 -3.68724669e+01] [ 9.34244873e-04 9.99995068e-01 -2.99862452e-03 -6.90820805e+01] [-1.41268170e-02 3.01152445e-03 9.99895676e-01 6.08063246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93907232899994 meters 0.2618821827620443 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99885799e-01 -7.96993331e-04 1.50914978e-02 -3.68744978e+01] [ 8.32352004e-04 9.99996923e-01 -2.33681707e-03 -6.90840663e+01] [-1.50895890e-02 2.34911164e-03 9.99883386e-01 6.08057148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96907232899997 meters 0.2618821827620443 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.81 [[ 9.99885799e-01 -7.96993331e-04 1.50914978e-02 -3.68744978e+01] [ 8.32352004e-04 9.99996923e-01 -2.33681707e-03 -6.90840663e+01] [-1.50895890e-02 2.34911164e-03 9.99883386e-01 6.08057148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99907232899994 meters 0.25024821944819053 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.09, Z:60.81 [[ 9.99861790e-01 -4.97447505e-03 1.58636345e-02 -3.68761090e+01] [ 5.07325371e-03 9.99967956e-01 -6.19258355e-03 -6.90854688e+01] [-1.58323213e-02 6.27220792e-03 9.99854988e-01 6.08053157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.029072329 meters 0.25123050562003335 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.09, Z:60.81 [[ 9.99850110e-01 -5.05801200e-03 1.65582246e-02 -3.68776240e+01] [ 5.15967442e-03 9.99968067e-01 -6.10274091e-03 -6.90857331e+01] [-1.65268281e-02 6.18726121e-03 9.99844279e-01 6.08050236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05907232899995 meters 0.24752972185698524 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.09, Z:60.81 [[ 9.99829867e-01 -5.36210231e-03 1.76489456e-02 -3.68802719e+01] [ 5.47009374e-03 9.99966578e-01 -6.07628379e-03 -6.90862413e+01] [-1.76157741e-02 6.17179140e-03 9.99825782e-01 6.08050150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.089072329 meters 0.23948142019473248 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.09, Z:60.80 [[ 9.99779555e-01 -9.40581445e-03 1.87716012e-02 -3.68822382e+01] [ 9.58292850e-03 9.99910203e-01 -9.36766913e-03 -6.90890550e+01] [-1.86818050e-02 9.54549098e-03 9.99779913e-01 6.08037345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11907232899995 meters 0.2352048044866793 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.09, Z:60.80 [[ 9.99721917e-01 -1.33827317e-02 1.94162823e-02 -3.68829890e+01] [ 1.36347320e-02 9.99823762e-01 -1.29050067e-02 -6.90910502e+01] [-1.92401561e-02 1.31661538e-02 9.99728197e-01 6.08025628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.149072329 meters 0.22866987623819568 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.08, Z:60.80 [[ 9.99799254e-01 -1.72788373e-02 1.01436889e-02 -3.68915180e+01] [ 1.74092631e-02 9.99765052e-01 -1.29135089e-02 -6.90832432e+01] [-9.91817526e-03 1.30875107e-02 9.99865164e-01 6.07998319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17907232899995 meters 0.2409998897289314 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.08, Z:60.80 [[ 9.99753937e-01 -1.85466072e-02 1.21691544e-02 -3.68960098e+01] [ 1.87019410e-02 9.99743455e-01 -1.27773852e-02 -6.90847836e+01] [-1.19290553e-02 1.30018279e-02 9.99844313e-01 6.07985916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.209072329 meters 0.22777107553023665 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.08, Z:60.80 [[ 9.99779084e-01 -1.58795990e-02 1.37703080e-02 -3.69002031e+01] [ 1.60148414e-02 9.99824047e-01 -9.76728114e-03 -6.90829330e+01] [-1.36127846e-02 9.98565269e-03 9.99857479e-01 6.07988053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23907232899995 meters 0.22618760385821038 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.08, Z:60.80 [[ 9.99765154e-01 -1.61735373e-02 1.44240887e-02 -3.69018077e+01] [ 1.63187290e-02 9.99816776e-01 -1.00056728e-02 -6.90823477e+01] [-1.42596187e-02 1.02387058e-02 9.99845904e-01 6.07987340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.269072329 meters 0.6166607340644807 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.08, Z:60.80 [[ 9.99745730e-01 -1.63135865e-02 1.55673256e-02 -3.69041814e+01] [ 1.64642087e-02 9.99818398e-01 -9.59692207e-03 -6.90835964e+01] [-1.54079383e-02 9.85078556e-03 9.99832765e-01 6.07979398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29907232899996 meters 0.6159793816671766 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.08, Z:60.80 [[ 9.99781167e-01 -1.25661234e-02 1.67245752e-02 -3.69070271e+01] [ 1.26621925e-02 9.99903864e-01 -5.65074018e-03 -6.90829447e+01] [-1.66519595e-02 5.86127340e-03 9.99844167e-01 6.07977520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.329072329 meters 0.6149544200876624 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.08, Z:60.80 [[ 9.99916337e-01 -1.26192884e-02 2.84106599e-03 -3.69067923e+01] [ 1.26419579e-02 9.99887215e-01 -8.10790238e-03 -6.90750433e+01] [-2.73842960e-03 8.14314069e-03 9.99963094e-01 6.08009278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35907232899996 meters 0.6160659664272101 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99914961e-01 -1.27161093e-02 2.89342435e-03 -3.69066549e+01] [ 1.27396195e-02 9.99884751e-01 -8.25748049e-03 -6.90744038e+01] [-2.78808787e-03 8.29363940e-03 9.99961720e-01 6.08005415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.389072329 meters 0.6121471890380509 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99956930e-01 -8.69386656e-03 3.24896713e-03 -3.69077724e+01] [ 8.70780583e-03 9.99952836e-01 -4.30113715e-03 -6.90733764e+01] [-3.21142039e-03 4.32924327e-03 9.99985472e-01 6.08007194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41907232899996 meters 0.2719142831416089 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99981062e-01 -4.74781203e-03 3.91578594e-03 -3.69095281e+01] [ 4.74949604e-03 9.99988633e-01 -4.20871503e-04 -6.90722550e+01] [-3.91374321e-03 4.39461543e-04 9.99992245e-01 6.08008646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.449072329 meters 0.2339541301607802 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99980222e-01 -5.05716345e-03 3.73919712e-03 -3.69094047e+01] [ 5.06118819e-03 9.99986622e-01 -1.06768665e-03 -6.90704255e+01] [-3.73374763e-03 1.08659031e-03 9.99992439e-01 6.08013801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47907232899996 meters 0.2587271935887413 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99981870e-01 -4.96637171e-03 3.40505850e-03 -3.69085676e+01] [ 4.96984196e-03 9.99987139e-01 -1.01144196e-03 -6.90705473e+01] [-3.39999151e-03 1.02834623e-03 9.99993691e-01 6.08014011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.509072329 meters 0.23838177119851253 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99981640e-01 -5.25423883e-03 3.01875644e-03 -3.69077913e+01] [ 5.25930364e-03 9.99984771e-01 -1.67229974e-03 -6.90685402e+01] [-3.00992381e-03 1.68814559e-03 9.99994045e-01 6.08017229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53907232899996 meters 0.2214171219767054 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99983195e-01 -5.09292882e-03 2.76970030e-03 -3.69071162e+01] [ 5.09705433e-03 9.99985908e-01 -1.48450034e-03 -6.90690048e+01] [-2.76210081e-03 1.49859271e-03 9.99995062e-01 6.08017150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.569072329 meters 0.24502504929470423 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99981713e-01 -5.25405940e-03 2.99461298e-03 -3.69075268e+01] [ 5.25912914e-03 9.99984747e-01 -1.68760089e-03 -6.90682881e+01] [-2.98570054e-03 1.70331909e-03 9.99994092e-01 6.08014972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59907232899997 meters 0.23014897484828314 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99982713e-01 -5.12438209e-03 2.88332105e-03 -3.69071010e+01] [ 5.12873665e-03 9.99985716e-01 -1.50489832e-03 -6.90687718e+01] [-2.87556819e-03 1.51966010e-03 9.99994711e-01 6.08013043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.629072329 meters 0.24805991245791437 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99982226e-01 -5.35579328e-03 2.61980200e-03 -3.69065006e+01] [ 5.36105954e-03 9.99983615e-01 -2.00729967e-03 -6.90671513e+01] [-2.60900840e-03 2.02130890e-03 9.99994554e-01 6.08014605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65907232899997 meters 0.20816583299902328 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99981829e-01 -5.60513215e-03 2.21917683e-03 -3.69054988e+01] [ 5.61093539e-03 9.99980833e-01 -2.61750952e-03 -6.90651635e+01] [-2.20446281e-03 2.62991362e-03 9.99994112e-01 6.08015359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68907232899994 meters 0.6127058002213241 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99976005e-01 -6.12176672e-03 3.24233124e-03 -3.69071488e+01] [ 6.13164932e-03 9.99976559e-01 -3.04687304e-03 -6.90640771e+01] [-3.22360299e-03 3.06668077e-03 9.99990102e-01 6.08002879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71907232899997 meters 0.25507359819762043 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99977173e-01 -6.08217350e-03 2.94283876e-03 -3.69064538e+01] [ 6.09125642e-03 9.99976682e-01 -3.08739224e-03 -6.90639521e+01] [-2.92399209e-03 3.10524735e-03 9.99990904e-01 6.08004039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74907232899994 meters 0.23709749619421344 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99976321e-01 -6.23880233e-03 2.90433382e-03 -3.69064548e+01] [ 6.24860453e-03 9.99974771e-01 -3.37827580e-03 -6.90630666e+01] [-2.88318415e-03 3.39634384e-03 9.99990076e-01 6.08005708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779072329 meters 0.23720968367463408 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99978280e-01 -6.09044413e-03 2.51924696e-03 -3.69056477e+01] [ 6.09868669e-03 9.99976033e-01 -3.27719742e-03 -6.90633718e+01] [-2.49922700e-03 3.29249034e-03 9.99991457e-01 6.08008606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80907232899995 meters 0.23330552632842383 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99993552e-01 -2.24075041e-03 2.80631670e-03 -3.69068087e+01] [ 2.23990197e-03 9.99997445e-01 3.05438928e-04 -6.90614310e+01] [-2.80699394e-03 -2.99151084e-04 9.99996016e-01 6.08015245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839072329 meters 0.2660127122957148 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99992901e-01 -2.52514855e-03 2.79656238e-03 -3.69069376e+01] [ 2.52567787e-03 9.99996793e-01 -1.85758477e-04 -6.90599475e+01] [-2.79608434e-03 1.92820374e-04 9.99996072e-01 6.08017597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86907232899995 meters 0.2576559836653178 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99995227e-01 -2.29899824e-03 2.06394457e-03 -3.69047508e+01] [ 2.29933699e-03 9.99997343e-01 -1.61767701e-04 -6.90593577e+01] [-2.06356718e-03 1.66512633e-04 9.99997857e-01 6.08013602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899072329 meters 0.2607822317775045 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99996516e-01 -2.08895351e-03 1.61387341e-03 -3.69033700e+01] [ 2.08887275e-03 9.99997817e-01 5.17269789e-05 -6.90597675e+01] [-1.61397794e-03 -4.83556225e-05 9.99998696e-01 6.08009939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92907232899995 meters 0.2853731740618191 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999161e-01 -1.21349658e-03 4.53214427e-04 -3.69000853e+01] [ 1.21329240e-03 9.99999162e-01 4.50498567e-04 -6.90594856e+01] [-4.53760726e-04 -4.49948307e-04 9.99999796e-01 6.08006955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959072329 meters 0.28808611630575626 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999420e-01 -7.30264682e-04 -7.92001913e-04 -3.68974846e+01] [ 7.30302935e-04 9.99999732e-01 4.80112432e-05 -6.90578907e+01] [ 7.91966640e-04 -4.85896167e-05 9.99999685e-01 6.08018653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98907232899995 meters 0.2890243530975167 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99998954e-01 -6.56898731e-04 -1.28853076e-03 -3.68964972e+01] [ 6.56839762e-04 9.99999783e-01 -4.61878639e-05 -6.90576103e+01] [ 1.28856082e-03 4.53414574e-05 9.99999169e-01 6.08023538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019072329 meters 0.2753604049749803 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99998914e-01 -7.03635204e-04 -1.29511831e-03 -3.68965697e+01] [ 7.03460085e-04 9.99999743e-01 -1.35664895e-04 -6.90573558e+01] [ 1.29521344e-03 1.34753684e-04 9.99999152e-01 6.08025143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04907232899996 meters 0.2812852540156031 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99998251e-01 -5.42314632e-04 -1.78974358e-03 -3.68951915e+01] [ 5.42195519e-04 9.99999851e-01 -6.70375606e-05 -6.90572901e+01] [ 1.78977967e-03 6.60670524e-05 9.99998396e-01 6.08023409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079072329 meters 0.268280271779605 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99998182e-01 -3.85643934e-04 -1.86734307e-03 -3.68947603e+01] [ 3.85971413e-04 9.99999910e-01 1.75014456e-04 -6.90578659e+01] [ 1.86727541e-03 -1.75734879e-04 9.99998241e-01 6.08020090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10907232899996 meters 0.3036946407602969 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99998108e-01 -4.76837823e-04 -1.88606936e-03 -3.68948356e+01] [ 4.76857959e-04 9.99999886e-01 1.02265196e-05 -6.90574052e+01] [ 1.88606427e-03 -1.11258874e-05 9.99998221e-01 6.08022016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139072329 meters 0.2677533613702386 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99998903e-01 -5.36270450e-04 -1.38061872e-03 -3.68961400e+01] [ 5.36367110e-04 9.99999854e-01 6.96423963e-05 -6.90576681e+01] [ 1.38058117e-03 -7.03828384e-05 9.99999045e-01 6.08022917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16907232899996 meters 0.25752293051947317 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999723e-01 -6.17263166e-04 -4.16056045e-04 -3.68983402e+01] [ 6.17382707e-04 9.99999768e-01 2.87251787e-04 -6.90584858e+01] [ 4.15878639e-04 -2.87508573e-04 9.99999872e-01 6.08020532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199072329 meters 0.25699583371778667 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999767e-01 -6.37806785e-04 2.44507171e-04 -3.68997987e+01] [ 6.37681113e-04 9.99999665e-01 5.13712457e-04 -6.90591512e+01] [-2.44834738e-04 -5.13556420e-04 9.99999838e-01 6.08017558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22907232899996 meters 0.24325505373025177 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99987773e-01 -4.81841143e-03 1.11232999e-03 -3.69014501e+01] [ 4.82193761e-03 9.99983288e-01 -3.18947629e-03 -6.90608899e+01] [-1.09694319e-03 3.19480088e-03 9.99994295e-01 6.08010211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259072329 meters 0.25396742522298665 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99986817e-01 -4.76271393e-03 1.91906571e-03 -3.69029601e+01] [ 4.76792565e-03 9.99984933e-01 -2.72039727e-03 -6.90621023e+01] [-1.90608032e-03 2.72951137e-03 9.99994458e-01 6.08001995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28907232899996 meters 0.2546068839972961 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99982387e-01 -4.88720299e-03 3.36754004e-03 -3.69057643e+01] [ 4.89317777e-03 9.99986465e-01 -1.76827735e-03 -6.90648998e+01] [-3.35885253e-03 1.78472418e-03 9.99992766e-01 6.07986749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319072329 meters 0.23029493370852164 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99978827e-01 -4.94017830e-03 4.23549681e-03 -3.69075042e+01] [ 4.94664726e-03 9.99986613e-01 -1.51820825e-03 -6.90655635e+01] [-4.22793989e-03 1.53912761e-03 9.99989878e-01 6.07980027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34907232899997 meters 0.24705353326616875 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99975164e-01 -4.90175520e-03 5.06392943e-03 -3.69090973e+01] [ 4.90736202e-03 9.99987359e-01 -1.09537627e-03 -6.90666671e+01] [-5.05849615e-03 1.12019960e-03 9.99986578e-01 6.07972368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379072329 meters 0.6153327061210419 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99963085e-01 -5.50902034e-03 6.59382955e-03 -3.69127072e+01] [ 5.51496902e-03 9.99984401e-01 -8.84315099e-04 -6.90682234e+01] [-6.58885499e-03 9.20647221e-04 9.99977869e-01 6.07968221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40907232899997 meters 0.6161143727263669 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99959238e-01 -5.53827066e-03 7.13089377e-03 -3.69138758e+01] [ 5.54361072e-03 9.99984368e-01 -7.29313971e-04 -6.90686433e+01] [-7.12674316e-03 7.68815142e-04 9.99974309e-01 6.07965416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43907232899994 meters 0.6197615529028684 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99944869e-01 -6.05272437e-03 8.58043463e-03 -3.69167163e+01] [ 6.05676301e-03 9.99981559e-01 -4.44772504e-04 -6.90699259e+01] [-8.57758431e-03 4.96717642e-04 9.99963088e-01 6.07952152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46907232899997 meters 0.6200539225531757 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.79 [[ 9.99939328e-01 -5.97271387e-03 9.25564658e-03 -3.69182855e+01] [ 5.97341418e-03 9.99982158e-01 -4.80197482e-05 -6.90711734e+01] [-9.25519463e-03 1.03304645e-04 9.99957164e-01 6.07949796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49907232899994 meters 0.6194355300569058 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.79 [[ 9.99931024e-01 -6.04008166e-03 1.00729254e-02 -3.69203063e+01] [ 6.03866289e-03 9.99981752e-01 1.71258587e-04 -6.90720453e+01] [-1.00737760e-02 -1.10419773e-04 9.99949252e-01 6.07949453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.529072329 meters 0.620844506744941 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99925931e-01 -6.11148196e-03 1.05252781e-02 -3.69215068e+01] [ 6.10956248e-03 9.99981313e-01 2.14512612e-04 -6.90722778e+01] [-1.05263924e-02 -1.50191879e-04 9.99944585e-01 6.07950481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55907232899995 meters 0.6171929345869801 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99957102e-01 -1.58802863e-03 9.12541052e-03 -3.69190680e+01] [ 1.55245294e-03 9.99991173e-01 3.90429296e-03 -6.90702630e+01] [-9.13153010e-03 -3.88995870e-03 9.99950740e-01 6.07968476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.589072329 meters 0.616045881624328 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99959293e-01 -1.70573421e-03 8.86015978e-03 -3.69186162e+01] [ 1.67389209e-03 9.99992119e-01 3.60002746e-03 -6.90694307e+01] [-8.86623064e-03 -3.58504996e-03 9.99954268e-01 6.07971440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61907232899995 meters 0.6175884738012043 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99959995e-01 -1.48103119e-03 8.82124982e-03 -3.69184364e+01] [ 1.44607951e-03 9.99991085e-01 3.96727517e-03 -6.90705596e+01] [-8.82704684e-03 -3.95436024e-03 9.99953222e-01 6.07970071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.649072329 meters 0.6173241127691083 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99957875e-01 -1.24282702e-03 9.09414245e-03 -3.69188978e+01] [ 1.20222998e-03 9.99989295e-01 4.46819202e-03 -6.90720421e+01] [-9.09959829e-03 -4.45707055e-03 9.99948665e-01 6.07966665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67907232899995 meters 0.6145782718689248 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99960260e-01 -8.84601971e-04 8.87109146e-03 -3.69183320e+01] [ 8.40196822e-04 9.99987107e-01 5.00807965e-03 -6.90736503e+01] [-8.87540724e-03 -5.00042717e-03 9.99948110e-01 6.07966178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.709072329 meters 0.6197848935193306 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.08, Z:60.80 [[ 9.99959384e-01 -4.40608227e-03 7.86233291e-03 -3.69154517e+01] [ 4.39454158e-03 9.99989242e-01 1.48451714e-03 -6.90750244e+01] [-7.86878923e-03 -1.44990550e-03 9.99967989e-01 6.07961589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73907232899995 meters 0.24634423579685716 Centerline is valid? [False, False] Translation: X:-36.92, Y:-69.07, Z:60.80 [[ 9.99968445e-01 -5.17637221e-04 7.92718625e-03 -3.69160302e+01] [ 4.77078549e-04 9.99986792e-01 5.11743871e-03 -6.90732153e+01] [-7.92973052e-03 -5.11349534e-03 9.99955485e-01 6.07966389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.769072329 meters 0.2631068750242814 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99979114e-01 -6.50341709e-05 6.46271797e-03 -3.69125653e+01] [ 3.75236463e-05 9.99990939e-01 4.25683421e-03 -6.90697289e+01] [-6.46293625e-03 -4.25650280e-03 9.99970056e-01 6.07973363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79907232899996 meters 0.2414437901629106 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.80 [[ 9.99982827e-01 -4.00398588e-04 5.84684876e-03 -3.69113415e+01] [ 3.80259932e-04 9.99993993e-01 3.44506628e-03 -6.90672874e+01] [-5.84819304e-03 -3.44278380e-03 9.99976973e-01 6.07978565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.829072329 meters 0.23458065824286373 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99986913e-01 -7.68108867e-04 5.05807407e-03 -3.69102647e+01] [ 7.56012654e-04 9.99996851e-01 2.39294407e-03 -6.90644781e+01] [-5.05989618e-03 -2.38908878e-03 9.99984345e-01 6.07993279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85907232899996 meters 0.23458065824286373 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99986913e-01 -7.68108867e-04 5.05807407e-03 -3.69102647e+01] [ 7.56012654e-04 9.99996851e-01 2.39294407e-03 -6.90644781e+01] [-5.05989618e-03 -2.38908878e-03 9.99984345e-01 6.07993279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.889072329 meters 0.2558317458137251 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99989832e-01 -8.23081672e-04 4.43382921e-03 -3.69090327e+01] [ 8.14027979e-04 9.99997581e-01 2.04337583e-03 -6.90634915e+01] [-4.43550035e-03 -2.03974579e-03 9.99988083e-01 6.07998650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91907232899996 meters 0.2540146470029109 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99990369e-01 -8.74335212e-04 4.30077932e-03 -3.69089496e+01] [ 8.66150133e-04 9.99997811e-01 1.90465652e-03 -6.90631748e+01] [-4.30243521e-03 -1.90091305e-03 9.99988938e-01 6.08002493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.949072329 meters 0.23270552627878935 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99992224e-01 -5.95183056e-04 3.89842509e-03 -3.69077980e+01] [ 5.86389745e-04 9.99997282e-01 2.25636077e-03 -6.90640450e+01] [-3.89975745e-03 -2.25405723e-03 9.99989856e-01 6.07999976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97907232899996 meters 0.237094959157462 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99993523e-01 -4.45612001e-04 3.57156444e-03 -3.69069560e+01] [ 4.36993704e-04 9.99996992e-01 2.41344871e-03 -6.90644586e+01] [-3.57262916e-03 -2.41187233e-03 9.99990710e-01 6.07999743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.009072329 meters 0.237867948921753 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99993883e-01 -5.55484244e-04 3.45335217e-03 -3.69068625e+01] [ 5.47978653e-04 9.99997487e-01 2.17398823e-03 -6.90638161e+01] [-3.45455111e-03 -2.17208257e-03 9.99991674e-01 6.08002748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03907232899996 meters 0.22623995119198032 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99993120e-01 -4.86557849e-04 3.67733157e-03 -3.69078096e+01] [ 4.77884114e-04 9.99997103e-01 2.35921413e-03 -6.90647327e+01] [-3.67846881e-03 -2.35744056e-03 9.99990456e-01 6.08008212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.069072329 meters 0.23760946991944518 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99993369e-01 -6.72465064e-04 3.57918884e-03 -3.69078908e+01] [ 6.65324831e-04 9.99997787e-01 1.99574731e-03 -6.90637714e+01] [-3.58052299e-03 -1.99335275e-03 9.99991603e-01 6.08013078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09907232899997 meters 0.2466828775051767 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99997902e-01 -9.59921018e-06 2.04846932e-03 -3.69039938e+01] [ 5.77816218e-06 9.99998260e-01 1.86531640e-03 -6.90621877e+01] [-2.04848366e-03 -1.86530065e-03 9.99996162e-01 6.08014123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.129072329 meters 0.24482657293769042 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999107e-01 -1.02568085e-04 1.33231284e-03 -3.69024922e+01] [ 1.00644512e-04 9.99998953e-01 1.44377217e-03 -6.90609167e+01] [-1.33245953e-03 -1.44363679e-03 9.99998070e-01 6.08018758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15907232899997 meters 0.2539415787055166 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999500e-01 -2.69973972e-04 9.62370413e-04 -3.69016452e+01] [ 2.69019858e-04 9.99999472e-01 9.91412393e-04 -6.90594910e+01] [-9.62637561e-04 -9.91153001e-04 9.99999045e-01 6.08020735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18907232899994 meters 0.2660471022245865 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999991e-01 -4.84376710e-05 -1.22458908e-04 -3.68991287e+01] [ 4.85136959e-05 9.99999806e-01 6.20892470e-04 -6.90578152e+01] [ 1.22428810e-04 -6.20898405e-04 9.99999800e-01 6.08026682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21907232899997 meters 0.25499834400462235 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99999872e-01 -1.71644060e-04 -4.76364093e-04 -3.68984472e+01] [ 1.71776462e-04 9.99999947e-01 2.77917313e-04 -6.90568211e+01] [ 4.76316365e-04 -2.77999105e-04 9.99999848e-01 6.08030168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24907232899994 meters 0.25541626960385716 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99998079e-01 7.10683954e-04 -1.82647748e-03 -3.68950674e+01] [-7.09762818e-04 9.99999621e-01 5.04922689e-04 -6.90559761e+01] [ 1.82683563e-03 -5.03625353e-04 9.99998205e-01 6.08030892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279072329 meters 0.25515284006975075 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99997238e-01 5.26647349e-04 -2.29038730e-03 -3.68939957e+01] [-5.26661399e-04 9.99999861e-01 -5.53112353e-06 -6.90543778e+01] [ 2.29038407e-03 6.73736684e-06 9.99997377e-01 6.08033093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30907232899995 meters 0.2604587767974041 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99991398e-01 1.94598851e-03 -3.66296813e-03 -3.68894493e+01] [-1.94431920e-03 9.99998004e-01 4.59232017e-04 -6.90527941e+01] [ 3.66385448e-03 -4.52106087e-04 9.99993186e-01 6.08023580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339072329 meters 0.26548910462191444 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99990357e-01 1.80475971e-03 -4.00370568e-03 -3.68888025e+01] [-1.80452897e-03 9.99998370e-01 6.12430543e-05 -6.90516398e+01] [ 4.00380969e-03 -5.40176608e-05 9.99991983e-01 6.08027357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36907232899995 meters 0.25432386148812597 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99988782e-01 1.52410942e-03 -4.48478379e-03 -3.68879362e+01] [-1.52686332e-03 9.99998648e-01 -6.10696195e-04 -6.90496701e+01] [ 4.48384696e-03 6.17536996e-04 9.99989757e-01 6.08033364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399072329 meters 0.23328320816441722 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99981213e-01 2.14839019e-03 -5.74086292e-03 -3.68848361e+01] [-2.15397823e-03 9.99997212e-01 -9.67374081e-04 -6.90474952e+01] [ 5.73876862e-03 9.79721601e-04 9.99983053e-01 6.08041451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42907232899995 meters 0.2360429586692946 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99979609e-01 2.04846735e-03 -6.04854407e-03 -3.68842873e+01] [-2.05605509e-03 9.99997107e-01 -1.24852264e-03 -6.90466929e+01] [ 6.04596901e-03 1.26093332e-03 9.99980928e-01 6.08045257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459072329 meters 0.22069379457983823 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99977783e-01 2.07628888e-03 -6.33428118e-03 -3.68836968e+01] [-2.08480943e-03 9.99996931e-01 -1.33884225e-03 -6.90463873e+01] [ 6.33148192e-03 1.35201827e-03 9.99979042e-01 6.08047977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48907232899995 meters 0.21999747838849554 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99980201e-01 2.25844521e-03 -5.87340526e-03 -3.68846175e+01] [-2.26354026e-03 9.99997068e-01 -8.60975680e-04 -6.90477962e+01] [ 5.87144357e-03 8.74253323e-04 9.99982381e-01 6.08044006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519072329 meters 0.21939668140065932 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99980447e-01 2.38469526e-03 -5.78088487e-03 -3.68845492e+01] [-2.38831877e-03 9.99996956e-01 -6.19986838e-04 -6.90483725e+01] [ 5.77938879e-03 6.33781311e-04 9.99983098e-01 6.08039648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54907232899996 meters 0.23641865618137373 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99982281e-01 2.49580070e-03 -5.40453119e-03 -3.68850224e+01] [-2.49752527e-03 9.99996832e-01 -3.12370889e-04 -6.90490889e+01] [ 5.40373445e-03 3.25863307e-04 9.99985347e-01 6.08032699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579072329 meters 0.23988371627107127 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99982789e-01 2.63606910e-03 -5.24142540e-03 -3.68851325e+01] [-2.63617693e-03 9.99996525e-01 -1.36640607e-05 -6.90498452e+01] [ 5.24137117e-03 2.74811503e-05 9.99986264e-01 6.08028360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60907232899996 meters 0.21122382088031907 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99982986e-01 2.37785139e-03 -5.32671483e-03 -3.68848895e+01] [-2.38045680e-03 9.99997050e-01 -4.82834021e-04 -6.90483738e+01] [ 5.32555101e-03 4.95505820e-04 9.99985696e-01 6.08028304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639072329 meters 0.2591568255958161 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99982275e-01 2.25179452e-03 -5.51166249e-03 -3.68845146e+01] [-2.25604780e-03 9.99997162e-01 -7.65592331e-04 -6.90474871e+01] [ 5.50992289e-03 7.78013335e-04 9.99984518e-01 6.08030292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66907232899996 meters 0.20676417151425047 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99981644e-01 2.24248480e-03 -5.62870491e-03 -3.68842888e+01] [-2.24713430e-03 9.99997139e-01 -8.19845801e-04 -6.90473178e+01] [ 5.62685032e-03 8.32479208e-04 9.99983823e-01 6.08031587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699072329 meters 0.2555969007635959 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99980248e-01 -1.99345610e-03 -5.96061283e-03 -3.68834888e+01] [ 1.96331506e-03 9.99985279e-01 -5.05828483e-03 -6.90475042e+01] [ 5.97060856e-03 5.04648236e-03 9.99969442e-01 6.08032759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72907232899996 meters 0.24014229035323312 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99977631e-01 -1.97844591e-03 -6.38935370e-03 -3.68824122e+01] [ 1.94537897e-03 9.99984705e-01 -5.17739203e-03 -6.90470092e+01] [ 6.39949917e-03 5.16484650e-03 9.99966185e-01 6.08033457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759072329 meters 0.2687181102185251 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.80 [[ 9.99971613e-01 -2.59416210e-03 -7.07413094e-03 -3.68806791e+01] [ 2.54829569e-03 9.99975725e-01 -6.48500444e-03 -6.90426326e+01] [ 7.09078237e-03 6.46679338e-03 9.99953950e-01 6.08035944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78907232899996 meters 0.268289704668572 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.80 [[ 9.99969813e-01 -2.49321537e-03 -7.35920532e-03 -3.68799708e+01] [ 2.44606324e-03 9.99976469e-01 -6.40929251e-03 -6.90427922e+01] [ 7.37501189e-03 6.39109795e-03 9.99952380e-01 6.08036397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819072329 meters 0.2567250377781766 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.80 [[ 9.99975464e-01 -2.23778051e-03 -6.63809003e-03 -3.68814999e+01] [ 2.19970131e-03 9.99981117e-01 -5.73823540e-03 -6.90448804e+01] [ 6.65080559e-03 5.72349279e-03 9.99961503e-01 6.08031650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84907232899997 meters 0.24976769663708684 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99977850e-01 -2.15837647e-03 -6.29606792e-03 -3.68824045e+01] [ 2.12384919e-03 9.99982699e-01 -5.48548348e-03 -6.90457694e+01] [ 6.30779874e-03 5.47199008e-03 9.99965134e-01 6.08032130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879072329 meters 0.25202718589087475 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.80 [[ 9.99973899e-01 -2.13575662e-03 -6.90210119e-03 -3.68806802e+01] [ 2.09624134e-03 9.99981402e-01 -5.72728088e-03 -6.90445431e+01] [ 6.91420490e-03 5.71266293e-03 9.99959779e-01 6.08030318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90907232899997 meters 0.2374347345852608 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99978362e-01 -2.06311756e-03 -6.24649840e-03 -3.68820880e+01] [ 2.02964770e-03 9.99983576e-01 -5.35978551e-03 -6.90456733e+01] [ 6.25745368e-03 5.34699135e-03 9.99966126e-01 6.08026688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93907232899994 meters 0.22369286533291563 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99981661e-01 -1.84509063e-03 -5.76827600e-03 -3.68830360e+01] [ 1.81731561e-03 9.99986748e-01 -4.81667338e-03 -6.90472557e+01] [ 5.77708676e-03 4.80610227e-03 9.99971763e-01 6.08022612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96907232899997 meters 0.26205930665527577 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.80 [[ 9.99984978e-01 -1.67835145e-03 -5.21787764e-03 -3.68840707e+01] [ 1.65578234e-03 9.99989269e-01 -4.32665744e-03 -6.90486380e+01] [ 5.22508330e-03 4.31795278e-03 9.99977027e-01 6.08017148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99907232899994 meters 0.2624495712323823 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99990523e-01 -1.51403667e-03 -4.08179940e-03 -3.68863279e+01] [ 1.49978784e-03 9.99992780e-01 -3.49162397e-03 -6.90511645e+01] [ 4.08705637e-03 3.48546905e-03 9.99985574e-01 6.08006782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.029072329 meters 0.27402467936984126 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99976168e-01 -5.69077783e-03 -3.90872069e-03 -3.68864054e+01] [ 5.66150272e-03 9.99956144e-01 -7.46035773e-03 -6.90521193e+01] [ 3.95100451e-03 7.43805070e-03 9.99964532e-01 6.08002050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05907232899995 meters 0.3213429978073525 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.80 [[ 9.99994469e-01 -1.45692656e-03 -2.98995003e-03 -3.68883487e+01] [ 1.44811746e-03 9.99994611e-01 -2.94628947e-03 -6.90527365e+01] [ 2.99422645e-03 2.94194337e-03 9.99991190e-01 6.07995725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.089072329 meters 0.3119182703386111 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99997409e-01 -1.44565633e-03 -1.75836552e-03 -3.68909409e+01] [ 1.44219763e-03 9.99997026e-01 -1.96667798e-03 -6.90558505e+01] [ 1.76120344e-03 1.96413698e-03 9.99996520e-01 6.07985351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11907232899995 meters 0.30430706306006555 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99998434e-01 -1.39824928e-03 -1.08514839e-03 -3.68924576e+01] [ 1.39646168e-03 9.99997670e-01 -1.64634313e-03 -6.90568466e+01] [ 1.08744785e-03 1.64482518e-03 9.99998056e-01 6.07982738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.149072329 meters 0.3013350289296508 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99998887e-01 -1.41880741e-03 -4.60552107e-04 -3.68939614e+01] [ 1.41812863e-03 9.99997913e-01 -1.47082727e-03 -6.90574898e+01] [ 4.62637966e-04 1.47017251e-03 9.99998812e-01 6.07982121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17907232899995 meters 0.2847297165623391 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99997420e-01 -2.10205610e-03 8.60449409e-04 -3.68976558e+01] [ 2.10353653e-03 9.99996303e-01 -1.72324736e-03 -6.90581287e+01] [-8.56823865e-04 1.72505290e-03 9.99998145e-01 6.07989069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.209072329 meters 0.2804921735169015 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99997082e-01 -2.03207464e-03 1.30626181e-03 -3.68983710e+01] [ 2.03393892e-03 9.99996913e-01 -1.42744402e-03 -6.90588451e+01] [-1.30335711e-03 1.43009671e-03 9.99998128e-01 6.07982861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23907232899995 meters 0.270336005237966 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99995528e-01 -2.00255454e-03 2.22126658e-03 -3.69001430e+01] [ 2.00471826e-03 9.99997518e-01 -9.72295928e-04 -6.90600914e+01] [-2.21931399e-03 9.76744593e-04 9.99997060e-01 6.07974416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.269072329 meters 0.35254412117427847 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99989405e-01 -2.51546684e-03 3.85518490e-03 -3.69036461e+01] [ 2.51641783e-03 9.99996805e-01 -2.41847760e-04 -6.90629553e+01] [-3.85456422e-03 2.51546454e-04 9.99992540e-01 6.07961585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29907232899996 meters 0.2619966578525076 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.80 [[ 9.99986299e-01 -2.45908437e-03 4.62105582e-03 -3.69051865e+01] [ 2.45825750e-03 9.99996961e-01 1.84607967e-04 -6.90641649e+01] [-4.62149575e-03 -1.73245693e-04 9.99989306e-01 6.07955536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.329072329 meters 0.34037910125003285 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.79 [[ 9.99983004e-01 -2.45876940e-03 5.28650240e-03 -3.69064480e+01] [ 2.45641547e-03 9.99996881e-01 4.51718054e-04 -6.90648454e+01] [-5.28759658e-03 -4.38724530e-04 9.99985924e-01 6.07948897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35907232899996 meters 0.332972050203073 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99978919e-01 -2.46310123e-03 6.00794722e-03 -3.69078258e+01] [ 2.45875581e-03 9.99996710e-01 7.30557278e-04 -6.90655725e+01] [-6.00972689e-03 -7.15769802e-04 9.99981685e-01 6.07942064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.389072329 meters 0.3273954081857357 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99975350e-01 -2.32766637e-03 6.62422594e-03 -3.69088696e+01] [ 2.31925452e-03 9.99996495e-01 1.27726085e-03 -6.90670605e+01] [-6.62717576e-03 -1.26186610e-03 9.99977244e-01 6.07933443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41907232899996 meters 0.3251918462349598 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99973158e-01 -2.34170260e-03 6.94260755e-03 -3.69095073e+01] [ 2.33218847e-03 9.99996331e-01 1.37817600e-03 -6.90673170e+01] [-6.94580935e-03 -1.36194754e-03 9.99974950e-01 6.07930724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.449072329 meters 0.3277079956579636 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99970899e-01 -2.39120566e-03 7.24457355e-03 -3.69102178e+01] [ 2.38115939e-03 9.99996192e-01 1.39503858e-03 -6.90674042e+01] [-7.24788178e-03 -1.37774750e-03 9.99972785e-01 6.07929751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47907232899996 meters 0.30738208696135993 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99977411e-01 -2.23368747e-03 6.33944794e-03 -3.69081299e+01] [ 2.22567627e-03 9.99996716e-01 1.27047981e-03 -6.90667954e+01] [-6.34226498e-03 -1.25634155e-03 9.99979098e-01 6.07932045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.509072329 meters 0.30630518468143675 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99981315e-01 -2.26469907e-03 5.67806075e-03 -3.69071311e+01] [ 2.25968730e-03 9.99997052e-01 8.88915633e-04 -6.90659706e+01] [-5.68005713e-03 -8.76068382e-04 9.99983485e-01 6.07942410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53907232899996 meters 0.294935930109908 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99968263e-01 -6.14890891e-03 5.06604887e-03 -3.69054011e+01] [ 6.16416656e-03 9.99976496e-01 -3.00165615e-03 -6.90668365e+01] [-5.04747289e-03 3.03278885e-03 9.99982662e-01 6.07941054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.569072329 meters 0.2973953628517751 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99981301e-01 -1.96317029e-03 5.79160062e-03 -3.69071525e+01] [ 1.95520448e-03 9.99997135e-01 1.38074787e-03 -6.90671685e+01] [-5.79429467e-03 -1.36939829e-03 9.99982275e-01 6.07939176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59907232899997 meters 0.3016903476001624 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99980450e-01 -2.23508164e-03 5.83993189e-03 -3.69072824e+01] [ 2.22966295e-03 9.99997078e-01 9.34214470e-04 -6.90658186e+01] [-5.84200287e-03 -9.21175126e-04 9.99982511e-01 6.07939296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.629072329 meters 0.2896462211399812 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99978140e-01 -2.30529999e-03 6.19721251e-03 -3.69081668e+01] [ 2.29949206e-03 9.99996910e-01 9.44146292e-04 -6.90658924e+01] [-6.19936990e-03 -9.29875212e-04 9.99980351e-01 6.07938924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65907232899997 meters 0.27384740137772046 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99977838e-01 -2.31528063e-03 6.24196318e-03 -3.69081498e+01] [ 2.30943164e-03 9.99996888e-01 9.44088369e-04 -6.90658234e+01] [-6.24412958e-03 -9.29652059e-04 9.99980073e-01 6.07937003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68907232899994 meters 0.26739126020648685 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99975842e-01 -2.35175284e-03 6.54102566e-03 -3.69087146e+01] [ 2.34531186e-03 9.99996758e-01 9.92200930e-04 -6.90659116e+01] [-6.54333786e-03 -9.76836215e-04 9.99978115e-01 6.07933868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71907232899997 meters 0.2744414319775632 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.79 [[ 9.99976510e-01 -2.48921878e-03 6.38612720e-03 -3.69085322e+01] [ 2.48482019e-03 9.99996670e-01 6.96614338e-04 -6.90650751e+01] [-6.38783996e-03 -6.80729597e-04 9.99979366e-01 6.07937140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74907232899994 meters 0.2716120321595671 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.79 [[ 9.99979890e-01 -2.48395594e-03 5.83527460e-03 -3.69073012e+01] [ 2.48118994e-03 9.99996806e-01 4.81204980e-04 -6.90643970e+01] [-5.83645126e-03 -4.66716878e-04 9.99982859e-01 6.07939601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779072329 meters 0.2716120321595671 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.79 [[ 9.99979890e-01 -2.48395594e-03 5.83527460e-03 -3.69073012e+01] [ 2.48118994e-03 9.99996806e-01 4.81204980e-04 -6.90643970e+01] [-5.83645126e-03 -4.66716878e-04 9.99982859e-01 6.07939601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80907232899995 meters 0.27301150604363955 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.79 [[ 9.99979918e-01 -2.59416317e-03 5.78214994e-03 -3.69072871e+01] [ 2.59263333e-03 9.99996602e-01 2.72059587e-04 -6.90638121e+01] [-5.78283606e-03 -2.57063129e-04 9.99983246e-01 6.07941245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839072329 meters 0.2620831218744522 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.79 [[ 9.99985643e-01 -2.41326990e-03 4.78435458e-03 -3.69048891e+01] [ 2.41295178e-03 9.99997086e-01 7.22626911e-05 -6.90628361e+01] [-4.78451503e-03 -6.07172368e-05 9.99988552e-01 6.07943626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86907232899995 meters 0.2620274847347607 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.79 [[ 9.99987532e-01 -2.40962026e-03 4.37372261e-03 -3.69038663e+01] [ 2.41004049e-03 9.99997092e-01 -9.08116042e-05 -6.90622406e+01] [-4.37349107e-03 1.01351321e-04 9.99990431e-01 6.07943909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899072329 meters 0.25049251731643907 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99994375e-01 -1.76006363e-03 2.85504540e-03 -3.69004750e+01] [ 1.76071381e-03 9.99998425e-01 -2.25233422e-04 -6.90609284e+01] [-2.85464447e-03 2.30259073e-04 9.99995899e-01 6.07951787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92907232899995 meters 0.25279112784063684 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99995555e-01 -1.93519560e-03 2.26830769e-03 -3.68993868e+01] [ 1.93699708e-03 9.99997810e-01 -7.92268844e-04 -6.90593313e+01] [-2.26676953e-03 7.96659028e-04 9.99997114e-01 6.07958324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959072329 meters 0.25370910000450836 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99997251e-01 -1.78896898e-03 1.51551904e-03 -3.68975382e+01] [ 1.79034326e-03 9.99997987e-01 -9.05935892e-04 -6.90587195e+01] [-1.51389529e-03 9.08646701e-04 9.99998441e-01 6.07959987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98907232899995 meters 0.2516336296263709 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99997776e-01 -1.85437883e-03 1.00440291e-03 -3.68964855e+01] [ 1.85562746e-03 9.99997505e-01 -1.24365333e-03 -6.90577282e+01] [-1.00209420e-03 1.24551436e-03 9.99998722e-01 6.07964036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019072329 meters 0.23742845786150885 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99998446e-01 -1.74557984e-03 2.45337285e-04 -3.68947140e+01] [ 1.74594197e-03 9.99997375e-01 -1.48367102e-03 -6.90567611e+01] [-2.42746775e-04 1.48409706e-03 9.99998869e-01 6.07967603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04907232899996 meters 0.24367761868358037 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99998416e-01 -1.77324906e-03 1.56579860e-04 -3.68944894e+01] [ 1.77349177e-03 9.99997205e-01 -1.56378366e-03 -6.90564793e+01] [-1.53806444e-04 1.56405888e-03 9.99998765e-01 6.07967910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079072329 meters 0.2435089368866957 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.80 [[ 9.99998115e-01 -1.91325479e-03 3.31239376e-04 -3.68948520e+01] [ 1.91383356e-03 9.99996627e-01 -1.75586671e-03 -6.90558486e+01] [-3.27878839e-04 1.75649734e-03 9.99998404e-01 6.07967016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10907232899996 meters 0.251355080094077 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99998159e-01 -1.87108536e-03 4.25673022e-04 -3.68950060e+01] [ 1.87178528e-03 9.99996887e-01 -1.64983694e-03 -6.90561229e+01] [-4.22584711e-04 1.65063067e-03 9.99998548e-01 6.07965922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139072329 meters 0.26068108202045476 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99997926e-01 -1.92193019e-03 6.73829766e-04 -3.68955381e+01] [ 1.92303751e-03 9.99996795e-01 -1.64654555e-03 -6.90561002e+01] [-6.70663061e-04 1.64783794e-03 9.99998417e-01 6.07964483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16907232899996 meters 0.25924663243843976 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99997572e-01 -2.04414410e-03 8.23404636e-04 -3.68957245e+01] [ 2.04563157e-03 9.99996270e-01 -1.80972012e-03 -6.90554876e+01] [-8.19702236e-04 1.81140010e-03 9.99998023e-01 6.07961939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199072329 meters 0.23552648775821938 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99996833e-01 -2.06849396e-03 1.43333040e-03 -3.68969163e+01] [ 2.07084208e-03 9.99996513e-01 -1.63868260e-03 -6.90559188e+01] [-1.42993580e-03 1.64164561e-03 9.99997630e-01 6.07957045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22907232899996 meters 0.24528246034997783 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99996724e-01 -1.97517932e-03 1.62836257e-03 -3.68972621e+01] [ 1.97746911e-03 9.99997057e-01 -1.40578764e-03 -6.90565673e+01] [-1.62558109e-03 1.40900307e-03 9.99997686e-01 6.07954949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259072329 meters 0.2300206307681384 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99995442e-01 -1.94382256e-03 2.31032366e-03 -3.68988159e+01] [ 1.94638067e-03 9.99997495e-01 -1.10552261e-03 -6.90575500e+01] [-2.30816893e-03 1.11001434e-03 9.99996720e-01 6.07952749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28907232899996 meters 0.24338025401908842 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99994621e-01 -1.90930530e-03 2.66685131e-03 -3.68996892e+01] [ 1.91177305e-03 9.99997747e-01 -9.23098351e-04 -6.90581224e+01] [-2.66508282e-03 9.28191800e-04 9.99996018e-01 6.07952634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319072329 meters 0.24193501144860813 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.80 [[ 9.99993353e-01 -1.97612633e-03 3.06411685e-03 -3.69005171e+01] [ 1.97895037e-03 9.99997620e-01 -9.18890963e-04 -6.90580891e+01] [-3.06229371e-03 9.24948590e-04 9.99994883e-01 6.07950074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34907232899997 meters 0.243690879687552 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.79 [[ 9.99989462e-01 -2.10195586e-03 4.08140700e-03 -3.69025910e+01] [ 2.10474579e-03 9.99997554e-01 -6.79396377e-04 -6.90589402e+01] [-4.07996896e-03 6.87979541e-04 9.99991440e-01 6.07942086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379072329 meters 0.2359936658623169 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.79 [[ 9.99990052e-01 -1.89725385e-03 4.03692061e-03 -3.69023839e+01] [ 1.89862797e-03 9.99998141e-01 -3.36584361e-04 -6.90599315e+01] [-4.03627452e-03 3.44245623e-04 9.99991795e-01 6.07940707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40907232899997 meters 0.2537414543519204 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.79 [[ 9.99992872e-01 -1.92979769e-03 3.24526235e-03 -3.69004141e+01] [ 1.93260994e-03 9.99997760e-01 -8.63659798e-04 -6.90580786e+01] [-3.24358839e-03 8.69925468e-04 9.99994361e-01 6.07942409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43907232899994 meters 0.2916662912198299 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.79 [[ 9.99997020e-01 -1.04018210e-03 2.20873214e-03 -3.68970172e+01] [ 1.03999852e-03 9.99999456e-01 8.42642607e-05 -6.90592518e+01] [-2.20881859e-03 -8.19669314e-05 9.99997557e-01 6.07930308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46907232899997 meters 0.2882191244668555 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.79 [[ 9.99997868e-01 -1.22637252e-03 1.66159451e-03 -3.68958977e+01] [ 1.22721787e-03 9.99999118e-01 -5.07832402e-04 -6.90574717e+01] [-1.66097025e-03 5.09870458e-04 9.99998491e-01 6.07935195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49907232899994 meters 0.2821846526000879 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.79 [[ 9.99999019e-01 -1.07876271e-03 8.93783073e-04 -3.68941215e+01] [ 1.07927076e-03 9.99999256e-01 -5.68138244e-04 -6.90570438e+01] [-8.93169522e-04 5.69102321e-04 9.99999439e-01 6.07938261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.529072329 meters 0.25431425736486074 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.79 [[ 9.99999929e-01 -5.71902196e-05 -3.72600345e-04 -3.68900796e+01] [ 5.70165314e-05 9.99999890e-01 -4.66145348e-04 -6.90552638e+01] [ 3.72626963e-04 4.66124071e-04 9.99999822e-01 6.07932132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55907232899995 meters 0.2884681686505887 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999826e-01 -3.11920603e-04 -5.00855412e-04 -3.68897233e+01] [ 3.11443418e-04 9.99999498e-01 -9.52536135e-04 -6.90536851e+01] [ 5.01152276e-04 9.52379981e-04 9.99999421e-01 6.07932215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.589072329 meters 0.2922023239980541 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999855e-01 -4.08434415e-04 -3.52263957e-04 -3.68900707e+01] [ 4.08058144e-04 9.99999347e-01 -1.06756212e-03 -6.90533233e+01] [ 3.52699756e-04 1.06741822e-03 9.99999368e-01 6.07931936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61907232899995 meters 0.26254384234912154 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999835e-01 -5.68956717e-04 8.08478483e-05 -3.68910947e+01] [ 5.69054065e-04 9.99999107e-01 -1.20921427e-03 -6.90529461e+01] [-8.01597855e-05 1.20926008e-03 9.99999266e-01 6.07931112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.649072329 meters 0.2503268994059786 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999942e-01 -3.37301967e-04 4.79368026e-05 -3.68910139e+01] [ 3.37341303e-04 9.99999604e-01 -8.22970082e-04 -6.90541138e+01] [-4.76591942e-05 8.22986205e-04 9.99999660e-01 6.07931195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67907232899995 meters 0.2643599336151132 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999925e-01 -2.89962963e-04 -2.57720722e-04 -3.68903496e+01] [ 2.89736544e-04 9.99999572e-01 -8.78144995e-04 -6.90539296e+01] [ 2.57975241e-04 8.78070258e-04 9.99999581e-01 6.07933269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.709072329 meters 0.25566480943145364 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999931e-01 -3.65892393e-04 6.32373833e-05 -3.68908789e+01] [ 3.65950161e-04 9.99999514e-01 -9.15932718e-04 -6.90537385e+01] [-6.29022198e-05 9.15955797e-04 9.99999579e-01 6.07928896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73907232899995 meters 0.2860502861771864 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999898e-01 -3.79938001e-04 2.43331826e-04 -3.68910381e+01] [ 3.80152001e-04 9.99999541e-01 -8.80016417e-04 -6.90536922e+01] [-2.42997362e-04 8.80108831e-04 9.99999583e-01 6.07924560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.769072329 meters 0.28980599224865033 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999880e-01 -2.46632969e-04 -4.22184195e-04 -3.68892305e+01] [ 2.46254644e-04 9.99999568e-01 -8.95930697e-04 -6.90532155e+01] [ 4.22404979e-04 8.95826625e-04 9.99999510e-01 6.07923188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79907232899996 meters 0.287195051515763 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99998579e-01 7.38699090e-04 -1.51554268e-03 -3.68855709e+01] [-7.39589172e-04 9.99999554e-01 -5.86826191e-04 -6.90517804e+01] [ 1.51510852e-03 5.87946236e-04 9.99998679e-01 6.07915711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.829072329 meters 0.28548672346570575 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.80 [[ 9.99926096e-01 1.03122577e-02 -6.43888249e-03 -3.68718075e+01] [-1.03011275e-02 9.99945394e-01 1.75937871e-03 -6.90497172e+01] [ 6.45667405e-03 -1.69292094e-03 9.99977722e-01 6.07959757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85907232899996 meters 0.2582343826575891 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.80 [[ 9.99921512e-01 9.96811161e-03 -7.58984348e-03 -3.68694654e+01] [-9.96516347e-03 9.99950256e-01 4.26150707e-04 -6.90458015e+01] [ 7.59371385e-03 -3.50483228e-04 9.99971106e-01 6.07970724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.889072329 meters 0.32394758909605537 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.04, Z:60.80 [[ 9.99858684e-01 1.43917481e-02 -8.68848617e-03 -3.68666612e+01] [-1.43583776e-02 9.99889342e-01 3.89102296e-03 -6.90428378e+01] [ 8.74352334e-03 -3.76572053e-03 9.99954684e-01 6.07975571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91907232899996 meters 0.27971263236336674 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.80 [[ 9.99853537e-01 1.41054423e-02 -9.69232800e-03 -3.68647967e+01] [-1.40778554e-02 9.99896672e-01 2.90861968e-03 -6.90400615e+01] [ 9.73235387e-03 -2.77174648e-03 9.99948798e-01 6.07987008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.949072329 meters 0.275733558208783 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.80 [[ 9.99831674e-01 1.43012873e-02 -1.14933333e-02 -3.68615580e+01] [-1.42912731e-02 9.99897420e-01 9.52968659e-04 -6.90346108e+01] [ 1.15057830e-02 -7.88553885e-04 9.99933495e-01 6.08016398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97907232899996 meters 0.2738552932762797 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.03, Z:60.80 [[ 9.99832089e-01 1.40345969e-02 -1.17823211e-02 -3.68615439e+01] [-1.40310002e-02 9.99901485e-01 3.87877484e-04 -6.90332849e+01] [ 1.17866040e-02 -2.22494607e-04 9.99930511e-01 6.08027020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.009072329 meters 0.27142478210743043 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.81 [[ 9.99939561e-01 1.05230878e-02 -3.18428402e-03 -3.68592941e+01] [-1.04989162e-02 9.99916647e-01 7.51471891e-03 -6.90384355e+01] [ 3.26309665e-03 -7.48083319e-03 9.99966694e-01 6.08065687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03907232899996 meters 0.26146977264391075 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.81 [[ 9.99972512e-01 6.21094110e-03 -4.04965281e-03 -3.68574853e+01] [-6.19894481e-03 9.99976381e-01 2.96815275e-03 -6.90375779e+01] [ 4.06799219e-03 -2.94296759e-03 9.99987395e-01 6.08069579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.069072329 meters 0.2591191793499825 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.81 [[ 9.99984836e-01 2.35074129e-03 -4.98023695e-03 -3.68548470e+01] [-2.35514494e-03 9.99996841e-01 -8.78545425e-04 -6.90378733e+01] [ 4.97815599e-03 8.90261283e-04 9.99987213e-01 6.08064989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09907232899997 meters 0.2592786873432906 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.81 [[ 9.99977154e-01 3.18308808e-03 -5.96319546e-03 -3.68515742e+01] [-3.18309141e-03 9.99994934e-01 8.93201362e-06 -6.90387461e+01] [ 5.96319369e-03 1.00495867e-05 9.99982220e-01 6.08053163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.129072329 meters 0.253325440593137 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.80 [[ 9.99980316e-01 3.11008021e-03 -5.44922624e-03 -3.68523389e+01] [-3.11012048e-03 9.99995164e-01 1.08433657e-06 -6.90385932e+01] [ 5.44920326e-03 1.58634349e-05 9.99985153e-01 6.08045594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15907232899997 meters 0.24898586026487746 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.80 [[ 9.99979496e-01 3.33985222e-03 -5.46386615e-03 -3.68520321e+01] [-3.33775174e-03 9.99994352e-01 3.93503868e-04 -6.90396342e+01] [ 5.46514954e-03 -3.75258771e-04 9.99984996e-01 6.08041473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18907232899994 meters 0.24645459303438377 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.80 [[ 9.99977562e-01 3.40055523e-03 -5.77167657e-03 -3.68511532e+01] [-3.39835463e-03 9.99994149e-01 3.91040253e-04 -6.90394619e+01] [ 5.77297255e-03 -3.71417275e-04 9.99983267e-01 6.08040172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21907232899997 meters 0.24183578973028852 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.80 [[ 9.99975075e-01 3.32715681e-03 -6.22727076e-03 -3.68497845e+01] [-3.32676792e-03 9.99994464e-01 7.28077097e-05 -6.90381156e+01] [ 6.22747853e-03 -5.20892104e-05 9.99980608e-01 6.08037786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24907232899994 meters 0.24278062565874564 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.80 [[ 9.99975836e-01 3.34590354e-03 -6.09357666e-03 -3.68499900e+01] [-3.34505804e-03 9.99994394e-01 1.48938967e-04 -6.90382841e+01] [ 6.09404084e-03 -1.28552001e-04 9.99981423e-01 6.08035861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279072329 meters 0.2387492250363785 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.80 [[ 9.99980307e-01 -8.08353430e-04 -6.22357106e-03 -3.68495209e+01] [ 7.84233939e-04 9.99992177e-01 -3.87697214e-03 -6.90390652e+01] [ 6.22665634e-03 3.87201505e-03 9.99973118e-01 6.08034136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30907232899995 meters 0.23864859682632458 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.80 [[ 9.99972854e-01 -5.20439726e-03 -5.21593064e-03 -3.68519266e+01] [ 5.16307169e-03 9.99955423e-01 -7.90534433e-03 -6.90404181e+01] [ 5.25684068e-03 7.87819951e-03 9.99955149e-01 6.08032680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339072329 meters 0.3031654841651337 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.80 [[ 9.99978103e-01 -5.35255289e-03 -3.89161865e-03 -3.68550454e+01] [ 5.32542103e-03 9.99961674e-01 -6.94912081e-03 -6.90437837e+01] [ 3.92866503e-03 6.92824414e-03 9.99968282e-01 6.08025955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36907232899995 meters 0.2855972247526156 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.04, Z:60.80 [[ 9.99860704e-01 -1.66373240e-02 1.33098059e-03 -3.68701059e+01] [ 1.66520143e-02 9.99790348e-01 -1.19151294e-02 -6.90410566e+01] [-1.13246568e-03 1.19356332e-02 9.99928127e-01 6.07996830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399072329 meters 0.2445890385863783 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.04, Z:60.80 [[ 9.99850806e-01 -1.71253056e-02 2.25583768e-03 -3.68726306e+01] [ 1.71519689e-02 9.99776194e-01 -1.23843578e-02 -6.90403420e+01] [-2.04324690e-03 1.24212022e-02 9.99920766e-01 6.07999962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42907232899995 meters 0.2231981664272465 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.80 [[ 9.99801090e-01 -1.90780795e-02 5.81440052e-03 -3.68799481e+01] [ 1.91425291e-02 9.99753604e-01 -1.12380747e-02 -6.90407998e+01] [-5.59856699e-03 1.13471417e-02 9.99919946e-01 6.07963156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459072329 meters 0.266874440925194 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.80 [[ 9.99848899e-01 -1.57412778e-02 7.37507357e-03 -3.68840633e+01] [ 1.57926706e-02 9.99851044e-01 -6.96280253e-03 -6.90420580e+01] [-7.26437160e-03 7.07822255e-03 9.99948563e-01 6.07960732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48907232899995 meters 0.24961030721554342 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.80 [[ 9.99815098e-01 -1.67552484e-02 9.43566016e-03 -3.68888049e+01] [ 1.68168126e-02 9.99837566e-01 -6.48352534e-03 -6.90446795e+01] [-9.32549441e-03 6.64100425e-03 9.99934464e-01 6.07951105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519072329 meters 0.23634777919781438 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99811219e-01 -1.66999338e-02 9.93166233e-03 -3.68898821e+01] [ 1.67619308e-02 9.99840334e-01 -6.19221724e-03 -6.90455412e+01] [-9.82666696e-03 6.35752211e-03 9.99931507e-01 6.07948338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54907232899996 meters 0.24202112936178535 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99798379e-01 -1.67821005e-02 1.10255488e-02 -3.68923180e+01] [ 1.68454373e-02 9.99841989e-01 -5.67701038e-03 -6.90473473e+01] [-1.09285345e-02 5.86159597e-03 9.99923101e-01 6.07942910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579072329 meters 0.2408226626230419 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99788281e-01 -1.67492868e-02 1.19522198e-02 -3.68940093e+01] [ 1.68124927e-02 9.99845099e-01 -5.20747018e-03 -6.90485779e+01] [-1.18631470e-02 5.40731427e-03 9.99915010e-01 6.07932527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60907232899996 meters 0.23679478050232697 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99784200e-01 -1.66039709e-02 1.24844369e-02 -3.68948148e+01] [ 1.66639871e-02 9.99850011e-01 -4.71871267e-03 -6.90498132e+01] [-1.24042150e-02 4.92573486e-03 9.99910932e-01 6.07923918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639072329 meters 0.23202019021387843 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.79 [[ 9.99835716e-01 -1.23436357e-02 1.32730897e-02 -3.68967474e+01] [ 1.23460248e-02 9.99923780e-01 -9.80700555e-05 -6.90509178e+01] [-1.32708675e-02 2.61923838e-04 9.99911904e-01 6.07920805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66907232899996 meters 0.23202019021387843 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.79 [[ 9.99835716e-01 -1.23436357e-02 1.32730897e-02 -3.68967474e+01] [ 1.23460248e-02 9.99923780e-01 -9.80700555e-05 -6.90509178e+01] [-1.32708675e-02 2.61923838e-04 9.99911904e-01 6.07920805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699072329 meters 0.23554570953295398 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.79 [[ 9.99835772e-01 -1.23602352e-02 1.32534101e-02 -3.68968752e+01] [ 1.23631014e-02 9.99923565e-01 -1.34347968e-04 -6.90509064e+01] [-1.32507365e-02 2.98179157e-04 9.99912161e-01 6.07923510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72907232899996 meters 0.24920108836271185 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.79 [[ 9.99823389e-01 -1.24406736e-02 1.40861779e-02 -3.68989807e+01] [ 1.24417112e-02 9.99922599e-01 1.39704666e-05 -6.90516973e+01] [-1.40852615e-02 1.61288159e-04 9.99900785e-01 6.07924894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759072329 meters 0.2427516261758852 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.79 [[ 9.99820296e-01 -1.22813643e-02 1.44410361e-02 -3.68997001e+01] [ 1.22763777e-02 9.99924548e-01 4.33911868e-04 -6.90529361e+01] [-1.44452755e-02 -2.56550279e-04 9.99895629e-01 6.07922237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78907232899996 meters 0.24348678807912896 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.79 [[ 9.99936072e-01 -1.02421507e-02 4.79056081e-03 -3.69037946e+01] [ 1.02771509e-02 9.99920253e-01 -7.33943862e-03 -6.90465155e+01] [-4.71500714e-03 7.38820274e-03 9.99961591e-01 6.07911029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819072329 meters 0.22496639346203925 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99961872e-01 -6.38643134e-03 5.95544164e-03 -3.69064237e+01] [ 6.40659677e-03 9.99973788e-01 -3.37314369e-03 -6.90461030e+01] [-5.93374319e-03 3.41116920e-03 9.99976577e-01 6.07906439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84907232899997 meters 0.23541367888694234 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99955899e-01 -6.43072782e-03 6.84435026e-03 -3.69081624e+01] [ 6.45121420e-03 9.99974764e-01 -2.97532475e-03 -6.90472463e+01] [-6.82504403e-03 3.01934791e-03 9.99972151e-01 6.07898236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879072329 meters 0.27736585637537764 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99954781e-01 -6.24727935e-03 7.16996220e-03 -3.69089575e+01] [ 6.26552314e-03 9.99977184e-01 -2.52483998e-03 -6.90486702e+01] [-7.15402523e-03 2.56964938e-03 9.99971108e-01 6.07897725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90907232899997 meters 0.2453870820837135 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99973427e-01 -2.51276903e-03 6.84333634e-03 -3.69085291e+01] [ 2.50789740e-03 9.99996596e-01 7.20367731e-04 -6.90454525e+01] [-6.84512316e-03 -7.03186203e-04 9.99976325e-01 6.07903185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93907232899994 meters 0.2342622574135404 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99974126e-01 -2.79901169e-03 6.62666462e-03 -3.69081024e+01] [ 2.79811901e-03 9.99996075e-01 1.43977662e-04 -6.90436837e+01] [-6.62704160e-03 -1.25431741e-04 9.99978033e-01 6.07905249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96907232899997 meters 0.22848110109798786 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99973164e-01 -2.91944420e-03 6.71918780e-03 -3.69082737e+01] [ 2.91976997e-03 9.99995737e-01 -3.86737934e-05 -6.90430686e+01] [-6.71904625e-03 5.82912384e-05 9.99977425e-01 6.07904491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99907232899994 meters 0.23851516147908328 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99974163e-01 -3.01778873e-03 6.52432457e-03 -3.69077944e+01] [ 3.01962854e-03 9.99995404e-01 -2.72159710e-04 -6.90423159e+01] [-6.52347326e-03 2.91853715e-04 9.99978679e-01 6.07904721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.029072329 meters 0.25406515632061966 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99977099e-01 -2.88904405e-03 6.12005033e-03 -3.69068435e+01] [ 2.89030299e-03 9.99995804e-01 -1.96873691e-04 -6.90424918e+01] [-6.11945587e-03 2.14557982e-04 9.99981253e-01 6.07905936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05907232899995 meters 0.2272235327919232 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99981439e-01 -2.81972190e-03 5.40104107e-03 -3.69052354e+01] [ 2.82202193e-03 9.99995931e-01 -4.18275961e-04 -6.90417168e+01] [-5.39983967e-03 4.33510054e-04 9.99985327e-01 6.07909733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.089072329 meters 0.2560214081725357 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99981737e-01 -3.02531232e-03 5.23191639e-03 -3.69050342e+01] [ 3.02978912e-03 9.99995051e-01 -8.47956543e-04 -6.90404784e+01] [-5.22932516e-03 8.63792660e-04 9.99985954e-01 6.07913355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11907232899995 meters 0.2484412160460151 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99975764e-01 -3.39033524e-03 6.08090198e-03 -3.69071674e+01] [ 3.39791005e-03 9.99993464e-01 -1.23577403e-03 -6.90397592e+01] [-6.07667255e-03 1.25640644e-03 9.99980748e-01 6.07915035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.149072329 meters 0.24593803584509982 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99974619e-01 -3.21154448e-03 6.35975742e-03 -3.69076320e+01] [ 3.21684706e-03 9.99994487e-01 -8.23716430e-04 -6.90409190e+01] [-6.35707696e-03 8.44153891e-04 9.99979437e-01 6.07911490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17907232899995 meters 0.2333239210376953 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99971969e-01 -3.11601957e-03 6.80817374e-03 -3.69084332e+01] [ 3.11953083e-03 9.99995007e-01 -5.05182794e-04 -6.90417515e+01] [-6.80656558e-03 5.26406942e-04 9.99976697e-01 6.07906590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.209072329 meters 0.24560281946995868 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99970724e-01 -2.72297565e-03 7.15095902e-03 -3.69089795e+01] [ 2.72079330e-03 9.99996249e-01 3.14892706e-04 -6.90441951e+01] [-7.15178964e-03 -2.95427206e-04 9.99974382e-01 6.07901272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23907232899995 meters 0.23862303022905962 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99969075e-01 -2.60959103e-03 7.41889572e-03 -3.69095821e+01] [ 2.60517520e-03 9.99996424e-01 6.04815771e-04 -6.90450857e+01] [-7.42044751e-03 -5.85469544e-04 9.99972297e-01 6.07900135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.269072329 meters 0.24136746347155918 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99971255e-01 -2.74000460e-03 7.06971694e-03 -3.69093143e+01] [ 2.73835144e-03 9.99996221e-01 2.43505848e-04 -6.90442864e+01] [-7.07035743e-03 -2.24139479e-04 9.99974980e-01 6.07909514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29907232899996 meters 0.23628796848104397 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99972180e-01 -2.77584903e-03 6.92348454e-03 -3.69091117e+01] [ 2.77502661e-03 9.99996141e-01 1.28390801e-04 -6.90439979e+01] [-6.92381422e-03 -1.09174375e-04 9.99976024e-01 6.07912135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.329072329 meters 0.24921425805805178 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99971583e-01 -2.81175908e-03 6.99484758e-03 -3.69093656e+01] [ 2.81119788e-03 9.99996045e-01 9.00616302e-05 -6.90439318e+01] [-6.99507314e-03 -7.03951703e-05 9.99975532e-01 6.07913132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35907232899996 meters 0.25795792705038645 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99968300e-01 -2.73873867e-03 7.47646856e-03 -3.69102709e+01] [ 2.73598791e-03 9.99996186e-01 3.78125717e-04 -6.90447064e+01] [-7.47747563e-03 -3.57658203e-04 9.99971979e-01 6.07908674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.389072329 meters 0.24053581513916836 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99961664e-01 -2.81000150e-03 8.29306077e-03 -3.69120874e+01] [ 2.80521164e-03 9.99995892e-01 5.89149679e-04 -6.90453916e+01] [-8.29468221e-03 -5.65863302e-04 9.99965438e-01 6.07905243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41907232899996 meters 0.23599392754482285 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99958750e-01 -2.80063835e-03 8.64032106e-03 -3.69129122e+01] [ 2.79435754e-03 9.99995823e-01 7.38904972e-04 -6.90458750e+01] [-8.64235437e-03 -7.14730346e-04 9.99962399e-01 6.07904137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.449072329 meters 0.22616745172356537 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99953716e-01 -2.80179153e-03 9.20412445e-03 -3.69141690e+01] [ 2.79324417e-03 9.99995656e-01 9.41368206e-04 -6.90465538e+01] [-9.20672198e-03 -9.15615268e-04 9.99957198e-01 6.07901531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47907232899996 meters 0.2529357658564842 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99956488e-01 -2.69066138e-03 8.93208713e-03 -3.69136313e+01] [ 2.68126714e-03 9.99995840e-01 1.06354857e-03 -6.90469811e+01] [-8.93491162e-03 -1.03955298e-03 9.99959543e-01 6.07903495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.509072329 meters 0.24154227771153483 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99955909e-01 -2.82908866e-03 8.95415725e-03 -3.69138103e+01] [ 2.82176655e-03 9.99995674e-01 8.30260845e-04 -6.90463246e+01] [-8.95646740e-03 -8.04957696e-04 9.99959566e-01 6.07905223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53907232899996 meters 0.25304627599760593 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99953452e-01 -2.82718485e-03 9.22504878e-03 -3.69141495e+01] [ 2.81863772e-03 9.99995586e-01 9.39383275e-04 -6.90465121e+01] [-9.22766388e-03 -9.13337478e-04 9.99957007e-01 6.07899824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.569072329 meters 0.23531803307589855 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99951095e-01 -2.94846801e-03 9.44000561e-03 -3.69147041e+01] [ 2.94107540e-03 9.99995358e-01 7.96901627e-04 -6.90460969e+01] [-9.44231143e-03 -7.69098887e-04 9.99955125e-01 6.07899903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59907232899997 meters 0.23327390689725874 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99959082e-01 -2.80539002e-03 8.60023140e-03 -3.69132321e+01] [ 2.79934005e-03 9.99995826e-01 7.15422804e-04 -6.90459262e+01] [-8.60220255e-03 -6.91318559e-04 9.99962761e-01 6.07909697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.629072329 meters 0.23892215829939797 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99961601e-01 -2.65289054e-03 8.35221032e-03 -3.69129660e+01] [ 2.64548690e-03 9.99996098e-01 8.97351515e-04 -6.90466628e+01] [-8.35455831e-03 -8.75221394e-04 9.99964717e-01 6.07914706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65907232899997 meters 0.25317410308440474 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.05, Z:60.79 [[ 9.99965668e-01 -2.58539458e-03 7.87267810e-03 -3.69123005e+01] [ 2.57877422e-03 9.99996313e-01 8.50964390e-04 -6.90467706e+01] [-7.87484915e-03 -8.30633315e-04 9.99968648e-01 6.07922602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68907232899994 meters 0.2390157284254282 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99960979e-01 -3.15293892e-03 8.25220127e-03 -3.69130234e+01] [ 3.15344187e-03 9.99995027e-01 -4.79367784e-05 -6.90441073e+01] [-8.25200909e-03 7.39577449e-05 9.99965949e-01 6.07920618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71907232899997 meters 0.2318559486928928 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99965487e-01 -2.94057803e-03 7.77030751e-03 -3.69117712e+01] [ 2.93909296e-03 9.99995660e-01 2.02534304e-04 -6.90447691e+01] [-7.77086936e-03 -1.79689658e-04 9.99969790e-01 6.07919536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74907232899994 meters 0.23480610333837895 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.04, Z:60.79 [[ 9.99971675e-01 -2.95200320e-03 6.92348355e-03 -3.69098628e+01] [ 2.95398924e-03 9.99995599e-01 -2.76646747e-04 -6.90432187e+01] [-6.92263642e-03 2.97090807e-04 9.99975994e-01 6.07923328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779072329 meters 0.288111096131765 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.80 [[ 9.99995622e-01 -1.61793417e-04 2.95473056e-03 -3.69012780e+01] [ 1.66710883e-04 9.99998601e-01 -1.66409834e-03 -6.90418142e+01] [-2.95445718e-03 1.66458364e-03 9.99994250e-01 6.07964926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80907232899995 meters 0.24931233232591773 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.80 [[ 9.99997452e-01 -2.20854641e-04 2.24677694e-03 -3.68998168e+01] [ 2.25597083e-04 9.99997747e-01 -2.11074106e-03 -6.90404452e+01] [-2.24630571e-03 2.11124255e-03 9.99995248e-01 6.07971320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839072329 meters 0.23049756377897423 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.80 [[ 9.99998556e-01 -4.46565811e-04 1.63996624e-03 -3.68987393e+01] [ 4.51139042e-04 9.99996008e-01 -2.78930234e-03 -6.90385341e+01] [-1.63871409e-03 2.79003817e-03 9.99994765e-01 6.07979237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86907232899995 meters 0.2713935567582607 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.80 [[ 9.99999545e-01 -5.85434440e-04 7.53740061e-04 -3.68965693e+01] [ 5.88049011e-04 9.99993795e-01 -3.47326112e-03 -6.90359569e+01] [-7.51702018e-04 3.47370277e-03 9.99993684e-01 6.07982081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899072329 meters 0.24129920872327082 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.04, Z:60.80 [[ 9.99999761e-01 -5.62917249e-04 4.01260381e-04 -3.68953215e+01] [ 5.64351399e-04 9.99993422e-01 -3.58300697e-03 -6.90352192e+01] [-3.99240805e-04 3.58323256e-03 9.99993501e-01 6.07977312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92907232899995 meters 0.2681427258237289 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.80 [[ 9.99999988e-01 -1.56567864e-04 7.35842391e-06 -3.68941951e+01] [ 1.56589342e-04 9.99995441e-01 -3.01563118e-03 -6.90366333e+01] [-6.88623943e-06 3.01563230e-03 9.99995453e-01 6.07975266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959072329 meters 0.2743334965999452 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.80 [[ 9.99999766e-01 6.86579803e-05 -6.80637090e-04 -3.68927100e+01] [-7.06938337e-05 9.99995523e-01 -2.99152703e-03 -6.90365521e+01] [ 6.80428650e-04 2.99157444e-03 9.99995294e-01 6.07980357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98907232899995 meters 0.2721750672007497 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.80 [[ 9.99998976e-01 1.00345305e-04 -1.42762575e-03 -3.68910362e+01] [-1.05045291e-04 9.99994574e-01 -3.29247614e-03 -6.90354493e+01] [ 1.42728762e-03 3.29262273e-03 9.99993561e-01 6.07984683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019072329 meters 0.2591977004812204 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99988449e-01 4.20170735e-03 -2.33401261e-03 -3.68891322e+01] [-4.20178425e-03 9.99991172e-01 -2.80443482e-05 -6.90322074e+01] [ 2.33387417e-03 3.78510416e-05 9.99997276e-01 6.07993585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04907232899996 meters 0.22962846208743456 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99987260e-01 4.16765639e-03 -2.84782667e-03 -3.68879527e+01] [-4.16842464e-03 9.99991277e-01 -2.63883988e-04 -6.90314026e+01] [ 2.84670205e-03 2.75751577e-04 9.99995910e-01 6.07995734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079072329 meters 0.22965788866284487 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99987696e-01 3.97569243e-03 -2.96684191e-03 -3.68876299e+01] [-3.97764712e-03 9.99991876e-01 -6.53233733e-04 -6.90301324e+01] [ 2.96422075e-03 6.65026746e-04 9.99995386e-01 6.07995974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10907232899996 meters 0.21986204675733156 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99988093e-01 4.04560845e-03 -2.72902991e-03 -3.68880454e+01] [-4.04686450e-03 9.99991708e-01 -4.54891589e-04 -6.90306556e+01] [ 2.72716697e-03 4.65930187e-04 9.99996173e-01 6.07993331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139072329 meters 0.27014736799881095 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99988149e-01 4.23969764e-03 -2.39303258e-03 -3.68887251e+01] [-4.23974587e-03 9.99991012e-01 -1.50811937e-05 -6.90319669e+01] [ 2.39294713e-03 2.52268649e-05 9.99997137e-01 6.07990644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16907232899996 meters 0.26034409694671384 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99987396e-01 4.08216862e-03 -2.92304384e-03 -3.68875331e+01] [-4.08367690e-03 9.99991532e-01 -5.10215817e-04 -6.90303331e+01] [ 2.92093630e-03 5.22146153e-04 9.99995598e-01 6.07993575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199072329 meters 0.2671307464066763 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99986715e-01 3.94774382e-03 -3.31443513e-03 -3.68866965e+01] [-3.95066109e-03 9.99991814e-01 -8.74084397e-04 -6.90292034e+01] [ 3.31095733e-03 8.87166995e-04 9.99994125e-01 6.07996355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22907232899996 meters 0.27540843930450687 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99986613e-01 3.81460574e-03 -3.49603438e-03 -3.68862572e+01] [-3.81875946e-03 9.99992010e-01 -1.18221779e-03 -6.90282036e+01] [ 3.49149675e-03 1.19555248e-03 9.99993190e-01 6.07997232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259072329 meters 0.22685468033256076 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99987934e-01 3.85713349e-03 -3.04208649e-03 -3.68872476e+01] [-3.86002890e-03 9.99992102e-01 -9.46486955e-04 -6.90289134e+01] [ 3.03841174e-03 9.58218076e-04 9.99994925e-01 6.07994961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28907232899996 meters 0.2353096441866117 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99988508e-01 4.02907428e-03 -2.59825554e-03 -3.68882351e+01] [-4.03037784e-03 9.99991755e-01 -4.96665463e-04 -6.90302782e+01] [ 2.59623301e-03 5.07131707e-04 9.99996501e-01 6.07992819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319072329 meters 0.27003402508131563 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99998433e-01 1.93783474e-04 -1.75970755e-03 -3.68900863e+01] [-2.00135969e-04 9.99993462e-01 -3.61051414e-03 -6.90340419e+01] [ 1.75899639e-03 3.61086067e-03 9.99991934e-01 6.07988118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34907232899997 meters 0.25582089033013855 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.80 [[ 9.99999727e-01 1.89650340e-04 -7.13693092e-04 -3.68921986e+01] [-1.91976910e-04 9.99994664e-01 -3.26124725e-03 -6.90351707e+01] [ 7.13070787e-04 3.26138337e-03 9.99994427e-01 6.07979922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379072329 meters 0.24693311053181138 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.80 [[ 9.99999972e-01 8.93993278e-05 2.19066030e-04 -3.68941684e+01] [-8.87535889e-05 9.99995657e-01 -2.94592987e-03 -6.90362026e+01] [-2.19328443e-04 2.94591034e-03 9.99995637e-01 6.07973227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40907232899997 meters 0.25162109228993695 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.80 [[ 9.99998953e-01 1.29832090e-03 -6.38911918e-04 -3.68905432e+01] [-1.29981178e-03 9.99996421e-01 -2.33862263e-03 -6.90350738e+01] [ 6.35873348e-04 2.33945065e-03 9.99997061e-01 6.07959360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43907232899994 meters 0.24914436576849064 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99998875e-01 1.29865813e-03 -7.50688032e-04 -3.68903076e+01] [-1.30044008e-03 9.99996327e-01 -2.37817011e-03 -6.90349489e+01] [ 7.47596844e-04 2.37914366e-03 9.99996890e-01 6.07960294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46907232899997 meters 0.22781194214109166 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99998933e-01 1.20179165e-03 -8.30517802e-04 -3.68900871e+01] [-1.20393867e-03 9.99995922e-01 -2.58951423e-03 -6.90342298e+01] [ 8.27402359e-04 2.59051136e-03 9.99996302e-01 6.07960617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49907232899994 meters 0.25166129543802856 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99998568e-01 1.19972667e-03 -1.19383683e-03 -3.68891495e+01] [-1.20298401e-03 9.99995546e-01 -2.73148935e-03 -6.90336289e+01] [ 1.19055447e-03 2.73292160e-03 9.99995557e-01 6.07961049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.529072329 meters 0.24266872101986658 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.80 [[ 9.99999213e-01 9.84073812e-04 -7.78640156e-04 -3.68899929e+01] [-9.86384271e-04 9.99995096e-01 -2.97250035e-03 -6.90328694e+01] [ 7.75711178e-04 2.97326605e-03 9.99995279e-01 6.07958219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55907232899995 meters 0.25085527101864225 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.79 [[ 9.99996387e-01 2.03125377e-03 -1.76045932e-03 -3.68862575e+01] [-2.03479703e-03 9.99995903e-01 -2.01324093e-03 -6.90333463e+01] [ 1.75636270e-03 2.01681583e-03 9.99996424e-01 6.07941958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.589072329 meters 0.25085527101864225 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.79 [[ 9.99996387e-01 2.03125377e-03 -1.76045932e-03 -3.68862575e+01] [-2.03479703e-03 9.99995903e-01 -2.01324093e-03 -6.90333463e+01] [ 1.75636270e-03 2.01681583e-03 9.99996424e-01 6.07941958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61907232899995 meters 0.25085527101864225 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.79 [[ 9.99996387e-01 2.03125377e-03 -1.76045932e-03 -3.68862575e+01] [-2.03479703e-03 9.99995903e-01 -2.01324093e-03 -6.90333463e+01] [ 1.75636270e-03 2.01681583e-03 9.99996424e-01 6.07941958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.649072329 meters 0.3140939784227231 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.03, Z:60.79 [[ 9.99995179e-01 2.30780129e-03 -2.07752868e-03 -3.68850625e+01] [-2.31123045e-03 9.99995968e-01 -1.64971117e-03 -6.90340092e+01] [ 2.07371310e-03 1.65450486e-03 9.99996481e-01 6.07936628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67907232899995 meters 0.24597663600885125 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99994175e-01 2.40726957e-03 -2.41959633e-03 -3.68841485e+01] [-2.41122761e-03 9.99995758e-01 -1.63424359e-03 -6.90338735e+01] [ 2.41565200e-03 1.64006827e-03 9.99995737e-01 6.07936450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.709072329 meters 0.23434526297547623 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99993624e-01 2.43405840e-03 -2.61279118e-03 -3.68840509e+01] [-2.43846180e-03 9.99995610e-01 -1.68346383e-03 -6.90339121e+01] [ 2.60868206e-03 1.68982428e-03 9.99995170e-01 6.07942667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73907232899995 meters 0.24084322425827218 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99994092e-01 2.32724323e-03 -2.52969482e-03 -3.68844567e+01] [-2.33190868e-03 9.99995583e-01 -1.84289236e-03 -6.90335254e+01] [ 2.52539479e-03 1.84878049e-03 9.99995102e-01 6.07945690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.769072329 meters 0.23057491585176554 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99994077e-01 2.27323306e-03 -2.58410713e-03 -3.68845287e+01] [-2.27829500e-03 9.99995489e-01 -1.95761771e-03 -6.90332639e+01] [ 2.57964535e-03 1.96349348e-03 9.99994745e-01 6.07948988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79907232899996 meters 0.24894273192337843 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99992422e-01 2.28004235e-03 -3.15565553e-03 -3.68829220e+01] [-2.28691063e-03 9.99995021e-01 -2.17460551e-03 -6.90321950e+01] [ 3.15068163e-03 2.18180573e-03 9.99992656e-01 6.07947233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.829072329 meters 0.27753143915596373 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99991452e-01 2.11347427e-03 -3.55364577e-03 -3.68819699e+01] [-2.12287778e-03 9.99994250e-01 -2.64447117e-03 -6.90306468e+01] [ 3.54803632e-03 2.65199252e-03 9.99990189e-01 6.07948876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85907232899996 meters 0.24042575372211272 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99989528e-01 2.35575435e-03 -3.92351846e-03 -3.68806786e+01] [-2.36511007e-03 9.99994367e-01 -2.38159282e-03 -6.90309691e+01] [ 3.91788592e-03 2.39084743e-03 9.99989467e-01 6.07944425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.889072329 meters 0.23109207844879612 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99988141e-01 2.53645166e-03 -4.15751435e-03 -3.68801611e+01] [-2.54539424e-03 9.99994456e-01 -2.14706564e-03 -6.90316232e+01] [ 4.15204537e-03 2.15762269e-03 9.99989053e-01 6.07945682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91907232899996 meters 0.23589307644010638 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99989424e-01 2.55797611e-03 -3.82215955e-03 -3.68810084e+01] [-2.56567220e-03 9.99994689e-01 -2.01000165e-03 -6.90321165e+01] [ 3.81699771e-03 2.01978680e-03 9.99990675e-01 6.07945746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.949072329 meters 0.23142341407392286 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99989420e-01 -8.68166120e-04 -4.51725253e-03 -3.68783798e+01] [ 8.44527703e-04 9.99985955e-01 -5.23219767e-03 -6.90337807e+01] [ 4.52173151e-03 5.22832737e-03 9.99976109e-01 6.07934361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97907232899996 meters 0.26930998362091924 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99989463e-01 -8.46848370e-04 -4.51182684e-03 -3.68783582e+01] [ 8.23389728e-04 9.99986148e-01 -5.19868956e-03 -6.90338404e+01] [ 4.51616684e-03 5.19491979e-03 9.99976308e-01 6.07934093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.009072329 meters 0.2166436936274279 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99989120e-01 -8.24321916e-04 -4.59142457e-03 -3.68781952e+01] [ 8.00479807e-04 9.99986200e-01 -5.19216689e-03 -6.90338476e+01] [ 4.59564122e-03 5.18843505e-03 9.99975980e-01 6.07934933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03907232899996 meters 0.24523401517730947 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99985638e-01 -5.77159410e-04 -5.32822532e-03 -3.68763073e+01] [ 5.49984096e-04 9.99986842e-01 -5.10031329e-03 -6.90336101e+01] [ 5.33109891e-03 5.09730961e-03 9.99972798e-01 6.07935515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.069072329 meters 0.24116906159319437 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99985714e-01 -8.02419335e-04 -5.28470607e-03 -3.68765193e+01] [ 7.73496876e-04 9.99984726e-01 -5.47263223e-03 -6.90325050e+01] [ 5.28901670e-03 5.46846634e-03 9.99971061e-01 6.07937343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09907232899997 meters 0.261677408969566 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99984832e-01 -5.88243559e-04 -5.47623991e-03 -3.68761667e+01] [ 5.59911931e-04 9.99986460e-01 -5.17365124e-03 -6.90333961e+01] [ 5.47920912e-03 5.17050655e-03 9.99971622e-01 6.07939596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.129072329 meters 0.25855706218400365 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.03, Z:60.79 [[ 9.99987886e-01 -4.96219844e-04 -4.89712997e-03 -3.68772583e+01] [ 4.72733959e-04 9.99988388e-01 -4.79583956e-03 -6.90344336e+01] [ 4.89945290e-03 4.79346642e-03 9.99976509e-01 6.07933863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15907232899997 meters 0.2564580991141866 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.79 [[ 9.99989450e-01 -3.22151261e-04 -4.58207260e-03 -3.68776773e+01] [ 3.02024931e-04 9.99990308e-01 -4.39242127e-03 -6.90354798e+01] [ 4.58344321e-03 4.39099104e-03 9.99979855e-01 6.07928227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18907232899994 meters 0.24266180030910717 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.79 [[ 9.99994487e-01 -3.13682538e-04 -3.30567197e-03 -3.68801589e+01] [ 3.02270081e-04 9.99993995e-01 -3.45232060e-03 -6.90383812e+01] [ 3.30673505e-03 3.45130236e-03 9.99988577e-01 6.07914520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21907232899997 meters 0.24362017883760786 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.79 [[ 9.99996134e-01 -1.36786781e-04 -2.77743203e-03 -3.68810823e+01] [ 1.28650727e-04 9.99995701e-01 -2.92931142e-03 -6.90398104e+01] [ 2.77782079e-03 2.92894277e-03 9.99991852e-01 6.07907977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24907232899994 meters 0.25671267806510223 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.79 [[ 9.99997819e-01 1.40696060e-04 -2.08394916e-03 -3.68821590e+01] [-1.45271093e-04 9.99997580e-01 -2.19537827e-03 -6.90417608e+01] [ 2.08363523e-03 2.19567621e-03 9.99995419e-01 6.07897438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279072329 meters 0.2480098464727475 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.79 [[ 9.99998755e-01 1.92434280e-04 -1.56640276e-03 -3.68832257e+01] [-1.95440897e-04 9.99998139e-01 -1.91951383e-03 -6.90425414e+01] [ 1.56603047e-03 1.91981758e-03 9.99996931e-01 6.07893921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30907232899995 meters 0.2237266468921982 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.79 [[ 9.99999216e-01 1.93927511e-04 -1.23731797e-03 -3.68840825e+01] [-1.96160281e-04 9.99998352e-01 -1.80465838e-03 -6.90429561e+01] [ 1.23696596e-03 1.80489968e-03 9.99997606e-01 6.07894453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339072329 meters 0.23764466047950675 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.79 [[ 9.99999818e-01 3.14725174e-05 -6.02449248e-04 -3.68855154e+01] [-3.26137880e-05 9.99998205e-01 -1.89446857e-03 -6.90427550e+01] [ 6.02388543e-04 1.89448787e-03 9.99998024e-01 6.07892569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36907232899995 meters 0.22915216909225247 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.79 [[ 9.99999839e-01 1.73975609e-04 -5.39230106e-04 -3.68854894e+01] [-1.74852387e-04 9.99998662e-01 -1.62636234e-03 -6.90434637e+01] [ 5.38946437e-04 1.62645637e-03 9.99998532e-01 6.07889929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399072329 meters 0.2251442239017488 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.79 [[ 9.99999986e-01 -6.87120788e-05 1.55255915e-04 -3.68868653e+01] [ 6.90004426e-05 9.99998271e-01 -1.85810350e-03 -6.90427795e+01] [-1.55127973e-04 1.85811419e-03 9.99998262e-01 6.07885404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42907232899995 meters 0.24731883669753285 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.04, Z:60.79 [[ 9.99999732e-01 7.86178410e-05 7.27648332e-04 -3.68878562e+01] [-7.76289148e-05 9.99999074e-01 -1.35900013e-03 -6.90441155e+01] [-7.27754499e-04 1.35894328e-03 9.99998812e-01 6.07878124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459072329 meters 0.25806610696882537 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99999216e-01 2.21271328e-04 1.23280226e-03 -3.68888533e+01] [-2.20149273e-04 9.99999562e-01 -9.10227869e-04 -6.90453992e+01] [-1.23300313e-03 9.09955755e-04 9.99998826e-01 6.07873835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48907232899995 meters 0.20827393224254698 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99991685e-01 -3.82252147e-03 1.42062660e-03 -3.68889699e+01] [ 3.82914871e-03 9.99981661e-01 -4.69194647e-03 -6.90468909e+01] [-1.40266548e-03 4.69734725e-03 9.99987984e-01 6.07869060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519072329 meters 0.2437530060755 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99991529e-01 -3.77987837e-03 1.62953746e-03 -3.68893476e+01] [ 3.78725892e-03 9.99982476e-01 -4.55018479e-03 -6.90472529e+01] [-1.61230976e-03 4.55631773e-03 9.99988320e-01 6.07866925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54907232899996 meters 0.23799087935501687 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99991453e-01 -3.77346653e-03 1.68952435e-03 -3.68895401e+01] [ 3.78106676e-03 9.99982645e-01 -4.51808068e-03 -6.90473832e+01] [-1.67244620e-03 4.52443027e-03 9.99988366e-01 6.07867496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579072329 meters 0.25689451528048873 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99991951e-01 -3.74853065e-03 1.43083900e-03 -3.68889150e+01] [ 3.75503720e-03 9.99982498e-01 -4.57209582e-03 -6.90471298e+01] [-1.41367531e-03 4.57743187e-03 9.99988524e-01 6.07868525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60907232899996 meters 0.2716314015694042 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99991148e-01 -3.79314469e-03 1.82108736e-03 -3.68897321e+01] [ 3.80134960e-03 9.99982544e-01 -4.52338145e-03 -6.90472317e+01] [-1.80389774e-03 4.53026400e-03 9.99988111e-01 6.07866171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639072329 meters 0.23856888925698688 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99991350e-01 -3.70802900e-03 1.88430537e-03 -3.68899391e+01] [ 3.71622649e-03 9.99983565e-01 -4.36568398e-03 -6.90477538e+01] [-1.86808632e-03 4.37264872e-03 9.99988695e-01 6.07866898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66907232899996 meters 0.23188761725380852 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99991521e-01 -3.59114649e-03 2.01516402e-03 -3.68901206e+01] [ 3.59943114e-03 9.99985024e-01 -4.12269982e-03 -6.90484218e+01] [-2.00032862e-03 4.12991831e-03 9.99989471e-01 6.07864743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699072329 meters 0.25901747344782655 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99990511e-01 -3.61973313e-03 2.42406217e-03 -3.68909582e+01] [ 3.62948905e-03 9.99985283e-01 -4.03238470e-03 -6.90486289e+01] [-2.40943033e-03 4.04114454e-03 9.99988932e-01 6.07862011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72907232899996 meters 0.27110669262355863 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.79 [[ 9.99990029e-01 -3.43211789e-03 2.85686081e-03 -3.68917227e+01] [ 3.44226644e-03 9.99987756e-01 -3.55504008e-03 -6.90499618e+01] [-2.84462452e-03 3.56483871e-03 9.99989600e-01 6.07856873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759072329 meters 0.23356386098522675 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99986106e-01 -3.42374662e-03 4.00832075e-03 -3.68940252e+01] [ 3.43543124e-03 9.99989859e-01 -2.91184414e-03 -6.90519882e+01] [-3.99831068e-03 2.92557399e-03 9.99987727e-01 6.07846944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78907232899996 meters 0.25717043229731745 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99984860e-01 -3.47044535e-03 4.27023328e-03 -3.68943836e+01] [ 3.48284579e-03 9.99989730e-01 -2.89992401e-03 -6.90518733e+01] [-4.26012540e-03 2.91475267e-03 9.99986678e-01 6.07842473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819072329 meters 0.24135680035644647 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99983171e-01 -3.58649758e-03 4.56017342e-03 -3.68948923e+01] [ 3.60008139e-03 9.99989097e-01 -2.97408211e-03 -6.90515241e+01] [-4.54945716e-03 2.99044905e-03 9.99985180e-01 6.07839351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84907232899997 meters 0.24313272776723424 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99984110e-01 -3.50219726e-03 4.41754455e-03 -3.68945542e+01] [ 3.51492078e-03 9.99989688e-01 -2.87575677e-03 -6.90517994e+01] [-4.40742753e-03 2.89123839e-03 9.99986108e-01 6.07839990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879072329 meters 0.27026863816285046 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99982512e-01 -3.57999435e-03 4.70734813e-03 -3.68953191e+01] [ 3.59371918e-03 9.99989307e-01 -2.91039960e-03 -6.90517307e+01] [-4.69687858e-03 2.92726559e-03 9.99984685e-01 6.07840643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90907232899997 meters 0.2385107973568504 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99961084e-01 -7.71642810e-03 4.27641396e-03 -3.68940675e+01] [ 7.74664585e-03 9.99944822e-01 -7.09521054e-03 -6.90518434e+01] [-4.22142831e-03 7.12806228e-03 9.99965685e-01 6.07840195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93907232899994 meters 0.26253748993192855 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99976437e-01 -4.12910510e-03 5.48422114e-03 -3.68970932e+01] [ 4.14867963e-03 9.99985048e-01 -3.56267704e-03 -6.90504188e+01] [-5.46942847e-03 3.58534537e-03 9.99978615e-01 6.07842179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96907232899997 meters 0.22709042497509976 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99978313e-01 -4.02128941e-03 5.21559443e-03 -3.68962706e+01] [ 4.03937004e-03 9.99985853e-01 -3.46075938e-03 -6.90505980e+01] [-5.20160393e-03 3.48175204e-03 9.99980410e-01 6.07840165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99907232899994 meters 0.2856769360739779 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99977247e-01 -3.90067387e-03 5.50358267e-03 -3.68964715e+01] [ 3.91813277e-03 9.99987315e-01 -3.16507073e-03 -6.90512202e+01] [-5.49116695e-03 3.18656248e-03 9.99979846e-01 6.07832560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.029072329 meters 0.2849337523103685 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99977945e-01 -3.88851560e-03 5.38418648e-03 -3.68961611e+01] [ 3.90576897e-03 9.99987260e-01 -3.19765388e-03 -6.90510918e+01] [-5.37168376e-03 3.21861274e-03 9.99980393e-01 6.07832633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05907232899995 meters 0.2753177111886048 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99977471e-01 -3.70259170e-03 5.59889427e-03 -3.68966101e+01] [ 3.71834816e-03 9.99989149e-01 -2.80642339e-03 -6.90522798e+01] [-5.58844247e-03 2.82717881e-03 9.99980388e-01 6.07830975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.089072329 meters 0.27300547842077655 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99977635e-01 -3.64042852e-03 5.61040228e-03 -3.68966219e+01] [ 3.65560629e-03 9.99989680e-01 -2.69741471e-03 -6.90525660e+01] [-5.60052463e-03 2.71786380e-03 9.99980623e-01 6.07830997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11907232899995 meters 0.27194994537437356 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99977244e-01 -3.52138206e-03 5.75416964e-03 -3.68967411e+01] [ 3.53548561e-03 9.99990767e-01 -2.44268291e-03 -6.90532144e+01] [-5.74551489e-03 2.46297111e-03 9.99980461e-01 6.07827502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.149072329 meters 0.2519189563406006 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99975838e-01 -3.43403587e-03 6.04404391e-03 -3.68971901e+01] [ 3.44727722e-03 9.99991678e-01 -2.18175732e-03 -6.90538785e+01] [-6.03650138e-03 2.20254010e-03 9.99979355e-01 6.07823234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17907232899995 meters 0.24750100993119012 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99981322e-01 -2.65157299e-03 5.50683611e-03 -3.68947641e+01] [ 2.65795656e-03 9.99995804e-01 -1.15221326e-03 -6.90557009e+01] [-5.50375782e-03 1.16682867e-03 9.99984173e-01 6.07808101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.209072329 meters 0.24479848579032754 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99982042e-01 -2.70013638e-03 5.35013636e-03 -3.68944557e+01] [ 2.70707692e-03 9.99995503e-01 -1.29044772e-03 -6.90552867e+01] [-5.34662792e-03 1.30490777e-03 9.99984855e-01 6.07809628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23907232899995 meters 0.24284196609050354 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99979480e-01 -2.91163433e-03 5.70637978e-03 -3.68955285e+01] [ 2.92055365e-03 9.99994526e-01 -1.55533263e-03 -6.90547083e+01] [-5.70181998e-03 1.57196650e-03 9.99982509e-01 6.07812838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.269072329 meters 0.23144595965037965 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99980068e-01 -2.89161164e-03 5.61272720e-03 -3.68954432e+01] [ 2.90039871e-03 9.99994580e-01 -1.55805457e-03 -6.90547726e+01] [-5.60819149e-03 1.57430266e-03 9.99983035e-01 6.07815085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29907232899996 meters 0.2433054243559543 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99979384e-01 -2.98201883e-03 5.68683284e-03 -3.68957320e+01] [ 2.99168849e-03 9.99994092e-01 -1.69261010e-03 -6.90544068e+01] [-5.68175185e-03 1.70958844e-03 9.99982397e-01 6.07816696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.329072329 meters 0.2552246708136822 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99981606e-01 -2.95598143e-03 5.29614834e-03 -3.68947531e+01] [ 2.96543471e-03 9.99994022e-01 -1.77797226e-03 -6.90540502e+01] [-5.29086103e-03 1.79364493e-03 9.99984395e-01 6.07817149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35907232899996 meters 0.2289569492426271 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99979908e-01 -3.13714590e-03 5.50826301e-03 -3.68950068e+01] [ 3.14833570e-03 9.99992996e-01 -2.02396174e-03 -6.90531450e+01] [-5.50187496e-03 2.04126294e-03 9.99982781e-01 6.07813406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.389072329 meters 0.22059175615958532 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.78 [[ 9.99978944e-01 -2.97699612e-03 5.76618442e-03 -3.68953172e+01] [ 2.98651798e-03 9.99994190e-01 -1.64342145e-03 -6.90541357e+01] [-5.76125845e-03 1.66060766e-03 9.99982025e-01 6.07808303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41907232899996 meters 0.2557000255993716 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99972490e-01 -2.95272573e-03 6.80439403e-03 -3.68977107e+01] [ 2.95964363e-03 9.99995113e-01 -1.00683558e-03 -6.90563281e+01] [-6.80138787e-03 1.02694646e-03 9.99976343e-01 6.07804426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.449072329 meters 0.21713525638649167 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99967607e-01 -2.88202607e-03 7.51521345e-03 -3.68993114e+01] [ 2.88656749e-03 9.99995658e-01 -5.93521244e-04 -6.90576586e+01] [-7.51347028e-03 6.15195189e-04 9.99971584e-01 6.07801769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47907232899996 meters 0.21713525638649167 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99967607e-01 -2.88202607e-03 7.51521345e-03 -3.68993114e+01] [ 2.88656749e-03 9.99995658e-01 -5.93521244e-04 -6.90576586e+01] [-7.51347028e-03 6.15195189e-04 9.99971584e-01 6.07801769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.509072329 meters 0.2540803901632154 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99960469e-01 -2.95043776e-03 8.38777400e-03 -3.69013375e+01] [ 2.95310390e-03 9.99995593e-01 -3.05492713e-04 -6.90588122e+01] [-8.38683570e-03 3.30250605e-04 9.99964775e-01 6.07798844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53907232899996 meters 0.24970130385822276 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99964012e-01 -2.80711657e-03 8.00591097e-03 -3.69002951e+01] [ 2.80861639e-03 9.99996040e-01 -1.76102768e-04 -6.90590662e+01] [-8.00538493e-03 1.98581963e-04 9.99967937e-01 6.07797370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.569072329 meters 0.25413505260978486 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99965676e-01 -2.94153951e-03 7.74557099e-03 -3.68997257e+01] [ 2.94553887e-03 9.99995534e-01 -5.04985455e-04 -6.90580745e+01] [-7.74405097e-03 5.27783002e-04 9.99969875e-01 6.07798742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59907232899997 meters 0.24348450245385125 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99967274e-01 -2.99796193e-03 7.51420759e-03 -3.68990222e+01] [ 3.00322336e-03 9.99995253e-01 -6.89012134e-04 -6.90573847e+01] [-7.51210629e-03 7.11556430e-04 9.99971531e-01 6.07797110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.629072329 meters 0.24936115764868635 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99964828e-01 -3.04088506e-03 7.81632683e-03 -3.68995061e+01] [ 3.04610693e-03 9.99995145e-01 -6.56254039e-04 -6.90573616e+01] [-7.81429329e-03 6.80040325e-04 9.99969237e-01 6.07793000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65907232899997 meters 0.252684899423589 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99960011e-01 -2.98357871e-03 8.43055019e-03 -3.69009373e+01] [ 2.98653007e-03 9.99995483e-01 -3.37511837e-04 -6.90584004e+01] [-8.42950512e-03 3.62676432e-04 9.99964405e-01 6.07791462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68907232899994 meters 0.2782512608302744 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99959372e-01 -2.80975155e-03 8.56499642e-03 -3.69012826e+01] [ 2.80975383e-03 9.99996053e-01 1.17668298e-05 -6.90595117e+01] [-8.56499567e-03 1.22991797e-05 9.99963320e-01 6.07791226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71907232899997 meters 0.23789415351135906 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99954382e-01 -2.82545528e-03 9.12418505e-03 -3.69028514e+01] [ 2.82372252e-03 9.99995993e-01 2.02785825e-04 -6.90603974e+01] [-9.12472144e-03 -1.77012408e-04 9.99958353e-01 6.07793902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74907232899994 meters 0.2596633273655353 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99950426e-01 -2.95634278e-03 9.50818336e-03 -3.69036997e+01] [ 2.95557184e-03 9.99995628e-01 9.51317822e-05 -6.90600517e+01] [-9.50842303e-03 -6.70249472e-05 9.99954792e-01 6.07792103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779072329 meters 0.2577495822432163 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99938903e-01 -3.06589197e-03 1.06202505e-02 -3.69060907e+01] [ 3.05958442e-03 9.99995133e-01 6.10113656e-04 -6.90618233e+01] [-1.06220694e-02 -5.77582827e-04 9.99943417e-01 6.07785098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80907232899995 meters 0.24971539638525306 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99935584e-01 -3.02353826e-03 1.09400918e-02 -3.69065608e+01] [ 3.01486291e-03 9.99995128e-01 8.09391653e-04 -6.90622709e+01] [-1.09424857e-02 -7.76356638e-04 9.99939828e-01 6.07779982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839072329 meters 0.2469897854905131 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99930777e-01 -3.06640184e-03 1.13594743e-02 -3.69073640e+01] [ 3.05650036e-03 9.99994934e-01 8.88908090e-04 -6.90624121e+01] [-1.13621425e-02 -8.54126320e-04 9.99935084e-01 6.07776256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86907232899995 meters 0.2806555800008005 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99928790e-01 -3.05434595e-03 1.15362530e-02 -3.69078291e+01] [ 3.04314388e-03 9.99994881e-01 9.88460543e-04 -6.90627971e+01] [-1.15392131e-02 -9.53283678e-04 9.99932967e-01 6.07776034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899072329 meters 0.2458246724201608 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99927363e-01 -2.99973788e-03 1.16734461e-02 -3.69080216e+01] [ 2.98674458e-03 9.99994901e-01 1.13033888e-03 -6.90631823e+01] [-1.16767773e-02 -1.09539118e-03 9.99931224e-01 6.07773597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92907232899995 meters 0.23304384882731985 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99925018e-01 -2.94508839e-03 1.18863668e-02 -3.69082712e+01] [ 2.92978006e-03 9.99994857e-01 1.30509660e-03 -6.90636073e+01] [-1.18901493e-02 -1.27017430e-03 9.99928503e-01 6.07768919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959072329 meters 0.22553792377615087 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99924144e-01 -2.82863256e-03 1.19876704e-02 -3.69085793e+01] [ 2.81025696e-03 9.99994851e-01 1.54944329e-03 -6.90644674e+01] [-1.19919915e-02 -1.51563732e-03 9.99926945e-01 6.07769033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98907232899995 meters 0.272190724314787 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99930145e-01 -2.90365030e-03 1.14574730e-02 -3.69075927e+01] [ 2.89010582e-03 9.99995105e-01 1.19853321e-03 -6.90635333e+01] [-1.14608970e-02 -1.16533618e-03 9.99933643e-01 6.07774425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019072329 meters 0.24866807556321424 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99934029e-01 -3.25960465e-03 1.10142425e-02 -3.69070783e+01] [ 3.25530162e-03 9.99994618e-01 4.08583576e-04 -6.90613999e+01] [-1.10155150e-02 -3.72701940e-04 9.99939258e-01 6.07783741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04907232899996 meters 0.24900572321449133 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.78 [[ 9.99940947e-01 -3.36008122e-03 1.03349884e-02 -3.69058344e+01] [ 3.36154172e-03 9.99994342e-01 -1.23948162e-04 -6.90599755e+01] [-1.03345134e-02 1.58682337e-04 9.99946585e-01 6.07791514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079072329 meters 0.2212105423664641 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99946654e-01 -3.38926853e-03 9.75711329e-03 -3.69047469e+01] [ 3.39308511e-03 9.99994173e-01 -3.74631083e-04 -6.90593361e+01] [-9.75578672e-03 4.07717814e-04 9.99952328e-01 6.07797130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10907232899996 meters 0.21698075957717716 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99949217e-01 -3.90479865e-03 9.29061636e-03 -3.69036080e+01] [ 3.91839746e-03 9.99991278e-01 -1.44596224e-03 -6.90560320e+01] [-9.28488913e-03 1.48229313e-03 9.99955796e-01 6.07798614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139072329 meters 0.2855540423018874 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99955845e-01 -3.91575761e-03 8.54254950e-03 -3.69019553e+01] [ 3.93024549e-03 9.99990866e-01 -1.67983946e-03 -6.90553036e+01] [-8.53589363e-03 1.71333961e-03 9.99962101e-01 6.07801940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16907232899996 meters 0.26335938806010833 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99989264e-01 2.39329372e-03 3.96799517e-03 -3.68874952e+01] [-2.38620813e-03 9.99995552e-01 -1.78945928e-03 -6.90544324e+01] [-3.97226022e-03 1.77997160e-03 9.99990526e-01 6.07819707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199072329 meters 0.25517152296413576 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.78 [[ 9.99991846e-01 2.17759475e-03 3.40092604e-03 -3.68862236e+01] [-2.16952712e-03 9.99994828e-01 -2.37407720e-03 -6.90525964e+01] [-3.40607823e-03 2.36667944e-03 9.99991399e-01 6.07822715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22907232899996 meters 0.27356588255690495 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99994322e-01 2.16105202e-03 2.58577979e-03 -3.68840862e+01] [-2.15363859e-03 9.99993573e-01 -2.86635911e-03 -6.90506178e+01] [-2.59195752e-03 2.86077400e-03 9.99992549e-01 6.07823138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259072329 meters 0.26284132526839904 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99996300e-01 1.89712208e-03 1.94956908e-03 -3.68829743e+01] [-1.88992447e-03 9.99991417e-01 -3.68713475e-03 -6.90482671e+01] [-1.95654729e-03 3.68343657e-03 9.99991302e-01 6.07832668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28907232899996 meters 0.2559923509855979 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99995127e-01 2.06460831e-03 2.34183439e-03 -3.68838560e+01] [-2.05698363e-03 9.99992591e-01 -3.25360460e-03 -6.90495890e+01] [-2.34853446e-03 3.24877163e-03 9.99991965e-01 6.07830982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319072329 meters 0.24730335949232324 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99994076e-01 2.13912404e-03 2.69653336e-03 -3.68845774e+01] [-2.13101304e-03 9.99993208e-01 -3.00722995e-03 -6.90502824e+01] [-2.70294789e-03 3.00146579e-03 9.99991843e-01 6.07828401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34907232899997 meters 0.25180946045744085 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99994477e-01 2.22316000e-03 2.47063397e-03 -3.68837333e+01] [-2.21588497e-03 9.99993213e-01 -2.94344398e-03 -6.90502341e+01] [-2.47716095e-03 2.93795308e-03 9.99992616e-01 6.07824465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379072329 meters 0.23972957282808688 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99994425e-01 2.47521394e-03 2.24126606e-03 -3.68826597e+01] [-2.46940737e-03 9.99993597e-01 -2.58982973e-03 -6.90508315e+01] [-2.24766210e-03 2.58428069e-03 9.99994135e-01 6.07817313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40907232899997 meters 0.23953998179606348 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99991547e-01 2.92330637e-03 2.89149014e-03 -3.68841876e+01] [-2.91868921e-03 9.99994461e-01 -1.59974201e-03 -6.90539694e+01] [-2.89615066e-03 1.59128912e-03 9.99994540e-01 6.07814896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43907232899994 meters 0.2241360707661507 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99993408e-01 3.06627067e-03 1.94460666e-03 -3.68823125e+01] [-3.06285729e-03 9.99993768e-01 -1.75586216e-03 -6.90533270e+01] [-1.94997849e-03 1.74989454e-03 9.99996568e-01 6.07822795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46907232899997 meters 0.2714370655995885 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99994013e-01 2.92646762e-03 1.84651112e-03 -3.68825603e+01] [-2.92266124e-03 9.99993606e-01 -2.06073451e-03 -6.90526868e+01] [-1.85252998e-03 2.05532545e-03 9.99996172e-01 6.07830700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49907232899994 meters 0.22822433308530174 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99994325e-01 2.92246236e-03 1.67585072e-03 -3.68823360e+01] [-2.91887618e-03 9.99993454e-01 -2.13838072e-03 -6.90525236e+01] [-1.68208909e-03 2.13347699e-03 9.99996309e-01 6.07834103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.529072329 meters 0.22446350697513281 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99993248e-01 3.24416939e-03 1.72616964e-03 -3.68822290e+01] [-3.24145540e-03 9.99993510e-01 -1.57274246e-03 -6.90540889e+01] [-1.73126068e-03 1.56713654e-03 9.99997273e-01 6.07830563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55907232899995 meters 0.2739922112797978 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99992039e-01 3.45181076e-03 2.00175025e-03 -3.68825076e+01] [-3.44957910e-03 9.99993426e-01 -1.11723717e-03 -6.90552699e+01] [-2.00559359e-03 1.11032308e-03 9.99997372e-01 6.07824369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.589072329 meters 0.22773675403498633 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99990372e-01 3.57977524e-03 2.53802744e-03 -3.68835889e+01] [-3.57807215e-03 9.99993371e-01 -6.75249863e-04 -6.90565369e+01] [-2.54042785e-03 6.66162116e-04 9.99996551e-01 6.07820124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61907232899995 meters 0.21600208880351113 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99991635e-01 3.55572898e-03 2.02174576e-03 -3.68827323e+01] [-3.55389573e-03 9.99993271e-01 -9.09639675e-04 -6.90559582e+01] [-2.02496659e-03 9.02446992e-04 9.99997543e-01 6.07827292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.649072329 meters 0.23043530100853563 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99992744e-01 3.39848283e-03 1.72129674e-03 -3.68821993e+01] [-3.39622138e-03 9.99993368e-01 -1.31503144e-03 -6.90547991e+01] [-1.72575443e-03 1.30917599e-03 9.99997654e-01 6.07831111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67907232899995 meters 0.261045459941838 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99992916e-01 3.31135439e-03 1.78945507e-03 -3.68825153e+01] [-3.30877413e-03 9.99993485e-01 -1.44296616e-03 -6.90544766e+01] [-1.79422159e-03 1.43703504e-03 9.99997358e-01 6.07833426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.709072329 meters 0.2607483461245387 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99992511e-01 3.04681249e-03 2.38643147e-03 -3.68840038e+01] [-3.04269175e-03 9.99993877e-01 -1.72846939e-03 -6.90537852e+01] [-2.39168318e-03 1.72119527e-03 9.99995659e-01 6.07834020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73907232899995 meters 0.2584646596995554 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99991664e-01 3.08348654e-03 2.67673410e-03 -3.68847193e+01] [-3.07935648e-03 9.99994064e-01 -1.54569854e-03 -6.90543800e+01] [-2.68148435e-03 1.53744304e-03 9.99995223e-01 6.07833740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.769072329 meters 0.2425893299928114 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99991049e-01 3.23309344e-03 2.72930814e-03 -3.68845068e+01] [-3.22963249e-03 9.99993976e-01 -1.27152373e-03 -6.90550233e+01] [-2.73340266e-03 1.26269769e-03 9.99995467e-01 6.07828792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79907232899996 meters 0.2524368686510585 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99990813e-01 3.52952224e-03 2.43238054e-03 -3.68835169e+01] [-3.52749351e-03 9.99993427e-01 -8.37839739e-04 -6.90561048e+01] [-2.43532173e-03 8.29251835e-04 9.99996691e-01 6.07824697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.829072329 meters 0.24233293230317818 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99990915e-01 3.69631139e-03 2.12310998e-03 -3.68824572e+01] [-3.69487419e-03 9.99992942e-01 -6.80455032e-04 -6.90562761e+01] [-2.12561017e-03 6.72604226e-04 9.99997515e-01 6.07820529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85907232899996 meters 0.23803048366956658 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99990437e-01 3.77236246e-03 2.21269717e-03 -3.68826431e+01] [-3.77122043e-03 9.99992754e-01 -5.20072335e-04 -6.90567632e+01] [-2.21464304e-03 5.11722793e-04 9.99997417e-01 6.07819806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.889072329 meters 0.2265007007170687 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99989655e-01 3.88433212e-03 2.36680500e-03 -3.68829643e+01] [-3.88367312e-03 9.99992418e-01 -2.82967399e-04 -6.90574722e+01] [-2.36788620e-03 2.73772575e-04 9.99997159e-01 6.07818769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91907232899996 meters 0.22508209812958363 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99989439e-01 3.85796721e-03 2.49743923e-03 -3.68833699e+01] [-3.85727049e-03 9.99992520e-01 -2.83731792e-04 -6.90575117e+01] [-2.49851517e-03 2.74095497e-04 9.99996841e-01 6.07819930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.949072329 meters 0.2234688899549626 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99988912e-01 3.79504678e-03 2.78817330e-03 -3.68840955e+01] [-3.79424914e-03 9.99992759e-01 -2.91311439e-04 -6.90575161e+01] [-2.78925866e-03 2.80729185e-04 9.99996071e-01 6.07819925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97907232899996 meters 0.24079595690052097 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99993400e-01 -4.02424916e-04 3.61070247e-03 -3.68857507e+01] [ 4.16929164e-04 9.99991844e-01 -4.01716232e-03 -6.90592175e+01] [-3.60905642e-03 4.01864121e-03 9.99985413e-01 6.07813264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.009072329 meters 0.2140723773898306 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99991043e-01 -3.50170071e-04 4.21803503e-03 -3.68870818e+01] [ 3.65740347e-04 9.99993121e-01 -3.69115209e-03 -6.90601914e+01] [-4.21671348e-03 3.69266173e-03 9.99984292e-01 6.07810367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03907232899996 meters 0.22325180417264026 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99988443e-01 -3.41892152e-04 4.79558006e-03 -3.68884083e+01] [ 3.58450720e-04 9.99993976e-01 -3.45244678e-03 -6.90609557e+01] [-4.79437081e-03 3.45412586e-03 9.99982541e-01 6.07808608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.069072329 meters 0.25456665127146 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99988285e-01 -2.46904040e-04 4.83417303e-03 -3.68884006e+01] [ 2.62732341e-04 9.99994606e-01 -3.27389080e-03 -6.90614238e+01] [-4.83333862e-03 3.27512254e-03 9.99982956e-01 6.07807334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09907232899997 meters 0.28345408740005745 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99982613e-01 -2.77402654e-04 5.89034428e-03 -3.68904387e+01] [ 2.93333404e-04 9.99996302e-01 -2.70386160e-03 -6.90630869e+01] [-5.88957244e-03 2.70554242e-03 9.99978996e-01 6.07796736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.129072329 meters 0.24711366142756164 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99977383e-01 -2.25686830e-04 6.72178574e-03 -3.68920494e+01] [ 2.40520617e-04 9.99997538e-01 -2.20609562e-03 -6.90644272e+01] [-6.72127130e-03 2.20766246e-03 9.99974975e-01 6.07789212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15907232899997 meters 0.23247153374365043 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.07, Z:60.78 [[ 9.99975692e-01 -9.63207725e-05 6.97184976e-03 -3.68923251e+01] [ 1.09508421e-04 9.99998206e-01 -1.89119956e-03 -6.90652237e+01] [-6.97165509e-03 1.89191706e-03 9.99973908e-01 6.07784015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18907232899994 meters 0.23805846254115462 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.07, Z:60.78 [[ 9.99971708e-01 -8.08205750e-06 7.52221353e-03 -3.68938835e+01] [ 1.92336975e-05 9.99998901e-01 -1.48242332e-03 -6.90667161e+01] [-7.52219329e-03 1.48252606e-03 9.99970609e-01 6.07787126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21907232899997 meters 0.25990705071901177 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.07, Z:60.78 [[ 9.99970157e-01 -3.68013244e-04 7.71686997e-03 -3.68944494e+01] [ 3.83833237e-04 9.99997828e-01 -2.04867238e-03 -6.90650492e+01] [-7.71609927e-03 2.05157323e-03 9.99968126e-01 6.07788637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24907232899994 meters 0.2511784624094401 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99965160e-01 -7.15408182e-04 8.31671018e-03 -3.68957591e+01] [ 7.35617944e-04 9.99996784e-01 -2.42721380e-03 -6.90640134e+01] [-8.31494698e-03 2.43324715e-03 9.99962470e-01 6.07786435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279072329 meters 0.24380627217793233 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99961835e-01 -7.20027652e-04 8.70691866e-03 -3.68963311e+01] [ 7.39964070e-04 9.99997112e-01 -2.28671672e-03 -6.90642466e+01] [-8.70524701e-03 2.29307225e-03 9.99959479e-01 6.07780337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30907232899995 meters 0.27761902494566587 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99958610e-01 -7.54253823e-04 9.06697403e-03 -3.68968234e+01] [ 7.74499510e-04 9.99997215e-01 -2.22960067e-03 -6.90642492e+01] [-9.06526709e-03 2.23653075e-03 9.99956408e-01 6.07774092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339072329 meters 0.2412363519045819 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99949936e-01 -7.79704012e-04 9.97585688e-03 -3.68986301e+01] [ 7.96799859e-04 9.99998221e-01 -1.70986242e-03 -6.90657627e+01] [-9.97450594e-03 1.71772557e-03 9.99948778e-01 6.07765825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36907232899995 meters 0.2368468070974737 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99953502e-01 -5.17758897e-04 9.62943800e-03 -3.68977778e+01] [ 5.30960948e-04 9.99998923e-01 -1.36850352e-03 -6.90667054e+01] [-9.62871908e-03 1.37355274e-03 9.99952699e-01 6.07766115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399072329 meters 0.2368468070974737 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99953502e-01 -5.17758897e-04 9.62943800e-03 -3.68977778e+01] [ 5.30960948e-04 9.99998923e-01 -1.36850352e-03 -6.90667054e+01] [-9.62871908e-03 1.37355274e-03 9.99952699e-01 6.07766115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42907232899995 meters 0.24514354982274772 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99959810e-01 -5.24947496e-04 8.95000240e-03 -3.68965677e+01] [ 5.40193006e-04 9.99998407e-01 -1.70107618e-03 -6.90658688e+01] [-8.94909517e-03 1.70584254e-03 9.99958501e-01 6.07774451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459072329 meters 0.21980554032592625 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99961862e-01 -7.44942857e-04 8.70168432e-03 -3.68964303e+01] [ 7.64090894e-04 9.99997294e-01 -2.19738061e-03 -6.90646013e+01] [-8.70002385e-03 2.20394569e-03 9.99959725e-01 6.07782146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48907232899995 meters 0.21678487128651744 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.78 [[ 9.99959986e-01 -7.76788403e-04 8.91195795e-03 -3.68969952e+01] [ 7.96262523e-04 9.99997303e-01 -2.18182737e-03 -6.90646896e+01] [-8.91023910e-03 2.18883632e-03 9.99957907e-01 6.07782688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519072329 meters 0.23809109391425626 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99959353e-01 -5.32313465e-04 9.00054227e-03 -3.68968967e+01] [ 5.47832320e-04 9.99998368e-01 -1.72183576e-03 -6.90659380e+01] [-8.99961102e-03 1.72669656e-03 9.99958012e-01 6.07777840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54907232899996 meters 0.23071895342979723 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99963381e-01 -3.70443640e-04 8.54986035e-03 -3.68957698e+01] [ 3.83817317e-04 9.99998705e-01 -1.56261052e-03 -6.90663497e+01] [-8.54927042e-03 1.56583488e-03 9.99962228e-01 6.07777498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579072329 meters 0.24364764459917834 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99966632e-01 -5.28210405e-04 8.15207697e-03 -3.68948257e+01] [ 5.44652724e-04 9.99997822e-01 -2.01486025e-03 -6.90649312e+01] [-8.15099494e-03 2.01923307e-03 9.99964741e-01 6.07778684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60907232899996 meters 0.2269389688520031 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99964107e-01 -4.31521642e-04 8.46160226e-03 -3.68952946e+01] [ 4.46280297e-04 9.99998382e-01 -1.74238093e-03 -6.90656359e+01] [-8.46083670e-03 1.74609463e-03 9.99962682e-01 6.07773995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639072329 meters 0.22567289906477064 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.78 [[ 9.99962826e-01 -3.09320929e-04 8.61686857e-03 -3.68956862e+01] [ 3.22079617e-04 9.99998854e-01 -1.47931576e-03 -6.90664491e+01] [-8.61640111e-03 1.48203608e-03 9.99961780e-01 6.07774083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66907232899996 meters 0.2270907789566408 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.07, Z:60.78 [[ 9.99969259e-01 -2.35664753e-04 7.83743657e-03 -3.68938880e+01] [ 2.49504059e-04 9.99998411e-01 -1.76486411e-03 -6.90654309e+01] [-7.83700820e-03 1.76676533e-03 9.99967729e-01 6.07777298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699072329 meters 0.25146882327991205 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99974440e-01 -4.08764211e-04 7.13811238e-03 -3.68920602e+01] [ 4.25552331e-04 9.99997147e-01 -2.35053868e-03 -6.90633357e+01] [-7.13713120e-03 2.35351624e-03 9.99971761e-01 6.07777170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72907232899996 meters 0.25667201996924477 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99975719e-01 -4.16041688e-04 6.95622586e-03 -3.68916650e+01] [ 4.32973564e-04 9.99996947e-01 -2.43273196e-03 -6.90630849e+01] [-6.95519250e-03 2.43568475e-03 9.99972846e-01 6.07778277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759072329 meters 0.2489880903590051 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99976600e-01 -3.50352583e-04 6.83210510e-03 -3.68911902e+01] [ 3.66501939e-04 9.99997142e-01 -2.36263658e-03 -6.90631817e+01] [-6.83125781e-03 2.36508528e-03 9.99973870e-01 6.07775824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78907232899996 meters 0.23653997208425406 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99979236e-01 -4.55039554e-04 6.42814594e-03 -3.68903491e+01] [ 4.72388075e-04 9.99996250e-01 -2.69757704e-03 -6.90621889e+01] [-6.42689433e-03 2.70055760e-03 9.99975701e-01 6.07778634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819072329 meters 0.22674280468355598 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99983614e-01 -2.87669998e-04 5.71744988e-03 -3.68885369e+01] [ 3.03092119e-04 9.99996318e-01 -2.69669422e-03 -6.90618688e+01] [-5.71665307e-03 2.69838295e-03 9.99980019e-01 6.07778688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84907232899997 meters 0.2476859066106862 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99989913e-01 3.57707343e-04 4.47737513e-03 -3.68849998e+01] [-3.46086723e-04 9.99996571e-01 -2.59591477e-03 -6.90608696e+01] [-4.47828835e-03 2.59433902e-03 9.99986607e-01 6.07775231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879072329 meters 0.2316611155476011 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99992458e-01 3.60622552e-04 3.86701547e-03 -3.68836597e+01] [-3.49497316e-04 9.99995800e-01 -2.87724666e-03 -6.90599856e+01] [-3.86803683e-03 2.87587345e-03 9.99988384e-01 6.07778893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90907232899997 meters 0.2247735375949583 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99994940e-01 3.45809178e-04 3.16219715e-03 -3.68823741e+01] [-3.35572458e-04 9.99994704e-01 -3.23717515e-03 -6.90590127e+01] [-3.16329984e-03 3.23609762e-03 9.99989761e-01 6.07787364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93907232899994 meters 0.22290393890078755 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99997151e-01 4.42468150e-04 2.34560042e-03 -3.68805416e+01] [-4.34405097e-04 9.99993999e-01 -3.43691768e-03 -6.90582484e+01] [-2.34710707e-03 3.43588894e-03 9.99991343e-01 6.07791197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96907232899997 meters 0.2486149816932665 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99997893e-01 2.28904023e-04 2.03977837e-03 -3.68799383e+01] [-2.20906831e-04 9.99992292e-01 -3.91998139e-03 -6.90568126e+01] [-2.04065995e-03 3.91952253e-03 9.99990236e-01 6.07793930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99907232899994 meters 0.24303881337553135 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99998516e-01 1.54731789e-03 7.57694175e-04 -3.68756354e+01] [-1.54472208e-03 9.99992977e-01 -3.41461336e-03 -6.90556545e+01] [-7.62972346e-04 3.41343786e-03 9.99993883e-01 6.07785739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.029072329 meters 0.23028367993970683 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99998748e-01 1.46367194e-03 6.00824060e-04 -3.68752896e+01] [-1.46148760e-03 9.99992380e-01 -3.62005998e-03 -6.90550291e+01] [-6.06118062e-04 3.61917736e-03 9.99993267e-01 6.07786624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05907232899995 meters 0.21518652193352308 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99998814e-01 1.41871005e-03 5.98559776e-04 -3.68751373e+01] [-1.41648318e-03 9.99992135e-01 -3.70455560e-03 -6.90546761e+01] [-6.03810759e-04 3.70370335e-03 9.99992959e-01 6.07784616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.089072329 meters 0.2675163789994154 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99998694e-01 1.50460352e-03 5.89783493e-04 -3.68750562e+01] [-1.50249493e-03 9.99992536e-01 -3.55947767e-03 -6.90550824e+01] [-5.95134694e-04 3.55858687e-03 9.99993491e-01 6.07783763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11907232899995 meters 0.2641332599396496 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.78 [[ 9.99999077e-01 1.28505542e-03 4.41429580e-04 -3.68748080e+01] [-1.28327959e-03 9.99991177e-01 -3.99991585e-03 -6.90537699e+01] [-4.46565798e-04 3.99934568e-03 9.99991903e-01 6.07786024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.149072329 meters 0.219622527857097 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99998939e-01 1.31305260e-03 6.30780103e-04 -3.68752886e+01] [-1.31059686e-03 9.99991622e-01 -3.87794125e-03 -6.90541532e+01] [-6.35866759e-04 3.87711043e-03 9.99992282e-01 6.07786151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17907232899995 meters 0.2279168668237597 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99998816e-01 1.30140519e-03 8.21526914e-04 -3.68760143e+01] [-1.29824307e-03 9.99991792e-01 -3.83794734e-03 -6.90544513e+01] [-8.26514895e-04 3.83687625e-03 9.99992298e-01 6.07789876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.209072329 meters 0.26139988656276353 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99998375e-01 1.26043049e-03 1.28876838e-03 -3.68769724e+01] [-1.25557016e-03 9.99992123e-01 -3.76517257e-03 -6.90546207e+01] [-1.29350396e-03 3.76354831e-03 9.99992081e-01 6.07786893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23907232899995 meters 0.21107013052654078 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99998175e-01 1.37362981e-03 1.32812704e-03 -3.68769107e+01] [-1.36889785e-03 9.99992736e-01 -3.55725343e-03 -6.90551661e+01] [-1.33300374e-03 3.55542887e-03 9.99992791e-01 6.07784590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.269072329 meters 0.2201476792458593 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99998513e-01 1.44108821e-03 9.47562175e-04 -3.68758685e+01] [-1.43768415e-03 9.99992546e-01 -3.58335991e-03 -6.90548842e+01] [-9.52719050e-04 3.58199229e-03 9.99993131e-01 6.07783929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29907232899996 meters 0.22114179124526132 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99997884e-01 1.47407264e-03 1.43516969e-03 -3.68768961e+01] [-1.46924333e-03 9.99993275e-01 -3.36023470e-03 -6.90555208e+01] [-1.44011326e-03 3.35811898e-03 9.99993325e-01 6.07781074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.329072329 meters 0.3571791706884496 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99996601e-01 1.48085277e-03 2.14579803e-03 -3.68784241e+01] [-1.47415893e-03 9.99994053e-01 -3.11774259e-03 -6.90562821e+01] [-2.15040219e-03 3.11456875e-03 9.99992838e-01 6.07777514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35907232899996 meters 0.3524786519691821 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99995181e-01 1.65601486e-03 2.62600070e-03 -3.68794309e+01] [-1.64912409e-03 9.99995197e-01 -2.62405329e-03 -6.90577420e+01] [-2.63033356e-03 2.61971004e-03 9.99993109e-01 6.07774423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.389072329 meters 0.20395817145434167 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99992237e-01 -2.33905055e-03 3.17080791e-03 -3.68803350e+01] [ 2.35853104e-03 9.99978283e-01 -6.15394538e-03 -6.90599691e+01] [-3.15634466e-03 6.16137606e-03 9.99976037e-01 6.07767262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41907232899996 meters 0.35777357927028763 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99991779e-01 -2.31334434e-03 3.33009605e-03 -3.68805078e+01] [ 2.33348494e-03 9.99978934e-01 -6.05692724e-03 -6.90601530e+01] [-3.31601414e-03 6.06464818e-03 9.99976112e-01 6.07763938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.449072329 meters 0.3302432889664709 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99984296e-01 -2.91423173e-03 4.78702398e-03 -3.68840607e+01] [ 2.94354645e-03 9.99976890e-01 -6.12820049e-03 -6.90610827e+01] [-4.76905435e-03 6.14219508e-03 9.99969764e-01 6.07763304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47907232899996 meters 0.2210857966453554 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99980610e-01 -2.90806275e-03 5.50660732e-03 -3.68856917e+01] [ 2.94014529e-03 9.99978700e-01 -5.82708597e-03 -6.90620448e+01] [-5.48954450e-03 5.84316321e-03 9.99967861e-01 6.07760977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.509072329 meters 0.28829150674118775 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99976804e-01 -2.99874398e-03 6.11550807e-03 -3.68870183e+01] [ 3.03417171e-03 9.99978623e-01 -5.79207035e-03 -6.90621542e+01] [-6.09800840e-03 5.81049150e-03 9.99964526e-01 6.07758278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53907232899996 meters 0.2988496853461581 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99969012e-01 -3.14286728e-03 7.21791700e-03 -3.68895711e+01] [ 3.18164493e-03 9.99980535e-01 -5.36723102e-03 -6.90637326e+01] [-7.20090801e-03 5.39002955e-03 9.99959546e-01 6.07754990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.569072329 meters 0.3023673526554823 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99961151e-01 -3.31791528e-03 8.16625212e-03 -3.68916132e+01] [ 3.36092340e-03 9.99980526e-01 -5.25849179e-03 -6.90641482e+01] [-8.14864586e-03 5.28573365e-03 9.99952829e-01 6.07750429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59907232899997 meters 0.3009983576048602 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.07, Z:60.77 [[ 9.99952027e-01 -3.08171725e-03 9.29766293e-03 -3.68934456e+01] [ 3.11881296e-03 9.99987224e-01 -3.97793139e-03 -6.90674347e+01] [-9.28528529e-03 4.00673823e-03 9.99948863e-01 6.07732532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.629072329 meters 0.28544267480618035 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.07, Z:60.77 [[ 9.99945092e-01 -3.07962853e-03 1.00164501e-02 -3.68947974e+01] [ 3.11706567e-03 9.99988207e-01 -3.72410371e-03 -6.90680566e+01] [-1.00048631e-02 3.75512116e-03 9.99942899e-01 6.07725757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65907232899997 meters 0.2888721060298023 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99938644e-01 -2.98812572e-03 1.06667190e-02 -3.68959609e+01] [ 3.02365861e-03 9.99989929e-01 -3.31662074e-03 -6.90691138e+01] [-1.06567011e-02 3.34866976e-03 9.99937609e-01 6.07718492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68907232899994 meters 0.24951682543356707 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99919899e-01 -3.72120121e-03 1.20974526e-02 -3.68995231e+01] [ 3.76117741e-03 9.99987536e-01 -3.28344380e-03 -6.90703599e+01] [-1.20850835e-02 3.32868146e-03 9.99921432e-01 6.07716768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71907232899997 meters 0.2582568269475597 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99908812e-01 -3.90962350e-03 1.29260119e-02 -3.69013302e+01] [ 3.95243623e-03 9.99986783e-01 -3.28825232e-03 -6.90704257e+01] [-1.29129852e-02 3.33904171e-03 9.99911049e-01 6.07713285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74907232899994 meters 0.2670268233238428 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99901498e-01 -4.21429390e-03 1.33877950e-02 -3.69022044e+01] [ 4.26353126e-03 9.99984245e-01 -3.65136961e-03 -6.90693003e+01] [-1.33721962e-02 3.70808923e-03 9.99903713e-01 6.07709294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779072329 meters 0.2670220587559754 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99901657e-01 -4.36159806e-03 1.33286738e-02 -3.69018937e+01] [ 4.41440876e-03 9.99982513e-01 -3.93533871e-03 -6.90683091e+01] [-1.33112764e-02 3.99378991e-03 9.99903425e-01 6.07707146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80907232899995 meters 0.24288416004025246 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99901858e-01 -4.52462894e-03 1.32590645e-02 -3.69016566e+01] [ 4.58118099e-03 9.99980526e-01 -4.23789713e-03 -6.90672862e+01] [-1.32396314e-02 4.29822339e-03 9.99903114e-01 6.07706795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839072329 meters 0.242280584198292 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99894469e-01 -4.53711653e-03 1.38009074e-02 -3.69028654e+01] [ 4.59327974e-03 9.99981288e-01 -4.04055839e-03 -6.90678878e+01] [-1.37823166e-02 4.10352341e-03 9.99896599e-01 6.07704690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86907232899995 meters 0.24654517840125056 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99891125e-01 -4.63189807e-03 1.40101089e-02 -3.69032734e+01] [ 4.69036214e-03 9.99980418e-01 -4.14301641e-03 -6.90675057e+01] [-1.39906445e-02 4.20827782e-03 9.99893270e-01 6.07703256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899072329 meters 0.27060910453636255 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99900362e-01 -4.32809109e-03 1.34362744e-02 -3.69016294e+01] [ 4.37974077e-03 9.99983124e-01 -3.81700548e-03 -6.90681378e+01] [-1.34195273e-02 3.87547256e-03 9.99902444e-01 6.07700188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.92907232899995 meters 0.23997407103661497 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99902860e-01 -4.21954594e-03 1.32840604e-02 -3.69011300e+01] [ 4.26874865e-03 9.99984126e-01 -3.67771820e-03 -6.90684851e+01] [-1.32683312e-02 3.73406726e-03 9.99905000e-01 6.07698520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959072329 meters 0.22861652047706182 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99907443e-01 -4.15580541e-03 1.29551165e-02 -3.69003171e+01] [ 4.20412149e-03 9.99984301e-01 -3.70449739e-03 -6.90683429e+01] [-1.29395180e-02 3.75861940e-03 9.99909217e-01 6.07699198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.98907232899995 meters 0.21903329524079626 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99910786e-01 -4.20759045e-03 1.26774047e-02 -3.68995934e+01] [ 4.25735089e-03 9.99983330e-01 -3.90070129e-03 -6.90676552e+01] [-1.26607808e-02 3.95432546e-03 9.99912030e-01 6.07699327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019072329 meters 0.23656463209416922 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99911030e-01 -4.16830217e-03 1.26711285e-02 -3.68995348e+01] [ 4.21722762e-03 9.99983746e-01 -3.83691156e-03 -6.90678110e+01] [-1.26549291e-02 3.89000722e-03 9.99912356e-01 6.07698973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.04907232899996 meters 0.258715305073713 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99909436e-01 -4.13488407e-03 1.28071641e-02 -3.68997062e+01] [ 4.18303148e-03 9.99984276e-01 -3.73490884e-03 -6.90680332e+01] [-1.27915193e-02 3.78814336e-03 9.99911010e-01 6.07696506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079072329 meters 0.22777405148035593 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99903029e-01 -3.98247846e-03 1.33443930e-02 -3.69008126e+01] [ 4.02646507e-03 9.99986544e-01 -3.27101800e-03 -6.90693838e+01] [-1.33311867e-02 3.32443154e-03 9.99905609e-01 6.07692852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.10907232899996 meters 0.23577442215441927 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99891313e-01 -3.92990712e-03 1.42098043e-02 -3.69026786e+01] [ 3.97054391e-03 9.99988105e-01 -2.83269131e-03 -6.90707355e+01] [-1.41985031e-02 2.88880408e-03 9.99895023e-01 6.07688531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139072329 meters 0.22393412950209915 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99885157e-01 -3.74103161e-03 1.46859438e-02 -3.69034878e+01] [ 3.77516881e-03 9.99990235e-01 -2.29744688e-03 -6.90721901e+01] [-1.46772056e-02 2.35262495e-03 9.99889516e-01 6.07682579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16907232899996 meters 0.21611643627923996 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99882208e-01 -3.81301705e-03 1.48670833e-02 -3.69039023e+01] [ 3.84858384e-03 9.99989799e-01 -2.36444240e-03 -6.90719690e+01] [-1.48579160e-02 2.42138111e-03 9.99886683e-01 6.07681960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199072329 meters 0.22831150246476273 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99873877e-01 -3.95267382e-03 1.53820154e-02 -3.69051497e+01] [ 3.99047435e-03 9.99989092e-01 -2.42753383e-03 -6.90718278e+01] [-1.53722523e-02 2.48860920e-03 9.99878743e-01 6.07681821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22907232899996 meters 0.22542920301663935 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99867960e-01 -4.10643411e-03 1.57226108e-02 -3.69061397e+01] [ 4.14745923e-03 9.99988077e-01 -2.57759052e-03 -6.90714873e+01] [-1.57118387e-02 2.64245906e-03 9.99873070e-01 6.07684108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259072329 meters 0.23040955598039817 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99867424e-01 -4.15975677e-03 1.57426511e-02 -3.69060698e+01] [ 4.20216105e-03 9.99987629e-01 -2.66147284e-03 -6.90711600e+01] [-1.57313853e-02 2.72727315e-03 9.99872535e-01 6.07682369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28907232899996 meters 0.23040955598039817 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99867424e-01 -4.15975677e-03 1.57426511e-02 -3.69060698e+01] [ 4.20216105e-03 9.99987629e-01 -2.66147284e-03 -6.90711600e+01] [-1.57313853e-02 2.72727315e-03 9.99872535e-01 6.07682369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319072329 meters 0.21663019796622404 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99853092e-01 -4.26911318e-03 1.66002856e-02 -3.69076549e+01] [ 4.31017613e-03 9.99987738e-01 -2.43863880e-03 -6.90716878e+01] [-1.65896712e-02 2.50983070e-03 9.99859232e-01 6.07673294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34907232899997 meters 0.2387609037471671 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99846330e-01 -4.07347984e-03 1.70505909e-02 -3.69084612e+01] [ 4.10648708e-03 9.99989761e-01 -1.90127725e-03 -6.90731837e+01] [-1.70426715e-02 1.97100311e-03 9.99852820e-01 6.07668221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379072329 meters 0.6102349113938598 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99833334e-01 -4.04524218e-03 1.78028127e-02 -3.69101617e+01] [ 4.07376601e-03 9.99990476e-01 -1.56623570e-03 -6.90742245e+01] [-1.77963074e-02 1.63849916e-03 9.99840291e-01 6.07665653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40907232899997 meters 0.6140457079603112 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.08, Z:60.77 [[ 9.99819821e-01 -3.98802598e-03 1.85585854e-02 -3.69117819e+01] [ 4.01037266e-03 9.99991277e-01 -1.16705428e-03 -6.90753947e+01] [-1.85537693e-02 1.24127085e-03 9.99827093e-01 6.07661507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43907232899994 meters 0.614335095860065 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.08, Z:60.77 [[ 9.99794569e-01 -7.84230704e-03 1.86900402e-02 -3.69117906e+01] [ 7.93265674e-03 9.99957184e-01 -4.76488370e-03 -6.90775136e+01] [-1.86518723e-02 4.91216652e-03 9.99813972e-01 6.07657732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46907232899997 meters 0.61518046133462 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99932063e-01 -1.06196304e-02 4.80554203e-03 -3.69117334e+01] [ 1.06656988e-02 9.99896413e-01 -9.66464185e-03 -6.90704087e+01] [-4.70240932e-03 9.71523973e-03 9.99941749e-01 6.07690472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49907232899994 meters 0.6169284525046237 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99941318e-01 -9.92757124e-03 4.33632032e-03 -3.69095765e+01] [ 9.96498922e-03 9.99912550e-01 -8.69432473e-03 -6.90723131e+01] [-4.24962758e-03 8.73702591e-03 9.99952801e-01 6.07675942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.529072329 meters 0.6150384505192409 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99970677e-01 -5.91194569e-03 4.86768503e-03 -3.69107103e+01] [ 5.93491468e-03 9.99971259e-01 -4.71782083e-03 -6.90711964e+01] [-4.83965362e-03 4.74657178e-03 9.99977024e-01 6.07672071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55907232899995 meters 0.24617715850481756 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99977746e-01 -5.40028329e-03 3.91719529e-03 -3.69084360e+01] [ 5.41676796e-03 9.99976467e-01 -4.20995224e-03 -6.90721014e+01] [-3.89436817e-03 4.23107709e-03 9.99983466e-01 6.07674147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.589072329 meters 0.22634323714534801 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99976327e-01 -5.70199832e-03 3.85143310e-03 -3.69090918e+01] [ 5.72067613e-03 9.99971846e-01 -4.85609148e-03 -6.90706917e+01] [-3.82363524e-03 4.87800932e-03 9.99980792e-01 6.07687709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61907232899995 meters 0.2206142510206025 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99992679e-01 -1.54318170e-03 3.50155580e-03 -3.69086672e+01] [ 1.54647486e-03 9.99998364e-01 -9.37972372e-04 -6.90695971e+01] [-3.50010261e-03 9.43380573e-04 9.99993430e-01 6.07694127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.649072329 meters 0.22370484590732162 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99994313e-01 -1.73220934e-03 2.89368663e-03 -3.69075027e+01] [ 1.73673227e-03 9.99997273e-01 -1.56125280e-03 -6.90678569e+01] [-2.89097432e-03 1.56626948e-03 9.99994595e-01 6.07700159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67907232899995 meters 0.24994273613322787 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.77 [[ 9.99995460e-01 -1.69154458e-03 2.49381619e-03 -3.69064876e+01] [ 1.69561032e-03 9.99997235e-01 -1.62911669e-03 -6.90675929e+01] [-2.49105357e-03 1.63333783e-03 9.99995563e-01 6.07700400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.709072329 meters 0.24148179276784992 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.07, Z:60.77 [[ 9.99995892e-01 2.53608095e-03 1.33555466e-03 -3.69038090e+01] [-2.53864302e-03 9.99994934e-01 1.92016985e-03 -6.90650916e+01] [-1.33067819e-03 -1.92355246e-03 9.99997265e-01 6.07704279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73907232899995 meters 0.24448744727820546 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.77 [[ 9.99996232e-01 2.74419975e-03 -7.50922484e-05 -3.69008435e+01] [-2.74408013e-03 9.99995035e-01 1.54919487e-03 -6.90637138e+01] [ 7.93431757e-05 -1.54898298e-03 9.99998797e-01 6.07713188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.769072329 meters 0.25260529415281896 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99932040e-01 1.05089506e-02 -5.04760686e-03 -3.68896169e+01] [-1.04918719e-02 9.99939185e-01 3.39817071e-03 -6.90609866e+01] [ 5.08301109e-03 -3.34498092e-03 9.99981487e-01 6.07767948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79907232899996 meters 0.23203563460914903 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99929650e-01 1.01259142e-02 -6.17752390e-03 -3.68874470e+01] [-1.01124455e-02 9.99946431e-01 2.20762435e-03 -6.90576280e+01] [ 6.19954720e-03 -2.14499916e-03 9.99978482e-01 6.07779020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.829072329 meters 0.24257090380552396 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99919595e-01 1.01943861e-02 -7.54174885e-03 -3.68845248e+01] [-1.01862407e-02 9.99947494e-01 1.11767065e-03 -6.90542397e+01] [ 7.55274683e-03 -1.04075872e-03 9.99970936e-01 6.07790309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85907232899996 meters 0.2551246284153691 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99912914e-01 9.96850222e-03 -8.64830350e-03 -3.68821832e+01] [-9.96979010e-03 9.99950295e-01 -1.05817607e-04 -6.90506055e+01] [ 8.64681879e-03 1.92030163e-04 9.99962597e-01 6.07799868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.889072329 meters 0.22766285302901718 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99910445e-01 9.83053209e-03 -9.08090385e-03 -3.68811993e+01] [-9.83535102e-03 9.99951514e-01 -4.86160454e-04 -6.90494359e+01] [ 9.07568433e-03 5.75430792e-04 9.99958650e-01 6.07801799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91907232899996 meters 0.2504969302217495 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99895951e-01 1.00344508e-02 -1.03632522e-02 -3.68781076e+01] [-1.00459270e-02 9.99948981e-01 -1.05593659e-03 -6.90469785e+01] [ 1.03521277e-02 1.15993520e-03 9.99945743e-01 6.07805689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.949072329 meters 0.23925196358449027 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99894760e-01 9.99310843e-03 -1.05169385e-02 -3.68778548e+01] [-1.00060643e-02 9.99949242e-01 -1.18001130e-03 -6.90466475e+01] [ 1.05046127e-02 1.28512028e-03 9.99943999e-01 6.07807831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97907232899996 meters 0.22560440248620256 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99892969e-01 1.00577779e-02 -1.06250312e-02 -3.68777102e+01] [-1.00700645e-02 9.99948687e-01 -1.10351411e-03 -6.90469045e+01] [ 1.06133871e-02 1.21039074e-03 9.99942944e-01 6.07809862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.009072329 meters 0.22393168652121206 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99919424e-01 6.13381674e-03 -1.11140657e-02 -3.68764287e+01] [-6.18773357e-03 9.99969223e-01 -4.82334928e-03 -6.90483811e+01] [ 1.10841381e-02 4.89173151e-03 9.99926604e-01 6.07807974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03907232899996 meters 0.23839527751781742 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99925341e-01 5.97341640e-03 -1.06597278e-02 -3.68776351e+01] [-6.02656092e-03 9.99969537e-01 -4.96040402e-03 -6.90480463e+01] [ 1.06297725e-02 5.02427518e-03 9.99930880e-01 6.07809036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.069072329 meters 0.22129539813713991 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99934576e-01 6.21050843e-03 -9.60586200e-03 -3.68802171e+01] [-6.25012966e-03 9.99972062e-01 -4.10018771e-03 -6.90509801e+01] [ 9.58012938e-03 4.15995735e-03 9.99945456e-01 6.07808033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09907232899997 meters 0.23953536011769952 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.78 [[ 9.99943265e-01 6.26903567e-03 -8.61193584e-03 -3.68824702e+01] [-6.30076841e-03 9.99973443e-01 -3.66256332e-03 -6.90524868e+01] [ 8.58874639e-03 3.71661734e-03 9.99956209e-01 6.07804680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12907232899994 meters 0.24242653036496073 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99956340e-01 2.64883211e-03 -8.96113198e-03 -3.68809789e+01] [-2.71045469e-03 9.99972718e-01 -6.87151028e-03 -6.90551161e+01] [ 8.94268602e-03 6.89549901e-03 9.99936238e-01 6.07794524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15907232899997 meters 0.2454492070324099 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99961375e-01 2.87434526e-03 -8.30583772e-03 -3.68821754e+01] [-2.92594193e-03 9.99976458e-01 -6.20663687e-03 -6.90569389e+01] [ 8.28780217e-03 6.23069954e-03 9.99946244e-01 6.07787366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18907232899994 meters 0.2352596296595214 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99964701e-01 -8.10263708e-04 -8.36304672e-03 -3.68809926e+01] [ 7.31488672e-04 9.99955380e-01 -9.41818281e-03 -6.90594101e+01] [ 8.37030477e-03 9.41173288e-03 9.99920675e-01 6.07772207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21907232899997 meters 0.22128683546584127 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99969618e-01 -8.19032498e-04 -7.75193198e-03 -3.68821321e+01] [ 7.47592120e-04 9.99957269e-01 -9.21423114e-03 -6.90599017e+01] [ 7.75914748e-03 9.20815591e-03 9.99927500e-01 6.07766086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24907232899994 meters 0.24708571266001544 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99971138e-01 -6.78301213e-04 -7.56718444e-03 -3.68824512e+01] [ 6.10856756e-04 9.99960105e-01 -8.91150821e-03 -6.90607564e+01] [ 7.57292724e-03 8.90662855e-03 9.99931659e-01 6.07763903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279072329 meters 0.2281046310719532 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99966929e-01 -7.74374151e-04 -8.09571818e-03 -3.68814487e+01] [ 6.99136766e-04 9.99956582e-01 -9.29218169e-03 -6.90596964e+01] [ 8.10256230e-03 9.28621438e-03 9.99924054e-01 6.07769445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30907232899995 meters 0.2355490971678033 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99963995e-01 -1.01787825e-03 -8.42448927e-03 -3.68809050e+01] [ 9.35015067e-04 9.99951207e-01 -9.83408940e-03 -6.90581350e+01] [ 8.43408812e-03 9.82585830e-03 9.99916156e-01 6.07774088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339072329 meters 0.2714643666197183 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99960007e-01 -1.22556257e-03 -8.85900154e-03 -3.68801243e+01] [ 1.13369489e-03 9.99945613e-01 -1.03675757e-02 -6.90565761e+01] [ 8.87122584e-03 1.03571177e-02 9.99907011e-01 6.07779652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36907232899995 meters 0.23447641674921216 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99962469e-01 -1.17991228e-03 -8.58301132e-03 -3.68807215e+01] [ 1.09239587e-03 9.99947443e-01 -1.01940204e-02 -6.90570723e+01] [ 8.59458827e-03 1.01842618e-02 9.99911203e-01 6.07778134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399072329 meters 0.21471012119205063 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99964787e-01 -1.03818680e-03 -8.32744768e-03 -3.68810495e+01] [ 9.55968224e-04 9.99950822e-01 -9.87111385e-03 -6.90578974e+01] [ 8.33728622e-03 9.86280549e-03 9.99916604e-01 6.07773506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.42907232899995 meters 0.29311447024167353 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99966795e-01 -9.19462808e-04 -8.09716111e-03 -3.68813021e+01] [ 8.41743756e-04 9.99953598e-01 -9.59649140e-03 -6.90585827e+01] [ 8.10560901e-03 9.58935701e-03 9.99921169e-01 6.07768754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459072329 meters 0.26127729061979893 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99968768e-01 -7.20356004e-04 -7.87041380e-03 -3.68816415e+01] [ 6.48054960e-04 9.99957606e-01 -9.18512627e-03 -6.90597297e+01] [ 7.87669670e-03 9.17973895e-03 9.99926842e-01 6.07765357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.48907232899995 meters 0.23364696125606207 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99977175e-01 -4.05800915e-04 -6.74417429e-03 -3.68840119e+01] [ 3.51019506e-04 9.99966955e-01 -8.12197449e-03 -6.90629935e+01] [ 6.74724733e-03 8.11942177e-03 9.99944273e-01 6.07757563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519072329 meters 0.2389252431231475 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99980163e-01 -4.64911290e-04 -6.28148556e-03 -3.68850471e+01] [ 4.14211506e-04 9.99967350e-01 -8.07019632e-03 -6.90631392e+01] [ 6.28503239e-03 8.06743437e-03 9.99947706e-01 6.07755576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.54907232899996 meters 0.21990887086872396 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99981054e-01 -4.71553129e-04 -6.13750051e-03 -3.68854456e+01] [ 4.22262317e-04 9.99967671e-01 -8.02990838e-03 -6.90632766e+01] [ 6.14108862e-03 8.02716461e-03 9.99948925e-01 6.07756196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579072329 meters 0.2697316191563524 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99980176e-01 -5.97669422e-04 -6.26822973e-03 -3.68852230e+01] [ 5.45696286e-04 9.99965489e-01 -8.28995277e-03 -6.90625063e+01] [ 6.27296805e-03 8.28636788e-03 9.99945992e-01 6.07758034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.60907232899996 meters 0.26464188329254495 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.78 [[ 9.99979412e-01 -6.45050382e-04 -6.38432899e-03 -3.68848513e+01] [ 5.91329955e-04 9.99964437e-01 -8.41273414e-03 -6.90620383e+01] [ 6.38952859e-03 8.40878569e-03 9.99944232e-01 6.07757438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639072329 meters 0.2617666798643476 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.78 [[ 9.99981252e-01 -6.04168236e-04 -6.09346769e-03 -3.68853088e+01] [ 5.53908302e-04 9.99965844e-01 -8.24648381e-03 -6.90624131e+01] [ 6.09824182e-03 8.24295398e-03 9.99947431e-01 6.07753492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66907232899996 meters 0.25524923168915803 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.77 [[ 9.99983890e-01 -5.20914097e-04 -5.65231995e-03 -3.68859911e+01] [ 4.75938321e-04 9.99968241e-01 -7.95547666e-03 -6.90631399e+01] [ 5.65628456e-03 7.95265834e-03 9.99952380e-01 6.07746801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699072329 meters 0.24903143365563846 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.77 [[ 9.99985750e-01 -3.20716514e-04 -5.32891399e-03 -3.68864420e+01] [ 2.80804813e-04 9.99971920e-01 -7.48871105e-03 -6.90643806e+01] [ 5.33116610e-03 7.48710795e-03 9.99957760e-01 6.07741322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72907232899996 meters 0.2576477582047586 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.77 [[ 9.99985642e-01 -2.22783986e-04 -5.35412343e-03 -3.68861642e+01] [ 1.83479571e-04 9.99973043e-01 -7.34033201e-03 -6.90646982e+01] [ 5.35561440e-03 7.33924425e-03 9.99958726e-01 6.07738415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759072329 meters 0.2735886631761129 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.77 [[ 9.99986267e-01 -5.43211321e-04 -5.21247157e-03 -3.68862093e+01] [ 5.02301422e-04 9.99969089e-01 -7.84656662e-03 -6.90630146e+01] [ 5.21657279e-03 7.84384063e-03 9.99955630e-01 6.07734451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78907232899996 meters 0.2433559998345697 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.77 [[ 9.99987887e-01 -6.60305646e-04 -4.87738377e-03 -3.68869748e+01] [ 6.21675832e-04 9.99968463e-01 -7.91746596e-03 -6.90628086e+01] [ 4.88245790e-03 7.91433790e-03 9.99956761e-01 6.07733373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819072329 meters 0.23761114346757226 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.06, Z:60.77 [[ 9.99983766e-01 -6.54172376e-04 -5.66030135e-03 -3.68851999e+01] [ 6.07090308e-04 9.99965240e-01 -8.31566755e-03 -6.90614313e+01] [ 5.66554448e-03 8.31209624e-03 9.99949404e-01 6.07737920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84907232899997 meters 0.25546603940493207 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.77 [[ 9.99978113e-01 -7.65618722e-04 -6.57177549e-03 -3.68831690e+01] [ 7.06591664e-04 9.99959434e-01 -8.97953154e-03 -6.90591833e+01] [ 6.57838379e-03 8.97469144e-03 9.99938088e-01 6.07744454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87907232899994 meters 0.2731845791507513 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.77 [[ 9.99977309e-01 -9.00629481e-04 -6.67603779e-03 -3.68830370e+01] [ 8.38876290e-04 9.99956894e-01 -9.24701215e-03 -6.90583847e+01] [ 6.68407814e-03 9.24120196e-03 9.99934960e-01 6.07746826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90907232899997 meters 0.2754950282667373 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.77 [[ 9.99974546e-01 -9.27259584e-04 -7.07441726e-03 -3.68820371e+01] [ 8.60383668e-04 9.99954974e-01 -9.45039893e-03 -6.90576770e+01] [ 7.08286170e-03 9.44407167e-03 9.99930319e-01 6.07747339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93907232899994 meters 0.24956553880220209 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.77 [[ 9.99972989e-01 -7.60611104e-04 -7.31050535e-03 -3.68812332e+01] [ 6.92975479e-04 9.99956978e-01 -9.24992425e-03 -6.90581425e+01] [ 7.31722643e-03 9.24460840e-03 9.99930495e-01 6.07744663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96907232899997 meters 0.2417760776902325 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.77 [[ 9.99964641e-01 3.35428417e-03 -7.71143880e-03 -3.68803120e+01] [-3.39692820e-03 9.99978975e-01 -5.52353994e-03 -6.90562746e+01] [ 7.69274915e-03 5.54953984e-03 9.99955011e-01 6.07746750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99907232899994 meters 0.25026749212573207 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.06, Z:60.77 [[ 9.99947431e-01 4.88064846e-03 -9.01742071e-03 -3.68759665e+01] [-4.92313444e-03 9.99976858e-01 -4.69536976e-03 -6.90559838e+01] [ 8.99429558e-03 4.73951690e-03 9.99948318e-01 6.07738577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.029072329 meters 0.2523923797947281 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.06, Z:60.77 [[ 9.99932934e-01 5.52850648e-03 -1.01765510e-02 -3.68726403e+01] [-5.57541896e-03 9.99973935e-01 -4.58727712e-03 -6.90550468e+01] [ 1.01509250e-02 4.64370800e-03 9.99937695e-01 6.07736498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05907232899995 meters 0.25605954116136154 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.77 [[ 9.99910862e-01 6.57140377e-03 -1.16225998e-02 -3.68685335e+01] [-6.63159418e-03 9.99964760e-01 -5.14780248e-03 -6.90518154e+01] [ 1.15883620e-02 5.22441998e-03 9.99919204e-01 6.07742167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.089072329 meters 0.2154148353676966 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.05, Z:60.78 [[ 9.99901795e-01 6.47791827e-03 -1.24272614e-02 -3.68670163e+01] [-6.54776715e-03 9.99962949e-01 -5.58818738e-03 -6.90505640e+01] [ 1.23906012e-02 5.66900941e-03 9.99907163e-01 6.07750577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11907232899995 meters 0.24806061523212816 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99979151e-01 5.55173177e-03 -3.29786204e-03 -3.68620103e+01] [-5.54023106e-03 9.99978576e-01 3.48628035e-03 -6.90568774e+01] [ 3.31714628e-03 -3.46793675e-03 9.99988485e-01 6.07758609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.149072329 meters 0.24872890745061546 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99976502e-01 5.63263114e-03 -3.90750098e-03 -3.68605948e+01] [-5.61915231e-03 9.99978254e-01 3.45192131e-03 -6.90566341e+01] [ 3.92685941e-03 -3.42988335e-03 9.99986408e-01 6.07759784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17907232899995 meters 0.24149067832229998 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99975577e-01 5.53922303e-03 -4.26180813e-03 -3.68599760e+01] [-5.52579017e-03 9.99979748e-01 3.15726144e-03 -6.90558406e+01] [ 4.27921059e-03 -3.13363447e-03 9.99985934e-01 6.07763870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.209072329 meters 0.24149067832229998 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99975577e-01 5.53922303e-03 -4.26180813e-03 -3.68599760e+01] [-5.52579017e-03 9.99979748e-01 3.15726144e-03 -6.90558406e+01] [ 4.27921059e-03 -3.13363447e-03 9.99985934e-01 6.07763870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23907232899995 meters 0.23556226981986012 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99974631e-01 5.60113377e-03 -4.40044888e-03 -3.68597894e+01] [-5.58696241e-03 9.99979189e-01 3.22615318e-03 -6.90561235e+01] [ 4.41842741e-03 -3.20148620e-03 9.99985114e-01 6.07766082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.269072329 meters 0.22353161919275194 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.05, Z:60.78 [[ 9.99972888e-01 5.49868141e-03 -4.89764332e-03 -3.68586989e+01] [-5.48477026e-03 9.99980899e-01 2.84929325e-03 -6.90549377e+01] [ 4.91321713e-03 -2.82235355e-03 9.99983947e-01 6.07768848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29907232899996 meters 0.24026611439790788 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99972940e-01 5.52794665e-03 -4.85407236e-03 -3.68587427e+01] [-5.51384110e-03 9.99980551e-01 2.91451015e-03 -6.90551044e+01] [ 4.87008921e-03 -2.88766670e-03 9.99983972e-01 6.07767911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.329072329 meters 0.22858772607761835 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99972082e-01 5.57714781e-03 -4.97305095e-03 -3.68582835e+01] [-5.56251656e-03 9.99980175e-01 2.95109961e-03 -6.90550833e+01] [ 4.98941108e-03 -2.92335454e-03 9.99983280e-01 6.07765865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35907232899996 meters 0.23484008242780322 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99972276e-01 5.58120661e-03 -4.92922022e-03 -3.68584743e+01] [-5.56656082e-03 9.99980066e-01 2.97995794e-03 -6.90552386e+01] [ 4.94575372e-03 -2.95243652e-03 9.99983411e-01 6.07766763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.389072329 meters 0.22221617948326303 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99981346e-01 2.05972016e-03 -5.75031100e-03 -3.68558079e+01] [-2.06180491e-03 9.99997811e-01 -3.56639732e-04 -6.90568109e+01] [ 5.74956383e-03 3.68489098e-04 9.99983403e-01 6.07758361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41907232899996 meters 0.22884894845608889 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.78 [[ 9.99979480e-01 1.92815019e-03 -6.10920133e-03 -3.68551338e+01] [-1.93253435e-03 9.99997879e-01 -7.11810941e-04 -6.90557812e+01] [ 6.10781590e-03 7.23602576e-04 9.99981085e-01 6.07762211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.449072329 meters 0.2291129736862733 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99977931e-01 1.73082053e-03 -6.41422590e-03 -3.68545922e+01] [-1.73836043e-03 9.99997804e-01 -1.17010855e-03 -6.90544461e+01] [ 6.41218657e-03 1.18123296e-03 9.99978744e-01 6.07766103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47907232899996 meters 0.2622788752395773 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99974939e-01 1.59706086e-03 -6.89711251e-03 -3.68536027e+01] [-1.60800628e-03 9.99997456e-01 -1.58170289e-03 -6.90531955e+01] [ 6.89456889e-03 1.59275385e-03 9.99974964e-01 6.07770021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.509072329 meters 0.21938121896509633 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99973399e-01 1.58706795e-03 -7.11920458e-03 -3.68529629e+01] [-1.59917936e-03 9.99997283e-01 -1.69586069e-03 -6.90527420e+01] [ 7.11649379e-03 1.70720046e-03 9.99973220e-01 6.07769176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53907232899996 meters 0.2497782525606817 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99971721e-01 1.80828371e-03 -7.29978813e-03 -3.68525653e+01] [-1.81850691e-03 9.99997375e-01 -1.39408534e-03 -6.90535859e+01] [ 7.29724806e-03 1.40732063e-03 9.99972384e-01 6.07770158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.569072329 meters 0.24061376909997892 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99969978e-01 1.86581476e-03 -7.52081803e-03 -3.68520352e+01] [-1.87620771e-03 9.99997295e-01 -1.37507190e-03 -6.90536069e+01] [ 7.51823205e-03 1.38914124e-03 9.99970773e-01 6.07770650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59907232899997 meters 0.241357220278045 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99967870e-01 1.79623098e-03 -7.81236392e-03 -3.68513181e+01] [-1.80889101e-03 9.99997062e-01 -1.61374851e-03 -6.90528252e+01] [ 7.80944230e-03 1.62782838e-03 9.99968181e-01 6.07771326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62907232899994 meters 0.25936481795568705 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99959362e-01 2.01809031e-03 -8.78646562e-03 -3.68485462e+01] [-2.03391734e-03 9.99996325e-01 -1.79273448e-03 -6.90512204e+01] [ 8.78281543e-03 1.81053257e-03 9.99959791e-01 6.07768162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65907232899997 meters 0.24735905614873646 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99955541e-01 2.00644601e-03 -9.21353342e-03 -3.68475568e+01] [-2.02487665e-03 9.99995967e-01 -1.99149506e-03 -6.90505293e+01] [ 9.20950043e-03 2.01006279e-03 9.99955571e-01 6.07770077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68907232899994 meters 0.2696569699571206 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99953695e-01 1.82787980e-03 -9.44815162e-03 -3.68472287e+01] [-1.85067296e-03 9.99995397e-01 -2.40426663e-03 -6.90493579e+01] [ 9.44371342e-03 2.42164074e-03 9.99952475e-01 6.07774758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71907232899997 meters 0.2669453885262443 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99951822e-01 1.74975081e-03 -9.65881845e-03 -3.68468209e+01] [-1.77523066e-03 9.99994966e-01 -2.63004565e-03 -6.90486849e+01] [ 9.65416790e-03 2.64706557e-03 9.99949894e-01 6.07777142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74907232899994 meters 0.26456842940835545 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99950481e-01 1.75338583e-03 -9.79596253e-03 -3.68465246e+01] [-1.77964023e-03 9.99994846e-01 -2.67205108e-03 -6.90485485e+01] [ 9.79122691e-03 2.68935205e-03 9.99948448e-01 6.07778044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779072329 meters 0.2573060709564538 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99950255e-01 1.58406907e-03 -9.84776909e-03 -3.68464860e+01] [-1.61357251e-03 9.99994232e-01 -2.98872869e-03 -6.90476117e+01] [ 9.84297794e-03 3.00447011e-03 9.99947043e-01 6.07779709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80907232899995 meters 0.2575170601756597 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.78 [[ 9.99948370e-01 1.55410888e-03 -1.00420577e-02 -3.68458001e+01] [-1.58547789e-03 9.99993887e-01 -3.11655691e-03 -6.90470346e+01] [ 1.00371529e-02 3.13231747e-03 9.99944721e-01 6.07777197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839072329 meters 0.2472628795577767 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.78 [[ 9.99944370e-01 1.48476461e-03 -1.04427906e-02 -3.68447747e+01] [-1.52014703e-03 9.99993129e-01 -3.38109436e-03 -6.90461003e+01] [ 1.04376987e-02 3.39678085e-03 9.99939756e-01 6.07777454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86907232899995 meters 0.24968776915018362 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.78 [[ 9.99940294e-01 1.34318098e-03 -1.08445653e-02 -3.68440698e+01] [-1.38422653e-03 9.99991904e-01 -3.77827811e-03 -6.90449437e+01] [ 1.08394026e-02 3.79306386e-03 9.99934058e-01 6.07782918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899072329 meters 0.24492778044539631 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.78 [[ 9.99937724e-01 1.13849179e-03 -1.11019100e-02 -3.68438123e+01] [-1.18541557e-03 9.99990389e-01 -4.22097624e-03 -6.90437658e+01] [ 1.10969977e-02 4.23387375e-03 9.99929463e-01 6.07789144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.92907232899995 meters 0.2417200826621417 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.78 [[ 9.99933613e-01 9.35514756e-04 -1.14845621e-02 -3.68431437e+01] [-9.89895308e-04 9.99988322e-01 -4.73032935e-03 -6.90423154e+01] [ 1.14800027e-02 4.74138383e-03 9.99922861e-01 6.07794310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959072329 meters 0.24019066146595475 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.78 [[ 9.99924460e-01 3.76620904e-03 -1.16999703e-02 -3.68388251e+01] [-3.78658553e-03 9.99991352e-01 -1.71992053e-03 -6.90435758e+01] [ 1.16933916e-02 1.76409355e-03 9.99930074e-01 6.07752069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.98907232899995 meters 0.279670559426683 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.77 [[ 9.99919642e-01 3.80980305e-03 -1.20911106e-02 -3.68375903e+01] [-3.83178351e-03 9.99991047e-01 -1.79525764e-03 -6.90430426e+01] [ 1.20841627e-02 1.84144389e-03 9.99925288e-01 6.07748714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019072329 meters 0.23155007005793718 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.78 [[ 9.99914004e-01 3.80648753e-03 -1.25497442e-02 -3.68365041e+01] [-3.83159870e-03 9.99990704e-01 -1.97749491e-03 -6.90423892e+01] [ 1.25421003e-02 2.02541044e-03 9.99919293e-01 6.07750394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.04907232899996 meters 0.2299815666716841 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.78 [[ 9.99910054e-01 3.55226935e-03 -1.29331170e-02 -3.68361779e+01] [-3.58608643e-03 9.99990209e-01 -2.59251547e-03 -6.90408552e+01] [ 1.29237811e-02 2.63866156e-03 9.99913003e-01 6.07760876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079072329 meters 0.2226278008333112 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.78 [[ 9.99909520e-01 3.48986007e-03 -1.29912423e-02 -3.68363637e+01] [-3.52543705e-03 9.99990096e-01 -2.71664241e-03 -6.90406501e+01] [ 1.29816329e-02 2.76219642e-03 9.99911920e-01 6.07765750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.10907232899996 meters 0.22078583222690998 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.77 [[ 9.99982417e-01 5.73255384e-03 1.51770786e-03 -3.68385191e+01] [-5.73221215e-03 9.99983544e-01 -2.29388287e-04 -6.90442041e+01] [-1.51899786e-03 2.20684430e-04 9.99998822e-01 6.07728511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139072329 meters 0.2273968387189758 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.77 [[ 9.99997887e-01 1.46577962e-03 1.44148900e-03 -3.68382548e+01] [-1.45929765e-03 9.99988866e-01 -4.48753478e-03 -6.90443036e+01] [-1.44805068e-03 4.48542174e-03 9.99988892e-01 6.07727559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16907232899996 meters 0.23343573949776514 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99996805e-01 1.60658113e-03 1.95183320e-03 -3.68392427e+01] [-1.59871345e-03 9.99990618e-01 -4.02581618e-03 -6.90455997e+01] [-1.95828269e-03 4.02268290e-03 9.99989992e-01 6.07722836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199072329 meters 0.2735951755577956 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99995202e-01 1.66465707e-03 2.61231454e-03 -3.68404873e+01] [-1.65503681e-03 9.99991857e-01 -3.68050844e-03 -6.90465209e+01] [-2.61842006e-03 3.67616730e-03 9.99989815e-01 6.07716476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22907232899996 meters 0.23891943808259009 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99993005e-01 1.73539671e-03 3.31330736e-03 -3.68420431e+01] [-1.72453589e-03 9.99993140e-01 -3.27798646e-03 -6.90478235e+01] [-3.31897324e-03 3.27224962e-03 9.99989138e-01 6.07713323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259072329 meters 0.27097432211743816 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99993446e-01 1.80827946e-03 3.13658113e-03 -3.68416905e+01] [-1.79820893e-03 9.99993229e-01 -3.21052412e-03 -6.90480335e+01] [-3.14236542e-03 3.20486285e-03 9.99989927e-01 6.07714874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28907232899996 meters 0.22250359952774876 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99994007e-01 1.57048365e-03 3.08547493e-03 -3.68415763e+01] [-1.55920163e-03 9.99992103e-01 -3.65550185e-03 -6.90466560e+01] [-3.09119147e-03 3.65066906e-03 9.99988559e-01 6.07715523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319072329 meters 0.2709155194561974 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99994501e-01 1.50846099e-03 2.95334990e-03 -3.68411768e+01] [-1.49718893e-03 9.99991601e-01 -3.81520323e-03 -6.90460857e+01] [-2.95908018e-03 3.81076053e-03 9.99988361e-01 6.07714923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34907232899997 meters 0.2304937130082403 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99995340e-01 2.39577717e-03 1.89217079e-03 -3.68374026e+01] [-2.39028091e-03 9.99992933e-01 -2.90167818e-03 -6.90465783e+01] [-1.89910919e-03 2.89714184e-03 9.99994000e-01 6.07698630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37907232899994 meters 0.2292516699051658 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99996022e-01 2.40328350e-03 1.47634282e-03 -3.68364898e+01] [-2.39878894e-03 9.99992506e-01 -3.03864758e-03 -6.90461402e+01] [-1.48363449e-03 3.03509406e-03 9.99994294e-01 6.07700989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40907232899997 meters 0.23232857849028363 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99996580e-01 2.38771196e-03 1.06748266e-03 -3.68355776e+01] [-2.38422062e-03 9.99991844e-01 -3.26002388e-03 -6.90454078e+01] [-1.07525795e-03 3.25746761e-03 9.99994116e-01 6.07703392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43907232899994 meters 0.24190167294319626 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99995648e-01 2.47243520e-03 1.60975271e-03 -3.68369948e+01] [-2.46767410e-03 9.99992595e-01 -2.95295519e-03 -6.90465632e+01] [-1.61704178e-03 2.94896999e-03 9.99994344e-01 6.07704692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46907232899997 meters 0.2169454831708521 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99995045e-01 2.51757795e-03 1.89015923e-03 -3.68377905e+01] [-2.51233055e-03 9.99992998e-01 -2.77342396e-03 -6.90472075e+01] [-1.89712830e-03 2.76866151e-03 9.99994368e-01 6.07705821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49907232899994 meters 0.23930206592754646 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99994242e-01 2.46380241e-03 2.33346076e-03 -3.68387463e+01] [-2.45746317e-03 9.99993293e-01 -2.71564954e-03 -6.90473770e+01] [-2.34013594e-03 2.70989951e-03 9.99993590e-01 6.07703503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.529072329 meters 0.22788402379076073 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99990989e-01 2.58434499e-03 3.36786186e-03 -3.68407207e+01] [-2.57800780e-03 9.99994901e-01 -1.88465041e-03 -6.90497436e+01] [-3.37271528e-03 1.87595106e-03 9.99992553e-01 6.07692421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55907232899995 meters 0.24843377895470609 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99987714e-01 2.60455190e-03 4.21749043e-03 -3.68424797e+01] [-2.59790911e-03 9.99995378e-01 -1.57976998e-03 -6.90506903e+01] [-4.22158552e-03 1.56879392e-03 9.99989858e-01 6.07687283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.589072329 meters 0.23161527401369225 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99984540e-01 2.76360339e-03 4.82507303e-03 -3.68438078e+01] [-2.75859878e-03 9.99995651e-01 -1.04355761e-03 -6.90523099e+01] [-4.82793603e-03 1.03023103e-03 9.99987815e-01 6.07684089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61907232899995 meters 0.2395372210932262 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99986200e-01 -1.31935503e-03 5.08513698e-03 -3.68446987e+01] [ 1.34419738e-03 9.99987165e-01 -4.88497016e-03 -6.90539904e+01] [-5.07862670e-03 4.89173817e-03 9.99975139e-01 6.07687465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.649072329 meters 0.21675925613477265 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.77 [[ 9.99983864e-01 -1.26136113e-03 5.53896595e-03 -3.68456415e+01] [ 1.28694391e-03 9.99988511e-01 -4.61756013e-03 -6.90547549e+01] [-5.53307790e-03 4.62461396e-03 9.99973999e-01 6.07684490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67907232899995 meters 0.2261404231119894 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.77 [[ 9.99982031e-01 -1.17354223e-03 5.87881579e-03 -3.68462082e+01] [ 1.19899475e-03 9.99989916e-01 -4.32788083e-03 -6.90554928e+01] [-5.87367756e-03 4.33485173e-03 9.99973354e-01 6.07680015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.709072329 meters 0.22324020220065421 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.77 [[ 9.99969313e-01 -2.17044175e-03 7.52736851e-03 -3.68495958e+01] [ 2.20427119e-03 9.99987496e-01 -4.48881264e-03 -6.90563015e+01] [-7.51753168e-03 4.50526725e-03 9.99961594e-01 6.07668948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73907232899995 meters 0.2306799551865071 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.77 [[ 9.99966306e-01 -1.82683627e-03 8.00313730e-03 -3.68502425e+01] [ 1.85643629e-03 9.99991459e-01 -3.69268581e-03 -6.90584345e+01] [-7.99632301e-03 3.70741870e-03 9.99961156e-01 6.07660213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.769072329 meters 0.22814337822641118 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.77 [[ 9.99955302e-01 -1.73051698e-03 9.29513190e-03 -3.68529759e+01] [ 1.75581688e-03 9.99994775e-01 -2.71437360e-03 -6.90615593e+01] [-9.29038606e-03 2.73057282e-03 9.99953115e-01 6.07651153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79907232899996 meters 0.215864098258298 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99945228e-01 -1.82750082e-03 1.03053895e-02 -3.68550930e+01] [ 1.85457637e-03 9.99994852e-01 -2.61837467e-03 -6.90620035e+01] [-1.03005514e-02 2.63734339e-03 9.99943470e-01 6.07646628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.829072329 meters 0.22829240717781227 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99934093e-01 -1.80852574e-03 1.13374942e-02 -3.68575841e+01] [ 1.83119313e-03 9.99996345e-01 -1.98926753e-03 -6.90643330e+01] [-1.13338551e-02 2.00989756e-03 9.99933750e-01 6.07644630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85907232899996 meters 0.22769935407245556 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99931397e-01 -1.64054441e-03 1.15978488e-02 -3.68580226e+01] [ 1.65911124e-03 9.99997357e-01 -1.59144513e-03 -6.90654569e+01] [-1.15952073e-02 1.61057807e-03 9.99931476e-01 6.07641158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.889072329 meters 0.2166819963685045 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99927435e-01 -1.60644212e-03 1.19391766e-02 -3.68586618e+01] [ 1.62333836e-03 9.99997694e-01 -1.40563657e-03 -6.90659379e+01] [-1.19368910e-02 1.42491589e-03 9.99927738e-01 6.07637831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91907232899996 meters 0.22011547811646098 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99925210e-01 -1.55974233e-03 1.21301827e-02 -3.68590502e+01] [ 1.57499025e-03 9.99997981e-01 -1.24757171e-03 -6.90663927e+01] [-1.21282123e-02 1.26658332e-03 9.99925648e-01 6.07636357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.949072329 meters 0.2629570747202879 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99924665e-01 -1.48183863e-03 1.21847916e-02 -3.68591767e+01] [ 1.49524676e-03 9.99998287e-01 -1.09136205e-03 -6.90668607e+01] [-1.21831535e-02 1.10949910e-03 9.99925167e-01 6.07636235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97907232899996 meters 0.21957437111237432 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99923541e-01 -1.58452726e-03 1.22638645e-02 -3.68591542e+01] [ 1.59972154e-03 9.99997965e-01 -1.22923619e-03 -6.90663033e+01] [-1.22618918e-02 1.24876097e-03 9.99924040e-01 6.07633144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.009072329 meters 0.2184428413722589 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99924598e-01 -1.68881152e-03 1.21633062e-02 -3.68590722e+01] [ 1.70662006e-03 9.99997487e-01 -1.45388960e-03 -6.90657042e+01] [-1.21608202e-02 1.47453812e-03 9.99924967e-01 6.07635792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03907232899996 meters 0.22112590195743737 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99922910e-01 -1.66342243e-03 1.23047767e-02 -3.68594311e+01] [ 1.68025350e-03 9.99997667e-01 -1.35763717e-03 -6.90660073e+01] [-1.23024897e-02 1.37820765e-03 9.99923372e-01 6.07635905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.069072329 meters 0.2520698783407456 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99923305e-01 -1.76576351e-03 1.22582895e-02 -3.68596303e+01] [ 1.78495201e-03 9.99997199e-01 -1.55458467e-03 -6.90655768e+01] [-1.22555101e-02 1.57634590e-03 9.99923656e-01 6.07640783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09907232899997 meters 0.2520698783407456 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99923305e-01 -1.76576351e-03 1.22582895e-02 -3.68596303e+01] [ 1.78495201e-03 9.99997199e-01 -1.55458467e-03 -6.90655768e+01] [-1.22555101e-02 1.57634590e-03 9.99923656e-01 6.07640783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12907232899994 meters 0.26233915417071657 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99920353e-01 -1.94100129e-03 1.24707455e-02 -3.68600888e+01] [ 1.96349949e-03 9.99996467e-01 -1.79208772e-03 -6.90648411e+01] [-1.24672230e-02 1.81643129e-03 9.99920631e-01 6.07639784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15907232899997 meters 0.2249745505965625 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99916070e-01 -1.79251813e-03 1.28312305e-02 -3.68604868e+01] [ 1.81035070e-03 9.99997411e-01 -1.37829843e-03 -6.90658316e+01] [-1.28287266e-02 1.40141178e-03 9.99916726e-01 6.07631774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18907232899994 meters 0.2529232007598982 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99911685e-01 -1.72053150e-03 1.31780874e-02 -3.68609628e+01] [ 1.73550110e-03 9.99997862e-01 -1.12459495e-03 -6.90664048e+01] [-1.31761243e-02 1.14736622e-03 9.99912533e-01 6.07625758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21907232899997 meters 0.2684738201952242 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99913720e-01 -1.75720989e-03 1.30178781e-02 -3.68602755e+01] [ 1.77368674e-03 9.99997640e-01 -1.25427212e-03 -6.90657652e+01] [-1.30156434e-02 1.27725353e-03 9.99914477e-01 6.07621743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24907232899994 meters 0.24345282149619302 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99916105e-01 -1.62098575e-03 1.28512678e-02 -3.68600348e+01] [ 1.63487637e-03 9.99998091e-01 -1.07044382e-03 -6.90663974e+01] [-1.28495081e-02 1.09136425e-03 9.99916846e-01 6.07624450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279072329 meters 0.25975057391116424 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99914293e-01 -1.75194190e-03 1.29744537e-02 -3.68606017e+01] [ 1.76835711e-03 9.99997650e-01 -1.25383077e-03 -6.90660183e+01] [-1.29722266e-02 1.27666677e-03 9.99915042e-01 6.07628171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30907232899995 meters 0.25806504085850007 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99916818e-01 -1.74496764e-03 1.27793886e-02 -3.68603409e+01] [ 1.76186940e-03 9.99997588e-01 -1.31144077e-03 -6.90659469e+01] [-1.27770694e-02 1.33384730e-03 9.99917480e-01 6.07631655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339072329 meters 0.24821677588780658 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99922041e-01 -1.74616523e-03 1.23637707e-02 -3.68594401e+01] [ 1.76418052e-03 9.99997398e-01 -1.44634654e-03 -6.90655213e+01] [-1.23612129e-02 1.46804571e-03 9.99922520e-01 6.07633941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36907232899995 meters 0.2867177378150497 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99926759e-01 -2.13862669e-03 1.19123042e-02 -3.68585106e+01] [ 2.16648026e-03 9.99994948e-01 -2.32580522e-03 -6.90628793e+01] [-1.19072700e-02 2.35144265e-03 9.99926341e-01 6.07637621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399072329 meters 0.26597331223060316 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99928894e-01 -2.23994689e-03 1.17128313e-02 -3.68580193e+01] [ 2.27029665e-03 9.99994099e-01 -2.57850062e-03 -6.90620609e+01] [-1.17069865e-02 2.60490888e-03 9.99928078e-01 6.07638200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.42907232899995 meters 0.24316684341866052 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99934709e-01 -2.32683909e-03 1.11876602e-02 -3.68569206e+01] [ 2.35981636e-03 9.99992907e-01 -2.93534993e-03 -6.90609395e+01] [-1.11807508e-02 2.96155910e-03 9.99933108e-01 6.07642458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459072329 meters 0.26841984008524356 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99934481e-01 -2.28594363e-03 1.12164295e-02 -3.68568814e+01] [ 2.31818514e-03 9.99993217e-01 -2.86233058e-03 -6.90610697e+01] [-1.12098103e-02 2.88814481e-03 9.99932997e-01 6.07641141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.48907232899995 meters 0.26695852922833313 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99930100e-01 -2.27579932e-03 1.16023845e-02 -3.68578460e+01] [ 2.30744258e-03 9.99993653e-01 -2.71464996e-03 -6.90615726e+01] [-1.15961329e-02 2.74123204e-03 9.99929005e-01 6.07641161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519072329 meters 0.2592113441738382 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99921247e-01 -2.32883411e-03 1.23319637e-02 -3.68595374e+01] [ 2.36071644e-03 9.99993907e-01 -2.57141562e-03 -6.90621571e+01] [-1.23259002e-02 2.60032538e-03 9.99920652e-01 6.07639934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.54907232899996 meters 0.2601004067773633 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99913007e-01 -2.29781594e-03 1.29883685e-02 -3.68609972e+01] [ 2.32740299e-03 9.99994730e-01 -2.26330886e-03 -6.90631033e+01] [-1.29830994e-02 2.29334113e-03 9.99913086e-01 6.07637436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579072329 meters 0.24345857283087544 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99891207e-01 -2.93417713e-03 1.44556080e-02 -3.68647513e+01] [ 2.96064589e-03 9.99993979e-01 -1.80997760e-03 -6.90657615e+01] [-1.44502101e-02 1.85257863e-03 9.99893874e-01 6.07634986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.60907232899996 meters 0.23425661153462482 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.76 [[ 9.99881586e-01 -2.68233852e-03 1.51531545e-02 -3.68660665e+01] [ 2.69836226e-03 9.99995822e-01 -1.03710599e-03 -6.90679242e+01] [-1.51503093e-02 1.07787188e-03 9.99884647e-01 6.07627928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639072329 meters 0.2588018335397609 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.76 [[ 9.99866918e-01 -2.44653832e-03 1.61294685e-02 -3.68681195e+01] [ 2.44816381e-03 9.99997000e-01 -8.10331223e-05 -6.90708619e+01] [-1.61292219e-02 1.20509919e-04 9.99869908e-01 6.07620538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66907232899996 meters 0.2238925583843344 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.76 [[ 9.99859105e-01 -2.39423401e-03 1.66143969e-02 -3.68691446e+01] [ 2.39125142e-03 9.99997121e-01 1.99382453e-04 -6.90716724e+01] [-1.66148265e-02 -1.59625160e-04 9.99861952e-01 6.07617655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699072329 meters 0.28140137342910543 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.76 [[ 9.99995034e-01 -2.29357638e-03 2.16130916e-03 -3.68652888e+01] [ 2.30025634e-03 9.99992570e-01 -3.09330302e-03 -6.90662460e+01] [-2.15419837e-03 3.09825923e-03 9.99992880e-01 6.07634974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72907232899996 meters 0.2523774747967973 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99995389e-01 -2.24714004e-03 2.04251130e-03 -3.68649668e+01] [ 2.25338238e-03 9.99992782e-01 -3.05906482e-03 -6.90663147e+01] [-2.03562241e-03 3.06365328e-03 9.99993235e-01 6.07634794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759072329 meters 0.27978488955517256 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99995919e-01 -2.29128770e-03 1.70668604e-03 -3.68642614e+01] [ 2.29687036e-03 9.99991995e-01 -3.27631198e-03 -6.90656590e+01] [-1.69916540e-03 3.28021864e-03 9.99993176e-01 6.07637497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78907232899996 meters 0.2269232447452706 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99995690e-01 -2.44010950e-03 1.63263257e-03 -3.68642373e+01] [ 2.44590602e-03 9.99990679e-01 -3.55788478e-03 -6.90648682e+01] [-1.62393572e-03 3.56186271e-03 9.99992338e-01 6.07639989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819072329 meters 0.2628334518419881 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99995021e-01 -2.49461502e-03 1.93263866e-03 -3.68649504e+01] [ 2.50146975e-03 9.99990561e-01 -3.55256323e-03 -6.90649141e+01] [-1.92375814e-03 3.55737998e-03 9.99991822e-01 6.07639564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84907232899997 meters 0.24368844541626997 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99995913e-01 -2.42023825e-03 1.52190384e-03 -3.68640292e+01] [ 2.42561921e-03 9.99990779e-01 -3.54382785e-03 -6.90648993e+01] [-1.51331290e-03 3.54750492e-03 9.99992563e-01 6.07641298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87907232899994 meters 0.25905456568896224 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996982e-01 -2.35796206e-03 6.90190108e-04 -3.68617462e+01] [ 2.36065175e-03 9.99989521e-01 -3.92250177e-03 -6.90630588e+01] [-6.80933764e-04 3.92411923e-03 9.99992069e-01 6.07640358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90907232899997 meters 0.2500746618838649 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996662e-01 -2.50976504e-03 6.14485290e-04 -3.68615838e+01] [ 2.51233362e-03 9.99987958e-01 -4.21557596e-03 -6.90621561e+01] [-6.03897785e-04 4.21710568e-03 9.99990926e-01 6.07641108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93907232899994 meters 0.249794476067264 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996681e-01 -2.40447283e-03 9.25576338e-04 -3.68622878e+01] [ 2.40808551e-03 9.99989409e-01 -3.92204843e-03 -6.90630450e+01] [-9.16136077e-04 3.92426428e-03 9.99991880e-01 6.07639936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96907232899997 meters 0.24351351520650613 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996851e-01 -2.26294187e-03 1.08466055e-03 -3.68625391e+01] [ 2.26685857e-03 9.99990866e-01 -3.62346929e-03 -6.90638696e+01] [-1.07645094e-03 3.62591665e-03 9.99992847e-01 6.07637749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99907232899994 meters 0.2384676550324098 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996711e-01 -2.24855114e-03 1.23334834e-03 -3.68627486e+01] [ 2.25292116e-03 9.99991149e-01 -3.55334630e-03 -6.90639996e+01] [-1.22534754e-03 3.55611325e-03 9.99992926e-01 6.07635457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.029072329 meters 0.2326713616304219 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996443e-01 -2.37229287e-03 1.21938727e-03 -3.68627234e+01] [ 2.37687831e-03 9.99990058e-01 -3.77285604e-03 -6.90633161e+01] [-1.21042483e-03 3.77574095e-03 9.99992139e-01 6.07635758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05907232899995 meters 0.22687325631559987 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996677e-01 -2.39085224e-03 9.64588677e-04 -3.68621997e+01] [ 2.39459489e-03 9.99989537e-01 -3.89773212e-03 -6.90629556e+01] [-9.55259682e-04 3.90002897e-03 9.99991939e-01 6.07637673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.089072329 meters 0.2195722224516001 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99997582e-01 -2.17837720e-03 3.01189619e-04 -3.68606423e+01] [ 2.17950293e-03 9.99990446e-01 -3.78921127e-03 -6.90630344e+01] [-2.92932410e-04 3.78985855e-03 9.99992776e-01 6.07639713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11907232899995 meters 0.2273857428104306 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99997628e-01 -2.16081331e-03 -2.72211575e-04 -3.68593601e+01] [ 2.15971583e-03 9.99989789e-01 -3.96947975e-03 -6.90623953e+01] [ 2.80786100e-04 3.96888244e-03 9.99992085e-01 6.07642413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.149072329 meters 0.21445828276330398 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99997358e-01 -2.07796339e-03 -9.82406567e-04 -3.68573711e+01] [ 2.07385216e-03 9.99989165e-01 -4.16751178e-03 -6.90612020e+01] [ 9.91055860e-04 4.16546340e-03 9.99990833e-01 6.07640511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17907232899995 meters 0.21715059066330872 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996941e-01 -1.97824427e-03 -1.48496240e-03 -3.68560228e+01] [ 1.97201731e-03 9.99989306e-01 -4.18316602e-03 -6.90609220e+01] [ 1.49322184e-03 4.18022485e-03 9.99990148e-01 6.07639310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.209072329 meters 0.25020612665799874 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99997138e-01 -1.98138462e-03 -1.34109588e-03 -3.68561098e+01] [ 1.97580881e-03 9.99989452e-01 -4.14628533e-03 -6.90608834e+01] [ 1.34929712e-03 4.14362371e-03 9.99990505e-01 6.07635458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23907232899995 meters 0.24917724395419072 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99996527e-01 -2.00968293e-03 -1.70497550e-03 -3.68549645e+01] [ 2.00225977e-03 9.99988558e-01 -4.34441283e-03 -6.90600031e+01] [ 1.71368688e-03 4.34098394e-03 9.99989110e-01 6.07632447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.269072329 meters 0.2604697775429488 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99995569e-01 -2.00591523e-03 -2.19940481e-03 -3.68539684e+01] [ 1.99596252e-03 9.99987801e-01 -4.51807976e-03 -6.90594881e+01] [ 2.20844086e-03 4.51366981e-03 9.99987375e-01 6.07636462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29907232899996 meters 0.22334416552268826 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99994494e-01 -2.35521089e-03 -2.33777076e-03 -3.68539423e+01] [ 2.34308197e-03 9.99983852e-01 -5.17749279e-03 -6.90576337e+01] [ 2.34992710e-03 5.17198669e-03 9.99983864e-01 6.07641678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.329072329 meters 0.24164601268090116 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99992139e-01 -2.45858431e-03 -3.11087279e-03 -3.68524446e+01] [ 2.44092891e-03 9.99980966e-01 -5.66651091e-03 -6.90561425e+01] [ 3.12474517e-03 5.65887295e-03 9.99979106e-01 6.07649634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35907232899996 meters 0.23406296552693542 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.77 [[ 9.99989567e-01 -2.66394148e-03 -3.71058208e-03 -3.68511832e+01] [ 2.64054633e-03 9.99976696e-01 -6.29567634e-03 -6.90542419e+01] [ 3.72726692e-03 6.28581270e-03 9.99973298e-01 6.07654294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.389072329 meters 0.2357446949273281 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.77 [[ 9.99988198e-01 1.29563284e-03 -4.68235507e-03 -3.68492431e+01] [-1.31025977e-03 9.99994268e-01 -3.12212382e-03 -6.90508148e+01] [ 4.67828311e-03 3.12822208e-03 9.99984164e-01 6.07663450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41907232899996 meters 0.24773092853495224 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.77 [[ 9.99983533e-01 1.35254043e-03 -5.57714849e-03 -3.68471974e+01] [-1.37163578e-03 9.99993206e-01 -3.42145469e-03 -6.90496800e+01] [ 5.57248295e-03 3.42904816e-03 9.99978594e-01 6.07667092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.449072329 meters 0.23656381052811343 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.77 [[ 9.99978588e-01 1.54659265e-03 -6.35854426e-03 -3.68451528e+01] [-1.56866441e-03 9.99992757e-01 -3.46767659e-03 -6.90490263e+01] [ 6.35313513e-03 3.47757677e-03 9.99973772e-01 6.07666516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47907232899996 meters 0.23809905951042784 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99967592e-01 2.64294467e-03 -7.60456489e-03 -3.68411635e+01] [-2.66441800e-03 9.99992488e-01 -2.81499814e-03 -6.90487052e+01] [ 7.59706788e-03 2.83516865e-03 9.99967123e-01 6.07657674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.509072329 meters 0.23402694175738817 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99964032e-01 2.54690625e-03 -8.08994928e-03 -3.68401904e+01] [-2.57256404e-03 9.99991689e-01 -3.16274161e-03 -6.90476669e+01] [ 8.08182684e-03 3.18343977e-03 9.99962274e-01 6.07661910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53907232899996 meters 0.2296631099530549 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99958228e-01 2.52761209e-03 -8.78368111e-03 -3.68387346e+01] [-2.55829960e-03 9.99990658e-01 -3.48421787e-03 -6.90466374e+01] [ 8.77479230e-03 3.50654362e-03 9.99955353e-01 6.07667042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.569072329 meters 0.22936538859465982 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99952917e-01 2.41872653e-03 -9.39753301e-03 -3.68377611e+01] [-2.45596338e-03 9.99989171e-01 -3.95288916e-03 -6.90454264e+01] [ 9.38787029e-03 3.97578304e-03 9.99948029e-01 6.07676802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59907232899997 meters 0.23122962616617235 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.77 [[ 9.99949200e-01 2.32459012e-03 -9.80786552e-03 -3.68370840e+01] [-2.36676850e-03 9.99987993e-01 -4.29105156e-03 -6.90445454e+01] [ 9.79777282e-03 4.31404652e-03 9.99942695e-01 6.07682546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62907232899994 meters 0.2301341404129565 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.77 [[ 9.99944555e-01 2.28795917e-03 -1.02787197e-02 -3.68360163e+01] [-2.33478483e-03 9.99986942e-01 -4.54590484e-03 -6.90436920e+01] [ 1.02681847e-02 4.56965139e-03 9.99936839e-01 6.07684981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65907232899997 meters 0.2600700374644492 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.77 [[ 9.99942363e-01 2.26535815e-03 -1.04947008e-02 -3.68354383e+01] [-2.31452914e-03 9.99986391e-01 -4.67554262e-03 -6.90432133e+01] [ 1.04839662e-02 4.69956343e-03 9.99933998e-01 6.07684821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68907232899994 meters 0.24818762030133437 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.04, Z:60.77 [[ 9.99947471e-01 2.14962445e-03 -1.00216634e-02 -3.68364650e+01] [-2.19699010e-03 9.99986458e-01 -4.71771586e-03 -6.90431020e+01] [ 1.00113864e-02 4.73948554e-03 9.99938653e-01 6.07682802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71907232899997 meters 0.2715272066317634 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99955439e-01 2.27853492e-03 -9.16122875e-03 -3.68382432e+01] [-2.31612485e-03 9.99988935e-01 -4.09464039e-03 -6.90450386e+01] [ 9.15179759e-03 4.11567647e-03 9.99949652e-01 6.07676086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74907232899994 meters 0.28224366879137613 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99959260e-01 2.20698266e-03 -8.75259026e-03 -3.68392367e+01] [-2.24273963e-03 9.99989172e-01 -4.07759233e-03 -6.90451397e+01] [ 8.74349630e-03 4.09705599e-03 9.99953382e-01 6.07675676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779072329 meters 0.22800494547024658 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99961828e-01 2.25995591e-03 -8.44005139e-03 -3.68399126e+01] [-2.29263360e-03 9.99989906e-01 -3.86407472e-03 -6.90457651e+01] [ 8.43123356e-03 3.88327717e-03 9.99956916e-01 6.07673914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80907232899995 meters 0.22880784236087312 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99968343e-01 2.17742583e-03 -7.65321498e-03 -3.68414709e+01] [-2.20604696e-03 9.99990598e-01 -3.73330246e-03 -6.90461646e+01] [ 7.64501404e-03 3.75006763e-03 9.99963745e-01 6.07668195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839072329 meters 0.2685145889865197 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99973180e-01 2.20779583e-03 -6.98321116e-03 -3.68427674e+01] [-2.23168246e-03 9.99991680e-01 -3.41463850e-03 -6.90470232e+01] [ 6.97561423e-03 3.43013123e-03 9.99969787e-01 6.07662460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86907232899995 meters 0.23265732433331304 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.05, Z:60.77 [[ 9.99978390e-01 2.32986008e-03 -6.14741790e-03 -3.68443487e+01] [-2.34782417e-03 9.99992991e-01 -2.91661927e-03 -6.90484039e+01] [ 6.14057950e-03 2.93098930e-03 9.99976851e-01 6.07654446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899072329 meters 0.2387113850740932 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99985202e-01 2.37483553e-03 -4.89437847e-03 -3.68469030e+01] [-2.38418959e-03 9.99995341e-01 -1.90623616e-03 -6.90515208e+01] [ 4.88982867e-03 1.91787707e-03 9.99986206e-01 6.07642408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.92907232899995 meters 0.2349129764673573 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99986852e-01 2.44265888e-03 -4.50879792e-03 -3.68476428e+01] [-2.45008793e-03 9.99995649e-01 -1.64289288e-03 -6.90522396e+01] [ 4.50476527e-03 1.65391824e-03 9.99988486e-01 6.07639064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959072329 meters 0.25093714778764664 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99984937e-01 2.36737630e-03 -4.95195327e-03 -3.68466089e+01] [-2.37709819e-03 9.99995257e-01 -1.95828106e-03 -6.90511527e+01] [ 4.94729380e-03 1.97002284e-03 9.99985822e-01 6.07641139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.98907232899995 meters 0.22663340266690493 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99983592e-01 2.36005562e-03 -5.21975671e-03 -3.68460286e+01] [-2.37091949e-03 9.99995034e-01 -2.07609023e-03 -6.90507743e+01] [ 5.21483110e-03 2.08843178e-03 9.99984222e-01 6.07642846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019072329 meters 0.22663340266690493 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99983592e-01 2.36005562e-03 -5.21975671e-03 -3.68460286e+01] [-2.37091949e-03 9.99995034e-01 -2.07609023e-03 -6.90507743e+01] [ 5.21483110e-03 2.08843178e-03 9.99984222e-01 6.07642846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.04907232899996 meters 0.25413427712592546 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99982466e-01 2.44827739e-03 -5.39198413e-03 -3.68455536e+01] [-2.45904949e-03 9.99994992e-01 -1.99207658e-03 -6.90509562e+01] [ 5.38707998e-03 2.00530081e-03 9.99983479e-01 6.07642405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079072329 meters 0.2267742954348862 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99981959e-01 2.43295487e-03 -5.49206333e-03 -3.68452387e+01] [-2.44435722e-03 9.99994869e-01 -2.07039330e-03 -6.90506414e+01] [ 5.48699798e-03 2.08378051e-03 9.99982775e-01 6.07641838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.10907232899996 meters 0.21872947971356801 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99983380e-01 2.35960656e-03 -5.26044168e-03 -3.68456788e+01] [-2.37079190e-03 9.99994940e-01 -2.12109135e-03 -6.90504238e+01] [ 5.25541012e-03 2.13352751e-03 9.99983914e-01 6.07639862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139072329 meters 0.24267395089445634 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99982821e-01 2.30916391e-03 -5.38748705e-03 -3.68452921e+01] [-2.32137489e-03 9.99994749e-01 -2.26139484e-03 -6.90499140e+01] [ 5.38223683e-03 2.27386236e-03 9.99982930e-01 6.07639263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16907232899996 meters 0.24701707127360098 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99985544e-01 2.16392364e-03 -4.92231428e-03 -3.68463835e+01] [-2.17556793e-03 9.99994845e-01 -2.36148886e-03 -6.90496962e+01] [ 4.91717883e-03 2.37216355e-03 9.99985097e-01 6.07638762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199072329 meters 0.2556383764359666 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99986715e-01 2.19631664e-03 -4.66334834e-03 -3.68467593e+01] [-2.20663900e-03 9.99995124e-01 -2.20951779e-03 -6.90499973e+01] [ 4.65847280e-03 2.21977877e-03 9.99986686e-01 6.07635007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22907232899996 meters 0.24361984973808998 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99988252e-01 2.43764293e-03 -4.18964951e-03 -3.68475053e+01] [-2.44441963e-03 9.99995711e-01 -1.61312943e-03 -6.90516034e+01] [ 4.18569931e-03 1.62335174e-03 9.99989922e-01 6.07628234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259072329 meters 0.25283086771946506 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99988338e-01 2.81353925e-03 -3.92521814e-03 -3.68477332e+01] [-2.81689730e-03 9.99995671e-01 -8.50240571e-04 -6.90536794e+01] [ 3.92280897e-03 8.61287592e-04 9.99991935e-01 6.07621479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28907232899996 meters 0.2618676145248243 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99988168e-01 2.70905889e-03 -4.04050903e-03 -3.68476043e+01] [-2.71346682e-03 9.99995729e-01 -1.08585277e-03 -6.90530288e+01] [ 4.03755014e-03 1.09680371e-03 9.99991248e-01 6.07624295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319072329 meters 0.2424610918774657 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99988898e-01 2.72378827e-03 -3.84512468e-03 -3.68481097e+01] [-2.72761099e-03 9.99995791e-01 -9.89279450e-04 -6.90533530e+01] [ 3.84241391e-03 9.99756471e-04 9.99992118e-01 6.07624565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34907232899997 meters 0.27914442098067105 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99987695e-01 2.65019238e-03 -4.19362194e-03 -3.68476864e+01] [-2.65550266e-03 9.99995679e-01 -1.26121502e-03 -6.90527276e+01] [ 4.19026136e-03 1.27233567e-03 9.99990411e-01 6.07631786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37907232899994 meters 0.2602833614874821 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99985599e-01 2.60650097e-03 -4.69124344e-03 -3.68465582e+01] [-2.61379242e-03 9.99995385e-01 -1.54881074e-03 -6.90517886e+01] [ 4.68718481e-03 1.56105038e-03 9.99987797e-01 6.07634001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40907232899997 meters 0.23253474927179596 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99983247e-01 2.60462638e-03 -5.16922906e-03 -3.68454281e+01] [-2.61358538e-03 9.99995093e-01 -1.72714174e-03 -6.90511326e+01] [ 5.16470513e-03 1.74062303e-03 9.99985148e-01 6.07635260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43907232899994 meters 0.27018441260560594 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99983730e-01 2.41614976e-03 -5.16736555e-03 -3.68450873e+01] [-2.42679895e-03 9.99994943e-01 -2.05557826e-03 -6.90498554e+01] [ 5.16237283e-03 2.06808497e-03 9.99984536e-01 6.07631129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46907232899997 meters 0.24057975590743744 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99985378e-01 2.52109986e-03 -4.78408372e-03 -3.68457758e+01] [-2.52939864e-03 9.99995306e-01 -1.72940864e-03 -6.90507290e+01] [ 4.77970125e-03 1.74148420e-03 9.99987061e-01 6.07627050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49907232899994 meters 0.2360375794903967 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99987603e-01 2.78198290e-03 -4.12981813e-03 -3.68471646e+01] [-2.78603698e-03 9.99995642e-01 -9.76231035e-04 -6.90530009e+01] [ 4.12708428e-03 9.87724758e-04 9.99990996e-01 6.07622579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.529072329 meters 0.246589185793735 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99988727e-01 -1.53432414e-03 -4.49361575e-03 -3.68462290e+01] [ 1.50995524e-03 9.99984164e-01 -5.42138701e-03 -6.90524397e+01] [ 4.50186276e-03 5.41454073e-03 9.99975208e-01 6.07623108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55907232899995 meters 0.23895421178417814 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.05, Z:60.76 [[ 9.99991749e-01 -1.28555923e-03 -3.85357705e-03 -3.68474824e+01] [ 1.26747184e-03 9.99988187e-01 -4.69243676e-03 -6.90545247e+01] [ 3.85956393e-03 4.68751374e-03 9.99981565e-01 6.07617498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.589072329 meters 0.23168630548546465 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99995852e-01 -1.62386901e-03 -2.37896677e-03 -3.68508710e+01] [ 1.61356344e-03 9.99989335e-01 -4.32748628e-03 -6.90564913e+01] [ 2.38596866e-03 4.32362972e-03 9.99987807e-01 6.07612293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61907232899995 meters 0.2911441566549316 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99997592e-01 -1.81218333e-03 -1.23786452e-03 -3.68533236e+01] [ 1.80706672e-03 9.99989871e-01 -4.12209819e-03 -6.90573411e+01] [ 1.24532198e-03 4.11985136e-03 9.99990738e-01 6.07606351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.649072329 meters 0.24507790363689602 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99998277e-01 -1.74400808e-03 -6.36551535e-04 -3.68543532e+01] [ 1.74159660e-03 9.99991379e-01 -3.76943808e-03 -6.90582100e+01] [ 6.43119977e-04 3.76832297e-03 9.99992693e-01 6.07598908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67907232899995 meters 0.2393494572023931 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998816e-01 -1.51735247e-03 2.55057507e-04 -3.68561556e+01] [ 1.51809758e-03 9.99994505e-01 -2.94700177e-03 -6.90606439e+01] [-2.50584465e-04 2.94738548e-03 9.99995625e-01 6.07591357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.709072329 meters 0.27902664739171873 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998739e-01 -1.41358107e-03 7.23315490e-04 -3.68571469e+01] [ 1.41543733e-03 9.99995690e-01 -2.57226900e-03 -6.90617536e+01] [-7.19676261e-04 2.57328957e-03 9.99996430e-01 6.07588243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73907232899995 meters 0.2518329901735897 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998015e-01 -1.41689005e-03 1.40103108e-03 -3.68585484e+01] [ 1.42018496e-03 9.99996222e-01 -2.35357972e-03 -6.90624042e+01] [-1.39769102e-03 2.35556477e-03 9.99996249e-01 6.07584133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.769072329 meters 0.25927816631288936 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996866e-01 -1.26601462e-03 2.16009867e-03 -3.68600708e+01] [ 1.26979375e-03 9.99997664e-01 -1.74903982e-03 -6.90641561e+01] [-2.15787931e-03 1.75177722e-03 9.99996137e-01 6.07578398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79907232899996 meters 0.2646872262682042 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99996171e-01 -1.15174234e-03 2.51605104e-03 -3.68606583e+01] [ 1.15532235e-03 9.99998322e-01 -1.42188015e-03 -6.90650158e+01] [-2.51440918e-03 1.42478156e-03 9.99995824e-01 6.07573847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.829072329 meters 0.2580751909060514 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99994773e-01 -1.11473323e-03 3.03489945e-03 -3.68616317e+01] [ 1.11822025e-03 9.99998716e-01 -1.14751711e-03 -6.90657214e+01] [-3.03361638e-03 1.15090479e-03 9.99994736e-01 6.07568927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85907232899996 meters 0.25335765706723945 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99993850e-01 -1.13962532e-03 3.31669609e-03 -3.68620303e+01] [ 1.14319561e-03 9.99998769e-01 -1.07476291e-03 -6.90657767e+01] [-3.31546718e-03 1.07854793e-03 9.99993922e-01 6.07564431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.889072329 meters 0.25461085142911544 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99993546e-01 -1.30723315e-03 3.34665223e-03 -3.68620597e+01] [ 1.31178492e-03 9.99998217e-01 -1.35826155e-03 -6.90648660e+01] [-3.34487070e-03 1.36264287e-03 9.99993478e-01 6.07564050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91907232899996 meters 0.25857888106481114 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99991801e-01 -1.26593911e-03 3.84649731e-03 -3.68629487e+01] [ 1.27011103e-03 9.99998608e-01 -1.08235360e-03 -6.90655413e+01] [-3.84512176e-03 1.08723020e-03 9.99992016e-01 6.07558591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.949072329 meters 0.24077427570139043 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.76 [[ 9.99989222e-01 -1.26548952e-03 4.46695686e-03 -3.68641952e+01] [ 1.26929846e-03 9.99998833e-01 -8.49959204e-04 -6.90661577e+01] [-4.46587603e-03 8.55619945e-04 9.99989662e-01 6.07554276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97907232899996 meters 0.26498409051033694 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99976159e-01 -4.99136877e-03 4.77152751e-03 -3.68645440e+01] [ 5.01077375e-03 9.99979190e-01 -4.06356125e-03 -6.90693836e+01] [-4.75114548e-03 4.08737342e-03 9.99980360e-01 6.07548486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.009072329 meters 0.26105141299594387 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.76 [[ 9.99974146e-01 -4.91479926e-03 5.24902476e-03 -3.68658976e+01] [ 4.93454815e-03 9.99980771e-01 -3.75609071e-03 -6.90705892e+01] [-5.23046339e-03 3.78189517e-03 9.99979170e-01 6.07551034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03907232899996 meters 0.2586714253547557 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99972166e-01 -5.01339452e-03 5.52559589e-03 -3.68664557e+01] [ 5.03459091e-03 9.99979996e-01 -3.82882644e-03 -6.90703057e+01] [-5.50628994e-03 3.85653899e-03 9.99977404e-01 6.07549135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.069072329 meters 0.2670131699872113 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99973590e-01 -5.01687263e-03 5.25844574e-03 -3.68656188e+01] [ 5.03763845e-03 9.99979536e-01 -3.94326315e-03 -6.90697871e+01] [-5.23855528e-03 3.96964916e-03 9.99978399e-01 6.07546843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09907232899997 meters 0.2580421055049873 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99989068e-01 -5.74012995e-04 4.64049543e-03 -3.68636284e+01] [ 5.72191067e-04 9.99999759e-01 3.93933066e-04 -6.90691255e+01] [-4.64072044e-03 -3.91273510e-04 9.99989155e-01 6.07539242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12907232899994 meters 0.258137196901366 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99991782e-01 -5.34978570e-04 4.01857189e-03 -3.68620594e+01] [ 5.34012189e-04 9.99999828e-01 2.41547877e-04 -6.90684792e+01] [-4.01870042e-03 -2.39399925e-04 9.99991896e-01 6.07539088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15907232899997 meters 0.26396384081091134 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99994596e-01 -5.99259052e-04 3.23240864e-03 -3.68601844e+01] [ 6.00257470e-04 9.99999772e-01 -3.07916139e-04 -6.90666153e+01] [-3.23222338e-03 3.09854753e-04 9.99994728e-01 6.07541583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18907232899994 meters 0.2608021755100574 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99996108e-01 -6.33850791e-04 2.71685305e-03 -3.68592970e+01] [ 6.35391224e-04 9.99999638e-01 -5.66165822e-04 -6.90659490e+01] [-2.71649320e-03 5.67889883e-04 9.99996149e-01 6.07548261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21907232899997 meters 0.29235338669999533 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996271e-01 -9.94060644e-04 2.54354213e-03 -3.68594965e+01] [ 9.97458192e-04 9.99998612e-01 -1.33483468e-03 -6.90640617e+01] [-2.54221169e-03 1.33736678e-03 9.99995874e-01 6.07559082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24907232899994 meters 0.26311950731649947 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996203e-01 -1.16090944e-03 2.49935316e-03 -3.68594922e+01] [ 1.16501521e-03 9.99997973e-01 -1.64190564e-03 -6.90631563e+01] [-2.49744199e-03 1.64481119e-03 9.99995529e-01 6.07560906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279072329 meters 0.2660980787710695 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99997289e-01 -1.06795542e-03 2.06906349e-03 -3.68583300e+01] [ 1.07135294e-03 9.99998079e-01 -1.64164554e-03 -6.90629406e+01] [-2.06730631e-03 1.64385779e-03 9.99996512e-01 6.07560147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30907232899995 meters 0.25565751776969853 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99997254e-01 -1.04054104e-03 2.10002353e-03 -3.68583399e+01] [ 1.04386841e-03 9.99998201e-01 -1.58397266e-03 -6.90630603e+01] [-2.09837156e-03 1.58616046e-03 9.99996540e-01 6.07559399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339072329 meters 0.25218258463866866 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996488e-01 -1.19695785e-03 2.36471164e-03 -3.68589683e+01] [ 1.20113032e-03 9.99997723e-01 -1.76383921e-03 -6.90625062e+01] [-2.36259502e-03 1.76667334e-03 9.99995648e-01 6.07559026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36907232899995 meters 0.2622281139430591 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99995331e-01 -1.00449244e-03 2.88591286e-03 -3.68599204e+01] [ 1.00805840e-03 9.99998730e-01 -1.23445461e-03 -6.90640181e+01] [-2.88466919e-03 1.23735802e-03 9.99995074e-01 6.07553416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399072329 meters 0.25454338289621264 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996086e-01 -9.48411308e-04 2.63232740e-03 -3.68593051e+01] [ 9.51600565e-04 9.99998814e-01 -1.21058517e-03 -6.90640646e+01] [-2.63117615e-03 1.21308535e-03 9.99995803e-01 6.07553667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.42907232899995 meters 0.2502630328018473 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99996430e-01 -1.19963118e-03 2.38757512e-03 -3.68585593e+01] [ 1.20382383e-03 9.99997735e-01 -1.75536686e-03 -6.90622684e+01] [-2.38546392e-03 1.75823482e-03 9.99995609e-01 6.07552035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459072329 meters 0.23085419009921687 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998038e-01 -1.07812164e-03 1.66187415e-03 -3.68566630e+01] [ 1.08117467e-03 9.99997728e-01 -1.83729898e-03 -6.90615876e+01] [-1.65988954e-03 1.83909215e-03 9.99996931e-01 6.07551641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.48907232899995 meters 0.22842012901422368 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998717e-01 -1.09394596e-03 1.17004495e-03 -3.68555995e+01] [ 1.09635562e-03 9.99997276e-01 -2.06080279e-03 -6.90608891e+01] [-1.16778736e-03 2.06208293e-03 9.99997192e-01 6.07554573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519072329 meters 0.2406301460737266 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998356e-01 -1.28176822e-03 1.28228874e-03 -3.68560267e+01] [ 1.28477992e-03 9.99996412e-01 -2.35063584e-03 -6.90600866e+01] [-1.27927116e-03 2.35227944e-03 9.99996415e-01 6.07556968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.54907232899996 meters 0.23226249726607492 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998574e-01 -1.32291133e-03 1.04969406e-03 -3.68556115e+01] [ 1.32556371e-03 9.99995921e-01 -2.53015488e-03 -6.90595861e+01] [-1.04634261e-03 2.53154270e-03 9.99996248e-01 6.07559884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579072329 meters 0.23396167042563806 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.76 [[ 9.99998583e-01 -1.47244172e-03 8.16493648e-04 -3.68552169e+01] [ 1.47479962e-03 9.99994723e-01 -2.89478369e-03 -6.90585500e+01] [-8.12226938e-04 2.89598375e-03 9.99995477e-01 6.07563092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.60907232899996 meters 0.2210858614932976 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99998605e-01 -1.54350804e-03 6.37824656e-04 -3.68548719e+01] [ 1.54546773e-03 9.99994052e-01 -3.08346667e-03 -6.90580003e+01] [-6.33061506e-04 3.08444811e-03 9.99995043e-01 6.07564825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639072329 meters 0.2529792972700194 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99999489e-01 -1.01094333e-03 -1.61162118e-05 -3.68526404e+01] [ 1.01090004e-03 9.99996385e-01 -2.49147020e-03 -6.90587808e+01] [ 1.86348887e-05 2.49145264e-03 9.99996896e-01 6.07556586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66907232899996 meters 0.21233272348264182 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99999499e-01 -9.91475066e-04 1.39927212e-04 -3.68528191e+01] [ 9.91809826e-04 9.99996597e-01 -2.41294749e-03 -6.90589121e+01] [-1.37534358e-04 2.41308506e-03 9.99997079e-01 6.07553540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699072329 meters 0.2161736343753542 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.75 [[ 9.99999070e-01 -8.61452527e-04 1.05730556e-03 -3.68548237e+01] [ 8.63374031e-04 9.99997974e-01 -1.81824994e-03 -6.90608747e+01] [-1.05573708e-03 1.81916110e-03 9.99997788e-01 6.07548883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72907232899996 meters 0.21181204216038207 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99998428e-01 -6.69731958e-04 1.64153810e-03 -3.68559563e+01] [ 6.71774049e-04 9.99999001e-01 -1.24377569e-03 -6.90625256e+01] [-1.64070347e-03 1.24487647e-03 9.99997879e-01 6.07543707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759072329 meters 0.22480209468787665 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99997720e-01 -5.76502931e-04 2.05612097e-03 -3.68568670e+01] [ 5.78429345e-04 9.99999394e-01 -9.36445179e-04 -6.90634425e+01] [-2.05557987e-03 9.37632365e-04 9.99997448e-01 6.07541884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78907232899996 meters 0.280254640620504 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99996172e-01 -6.00691687e-04 2.70086208e-03 -3.68581633e+01] [ 6.02714544e-04 9.99999538e-01 -7.48215469e-04 -6.90639583e+01] [-2.70041138e-03 7.49840454e-04 9.99996073e-01 6.07537075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819072329 meters 0.26247356958168155 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99995660e-01 -3.98808600e-04 2.91910767e-03 -3.68583934e+01] [ 3.99726631e-04 9.99999871e-01 -3.13913628e-04 -6.90651342e+01] [-2.91898210e-03 3.15079111e-04 9.99995690e-01 6.07532245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84907232899997 meters 0.26307319217227104 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99995205e-01 -3.15467359e-04 3.08062067e-03 -3.68581419e+01] [ 3.15754750e-04 9.99999946e-01 -9.28041785e-05 -6.90654050e+01] [-3.08059122e-03 9.37764541e-05 9.99995251e-01 6.07522302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87907232899994 meters 0.2515044584934962 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99996192e-01 -3.13325208e-04 2.74185394e-03 -3.68572091e+01] [ 3.13936827e-04 9.99999926e-01 -2.22640152e-04 -6.90648859e+01] [-2.74178398e-03 2.23500073e-04 9.99996216e-01 6.07521284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90907232899997 meters 0.2515044584934962 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99996192e-01 -3.13325208e-04 2.74185394e-03 -3.68572091e+01] [ 3.13936827e-04 9.99999926e-01 -2.22640152e-04 -6.90648859e+01] [-2.74178398e-03 2.23500073e-04 9.99996216e-01 6.07521284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93907232899994 meters 0.2475335185281973 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99996760e-01 -3.88710612e-04 2.51586775e-03 -3.68566534e+01] [ 3.89803421e-04 9.99999830e-01 -4.33890936e-04 -6.90641627e+01] [-2.51569866e-03 4.34870224e-04 9.99996741e-01 6.07521977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96907232899997 meters 0.2506601355143157 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99995996e-01 -6.68450113e-04 2.74973791e-03 -3.68572447e+01] [ 6.70788138e-04 9.99999414e-01 -8.49437626e-04 -6.90629267e+01] [-2.74916849e-03 8.51278717e-04 9.99995859e-01 6.07522400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99907232899994 meters 0.2379112211581737 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99995705e-01 -5.53834431e-04 2.87791902e-03 -3.68573856e+01] [ 5.55584917e-04 9.99999661e-01 -6.07483312e-04 -6.90635604e+01] [-2.87758160e-03 6.09079631e-04 9.99995674e-01 6.07519855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.029072329 meters 0.24271146208559347 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99995651e-01 -4.96945656e-04 2.90713817e-03 -3.68573990e+01] [ 4.98405915e-04 9.99999750e-01 -5.01598218e-04 -6.90638405e+01] [-2.90688817e-03 5.03044972e-04 9.99995648e-01 6.07519084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05907232899995 meters 0.25333633568978053 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99994849e-01 -4.67775316e-04 3.17526394e-03 -3.68579059e+01] [ 4.68905993e-04 9.99999827e-01 -3.55354226e-04 -6.90642165e+01] [-3.17509717e-03 3.56841296e-04 9.99994896e-01 6.07516660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.089072329 meters 0.24123893793724563 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.06, Z:60.75 [[ 9.99993361e-01 -4.54115509e-04 3.61556640e-03 -3.68590340e+01] [ 4.54772279e-04 9.99999880e-01 -1.80830622e-04 -6.90648608e+01] [-3.61548385e-03 1.82473681e-04 9.99993447e-01 6.07517177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11907232899995 meters 0.23664797478741834 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99991680e-01 -3.77831587e-04 4.06168994e-03 -3.68600239e+01] [ 3.77366784e-04 9.99999922e-01 1.15201485e-04 -6.90657601e+01] [-4.06173315e-03 -1.13667780e-04 9.99991745e-01 6.07515349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.149072329 meters 0.24968933180983305 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99990474e-01 -3.27306958e-04 4.35258375e-03 -3.68606467e+01] [ 3.25957657e-04 9.99999899e-01 3.10705713e-04 -6.90663324e+01] [-4.35268500e-03 -3.09283995e-04 9.99990479e-01 6.07513663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17907232899995 meters 0.21957517569891782 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99991206e-01 -2.53233593e-04 4.18618321e-03 -3.68603113e+01] [ 2.51629978e-04 9.99999895e-01 3.83595646e-04 -6.90665829e+01] [-4.18627991e-03 -3.82538903e-04 9.99991164e-01 6.07514858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.209072329 meters 0.21750969417752597 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99989510e-01 -3.90934301e-04 4.56364833e-03 -3.68611097e+01] [ 3.89801882e-04 9.99999893e-01 2.49025870e-04 -6.90661644e+01] [-4.56374520e-03 -2.47244339e-04 9.99989555e-01 6.07512927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23907232899995 meters 0.2190197517520294 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99987304e-01 -3.62516596e-04 5.02595016e-03 -3.68619326e+01] [ 3.59991025e-04 9.99999808e-01 5.03401666e-04 -6.90667857e+01] [-5.02613169e-03 -5.01585978e-04 9.99987243e-01 6.07507821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.269072329 meters 0.22389070220622911 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99985958e-01 -3.44275008e-04 5.28821652e-03 -3.68621295e+01] [ 3.40959507e-04 9.99999745e-01 6.27848990e-04 -6.90669214e+01] [-5.28843132e-03 -6.26037106e-04 9.99985820e-01 6.07500916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29907232899996 meters 0.2216736013918955 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99986028e-01 -3.41393537e-04 5.27519917e-03 -3.68618561e+01] [ 3.38113203e-04 9.99999749e-01 6.22719991e-04 -6.90667633e+01] [-5.27541043e-03 -6.20927675e-04 9.99985892e-01 6.07497429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.329072329 meters 0.2976198983883182 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99986702e-01 -2.40971067e-04 5.15149448e-03 -3.68614226e+01] [ 2.37075520e-04 9.99999686e-01 7.56794801e-04 -6.90670948e+01] [-5.15167522e-03 -7.55563444e-04 9.99986445e-01 6.07495594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35907232899996 meters 0.2950360037658682 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99987300e-01 -2.76527366e-04 5.03224819e-03 -3.68611268e+01] [ 2.73238019e-04 9.99999749e-01 6.54329396e-04 -6.90667391e+01] [-5.03242787e-03 -6.52946084e-04 9.99987124e-01 6.07495968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.389072329 meters 0.243114046386886 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99986092e-01 -5.14815594e-04 5.24885901e-03 -3.68617219e+01] [ 5.13211821e-04 9.99999821e-01 3.06889395e-04 -6.90657180e+01] [-5.24901606e-03 -3.04191350e-04 9.99986178e-01 6.07496905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41907232899996 meters 0.27839526225704897 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99984503e-01 -5.21990410e-04 5.54276255e-03 -3.68624728e+01] [ 5.19727478e-04 9.99999781e-01 4.09700429e-04 -6.90660851e+01] [-5.54297520e-03 -4.06813353e-04 9.99984555e-01 6.07497196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.449072329 meters 0.2746841237608998 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99982232e-01 -6.82488339e-04 5.92200192e-03 -3.68634482e+01] [ 6.81010186e-04 9.99999736e-01 2.51616590e-04 -6.90656883e+01] [-5.92217209e-03 -2.47579176e-04 9.99982433e-01 6.07497435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47907232899996 meters 0.2687818233440063 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99977431e-01 -6.69972360e-04 6.68498035e-03 -3.68653492e+01] [ 6.66173261e-04 9.99999615e-01 5.70514317e-04 -6.90669492e+01] [-6.68536001e-03 -5.66048086e-04 9.99977493e-01 6.07498101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.509072329 meters 0.27288577412751003 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99975450e-01 -6.62021334e-04 6.97570993e-03 -3.68659800e+01] [ 6.57201730e-04 9.99999544e-01 6.93181839e-04 -6.90673016e+01] [-6.97616565e-03 -6.88580373e-04 9.99975429e-01 6.07496509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53907232899996 meters 0.25375406332597866 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99967426e-01 -6.97542893e-04 8.04122159e-03 -3.68680017e+01] [ 6.87860612e-04 9.99999035e-01 1.20678362e-03 -6.90687968e+01] [-8.04205562e-03 -1.20121307e-03 9.99966941e-01 6.07485642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.569072329 meters 0.24593067413439315 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99963746e-01 -6.37082237e-04 8.49124893e-03 -3.68688074e+01] [ 6.24441394e-04 9.99998693e-01 1.49125868e-03 -6.90695357e+01] [-8.49218789e-03 -1.48590233e-03 9.99962837e-01 6.07480616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59907232899997 meters 0.24426900995072096 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99956795e-01 -6.25882880e-04 9.27450909e-03 -3.68703796e+01] [ 6.08831856e-04 9.99998120e-01 1.84119196e-03 -6.90705567e+01] [-9.27564402e-03 -1.83546579e-03 9.99955296e-01 6.07474449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62907232899994 meters 0.24016277415043427 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99953393e-01 -5.79644978e-04 9.63717953e-03 -3.68712602e+01] [ 5.59707391e-04 9.99997698e-01 2.07138810e-03 -6.90713149e+01] [-9.63835801e-03 -2.06589756e-03 9.99951416e-01 6.07473707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65907232899997 meters 0.2471617554216923 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99950025e-01 -6.73840939e-04 9.97461608e-03 -3.68719861e+01] [ 6.53676238e-04 9.99997737e-01 2.02472387e-03 -6.90711541e+01] [-9.97595784e-03 -2.01810252e-03 9.99948202e-01 6.07471724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68907232899994 meters 0.28477137631500643 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99942438e-01 -7.83833189e-04 1.07007661e-02 -3.68733887e+01] [ 7.61385455e-04 9.99997502e-01 2.10168149e-03 -6.90713269e+01] [-1.07023867e-02 -2.09341310e-03 9.99940537e-01 6.07465602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71907232899997 meters 0.2278151294297167 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99942292e-01 -6.82501695e-04 1.07212886e-02 -3.68734173e+01] [ 6.57965200e-04 9.99997157e-01 2.29193756e-03 -6.90719264e+01] [-1.07228224e-02 -2.28475107e-03 9.99939899e-01 6.07464988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74907232899994 meters 0.2465629647295808 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.75 [[ 9.99938437e-01 -7.81954471e-04 1.10684150e-02 -3.68742556e+01] [ 7.57164026e-04 9.99997196e-01 2.24375985e-03 -6.90718257e+01] [-1.10701385e-02 -2.23524111e-03 9.99936226e-01 6.07464449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779072329 meters 0.24789783486832098 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99924682e-01 -1.08828068e-03 1.22248022e-02 -3.68770301e+01] [ 1.05861213e-03 9.99996480e-01 2.43312342e-03 -6.90729572e+01] [-1.22274071e-02 -2.41999884e-03 9.99922314e-01 6.07462367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80907232899995 meters 0.24890386404926745 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99923191e-01 -1.15270303e-03 1.23403519e-02 -3.68774310e+01] [ 1.12361231e-03 9.99996574e-01 2.36403891e-03 -6.90728175e+01] [-1.23430347e-02 -2.34999156e-03 9.99921060e-01 6.07463842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839072329 meters 0.26199115574153065 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99920465e-01 -1.18449620e-03 1.25563350e-02 -3.68779532e+01] [ 1.15460223e-03 9.99996483e-01 2.38776959e-03 -6.90729049e+01] [-1.25591191e-02 -2.37308210e-03 9.99918315e-01 6.07463420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86907232899995 meters 0.24165711284291333 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99916343e-01 -1.34897307e-03 1.28642202e-02 -3.68787507e+01] [ 1.32061504e-03 9.99996680e-01 2.21265050e-03 -6.90724363e+01] [-1.28671623e-02 -2.19547671e-03 9.99914804e-01 6.07463690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899072329 meters 0.2667309406594838 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99916757e-01 -1.42131952e-03 1.28241833e-02 -3.68786031e+01] [ 1.39485436e-03 9.99996880e-01 2.07239996e-03 -6.90719837e+01] [-1.28270888e-02 -2.05433958e-03 9.99915619e-01 6.07462876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.92907232899995 meters 0.2464905450418498 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99917361e-01 -1.33418558e-03 1.27863739e-02 -3.68785063e+01] [ 1.30598017e-03 9.99996696e-01 2.21399233e-03 -6.90724263e+01] [-1.27892856e-02 -2.19711061e-03 9.99915800e-01 6.07462801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959072329 meters 0.24665481528296918 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99922121e-01 -1.65499462e-03 1.23698268e-02 -3.68782905e+01] [ 1.63688465e-03 9.99997574e-01 1.47402499e-03 -6.90706462e+01] [-1.23722363e-02 -1.45366221e-03 9.99922404e-01 6.07475479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.98907232899995 meters 0.24494040904632208 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99923234e-01 -1.80071264e-03 1.22589977e-02 -3.68783204e+01] [ 1.78634906e-03 9.99997705e-01 1.18252569e-03 -6.90699037e+01] [-1.22610989e-02 -1.16053606e-03 9.99924156e-01 6.07480040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019072329 meters 0.24296446879279135 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99928492e-01 -1.78900407e-03 1.18241486e-02 -3.68775197e+01] [ 1.77656923e-03 9.99997858e-01 1.06206851e-03 -6.90696497e+01] [-1.18260233e-02 -1.04098614e-03 9.99929528e-01 6.07484008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.04907232899996 meters 0.24828182290599474 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.07, Z:60.75 [[ 9.99935409e-01 -1.70043544e-03 1.12377304e-02 -3.68762470e+01] [ 1.68896465e-03 9.99998043e-01 1.03015077e-03 -6.90695321e+01] [-1.12394601e-02 -1.01110410e-03 9.99936324e-01 6.07486713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079072329 meters 0.24105131052136322 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99966838e-01 5.72216619e-03 5.79475681e-03 -3.68609951e+01] [-5.73713943e-03 9.99980238e-01 2.57061196e-03 -6.90728872e+01] [-5.77993283e-03 -2.60377204e-03 9.99979906e-01 6.07513087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.10907232899996 meters 0.25550650150323273 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99975188e-01 5.47515766e-03 4.43241152e-03 -3.68583026e+01] [-5.48099964e-03 9.99984125e-01 1.30694132e-03 -6.90692192e+01] [-4.42518545e-03 -1.33120293e-03 9.99989323e-01 6.07525704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139072329 meters 0.22399466676607133 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99981007e-01 5.33572787e-03 3.08462616e-03 -3.68554931e+01] [-5.33632582e-03 9.99985744e-01 1.85651662e-04 -6.90657865e+01] [-3.08359160e-03 -2.02108707e-04 9.99995225e-01 6.07535926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16907232899996 meters 0.23607715702871637 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.06, Z:60.76 [[ 9.99937142e-01 1.11818896e-02 -8.22454608e-04 -3.68475050e+01] [-1.11802725e-02 9.99935607e-01 1.94511747e-03 -6.90612855e+01] [ 8.44151736e-04 -1.93579993e-03 9.99997770e-01 6.07581194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199072329 meters 0.22704598015576202 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.76 [[ 9.99935958e-01 1.10801835e-02 -2.30439997e-03 -3.68444383e+01] [-1.10783491e-02 9.99938307e-01 8.07316581e-04 -6.90577381e+01] [ 2.31320303e-03 -7.81735931e-04 9.99997019e-01 6.07593386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22907232899996 meters 0.2240206556780963 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.76 [[ 9.99840565e-01 1.62446999e-02 -7.41310315e-03 -3.68313232e+01] [-1.62517445e-02 9.99867535e-01 -8.91034982e-04 -6.90567609e+01] [ 7.39764658e-03 1.01136878e-03 9.99972126e-01 6.07647722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259072329 meters 0.28038501991724485 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.05, Z:60.77 [[ 9.99838591e-01 1.58429182e-02 -8.47309805e-03 -3.68296222e+01] [-1.58617296e-02 9.99871867e-01 -2.15755300e-03 -6.90534553e+01] [ 8.43783043e-03 2.29160274e-03 9.99961775e-01 6.07664289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28907232899996 meters 0.27367236805431633 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99905562e-01 1.05149074e-02 -8.84892600e-03 -3.68226528e+01] [-1.04724363e-02 9.99933486e-01 4.83229712e-03 -6.90546152e+01] [ 8.89914859e-03 -4.73917095e-03 9.99949171e-01 6.07754677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319072329 meters 0.2794474804440701 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99898158e-01 1.02598217e-02 -9.92020247e-03 -3.68206935e+01] [-1.02211831e-02 9.99940009e-01 3.93782767e-03 -6.90520425e+01] [ 9.96000875e-03 -3.83603042e-03 9.99943040e-01 6.07766235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34907232899997 meters 0.27174601081744276 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99885949e-01 1.01423130e-02 -1.11903241e-02 -3.68179771e+01] [-1.01105981e-02 9.99944719e-01 2.88707543e-03 -6.90484159e+01] [ 1.12189871e-02 -2.77360529e-03 9.99933218e-01 6.07775792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37907232899994 meters 0.2686577136528685 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99882941e-01 9.99059242e-03 -1.15884828e-02 -3.68172140e+01] [-9.96227659e-03 9.99947254e-01 2.49860456e-03 -6.90472911e+01] [ 1.16128341e-02 -2.38286440e-03 9.99929730e-01 6.07779451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40907232899997 meters 0.26525836937218134 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99876779e-01 9.77846067e-03 -1.22803923e-02 -3.68160579e+01] [-9.75628501e-03 9.99950668e-01 1.86439079e-03 -6.90455555e+01] [ 1.22980174e-02 -1.74435006e-03 9.99922855e-01 6.07788703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43907232899994 meters 0.25806438377953167 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.04, Z:60.78 [[ 9.99876014e-01 9.59019005e-03 -1.24893705e-02 -3.68159267e+01] [-9.57255012e-03 9.99953100e-01 1.47141144e-03 -6.90445562e+01] [ 1.25028958e-02 -1.35167388e-03 9.99920922e-01 6.07794525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46907232899997 meters 0.2530926125334793 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.04, Z:60.78 [[ 9.99879160e-01 9.47245083e-03 -1.23263327e-02 -3.68165512e+01] [-9.45667977e-03 9.99954391e-01 1.33711869e-03 -6.90443289e+01] [ 1.23384363e-02 -1.22039093e-03 9.99923134e-01 6.07797304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49907232899994 meters 0.24839195416457635 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.04, Z:60.78 [[ 9.99868967e-01 9.36581079e-03 -1.32033873e-02 -3.68147048e+01] [-9.35665053e-03 9.99955940e-01 7.55383945e-04 -6.90423910e+01] [ 1.32098803e-02 -6.31745485e-04 9.99912546e-01 6.07802864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.529072329 meters 0.2352902947469873 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.04, Z:60.78 [[ 9.99870683e-01 9.22495323e-03 -1.31726268e-02 -3.68147658e+01] [-9.21889795e-03 9.99957370e-01 5.20334948e-04 -6.90416714e+01] [ 1.31768653e-02 -3.98830558e-04 9.99913102e-01 6.07802769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55907232899995 meters 0.25737411410341277 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.04, Z:60.78 [[ 9.99875608e-01 9.24477809e-03 -1.27789870e-02 -3.68155217e+01] [-9.23659498e-03 9.99957097e-01 6.99228895e-04 -6.90421659e+01] [ 1.27849030e-02 -5.81107589e-04 9.99918101e-01 6.07798751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.589072329 meters 0.23889891331136823 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.04, Z:60.78 [[ 9.99878520e-01 9.26536070e-03 -1.25338757e-02 -3.68159266e+01] [-9.25589078e-03 9.99956833e-01 8.13345128e-04 -6.90424424e+01] [ 1.25408705e-02 -6.97234139e-04 9.99921117e-01 6.07795397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61907232899995 meters 0.23243120053905772 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.04, Z:60.78 [[ 9.99881345e-01 9.22701238e-03 -1.23352707e-02 -3.68163635e+01] [-9.21766822e-03 9.99957185e-01 8.14155412e-04 -6.90424361e+01] [ 1.23422548e-02 -7.00356375e-04 9.99923586e-01 6.07794316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.649072329 meters 0.24180089961300064 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99955484e-01 9.27061349e-03 1.75690976e-03 -3.68164846e+01] [-9.27635464e-03 9.99951567e-01 3.28827273e-03 -6.90494926e+01] [-1.72634036e-03 -3.30442406e-03 9.99993050e-01 6.07754312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67907232899995 meters 0.24867167039886362 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99987946e-01 4.77642493e-03 1.13718426e-03 -3.68156067e+01] [-4.77469238e-03 9.99987444e-01 -1.52141728e-03 -6.90482716e+01] [-1.14443692e-03 1.51596923e-03 9.99998196e-01 6.07763779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.709072329 meters 0.2315943886483155 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99988121e-01 4.72805318e-03 1.18471194e-03 -3.68160560e+01] [-4.72617272e-03 9.99987575e-01 -1.58507783e-03 -6.90482566e+01] [-1.19219156e-03 1.57945985e-03 9.99998042e-01 6.07768743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73907232899995 meters 0.21112650472649655 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99988442e-01 4.73962690e-03 8.07828672e-04 -3.68156507e+01] [-4.73826480e-03 9.99987364e-01 -1.67977830e-03 -6.90481504e+01] [-8.15779986e-04 1.67593118e-03 9.99998263e-01 6.07777499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.769072329 meters 0.2910777072515456 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99987867e-01 4.82551089e-03 9.90500499e-04 -3.68160084e+01] [-4.82405152e-03 9.99987283e-01 -1.47050436e-03 -6.90487409e+01] [-9.97583837e-04 1.46570829e-03 9.99998428e-01 6.07776095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79907232899996 meters 0.23352135204105895 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99985799e-01 5.03527874e-03 1.74572698e-03 -3.68175379e+01] [-5.03388391e-03 9.99987008e-01 -8.02474374e-04 -6.90507055e+01] [-1.74974499e-03 7.93675191e-04 9.99998154e-01 6.07770547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.829072329 meters 0.23352135204105895 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99985799e-01 5.03527874e-03 1.74572698e-03 -3.68175379e+01] [-5.03388391e-03 9.99987008e-01 -8.02474374e-04 -6.90507055e+01] [-1.74974499e-03 7.93675191e-04 9.99998154e-01 6.07770547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85907232899996 meters 0.27182285664667377 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.78 [[ 9.99995715e-01 1.31274495e-03 2.61650077e-03 -3.68191539e+01] [-1.30305422e-03 9.99992299e-01 -3.70196700e-03 -6.90548514e+01] [-2.62134036e-03 3.69854169e-03 9.99989725e-01 6.07760362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.889072329 meters 0.2675274025628861 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.78 [[ 9.99993375e-01 1.50028739e-03 3.31636218e-03 -3.68205118e+01] [-1.49001898e-03 9.99994095e-01 -3.09658990e-03 -6.90565957e+01] [-3.32098837e-03 3.09162795e-03 9.99989706e-01 6.07754422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91907232899996 meters 0.2637727893025628 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99991024e-01 1.64814504e-03 3.90334914e-03 -3.68216100e+01] [-1.63787433e-03 9.99995192e-01 -2.63299140e-03 -6.90578646e+01] [-3.90766993e-03 2.62657457e-03 9.99988916e-01 6.07748860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.949072329 meters 0.2400167001150429 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99984389e-01 1.62929418e-03 5.34481670e-03 -3.68244558e+01] [-1.62143957e-03 9.99997600e-01 -1.47357905e-03 -6.90615363e+01] [-5.34720476e-03 1.46488975e-03 9.99984631e-01 6.07733499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97907232899996 meters 0.2280455727864473 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.77 [[ 9.99980795e-01 1.78154241e-03 5.93596415e-03 -3.68254951e+01] [-1.77591311e-03 9.99997969e-01 -9.53474953e-04 -6.90629169e+01] [-5.93765075e-03 9.42914885e-04 9.99981927e-01 6.07726449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.009072329 meters 0.2380401265679684 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99982630e-01 -2.21555555e-03 5.46173443e-03 -3.68239991e+01] [ 2.24222487e-03 9.99985571e-01 -4.88166154e-03 -6.90635041e+01] [-5.45084003e-03 4.89382319e-03 9.99973169e-01 6.07722033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03907232899996 meters 0.22042818559260258 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.77 [[ 9.99979409e-01 -2.22367855e-03 6.01977593e-03 -3.68251127e+01] [ 2.25208270e-03 9.99986345e-01 -4.71581403e-03 -6.90639285e+01] [-6.00920727e-03 4.72927396e-03 9.99970761e-01 6.07718052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.069072329 meters 0.24856666606824931 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99976177e-01 -2.10884108e-03 6.57246365e-03 -3.68262256e+01] [ 2.13708771e-03 9.99988499e-01 -4.29366675e-03 -6.90651158e+01] [-6.56333339e-03 4.30761039e-03 9.99969183e-01 6.07714019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09907232899997 meters 0.22010189283486012 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99965118e-01 -2.56731039e-03 7.94803988e-03 -3.68296883e+01] [ 2.59954455e-03 9.99988428e-01 -4.04794006e-03 -6.90670473e+01] [-7.93755559e-03 4.06846014e-03 9.99960221e-01 6.07713925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12907232899994 meters 0.280319320856421 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99962805e-01 -2.56643149e-03 8.23422662e-03 -3.68304311e+01] [ 2.59896741e-03 9.99988849e-01 -3.94303790e-03 -6.90674140e+01] [-8.22401527e-03 3.96429172e-03 9.99958324e-01 6.07714321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15907232899997 meters 0.21069676549299507 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99955669e-01 -2.63602895e-03 9.03938429e-03 -3.68321839e+01] [ 2.67003770e-03 9.99989396e-01 -3.75228425e-03 -6.90680612e+01] [-9.02939730e-03 3.77625341e-03 9.99952104e-01 6.07711446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18907232899994 meters 0.27153884343927853 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99948452e-01 -2.33025899e-03 9.88249281e-03 -3.68338719e+01] [ 2.35817570e-03 9.99993260e-01 -2.81415352e-03 -6.90707742e+01] [-9.87586849e-03 2.83731311e-03 9.99947207e-01 6.07704647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21907232899997 meters 0.2747300190689307 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99943159e-01 -2.16336745e-03 1.04402599e-02 -3.68349896e+01] [ 2.18759431e-03 9.99994940e-01 -2.30966112e-03 -6.90722203e+01] [-1.04352104e-02 2.33236889e-03 9.99942832e-01 6.07700348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24907232899994 meters 0.27020283935646006 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99934210e-01 -2.03550856e-03 1.12886245e-02 -3.68366273e+01] [ 2.05488567e-03 9.99996435e-01 -1.70518396e-03 -6.90739092e+01] [-1.12851134e-02 1.72826861e-03 9.99934828e-01 6.07692919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279072329 meters 0.21379226271802473 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99928588e-01 -1.65387973e-03 1.18356856e-02 -3.68372786e+01] [ 1.66345993e-03 9.99998297e-01 -7.99635115e-04 -6.90762827e+01] [-1.18343430e-02 8.19266200e-04 9.99929636e-01 6.07681546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30907232899995 meters 0.2580502641286337 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99932689e-01 -1.65881338e-03 1.14832903e-02 -3.68364310e+01] [ 1.66979101e-03 9.99998158e-01 -9.46443947e-04 -6.90757870e+01] [-1.14816992e-02 9.65554936e-04 9.99933617e-01 6.07681968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339072329 meters 0.26094034854532083 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99939188e-01 -1.69086622e-03 1.08977555e-02 -3.68351234e+01] [ 1.70426018e-03 9.99997804e-01 -1.21988772e-03 -6.90749092e+01] [-1.08956689e-02 1.23838615e-03 9.99939874e-01 6.07684377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36907232899995 meters 0.23281041326811439 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99945324e-01 -1.58556242e-03 1.03360785e-02 -3.68338267e+01] [ 1.59889045e-03 9.99997901e-01 -1.28133127e-03 -6.90746232e+01] [-1.03340251e-02 1.29778746e-03 9.99945760e-01 6.07685965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399072329 meters 0.2390496425699063 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99945501e-01 -1.67259306e-03 1.03052006e-02 -3.68339248e+01] [ 1.68758998e-03 9.99997529e-01 -1.44675310e-03 -6.90741972e+01] [-1.03027554e-02 1.46406521e-03 9.99945853e-01 6.07688738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.42907232899995 meters 0.26141606327808686 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99950203e-01 -1.78095297e-03 9.81938976e-03 -3.68330276e+01] [ 1.79928282e-03 9.99996655e-01 -1.85818155e-03 -6.90730761e+01] [-9.81604758e-03 1.87575687e-03 9.99950062e-01 6.07693956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459072329 meters 0.22233209365888285 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99957689e-01 -1.91303465e-03 8.99783658e-03 -3.68313911e+01] [ 1.93515203e-03 9.99995126e-01 -2.45001431e-03 -6.90712631e+01] [-8.99310577e-03 2.46732283e-03 9.99956517e-01 6.07701678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.48907232899995 meters 0.26012365661227727 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99957530e-01 -2.08026341e-03 8.97830841e-03 -3.68314171e+01] [ 2.10509454e-03 9.99993983e-01 -2.75711614e-03 -6.90703354e+01] [-8.97251887e-03 2.77589924e-03 9.99955893e-01 6.07703251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519072329 meters 0.27558847283523746 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99959336e-01 -2.00908256e-03 8.79143569e-03 -3.68311661e+01] [ 2.03288070e-03 9.99994292e-01 -2.69886997e-03 -6.90705775e+01] [-8.78596325e-03 2.71663216e-03 9.99957712e-01 6.07706826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.54907232899996 meters 0.24921612090009734 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99959613e-01 -1.97123624e-03 8.76854495e-03 -3.68312113e+01] [ 1.99444804e-03 9.99994528e-01 -2.63921012e-03 -6.90708078e+01] [-8.76329447e-03 2.65659193e-03 9.99958073e-01 6.07708435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579072329 meters 0.2535388368693095 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99958168e-01 -1.99646033e-03 8.92614221e-03 -3.68316539e+01] [ 2.02001792e-03 9.99994499e-01 -2.63093209e-03 -6.90708799e+01] [-8.92084055e-03 2.64885300e-03 9.99956700e-01 6.07709164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.60907232899996 meters 0.23210644998721822 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99953635e-01 -2.11222598e-03 9.39497897e-03 -3.68326863e+01] [ 2.13769354e-03 9.99994066e-01 -2.70154742e-03 -6.90706707e+01] [-9.38921694e-03 2.72150575e-03 9.99952217e-01 6.07707699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639072329 meters 0.2435732609955177 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99952468e-01 -1.90555252e-03 9.56198663e-03 -3.68329393e+01] [ 1.92747999e-03 9.99995533e-01 -2.28450063e-03 -6.90718700e+01] [-9.55759068e-03 2.30282258e-03 9.99951674e-01 6.07705220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66907232899996 meters 0.30640682479370496 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99949236e-01 -1.88037024e-03 9.89898420e-03 -3.68335512e+01] [ 1.90142351e-03 9.99995950e-01 -2.11783006e-03 -6.90722871e+01] [-9.89496180e-03 2.13654471e-03 9.99948761e-01 6.07701687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699072329 meters 0.25845072592564744 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99942695e-01 -1.59514909e-03 1.05859308e-02 -3.68345047e+01] [ 1.60922172e-03 9.99997833e-01 -1.32098594e-03 -6.90743339e+01] [-1.05838007e-02 1.33794535e-03 9.99943095e-01 6.07689337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72907232899996 meters 0.22848266047411367 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99940500e-01 -1.51675048e-03 1.08026209e-02 -3.68349048e+01] [ 1.52879050e-03 9.99998219e-01 -1.10637526e-03 -6.90749386e+01] [-1.08009236e-02 1.12282437e-03 9.99941038e-01 6.07687109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759072329 meters 0.2615030843816855 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99938116e-01 -1.44175400e-03 1.10311485e-02 -3.68354350e+01] [ 1.45162543e-03 9.99998553e-01 -8.86914217e-04 -6.90756183e+01] [-1.10298538e-02 9.02872426e-04 9.99938762e-01 6.07686381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78907232899996 meters 0.28497517361229113 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99930394e-01 -1.25856188e-03 1.17312927e-02 -3.68367451e+01] [ 1.26269010e-03 9.99999143e-01 -3.44497575e-04 -6.90771782e+01] [-1.17308490e-02 3.59286583e-04 9.99931127e-01 6.07679605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819072329 meters 0.27485751729538077 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99928298e-01 -1.02547410e-03 1.19309562e-02 -3.68370497e+01] [ 1.02390026e-03 9.99999466e-01 1.38020071e-04 -6.90785864e+01] [-1.19310914e-02 -1.25794066e-04 9.99928814e-01 6.07676416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84907232899997 meters 0.2649900216984834 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99926241e-01 -1.04991229e-03 1.21000153e-02 -3.68374227e+01] [ 1.04814990e-03 9.99999439e-01 1.51993097e-04 -6.90786298e+01] [-1.21001681e-02 -1.39299257e-04 9.99926781e-01 6.07675485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87907232899994 meters 0.283504180903484 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99916904e-01 -5.15933112e-03 1.18138212e-02 -3.68365730e+01] [ 5.20661282e-03 9.99978545e-01 -3.97498359e-03 -6.90791266e+01] [-1.17930595e-02 4.03616327e-03 9.99922314e-01 6.07674375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90907232899997 meters 0.27143185481860144 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99921530e-01 -5.11915987e-03 1.14336462e-02 -3.68358134e+01] [ 5.16576872e-03 9.99978453e-01 -4.05065873e-03 -6.90789344e+01] [-1.14126638e-02 4.10940445e-03 9.99926429e-01 6.07677427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93907232899994 meters 0.2713853720948625 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99917402e-01 -5.24273281e-03 1.17347313e-02 -3.68366006e+01] [ 5.29195603e-03 9.99977313e-01 -4.16754818e-03 -6.90786360e+01] [-1.17126158e-02 4.22930363e-03 9.99922461e-01 6.07678417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96907232899997 meters 0.26528198896842614 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99908057e-01 -5.35355794e-03 1.24586120e-02 -3.68384359e+01] [ 5.40484218e-03 9.99977044e-01 -4.08634541e-03 -6.90791615e+01] [-1.24364495e-02 4.15330653e-03 9.99914039e-01 6.07679878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99907232899994 meters 0.2589692924637077 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99901554e-01 -5.48887612e-03 1.29133203e-02 -3.68394901e+01] [ 5.54323599e-03 9.99975910e-01 -4.17757717e-03 -6.90789046e+01] [-1.28900791e-02 4.24874748e-03 9.99907893e-01 6.07679177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.029072329 meters 0.2453055553349261 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99895244e-01 -5.35621833e-03 1.34466088e-02 -3.68405941e+01] [ 5.40686131e-03 9.99978416e-01 -3.73270236e-03 -6.90801782e+01] [-1.34263255e-02 3.80501529e-03 9.99902623e-01 6.07675783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05907232899995 meters 0.23905894189467772 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.77 [[ 9.99877716e-01 -5.27070941e-03 1.47231778e-02 -3.68431600e+01] [ 5.31026231e-03 9.99982393e-01 -2.64863630e-03 -6.90834347e+01] [-1.47089583e-02 2.72649635e-03 9.99888100e-01 6.07663940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.089072329 meters 0.24247059760285825 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.77 [[ 9.99860724e-01 -5.33638148e-03 1.58131676e-02 -3.68454570e+01] [ 5.36998251e-03 9.99983412e-01 -2.08317778e-03 -6.90851675e+01] [-1.58017887e-02 2.16780407e-03 9.99872794e-01 6.07656877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11907232899995 meters 0.22654312675934718 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.76 [[ 9.99840480e-01 -5.28586292e-03 1.70609125e-02 -3.68479652e+01] [ 5.30804679e-03 9.99985124e-01 -1.25525251e-03 -6.90877494e+01] [-1.70540236e-02 1.34561240e-03 9.99853664e-01 6.07646284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.149072329 meters 0.22309051024569923 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.76 [[ 9.99834009e-01 -5.12500493e-03 1.74839458e-02 -3.68487662e+01] [ 5.13995594e-03 9.99986462e-01 -8.10298082e-04 -6.90890099e+01] [-1.74795564e-02 9.00030291e-04 9.99846816e-01 6.07642259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17907232899995 meters 0.2847867483208743 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.76 [[ 9.99832529e-01 -5.02570758e-03 1.75970297e-02 -3.68489559e+01] [ 5.03697372e-03 9.99987137e-01 -5.95966305e-04 -6.90896271e+01] [-1.75938082e-02 6.84502274e-04 9.99844983e-01 6.07640899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.209072329 meters 0.25372651844641436 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99980276e-01 -3.99981933e-03 4.84236313e-03 -3.68517010e+01] [ 4.02131661e-03 9.99982067e-01 -4.43785153e-03 -6.90794589e+01] [-4.82452569e-03 4.45723667e-03 9.99978428e-01 6.07670884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23907232899995 meters 0.2478987333136079 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99976357e-01 -4.13018298e-03 5.49785605e-03 -3.68528838e+01] [ 4.15450812e-03 9.99981600e-01 -4.42043545e-03 -6.90793751e+01] [-5.47949768e-03 4.44317183e-03 9.99975116e-01 6.07664408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.269072329 meters 0.2338532108200999 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99975787e-01 -4.07472839e-03 5.64116800e-03 -3.68529715e+01] [ 4.09889168e-03 9.99982447e-01 -4.27846935e-03 -6.90796841e+01] [-5.62363538e-03 4.30148829e-03 9.99974936e-01 6.07660342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29907232899996 meters 0.23957200293108943 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99970774e-01 -4.03519737e-03 6.49370052e-03 -3.68544888e+01] [ 4.06037110e-03 9.99984275e-01 -3.86813552e-03 -6.90807399e+01] [-6.47798972e-03 3.89438930e-03 9.99971434e-01 6.07650667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.329072329 meters 0.21506278521585895 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99971751e-01 -3.95461627e-03 6.39203582e-03 -3.68542352e+01] [ 3.97874442e-03 9.99984992e-01 -3.76642203e-03 -6.90810358e+01] [-6.37704513e-03 3.79174791e-03 9.99972478e-01 6.07650906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35907232899996 meters 0.25505157912460913 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99972519e-01 -4.01208856e-03 6.23408653e-03 -3.68539756e+01] [ 4.03663184e-03 9.99984133e-01 -3.92936611e-03 -6.90805705e+01] [-6.21822264e-03 3.95442284e-03 9.99972848e-01 6.07653301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.389072329 meters 0.23801641015199484 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.77 [[ 9.99968836e-01 -4.16763694e-03 6.70505716e-03 -3.68550652e+01] [ 4.19486245e-03 9.99982994e-01 -4.05151768e-03 -6.90802219e+01] [-6.68805787e-03 4.07951821e-03 9.99969313e-01 6.07652316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41907232899996 meters 0.24163225223374882 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.77 [[ 9.99968586e-01 -4.02818497e-03 6.82653409e-03 -3.68554860e+01] [ 4.05399458e-03 9.99984672e-01 -3.77116767e-03 -6.90811337e+01] [-6.81123849e-03 3.79872394e-03 9.99969588e-01 6.07654100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.449072329 meters 0.2169963800080719 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.77 [[ 9.99959726e-01 -4.33166351e-03 7.86020372e-03 -3.68578379e+01] [ 4.36342154e-03 9.99982369e-01 -4.02771555e-03 -6.90807657e+01] [-7.84261843e-03 4.06185072e-03 9.99960997e-01 6.07653409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47907232899996 meters 0.21205487007110177 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.77 [[ 9.99957331e-01 -4.29248175e-03 8.17986950e-03 -3.68584952e+01] [ 4.32405348e-03 9.99983256e-01 -3.84591650e-03 -6.90812728e+01] [-8.16322400e-03 3.88112259e-03 9.99959148e-01 6.07651270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.509072329 meters 0.2309529445111059 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.76 [[ 9.99954624e-01 -4.19649776e-03 8.55220298e-03 -3.68590178e+01] [ 4.22696273e-03 9.99984775e-01 -3.54727987e-03 -6.90819992e+01] [-8.53718662e-03 3.58326875e-03 9.99957137e-01 6.07645142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53907232899996 meters 0.23164407302085047 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.76 [[ 9.99960768e-01 -3.46229980e-03 8.15324915e-03 -3.68569844e+01] [ 3.48284334e-03 9.99990793e-01 -2.50682577e-03 -6.90839573e+01] [-8.14449470e-03 2.53512391e-03 9.99963620e-01 6.07629497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.569072329 meters 0.22454228278134608 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.76 [[ 9.99964907e-01 -3.20940705e-03 7.73846566e-03 -3.68556991e+01] [ 3.22646161e-03 9.99992392e-01 -2.19239254e-03 -6.90846472e+01] [-7.73137051e-03 2.21728347e-03 9.99967654e-01 6.07625508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59907232899997 meters 0.2175688149823027 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.76 [[ 9.99969356e-01 -3.24171191e-03 7.12586302e-03 -3.68542011e+01] [ 3.25993894e-03 9.99991441e-01 -2.54774533e-03 -6.90833974e+01] [-7.11754297e-03 2.57089713e-03 9.99971365e-01 6.07626488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62907232899994 meters 0.25028092792348533 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.76 [[ 9.99975860e-01 6.51471819e-04 6.91773454e-03 -3.68544649e+01] [-6.58313646e-04 9.99999296e-01 9.86796130e-04 -6.90814289e+01] [-6.91708681e-03 -9.91326348e-04 9.99975585e-01 6.07637875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65907232899997 meters 0.23856321690694793 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.76 [[ 9.99978661e-01 4.34070695e-04 6.51843090e-03 -3.68538689e+01] [-4.37056245e-04 9.99999800e-01 4.56599175e-04 -6.90799916e+01] [-6.51823140e-03 -4.59438353e-04 9.99978651e-01 6.07644173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68907232899994 meters 0.2476122654509044 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99980679e-01 1.49980760e-04 6.21448285e-03 -3.68535562e+01] [-1.48963807e-04 9.99999975e-01 -1.64105082e-04 -6.90783271e+01] [-6.21450731e-03 1.63176178e-04 9.99980676e-01 6.07651048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71907232899997 meters 0.2476122654509044 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99980679e-01 1.49980760e-04 6.21448285e-03 -3.68535562e+01] [-1.48963807e-04 9.99999975e-01 -1.64105082e-04 -6.90783271e+01] [-6.21450731e-03 1.63176178e-04 9.99980676e-01 6.07651048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74907232899994 meters 0.2465246110727852 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.77 [[ 9.99988713e-01 4.10897966e-04 4.73344913e-03 -3.68504681e+01] [-4.07588994e-04 9.99999672e-01 -7.00004973e-04 -6.90763574e+01] [-4.73373520e-03 6.98067770e-04 9.99988552e-01 6.07662035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779072329 meters 0.2532186057291209 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.77 [[ 9.99992889e-01 3.36409605e-04 3.75626742e-03 -3.68483406e+01] [-3.31650753e-04 9.99999142e-01 -1.26746093e-03 -6.90745133e+01] [-3.75669058e-03 1.26620614e-03 9.99992142e-01 6.07667320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80907232899995 meters 0.23807665011156276 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.77 [[ 9.99995671e-01 3.79280094e-04 2.91805871e-03 -3.68464732e+01] [-3.74757765e-04 9.99998728e-01 -1.55016367e-03 -6.90734855e+01] [-2.91864295e-03 1.54906340e-03 9.99994541e-01 6.07671650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839072329 meters 0.24492707459811416 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99998230e-01 9.14336146e-04 1.64439708e-03 -3.68429066e+01] [-9.11871998e-04 9.99998461e-01 -1.49863701e-03 -6.90723076e+01] [-1.64576481e-03 1.49713488e-03 9.99997525e-01 6.07668072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.86907232899995 meters 0.3122109568844846 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99998627e-01 7.21275805e-04 1.49202851e-03 -3.68426038e+01] [-7.18448477e-04 9.99997947e-01 -1.89462447e-03 -6.90711191e+01] [-1.49339199e-03 1.89354993e-03 9.99997092e-01 6.07669499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899072329 meters 0.30787588842792113 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99998853e-01 7.21270522e-04 1.33172639e-03 -3.68422094e+01] [-7.18663245e-04 9.99997826e-01 -1.95725914e-03 -6.90709073e+01] [-1.33313520e-03 1.95629983e-03 9.99997198e-01 6.07669777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.92907232899995 meters 0.2578173655740461 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99998710e-01 8.31208357e-04 1.37412206e-03 -3.68423181e+01] [-8.28781883e-04 9.99998098e-01 -1.76546351e-03 -6.90714661e+01] [-1.37558692e-03 1.76432239e-03 9.99997497e-01 6.07669935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959072329 meters 0.2848724367993242 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99999186e-01 7.89160315e-04 1.00228292e-03 -3.68414660e+01] [-7.87169443e-04 9.99997720e-01 -1.98518103e-03 -6.90707736e+01] [-1.00384726e-03 1.98439045e-03 9.99997527e-01 6.07671356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.98907232899995 meters 0.2616817821185974 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.77 [[ 9.99997723e-01 2.09839048e-03 -3.87558008e-04 -3.68369624e+01] [-2.09894187e-03 9.99996778e-01 -1.42782702e-03 -6.90695334e+01] [ 3.84560620e-04 1.42863723e-03 9.99998906e-01 6.07661286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019072329 meters 0.28856911472436475 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99996520e-01 2.31576686e-03 -1.26361118e-03 -3.68346681e+01] [-2.31754036e-03 9.99996329e-01 -1.40385928e-03 -6.90689758e+01] [ 1.26035553e-03 1.40678287e-03 9.99998216e-01 6.07659816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.04907232899996 meters 0.2416916070648377 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99996321e-01 2.14294030e-03 -1.66311210e-03 -3.68335681e+01] [-2.14607876e-03 9.99995916e-01 -1.88761638e-03 -6.90673386e+01] [ 1.65906025e-03 1.89117860e-03 9.99996835e-01 6.07658808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079072329 meters 0.2620797472536062 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99995389e-01 2.28186428e-03 -2.00386196e-03 -3.68325798e+01] [-2.28540709e-03 9.99995826e-01 -1.76748503e-03 -6.90675243e+01] [ 1.99982044e-03 1.77205652e-03 9.99996430e-01 6.07656798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.10907232899996 meters 0.24897946046286984 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99993507e-01 2.36645906e-03 -2.71761669e-03 -3.68306884e+01] [-2.37177063e-03 9.99995280e-01 -1.95293902e-03 -6.90665361e+01] [ 2.71298232e-03 1.95937190e-03 9.99994400e-01 6.07656559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139072329 meters 0.2413834095782921 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99991726e-01 2.44745801e-03 -3.24932384e-03 -3.68292648e+01] [-2.45428938e-03 9.99994783e-01 -2.10007830e-03 -6.90658236e+01] [ 3.24416703e-03 2.10803571e-03 9.99992516e-01 6.07655547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16907232899996 meters 0.25260396328787166 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.77 [[ 9.99991124e-01 2.40501672e-03 -3.45946401e-03 -3.68288134e+01] [-2.41281239e-03 9.99994556e-01 -2.25102911e-03 -6.90653696e+01] [ 3.45403141e-03 2.25935617e-03 9.99991482e-01 6.07656937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199072329 meters 0.22687965050432854 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.77 [[ 9.99988342e-01 2.33396811e-03 -4.22716847e-03 -3.68270926e+01] [-2.34550683e-03 9.99993532e-01 -2.72675937e-03 -6.90637335e+01] [ 4.22077696e-03 2.73664244e-03 9.99987348e-01 6.07661671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22907232899996 meters 0.24426912743219006 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99983963e-01 2.35769034e-03 -5.14931028e-03 -3.68249432e+01] [-2.37386784e-03 9.99992259e-01 -3.13783500e-03 -6.90621195e+01] [ 5.14187238e-03 3.15000846e-03 9.99981819e-01 6.07665220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259072329 meters 0.25924666877085056 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99980355e-01 2.07084796e-03 -5.91615754e-03 -3.68235085e+01] [-2.09469042e-03 9.99989699e-01 -4.02670737e-03 -6.90595511e+01] [ 5.90775790e-03 4.03902079e-03 9.99974392e-01 6.07674750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28907232899996 meters 0.26631238327869716 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99980411e-01 1.84444526e-03 -5.98128435e-03 -3.68236614e+01] [-1.87107199e-03 9.99988352e-01 -4.44913878e-03 -6.90584574e+01] [ 5.97300849e-03 4.46024304e-03 9.99972214e-01 6.07679792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319072329 meters 0.22492454575336002 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99979178e-01 1.71427692e-03 -6.22128315e-03 -3.68233531e+01] [-1.74397684e-03 9.99987095e-01 -4.77164120e-03 -6.90576171e+01] [ 6.21302295e-03 4.78239162e-03 9.99969263e-01 6.07684466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34907232899997 meters 0.23910348259460848 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99972408e-01 1.90263617e-03 -7.18081725e-03 -3.68207040e+01] [-1.93816779e-03 9.99985898e-01 -4.94442047e-03 -6.90562037e+01] [ 7.17130855e-03 4.95820167e-03 9.99961994e-01 6.07682482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37907232899994 meters 0.24825801592287217 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99966312e-01 1.85566186e-03 -7.99569259e-03 -3.68187542e+01] [-1.89875697e-03 9.99983695e-01 -5.38557473e-03 -6.90545079e+01] [ 7.98556842e-03 5.40057517e-03 9.99953531e-01 6.07684297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40907232899997 meters 0.23315461532960371 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99960246e-01 1.87632079e-03 -8.71695615e-03 -3.68169243e+01] [-1.92548855e-03 9.99982267e-01 -5.63550971e-03 -6.90533692e+01] [ 8.70622755e-03 5.65207008e-03 9.99946126e-01 6.07684495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43907232899994 meters 0.28249132658191545 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99940941e-01 5.93793545e-03 -9.10250559e-03 -3.68160280e+01] [-5.95668100e-03 9.99980191e-01 -2.03365706e-03 -6.90511339e+01] [ 9.09024955e-03 2.08775767e-03 9.99956503e-01 6.07687144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46907232899997 meters 0.24990972615289528 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99941327e-01 5.93884723e-03 -9.05937727e-03 -3.68160787e+01] [-5.95740668e-03 9.99980208e-01 -2.02303698e-03 -6.90511187e+01] [ 9.04718346e-03 2.07688868e-03 9.99956917e-01 6.07686525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49907232899994 meters 0.28178153392941235 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99941270e-01 6.01099176e-03 -9.01800772e-03 -3.68161572e+01] [-6.02821756e-03 9.99980055e-01 -1.88419155e-03 -6.90515210e+01] [ 9.00650200e-03 1.93844340e-03 9.99957562e-01 6.07686226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.529072329 meters 0.28316904718214503 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99955355e-01 1.80421667e-03 -9.27537229e-03 -3.68157036e+01] [-1.86023292e-03 9.99980064e-01 -6.03416901e-03 -6.90520286e+01] [ 9.26430043e-03 6.05115397e-03 9.99938776e-01 6.07689024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55907232899995 meters 0.2696495219897673 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99958179e-01 1.89958863e-03 -8.94601573e-03 -3.68164829e+01] [-1.95106384e-03 9.99981572e-01 -5.74877363e-03 -6.90528968e+01] [ 8.93493057e-03 5.76598746e-03 9.99943459e-01 6.07688432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.589072329 meters 0.25921615799216063 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99961166e-01 1.87609554e-03 -8.61086225e-03 -3.68173118e+01] [-1.92495748e-03 9.99982074e-01 -5.66967872e-03 -6.90531795e+01] [ 8.60007104e-03 5.68603408e-03 9.99946852e-01 6.07688373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61907232899995 meters 0.25711447321104924 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99961443e-01 2.11456589e-03 -8.52299269e-03 -3.68172893e+01] [-2.15925620e-03 9.99983952e-01 -5.23771304e-03 -6.90543216e+01] [ 8.51178043e-03 5.25591441e-03 9.99949961e-01 6.07684999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.649072329 meters 0.26063652766343454 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.77 [[ 9.99962397e-01 2.20225791e-03 -8.38779029e-03 -3.68174643e+01] [-2.24459545e-03 9.99984773e-01 -5.04145490e-03 -6.90548273e+01] [ 8.37655998e-03 5.06009252e-03 9.99952113e-01 6.07682641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67907232899995 meters 0.2619667818656647 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99965733e-01 2.19636803e-03 -7.98177629e-03 -3.68182499e+01] [-2.23560652e-03 9.99985445e-01 -4.91041692e-03 -6.90551345e+01] [ 7.97087503e-03 4.92809277e-03 9.99956089e-01 6.07679383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.709072329 meters 0.25577114886325597 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99971375e-01 -1.75736705e-03 -7.35942766e-03 -3.68191560e+01] [ 1.69664343e-03 9.99964535e-01 -8.24926420e-03 -6.90577928e+01] [ 7.37366365e-03 8.23654174e-03 9.99938892e-01 6.07669015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73907232899995 meters 0.24530424997138187 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99976140e-01 -1.57928174e-03 -6.72492474e-03 -3.68202074e+01] [ 1.52751112e-03 9.99969215e-01 -7.69650857e-03 -6.90592038e+01] [ 6.73687267e-03 7.68605253e-03 9.99947768e-01 6.07660572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.769072329 meters 0.24272486387990916 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.77 [[ 9.99980968e-01 -1.57804154e-03 -5.96431622e-03 -3.68214487e+01] [ 1.53365547e-03 9.99971153e-01 -7.43919911e-03 -6.90597382e+01] [ 5.97588353e-03 7.42991033e-03 9.99954542e-01 6.07650805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79907232899996 meters 0.2674177626843277 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99986973e-01 -1.33624870e-03 -4.92625942e-03 -3.68234059e+01] [ 1.30433163e-03 9.99978177e-01 -6.47649729e-03 -6.90623906e+01] [ 4.93480612e-03 6.46998745e-03 9.99966893e-01 6.07640416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.829072329 meters 0.22997614737275895 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99989895e-01 -1.22208972e-03 -4.32631216e-03 -3.68245973e+01] [ 1.19591657e-03 9.99981000e-01 -6.04718629e-03 -6.90635981e+01] [ 4.33362017e-03 6.04195127e-03 9.99972357e-01 6.07635627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85907232899996 meters 0.24212806171297602 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.76 [[ 9.99993981e-01 -1.14626457e-03 -3.27464662e-03 -3.68266958e+01] [ 1.12808751e-03 9.99983977e-01 -5.54731166e-03 -6.90651786e+01] [ 3.28095283e-03 5.54358418e-03 9.99979252e-01 6.07628262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.889072329 meters 0.2281282505795038 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.76 [[ 9.99994345e-01 -1.04752804e-03 -3.19562634e-03 -3.68267278e+01] [ 1.03040960e-03 9.99985138e-01 -5.35378572e-03 -6.90656630e+01] [ 3.20118709e-03 5.35046264e-03 9.99980562e-01 6.07625961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91907232899996 meters 0.24271263489454534 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.76 [[ 9.99995827e-01 -1.06370370e-03 -2.68612982e-03 -3.68277560e+01] [ 1.04974309e-03 9.99985963e-01 -5.19336837e-03 -6.90660932e+01] [ 2.69161632e-03 5.19052695e-03 9.99982907e-01 6.07622350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.949072329 meters 0.2418492989230419 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.76 [[ 9.99995276e-01 -8.98489679e-04 -2.93958457e-03 -3.68270722e+01] [ 8.83787118e-04 9.99987114e-01 -4.99905956e-03 -6.90665709e+01] [ 2.94403829e-03 4.99643798e-03 9.99983184e-01 6.07621748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97907232899996 meters 0.24424273656404982 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.76 [[ 9.99992898e-01 -1.06894829e-03 -3.61399021e-03 -3.68258433e+01] [ 1.04857703e-03 9.99983579e-01 -5.63398004e-03 -6.90647845e+01] [ 3.61995330e-03 5.63015048e-03 9.99977598e-01 6.07630231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.009072329 meters 0.22954907541760444 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99989895e-01 -1.00786487e-03 -4.38108361e-03 -3.68243149e+01] [ 9.82495278e-04 9.99982761e-01 -5.78901139e-03 -6.90642902e+01] [ 4.38684263e-03 5.78464849e-03 9.99973646e-01 6.07636384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03907232899996 meters 0.27074738308355484 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99987440e-01 -1.22370938e-03 -4.86023610e-03 -3.68234157e+01] [ 1.19254354e-03 9.99978744e-01 -6.41014211e-03 -6.90625183e+01] [ 4.86797695e-03 6.40426556e-03 9.99967644e-01 6.07641988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.069072329 meters 0.3070706759568171 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99984224e-01 -7.38271396e-04 -5.56831360e-03 -3.68211753e+01] [ 7.05537374e-04 9.99982474e-01 -5.87829917e-03 -6.90632362e+01] [ 5.57255579e-03 5.87427779e-03 9.99967219e-01 6.07634970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09907232899997 meters 0.29085442985570703 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99982257e-01 -7.62615988e-04 -5.90798286e-03 -3.68202917e+01] [ 7.26666040e-04 9.99981224e-01 -6.08473701e-03 -6.90624933e+01] [ 5.91251225e-03 6.08033591e-03 9.99964035e-01 6.07635037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12907232899994 meters 0.28611339852805484 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99979788e-01 -6.00463925e-04 -6.32949744e-03 -3.68191572e+01] [ 5.62771544e-04 9.99982110e-01 -5.95513525e-03 -6.90626844e+01] [ 6.33296005e-03 5.95145282e-03 9.99962236e-01 6.07633997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15907232899997 meters 0.2829705299694201 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99974302e-01 -5.71368938e-04 -7.14625286e-03 -3.68169829e+01] [ 5.25821017e-04 9.99979548e-01 -6.37393451e-03 -6.90608170e+01] [ 7.14974857e-03 6.37001306e-03 9.99954151e-01 6.07633931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18907232899994 meters 0.278948913709637 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99968703e-01 -4.73841740e-04 -7.89737796e-03 -3.68150924e+01] [ 4.22435057e-04 9.99978722e-01 -6.50973296e-03 -6.90600039e+01] [ 7.90029450e-03 6.50619310e-03 9.99947626e-01 6.07634205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21907232899997 meters 0.2855952526237236 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99961687e-01 -1.96548615e-04 -8.75131608e-03 -3.68128011e+01] [ 1.39939183e-04 9.99979067e-01 -6.46881891e-03 -6.90593577e+01] [ 8.75240433e-03 6.46734642e-03 9.99940783e-01 6.07632929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24907232899994 meters 0.27666465208682517 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99957244e-01 -3.53809830e-04 -9.24035187e-03 -3.68116374e+01] [ 2.89240769e-04 9.99975541e-01 -6.98812929e-03 -6.90576199e+01] [ 9.24259833e-03 6.98515782e-03 9.99932889e-01 6.07635434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279072329 meters 0.2644686427818688 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99956018e-01 -3.79140032e-04 -9.37116210e-03 -3.68112053e+01] [ 3.12633588e-04 9.99974764e-01 -7.09737229e-03 -6.90571862e+01] [ 9.37361651e-03 7.09413039e-03 9.99930902e-01 6.07634256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30907232899995 meters 0.277942801355261 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99953302e-01 -3.14766497e-04 -9.65895895e-03 -3.68103667e+01] [ 2.46074477e-04 9.99974678e-01 -7.11210619e-03 -6.90569205e+01] [ 9.66095302e-03 7.10939724e-03 9.99928059e-01 6.07633019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339072329 meters 0.26699738833498565 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99949803e-01 -4.24112550e-04 -1.00105959e-02 -3.68095393e+01] [ 3.49390044e-04 9.99972076e-01 -7.46491035e-03 -6.90557802e+01] [ 1.00134824e-02 7.46103803e-03 9.99922029e-01 6.07634645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.36907232899995 meters 0.27993137634649007 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.76 [[ 9.99950023e-01 -5.82188595e-04 -9.98057989e-03 -3.68096502e+01] [ 5.05010400e-04 9.99969968e-01 -7.73361370e-03 -6.90549799e+01] [ 9.98478257e-03 7.72818690e-03 9.99920286e-01 6.07635451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399072329 meters 0.2764569425196895 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.76 [[ 9.99946239e-01 -5.46041387e-04 -1.03547208e-02 -3.68088163e+01] [ 4.65062797e-04 9.99969305e-01 -7.82124724e-03 -6.90546702e+01] [ 1.03586737e-02 7.81601117e-03 9.99915800e-01 6.07637378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.42907232899995 meters 0.2573127719027901 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.76 [[ 9.99949744e-01 -5.88935546e-04 -1.00081454e-02 -3.68097783e+01] [ 5.11204830e-04 9.99969702e-01 -7.76752943e-03 -6.90549922e+01] [ 1.00124167e-02 7.76202285e-03 9.99919748e-01 6.07638711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459072329 meters 0.24296507247782523 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99954800e-01 -5.93386221e-04 -9.48920827e-03 -3.68109259e+01] [ 5.21360214e-04 9.99971052e-01 -7.59098056e-03 -6.90555409e+01] [ 9.49343796e-03 7.58569016e-03 9.99926163e-01 6.07636428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.48907232899995 meters 0.2851377644153118 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99957828e-01 -5.31553674e-04 -9.16844610e-03 -3.68116238e+01] [ 4.64085164e-04 9.99972812e-01 -7.35933096e-03 -6.90562211e+01] [ 9.17210871e-03 7.35476566e-03 9.99930888e-01 6.07634712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519072329 meters 0.24685339301381543 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99965693e-01 -4.51545549e-04 -8.27091161e-03 -3.68135445e+01] [ 3.94762612e-04 9.99976353e-01 -6.86572464e-03 -6.90577959e+01] [ 8.27381621e-03 6.86222405e-03 9.99942225e-01 6.07630159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.54907232899996 meters 0.24210303117916893 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99969734e-01 -2.42858257e-04 -7.77634230e-03 -3.68144125e+01] [ 1.93811315e-04 9.99980090e-01 -6.30733194e-03 -6.90593226e+01] [ 7.77771926e-03 6.30563390e-03 9.99949872e-01 6.07624367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579072329 meters 0.28959388868838726 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99972190e-01 -1.91559412e-04 -7.45533912e-03 -3.68149779e+01] [ 1.46023444e-04 9.99981336e-01 -6.10789841e-03 -6.90598232e+01] [ 7.45636999e-03 6.10663989e-03 9.99953555e-01 6.07620738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.60907232899996 meters 0.23171308719837144 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99971303e-01 2.82174932e-05 -7.57577312e-03 -3.68144358e+01] [-7.18849348e-05 9.99983386e-01 -5.76388005e-03 -6.90606455e+01] [ 7.57548461e-03 5.76425923e-03 9.99954692e-01 6.07617262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639072329 meters 0.23171308719837144 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99971303e-01 2.82174932e-05 -7.57577312e-03 -3.68144358e+01] [-7.18849348e-05 9.99983386e-01 -5.76388005e-03 -6.90606455e+01] [ 7.57548461e-03 5.76425923e-03 9.99954692e-01 6.07617262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66907232899996 meters 0.22678354485156701 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99971421e-01 -5.74246958e-06 -7.56027512e-03 -3.68143463e+01] [-3.83000239e-05 9.99983032e-01 -5.82535698e-03 -6.90603770e+01] [ 7.56018028e-03 5.82548005e-03 9.99954453e-01 6.07615502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699072329 meters 0.22329515922104443 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99971948e-01 -7.27549686e-05 -7.48985539e-03 -3.68145118e+01] [ 2.84055316e-05 9.99982469e-01 -5.92120355e-03 -6.90600688e+01] [ 7.49015489e-03 5.92082470e-03 9.99954420e-01 6.07615629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72907232899996 meters 0.26963733042736615 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.06, Z:60.76 [[ 9.99973331e-01 9.41829635e-05 -7.30263320e-03 -3.68147680e+01] [-1.34823529e-04 9.99984507e-01 -5.56490074e-03 -6.90610457e+01] [ 7.30199594e-03 5.56573690e-03 9.99957851e-01 6.07612369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759072329 meters 0.2502529362453496 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99976109e-01 1.08507100e-04 -6.91149514e-03 -3.68154969e+01] [-1.45866118e-04 9.99985382e-01 -5.40507056e-03 -6.90614272e+01] [ 6.91080762e-03 5.40594958e-03 9.99961507e-01 6.07608689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78907232899996 meters 0.24472072352056962 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99977644e-01 1.79032570e-04 -6.68430198e-03 -3.68158283e+01] [-2.13808157e-04 9.99986445e-01 -5.20222373e-03 -6.90619072e+01] [ 6.68328001e-03 5.20353659e-03 9.99964128e-01 6.07605345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819072329 meters 0.2508218849051231 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99981888e-01 1.41228789e-04 -6.01698936e-03 -3.68172179e+01] [-1.71259730e-04 9.99987531e-01 -4.99080164e-03 -6.90625563e+01] [ 6.01620949e-03 4.99174171e-03 9.99969443e-01 6.07601584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84907232899997 meters 0.23345595406773956 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99982344e-01 1.81482536e-04 -5.93961331e-03 -3.68174017e+01] [-2.10538249e-04 9.99988014e-01 -4.89159299e-03 -6.90628515e+01] [ 5.93865438e-03 4.89275714e-03 9.99970396e-01 6.07601488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87907232899994 meters 0.2379333847162449 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.76 [[ 9.99988023e-01 1.91666741e-04 -4.89056749e-03 -3.68197243e+01] [-2.13511519e-04 9.99990002e-01 -4.46658524e-03 -6.90643828e+01] [ 4.88966250e-03 4.46757593e-03 9.99978066e-01 6.07598404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90907232899997 meters 0.2655101038039606 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.07, Z:60.76 [[ 9.99986005e-01 -4.00028931e-03 -3.46223300e-03 -3.68229876e+01] [ 3.97535264e-03 9.99966324e-01 -7.17963861e-03 -6.90697405e+01] [ 3.49083704e-03 7.16577453e-03 9.99968232e-01 6.07590705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93907232899994 meters 0.22626167070143657 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.76 [[ 9.99989915e-01 -4.00890225e-03 -2.02442787e-03 -3.68260670e+01] [ 3.99585106e-03 9.99971470e-01 -6.41026750e-03 -6.90724491e+01] [ 2.05006825e-03 6.40211354e-03 9.99977405e-01 6.07582465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96907232899997 meters 0.22466120788694963 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.76 [[ 9.99991616e-01 -4.03028441e-03 -7.24420944e-04 -3.68288473e+01] [ 4.02609885e-03 9.99975711e-01 -5.68926200e-03 -6.90747546e+01] [ 7.47332693e-04 5.68629771e-03 9.99983554e-01 6.07574415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99907232899994 meters 0.23978694869513506 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.75 [[ 9.99944786e-01 -9.63423463e-03 4.19589250e-03 -3.68421947e+01] [ 9.65439660e-03 9.99941818e-01 -4.81171834e-03 -6.90732595e+01] [-4.14929115e-03 4.85196148e-03 9.99979621e-01 6.07531546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.029072329 meters 0.22641776135138755 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.75 [[ 9.99935999e-01 -9.84268645e-03 5.57846850e-03 -3.68450830e+01] [ 9.86646449e-03 9.99942289e-01 -4.25109642e-03 -6.90750651e+01] [-5.53630435e-03 4.30586410e-03 9.99975404e-01 6.07521591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05907232899995 meters 0.25567756675635717 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.75 [[ 9.99831954e-01 -1.49556948e-02 1.06014568e-02 -3.68580145e+01] [ 1.49846872e-02 9.99884183e-01 -2.66060738e-03 -6.90750541e+01] [-1.05604378e-02 2.81901979e-03 9.99940263e-01 6.07470693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.089072329 meters 0.24829982902767306 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.75 [[ 9.99829406e-01 -1.47180207e-02 1.11597113e-02 -3.68588197e+01] [ 1.47411004e-02 9.99889366e-01 -1.98868940e-03 -6.90767663e+01] [-1.11292071e-02 2.15285656e-03 9.99935751e-01 6.07461326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11907232899995 meters 0.26833640692409333 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.75 [[ 9.99820663e-01 -1.46566243e-02 1.19927053e-02 -3.68602761e+01] [ 1.46754742e-02 9.99891206e-01 -1.48528850e-03 -6.90779963e+01] [-1.19696312e-02 1.66102076e-03 9.99926982e-01 6.07451479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.149072329 meters 0.2451591407219697 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.74 [[ 9.99815164e-01 -1.44700407e-02 1.26591856e-02 -3.68614740e+01] [ 1.44823858e-02 9.99894734e-01 -8.84062033e-04 -6.90796481e+01] [-1.26450606e-02 1.06723384e-03 9.99919478e-01 6.07444232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17907232899995 meters 0.2315676800439113 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.74 [[ 9.99811861e-01 -1.43107747e-02 1.30936642e-02 -3.68624548e+01] [ 1.43176220e-02 9.99897405e-01 -4.29355364e-04 -6.90810447e+01] [-1.30861765e-02 6.16744720e-04 9.99914182e-01 6.07442775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.209072329 meters 0.2558527623529642 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.74 [[ 9.99803759e-01 -1.43772208e-02 1.36286455e-02 -3.68637272e+01] [ 1.43833405e-02 9.99896493e-01 -3.51116902e-04 -6.90813157e+01] [-1.36221867e-02 5.47073446e-04 9.99907064e-01 6.07442144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23907232899995 meters 0.22105790994186367 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.74 [[ 9.99899014e-01 -1.34381211e-02 4.62367158e-03 -3.68693356e+01] [ 1.34815902e-02 9.99863967e-01 -9.50235217e-03 -6.90746876e+01] [-4.49534885e-03 9.56372701e-03 9.99944162e-01 6.07439981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.269072329 meters 0.2213922319272225 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.07, Z:60.74 [[ 9.99891029e-01 -1.37260210e-02 5.43389053e-03 -3.68716815e+01] [ 1.37780697e-02 9.99858416e-01 -9.65986065e-03 -6.90748734e+01] [-5.30052973e-03 9.73367652e-03 9.99938578e-01 6.07445184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29907232899996 meters 0.22335732724833282 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.74 [[ 9.99885171e-01 -1.38494022e-02 6.15129809e-03 -3.68734956e+01] [ 1.39078692e-02 9.99857521e-01 -9.56598848e-03 -6.90754168e+01] [-6.01793844e-03 9.65044147e-03 9.99935325e-01 6.07445546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.329072329 meters 0.24874278563597238 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.08, Z:60.74 [[ 9.99879607e-01 -1.38549143e-02 6.98666482e-03 -3.68752965e+01] [ 1.39188895e-02 9.99860869e-01 -9.19281456e-03 -6.90765340e+01] [-6.85832710e-03 9.28895442e-03 9.99933337e-01 6.07441428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35907232899996 meters 0.21554350642801962 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.08, Z:60.74 [[ 9.99857190e-01 -1.45269915e-02 8.63513931e-03 -3.68791563e+01] [ 1.46035809e-02 9.99853986e-01 -8.87363196e-03 -6.90784799e+01] [-8.50497129e-03 8.99846868e-03 9.99923344e-01 6.07436170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.389072329 meters 0.21340287609429737 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.08, Z:60.74 [[ 9.99895463e-01 -1.05540950e-02 9.88304378e-03 -3.68822110e+01] [ 1.05983739e-02 9.99933984e-01 -4.43868393e-03 -6.90794180e+01] [-9.83554505e-03 4.54296411e-03 9.99941310e-01 6.07433779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41907232899996 meters 0.23282712685398618 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.08, Z:60.74 [[ 9.99886091e-01 -1.07133273e-02 1.06315669e-02 -3.68836654e+01] [ 1.07615823e-02 9.99932003e-01 -4.49205973e-03 -6.90792106e+01] [-1.05827191e-02 4.60596052e-03 9.99933393e-01 6.07427895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.449072329 meters 0.24263693088015975 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.08, Z:60.74 [[ 9.99892121e-01 -1.02436851e-02 1.05268342e-02 -3.68828657e+01] [ 1.02832709e-02 9.99940231e-01 -3.71324135e-03 -6.90811913e+01] [-1.04881677e-02 3.82109105e-03 9.99937697e-01 6.07419922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47907232899996 meters 0.23962498044493344 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.08, Z:60.74 [[ 9.99914934e-01 -6.26842683e-03 1.14381227e-02 -3.68849572e+01] [ 6.26404248e-03 9.99980293e-01 4.19096263e-04 -6.90808675e+01] [-1.14405244e-02 -3.47411726e-04 9.99934495e-01 6.07416530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.509072329 meters 0.2355570977317959 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.09, Z:60.74 [[ 9.99974946e-01 -1.83155893e-04 7.07622640e-03 -3.68725684e+01] [ 1.69710157e-04 9.99998179e-01 1.90068171e-03 -6.90850370e+01] [-7.07656164e-03 -1.89943319e-03 9.99973157e-01 6.07432887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53907232899996 meters 0.28126782922062704 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.74 [[ 9.99981269e-01 -2.47459659e-04 6.11562554e-03 -3.68704776e+01] [ 2.38349577e-04 9.99998861e-01 1.49032407e-03 -6.90837090e+01] [-6.11598737e-03 -1.48883850e-03 9.99980189e-01 6.07436762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.569072329 meters 0.23638639760754038 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.74 [[ 9.99988266e-01 1.35554470e-04 4.84245984e-03 -3.68673643e+01] [-1.42012855e-04 9.99999101e-01 1.33338029e-03 -6.90824677e+01] [-4.84227474e-03 -1.33405233e-03 9.99987386e-01 6.07438135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59907232899997 meters 0.2366352426381382 Centerline is valid? [False, False] Translation: X:-36.87, Y:-69.08, Z:60.74 [[ 9.99991871e-01 6.73130661e-05 4.03150374e-03 -3.68656478e+01] [-7.07050872e-05 9.99999644e-01 8.41242021e-04 -6.90810154e+01] [-4.03144568e-03 -8.41520230e-04 9.99991520e-01 6.07442965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62907232899994 meters 0.2360107515328066 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.75 [[ 9.99997398e-01 1.00943341e-03 2.04555710e-03 -3.68608116e+01] [-1.00944290e-03 9.99999491e-01 3.60549491e-06 -6.90773975e+01] [-2.04555242e-03 -5.67035862e-06 9.99997908e-01 6.07451966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65907232899997 meters 0.3077665187008989 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.75 [[ 9.99998801e-01 8.71771220e-04 1.27949907e-03 -3.68593746e+01] [-8.71072947e-04 9.99999471e-01 -5.46194684e-04 -6.90758857e+01] [-1.27997455e-03 5.45079493e-04 9.99999032e-01 6.07459798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68907232899994 meters 0.22440465999942874 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.75 [[ 9.99999575e-01 8.39607091e-04 3.80504170e-04 -3.68573603e+01] [-8.39189988e-04 9.99999048e-01 -1.09502197e-03 -6.90740964e+01] [-3.81423196e-04 1.09470219e-03 9.99999328e-01 6.07464888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71907232899997 meters 0.27893959827686127 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.75 [[ 9.99998661e-01 1.38687676e-03 -8.68137868e-04 -3.68537564e+01] [-1.38764054e-03 9.99998650e-01 -8.79804688e-04 -6.90732763e+01] [ 8.66916515e-04 8.81008174e-04 9.99999236e-01 6.07458878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74907232899994 meters 0.3114784089606704 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.75 [[ 9.99998113e-01 1.28970315e-03 -1.45279574e-03 -3.68525275e+01] [-1.29162931e-03 9.99998287e-01 -1.32567668e-03 -6.90719370e+01] [ 1.45108352e-03 1.32755065e-03 9.99998066e-01 6.07463133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779072329 meters 0.26614258936592755 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.75 [[ 9.99997034e-01 1.27934336e-03 -2.07243025e-03 -3.68511652e+01] [-1.28280060e-03 9.99997787e-01 -1.66773366e-03 -6.90708434e+01] [ 2.07029206e-03 1.67038723e-03 9.99996462e-01 6.07467082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80907232899995 meters 0.296087101049991 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.75 [[ 9.99996431e-01 1.29446332e-03 -2.33697363e-03 -3.68505500e+01] [-1.29853922e-03 9.99997637e-01 -1.74341724e-03 -6.90705866e+01] [ 2.33471132e-03 1.74644568e-03 9.99995750e-01 6.07468046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839072329 meters 0.2947112096990473 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.75 [[ 9.99994582e-01 1.41706687e-03 -2.97109106e-03 -3.68488635e+01] [-1.42248719e-03 9.99997327e-01 -1.82303378e-03 -6.90699869e+01] [ 2.96849975e-03 1.82725024e-03 9.99993925e-01 6.07467060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.86907232899995 meters 0.23382086113535333 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.75 [[ 9.99993445e-01 1.41802673e-03 -3.33143447e-03 -3.68478352e+01] [-1.42461000e-03 9.99997036e-01 -1.97456498e-03 -6.90693403e+01] [ 3.32862461e-03 1.97929803e-03 9.99992501e-01 6.07465415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899072329 meters 0.2888675413305924 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.75 [[ 9.99988892e-01 2.13282235e-03 -4.20319199e-03 -3.68447459e+01] [-2.13831910e-03 9.99996864e-01 -1.30369499e-03 -6.90696890e+01] [ 4.20039826e-03 1.31266827e-03 9.99990317e-01 6.07453543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.92907232899995 meters 0.2926099600992909 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.75 [[ 9.99986516e-01 1.99859966e-03 -4.79314144e-03 -3.68435872e+01] [-2.00718212e-03 9.99996390e-01 -1.78643066e-03 -6.90682956e+01] [ 4.78955377e-03 1.79602727e-03 9.99986917e-01 6.07459082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959072329 meters 0.23655068026658496 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.75 [[ 9.99980948e-01 2.31496758e-03 -5.72228560e-03 -3.68409505e+01] [-2.32535231e-03 9.99995660e-01 -1.80880061e-03 -6.90672431e+01] [ 5.71807346e-03 1.82207248e-03 9.99981992e-01 6.07456305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.98907232899995 meters 0.22250204372636034 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99970424e-01 3.55771005e-03 -6.81857088e-03 -3.68368495e+01] [-3.56775477e-03 9.99992567e-01 -1.46154478e-03 -6.90652364e+01] [ 6.81332045e-03 1.48582854e-03 9.99975685e-01 6.07446313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019072329 meters 0.27202575455058414 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99968126e-01 3.37580587e-03 -7.23537867e-03 -3.68359810e+01] [-3.39002741e-03 9.99992344e-01 -1.95419380e-03 -6.90637682e+01] [ 7.22872630e-03 1.97865965e-03 9.99971915e-01 6.07449556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.04907232899996 meters 0.2461837393853025 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.75 [[ 9.99966384e-01 3.24021914e-03 -7.53201122e-03 -3.68354194e+01] [-3.25768375e-03 9.99992031e-01 -2.30760727e-03 -6.90627354e+01] [ 7.52447405e-03 2.33206660e-03 9.99968971e-01 6.07452818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079072329 meters 0.28414131610034843 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99953366e-01 4.18621923e-03 -8.70299633e-03 -3.68314823e+01] [-4.20201928e-03 9.99989555e-01 -1.79797963e-03 -6.90619914e+01] [ 8.69537869e-03 1.83446594e-03 9.99960512e-01 6.07442708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.10907232899996 meters 0.2747974263127244 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99944993e-01 4.25152743e-03 -9.58832752e-03 -3.68292653e+01] [-4.27260409e-03 9.99988499e-01 -2.17874644e-03 -6.90603271e+01] [ 9.57895424e-03 2.21959372e-03 9.99951657e-01 6.07444111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139072329 meters 0.2912233450425657 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99934269e-01 4.33091413e-03 -1.06160909e-02 -3.68268985e+01] [-4.35756166e-03 9.99987410e-01 -2.48826258e-03 -6.90589304e+01] [ 1.06051808e-02 2.53435930e-03 9.99940552e-01 6.07448042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16907232899996 meters 0.25660920033436363 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.74 [[ 9.99918819e-01 4.85497253e-03 -1.17807017e-02 -3.68236465e+01] [-4.88994133e-03 9.99983718e-01 -2.94132488e-03 -6.90562962e+01] [ 1.17662298e-02 2.99869304e-03 9.99926279e-01 6.07449673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199072329 meters 0.25962459536255683 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.75 [[ 9.99915076e-01 4.61052367e-03 -1.21894939e-02 -3.68229402e+01] [-4.65421819e-03 9.99982837e-01 -3.55867092e-03 -6.90545413e+01] [ 1.21728773e-02 3.61510126e-03 9.99919373e-01 6.07455427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22907232899996 meters 0.25607976087872714 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99976267e-01 6.50364787e-03 2.27331473e-03 -3.68252152e+01] [-6.50279007e-03 9.99978783e-01 -3.84523065e-04 -6.90576821e+01] [-2.27576730e-03 3.69731051e-04 9.99997342e-01 6.07422819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259072329 meters 0.27000985621615586 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.74 [[ 9.99979717e-01 6.12680742e-03 1.73985383e-03 -3.68243884e+01] [-6.12461607e-03 9.99980448e-01 -1.26204555e-03 -6.90552382e+01] [-1.74755212e-03 1.25136401e-03 9.99997690e-01 6.07431455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28907232899996 meters 0.24567899825986625 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.74 [[ 9.99980983e-01 6.05672839e-03 1.16201929e-03 -3.68230859e+01] [-6.05483783e-03 9.99980351e-01 -1.62363865e-03 -6.90540000e+01] [-1.17183040e-03 1.61657194e-03 9.99998007e-01 6.07433842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319072329 meters 0.25051043630630954 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.74 [[ 9.99981143e-01 6.00244711e-03 1.29774288e-03 -3.68232974e+01] [-6.00025907e-03 9.99980581e-01 -1.68340636e-03 -6.90537335e+01] [-1.30782223e-03 1.67558783e-03 9.99997741e-01 6.07432198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34907232899997 meters 0.24359410724250907 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.74 [[ 9.99980855e-01 5.99663704e-03 1.52640645e-03 -3.68237478e+01] [-5.99417146e-03 9.99980731e-01 -1.61476366e-03 -6.90538990e+01] [-1.53606019e-03 1.60558320e-03 9.99997531e-01 6.07430349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37907232899994 meters 0.24177565093165546 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.74 [[ 9.99980334e-01 5.99217939e-03 1.85074039e-03 -3.68245479e+01] [-5.98940625e-03 9.99980938e-01 -1.50031915e-03 -6.90542999e+01] [-1.85969529e-03 1.48920481e-03 9.99997162e-01 6.07430151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40907232899997 meters 0.23529113187224143 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.05, Z:60.74 [[ 9.99979893e-01 5.98865509e-03 2.08566036e-03 -3.68252051e+01] [-5.98569245e-03 9.99981072e-01 -1.42383701e-03 -6.90546130e+01] [-2.09414775e-03 1.41132426e-03 9.99996811e-01 6.07431113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43907232899994 meters 0.29394575693273994 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99978829e-01 6.05103341e-03 2.39318740e-03 -3.68259048e+01] [-6.04818151e-03 9.99980993e-01 -1.19712013e-03 -6.90553139e+01] [-2.40038573e-03 1.18262036e-03 9.99996420e-01 6.07430021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46907232899997 meters 0.22618896378907935 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99977199e-01 6.18021691e-03 2.72129437e-03 -3.68265999e+01] [-6.17789852e-03 9.99980547e-01 -8.59527018e-04 -6.90563153e+01] [-2.72655350e-03 8.42695540e-04 9.99995928e-01 6.07428155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49907232899994 meters 0.276414644150844 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99975975e-01 6.24872490e-03 3.00063388e-03 -3.68271305e+01] [-6.24682705e-03 9.99980283e-01 -6.41438410e-04 -6.90569141e+01] [-3.00458289e-03 6.22678558e-04 9.99995292e-01 6.07425536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.529072329 meters 0.276414644150844 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99975975e-01 6.24872490e-03 3.00063388e-03 -3.68271305e+01] [-6.24682705e-03 9.99980283e-01 -6.41438410e-04 -6.90569141e+01] [-3.00458289e-03 6.22678558e-04 9.99995292e-01 6.07425536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55907232899995 meters 0.2648618393154871 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99993702e-01 2.39465412e-03 2.61956734e-03 -3.68258175e+01] [-2.38341552e-03 9.99987979e-01 -4.28499066e-03 -6.90583623e+01] [-2.62979692e-03 4.27872015e-03 9.99987388e-01 6.07419081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.589072329 meters 0.28483953135358125 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99993372e-01 2.43942115e-03 2.70289592e-03 -3.68259161e+01] [-2.42811400e-03 9.99988321e-01 -4.17875816e-03 -6.90586192e+01] [-2.71305811e-03 4.17216753e-03 9.99987616e-01 6.07417549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61907232899995 meters 0.26717773537022843 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99992316e-01 2.43869131e-03 3.06928820e-03 -3.68267486e+01] [-2.42626691e-03 9.99988875e-01 -4.04520850e-03 -6.90590326e+01] [-3.07911907e-03 4.03773051e-03 9.99987108e-01 6.07416462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.649072329 meters 0.2470976709581773 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99988153e-01 2.43834552e-03 4.21292679e-03 -3.68292865e+01] [-2.42349153e-03 9.99990842e-01 -3.52732680e-03 -6.90609748e+01] [-4.22148905e-03 3.51707502e-03 9.99984904e-01 6.07411963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67907232899995 meters 0.24778630500825832 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99985192e-01 2.61054536e-03 4.77499178e-03 -3.68303720e+01] [-2.59630370e-03 9.99992171e-01 -2.98632219e-03 -6.90624974e+01] [-4.78275033e-03 2.97388064e-03 9.99984141e-01 6.07406987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.709072329 meters 0.24301298089319967 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99982752e-01 2.49646986e-03 5.31624604e-03 -3.68316532e+01] [-2.48047959e-03 9.99992387e-01 -3.01228492e-03 -6.90625233e+01] [-5.32372564e-03 2.99904612e-03 9.99981332e-01 6.07406578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73907232899995 meters 0.23184349926797188 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99979842e-01 2.46323196e-03 5.85212116e-03 -3.68327596e+01] [-2.44637959e-03 9.99992846e-01 -2.88511871e-03 -6.90628816e+01] [-5.85918601e-03 2.87074404e-03 9.99978714e-01 6.07403389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.769072329 meters 0.23840478543702273 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99975665e-01 2.53660941e-03 6.49891882e-03 -3.68338283e+01] [-2.52053563e-03 9.99993747e-01 -2.48029783e-03 -6.90638532e+01] [-6.50516973e-03 2.46385671e-03 9.99975806e-01 6.07394903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79907232899996 meters 0.2418165854299558 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99975630e-01 2.68093145e-03 6.44611002e-03 -3.68334121e+01] [-2.66645984e-03 9.99993908e-01 -2.25256027e-03 -6.90643287e+01] [-6.45210971e-03 2.23531708e-03 9.99976687e-01 6.07390851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.829072329 meters 0.23468785006256906 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.74 [[ 9.99974757e-01 2.83048535e-03 6.51720057e-03 -3.68333416e+01] [-2.81774381e-03 9.99994103e-01 -1.96341488e-03 -6.90650352e+01] [-6.52271955e-03 1.94500152e-03 9.99976835e-01 6.07387233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85907232899996 meters 0.22461186975891106 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.74 [[ 9.99970650e-01 2.72231350e-03 7.16150960e-03 -3.68347986e+01] [-2.70838172e-03 9.99994423e-01 -1.95434878e-03 -6.90651813e+01] [-7.16679001e-03 1.93489532e-03 9.99972446e-01 6.07385767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.889072329 meters 0.2638044767565159 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.74 [[ 9.99972724e-01 2.87928117e-03 6.80151254e-03 -3.68340120e+01] [-2.86716445e-03 9.99994287e-01 -1.79055412e-03 -6.90656159e+01] [-6.80662919e-03 1.77100423e-03 9.99975266e-01 6.07387078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91907232899996 meters 0.23933176361928218 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99973450e-01 2.60357893e-03 6.80594127e-03 -3.68342696e+01] [-2.58796964e-03 9.99994003e-01 -2.30128085e-03 -6.90642277e+01] [-6.81189202e-03 2.28360618e-03 9.99974191e-01 6.07391214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.949072329 meters 0.24131072643976342 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99974556e-01 2.50002057e-03 6.68106364e-03 -3.68339990e+01] [-2.48309365e-03 9.99993690e-01 -2.54066199e-03 -6.90634917e+01] [-6.68737319e-03 2.52400764e-03 9.99974454e-01 6.07392163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97907232899996 meters 0.2387036284731097 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99975919e-01 2.48765935e-03 6.47861276e-03 -3.68335496e+01] [-2.47057459e-03 9.99993453e-01 -2.64377086e-03 -6.90631441e+01] [-6.48514715e-03 2.62770130e-03 9.99975519e-01 6.07393493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.009072329 meters 0.23663255627240512 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.74 [[ 9.99977057e-01 2.19754060e-03 6.40755801e-03 -3.68334945e+01] [-2.17707933e-03 9.99992515e-01 -3.19853129e-03 -6.90614713e+01] [-6.41453895e-03 3.18450814e-03 9.99974356e-01 6.07396309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03907232899996 meters 0.2361995765297742 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99971862e-01 2.02848708e-03 7.22217235e-03 -3.68352714e+01] [-2.00487719e-03 9.99992628e-01 -3.27482509e-03 -6.90614099e+01] [-7.22876205e-03 3.26025338e-03 9.99968557e-01 6.07393797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.069072329 meters 0.2310325652566491 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99967277e-01 2.23384201e-03 7.77521891e-03 -3.68363733e+01] [-2.21319804e-03 9.99994006e-01 -2.66269002e-03 -6.90631956e+01] [-7.78112033e-03 2.64539479e-03 9.99966227e-01 6.07389156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09907232899997 meters 0.24127587436262596 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99966571e-01 2.29231064e-03 7.84867302e-03 -3.68363652e+01] [-2.27247697e-03 9.99994205e-01 -2.53499550e-03 -6.90634679e+01] [-7.85443853e-03 2.51707482e-03 9.99965985e-01 6.07386333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12907232899994 meters 0.2285802345512248 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99962710e-01 2.40395668e-03 8.29458223e-03 -3.68372327e+01] [-2.38609397e-03 9.99994814e-01 -2.16276377e-03 -6.90645050e+01] [-8.29973841e-03 2.14289147e-03 9.99963261e-01 6.07382633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15907232899997 meters 0.24770301322283622 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99957573e-01 2.50952595e-03 8.86304688e-03 -3.68383924e+01] [-2.49403110e-03 9.99995343e-01 -1.75887267e-03 -6.90656663e+01] [-8.86741954e-03 1.73669333e-03 9.99959176e-01 6.07378643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18907232899994 meters 0.2424226417832453 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99950317e-01 2.74894184e-03 9.58157444e-03 -3.68401079e+01] [-2.73922360e-03 9.99995721e-01 -1.02723969e-03 -6.90680572e+01] [-9.58435726e-03 1.00094258e-03 9.99953568e-01 6.07377294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21907232899997 meters 0.22538536199012982 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99949440e-01 2.75740565e-03 9.67027785e-03 -3.68404509e+01] [-2.74807913e-03 9.99995746e-01 -9.77608001e-04 -6.90682826e+01] [-9.67293238e-03 9.50983885e-04 9.99952764e-01 6.07379155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24907232899994 meters 0.21786286105131034 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99948108e-01 2.68756495e-03 9.82641582e-03 -3.68406125e+01] [-2.67737848e-03 9.99995865e-01 -1.04964897e-03 -6.90679495e+01] [-9.82919619e-03 1.02328547e-03 9.99951169e-01 6.07375750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279072329 meters 0.26692456231302425 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99949692e-01 -1.18641989e-03 9.96021084e-03 -3.68400815e+01] [ 1.23208768e-03 9.99988752e-01 -4.58013927e-03 -6.90697120e+01] [-9.95466484e-03 4.59218071e-03 9.99939906e-01 6.07362504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30907232899995 meters 0.281446881847457 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99945880e-01 -1.09409517e-03 1.03459920e-02 -3.68407494e+01] [ 1.13840448e-03 9.99990202e-01 -4.27783229e-03 -6.90705043e+01] [-1.03412103e-02 4.28937870e-03 9.99937328e-01 6.07357912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339072329 meters 0.2382556568967562 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99937721e-01 -9.16154718e-04 1.11227255e-02 -3.68422202e+01] [ 9.56831925e-04 9.99992872e-01 -3.65235536e-03 -6.90722660e+01] [-1.11193001e-02 3.66277047e-03 9.99931470e-01 6.07350299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.36907232899995 meters 0.2706061295575765 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.73 [[ 9.99933223e-01 -8.09058272e-04 1.15280192e-02 -3.68430933e+01] [ 8.47058923e-04 9.99994223e-01 -3.29187171e-03 -6.90733331e+01] [-1.15252893e-02 3.30141680e-03 9.99928132e-01 6.07348103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399072329 meters 0.23818428244730436 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.73 [[ 9.99928643e-01 -9.19767741e-04 1.19106074e-02 -3.68439992e+01] [ 9.59796924e-04 9.99993910e-01 -3.35552125e-03 -6.90731694e+01] [-1.19074486e-02 3.36671358e-03 9.99923436e-01 6.07347715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.42907232899995 meters 0.23956085927442303 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.73 [[ 9.99924407e-01 -8.80886283e-04 1.22639285e-02 -3.68448219e+01] [ 9.19515201e-04 9.99994633e-01 -3.14451740e-03 -6.90738291e+01] [-1.22610928e-02 3.15555656e-03 9.99919851e-01 6.07346605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459072329 meters 0.23446593475877126 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.73 [[ 9.99914361e-01 -8.77747110e-04 1.30576027e-02 -3.68467149e+01] [ 9.14991448e-04 9.99995530e-01 -2.84661003e-03 -6.90749383e+01] [-1.30550457e-02 2.85831384e-03 9.99910694e-01 6.07346007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.48907232899995 meters 0.25088618967998416 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.73 [[ 9.99908176e-01 -7.88992381e-04 1.35283628e-02 -3.68477420e+01] [ 8.23031324e-04 9.99996509e-01 -2.51073419e-03 -6.90759436e+01] [-1.35263346e-02 2.52163792e-03 9.99905335e-01 6.07343718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519072329 meters 0.260117364574884 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.73 [[ 9.99896979e-01 -6.41709987e-04 1.43394433e-02 -3.68494826e+01] [ 6.68650313e-04 9.99998020e-01 -1.87404149e-03 -6.90778728e+01] [-1.43382123e-02 1.88343650e-03 9.99895429e-01 6.07339408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.54907232899996 meters 0.24688011842807997 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.73 [[ 9.99891587e-01 -6.04869804e-04 1.47122125e-02 -3.68501764e+01] [ 6.29654391e-04 9.99998390e-01 -1.68005303e-03 -6.90783741e+01] [-1.47111726e-02 1.68913450e-03 9.99890358e-01 6.07335758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579072329 meters 0.23927003015400408 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.73 [[ 9.99881762e-01 -5.98620208e-04 1.53656594e-02 -3.68514272e+01] [ 6.20419981e-04 9.99998808e-01 -1.41400567e-03 -6.90790726e+01] [-1.53647946e-02 1.42337165e-03 9.99880941e-01 6.07330157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.60907232899996 meters 0.23204574830854238 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.73 [[ 9.99876132e-01 -3.09993634e-04 1.57360750e-02 -3.68519879e+01] [ 3.21796985e-04 9.99999669e-01 -7.47555781e-04 -6.90809381e+01] [-1.57358381e-02 7.52527005e-04 9.99875901e-01 6.07324330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639072329 meters 0.23692729151457878 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.73 [[ 9.99873837e-01 -8.57110500e-05 1.58840147e-02 -3.68521099e+01] [ 9.04182689e-05 9.99999952e-01 -2.95631529e-04 -6.90821808e+01] [-1.58839886e-02 2.97030436e-04 9.99873797e-01 6.07320556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66907232899996 meters 0.22932305827629695 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.08, Z:60.73 [[ 9.99870706e-01 6.60465565e-05 1.60800397e-02 -3.68524540e+01] [-6.67584113e-05 9.99999997e-01 4.37327022e-05 -6.90831502e+01] [-1.60800368e-02 -4.48005258e-05 9.99870707e-01 6.07318304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699072329 meters 0.2511223332157303 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99993307e-01 -2.18460223e-03 2.93490693e-03 -3.68545294e+01] [ 2.20218474e-03 9.99979569e-01 -6.00100888e-03 -6.90738124e+01] [-2.92173715e-03 6.00743193e-03 9.99977687e-01 6.07356311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72907232899996 meters 0.26855490327534265 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.74 [[ 9.99992497e-01 -2.11508815e-03 3.24541055e-03 -3.68550862e+01] [ 2.13379490e-03 9.99981068e-01 -5.77146870e-03 -6.90744043e+01] [-3.23314195e-03 5.77835043e-03 9.99978078e-01 6.07353123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759072329 meters 0.27307525999301396 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.73 [[ 9.99991749e-01 -2.00736913e-03 3.53155472e-03 -3.68554421e+01] [ 2.02670329e-03 9.99982933e-01 -5.47965388e-03 -6.90751229e+01] [-3.52049476e-03 5.48676608e-03 9.99978751e-01 6.07347538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78907232899996 meters 0.267513644777284 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.73 [[ 9.99990926e-01 -1.95752643e-03 3.78355884e-03 -3.68557484e+01] [ 1.97759265e-03 9.99983962e-01 -5.30708453e-03 -6.90754760e+01] [-3.77310940e-03 5.31451871e-03 9.99978760e-01 6.07342785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819072329 meters 0.3562865461662001 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.73 [[ 9.99989752e-01 -1.87345393e-03 4.12140815e-03 -3.68563676e+01] [ 1.89423209e-03 9.99985488e-01 -5.04340630e-03 -6.90761736e+01] [-4.11189975e-03 5.05116152e-03 9.99978789e-01 6.07339489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84907232899997 meters 0.25318746927173214 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.73 [[ 9.99989726e-01 -1.84049114e-03 4.14244825e-03 -3.68564256e+01] [ 1.86111237e-03 9.99985869e-01 -4.97969174e-03 -6.90763631e+01] [-4.13322464e-03 4.98735015e-03 9.99979021e-01 6.07339616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87907232899994 meters 0.26962281290495116 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.73 [[ 9.99988148e-01 -1.96949302e-03 4.45257495e-03 -3.68572377e+01] [ 1.99225892e-03 9.99984937e-01 -5.11433349e-03 -6.90760231e+01] [-4.44243524e-03 5.12314355e-03 9.99977009e-01 6.07340715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90907232899997 meters 0.2629340382405974 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.73 [[ 9.99988839e-01 -2.00144660e-03 4.27974814e-03 -3.68569376e+01] [ 2.02384742e-03 9.99984243e-01 -5.23623438e-03 -6.90756871e+01] [-4.26920066e-03 5.24483749e-03 9.99977133e-01 6.07343008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93907232899994 meters 0.2423414748496642 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.73 [[ 9.99990864e-01 -1.97065925e-03 3.79332939e-03 -3.68556186e+01] [ 1.99105814e-03 9.99983538e-01 -5.38132611e-03 -6.90749312e+01] [-3.78266219e-03 5.38882968e-03 9.99978326e-01 6.07342444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96907232899997 meters 0.2631167657093167 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.08, Z:60.73 [[ 9.99992066e-01 -1.83492834e-03 3.53577880e-03 -3.68551349e+01] [ 1.85339611e-03 9.99984622e-01 -5.22693469e-03 -6.90754320e+01] [-3.52613337e-03 5.23344642e-03 9.99980089e-01 6.07344927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99907232899994 meters 0.25423537311314165 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.73 [[ 9.99991576e-01 -2.12139596e-03 3.51391639e-03 -3.68553578e+01] [ 2.14158068e-03 9.99981173e-01 -5.75045407e-03 -6.90739868e+01] [-3.50165125e-03 5.75793097e-03 9.99977292e-01 6.07349524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.029072329 meters 0.23033927317169137 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99992412e-01 -2.11776027e-03 3.26975047e-03 -3.68549790e+01] [ 2.13677382e-03 9.99980766e-01 -5.82248338e-03 -6.90738424e+01] [-3.25735696e-03 5.82942591e-03 9.99977703e-01 6.07353177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05907232899995 meters 0.2304601640782354 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.07, Z:60.74 [[ 9.99992099e-01 -2.30391898e-03 3.23927465e-03 -3.68550630e+01] [ 2.32389084e-03 9.99978232e-01 -6.17534970e-03 -6.90728288e+01] [-3.22497664e-03 6.18282863e-03 9.99975686e-01 6.07356105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.089072329 meters 0.2908198936601306 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99993698e-01 -2.20714786e-03 2.78067858e-03 -3.68537495e+01] [ 2.22427103e-03 9.99978492e-01 -6.16994121e-03 -6.90725646e+01] [-2.76700080e-03 6.17608731e-03 9.99977100e-01 6.07353552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11907232899995 meters 0.2528221402106797 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99994747e-01 -2.13007092e-03 2.44299521e-03 -3.68527401e+01] [ 2.14510656e-03 9.99978673e-01 -6.16857507e-03 -6.90723518e+01] [-2.42980360e-03 6.17378315e-03 9.99977990e-01 6.07351325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.149072329 meters 0.2930909721185366 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.73 [[ 9.99994920e-01 -2.18174953e-03 2.32368672e-03 -3.68522713e+01] [ 2.19637703e-03 9.99977673e-01 -6.31111348e-03 -6.90717294e+01] [-2.30986557e-03 6.31618511e-03 9.99977385e-01 6.07349263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17907232899995 meters 0.24819565959167325 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99994765e-01 -2.17359891e-03 2.39714629e-03 -3.68525576e+01] [ 2.18860260e-03 9.99977922e-01 -6.27421799e-03 -6.90718951e+01] [-2.38345573e-03 6.27943154e-03 9.99977444e-01 6.07350957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.209072329 meters 0.24651302020406377 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99994760e-01 -2.15799558e-03 2.41305851e-03 -3.68527391e+01] [ 2.17304991e-03 9.99978085e-01 -6.25357264e-03 -6.90720125e+01] [-2.39951045e-03 6.25878357e-03 9.99977535e-01 6.07353408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23907232899995 meters 0.23269391782763194 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99995269e-01 -2.12434310e-03 2.22470326e-03 -3.68523383e+01] [ 2.13822732e-03 9.99978137e-01 -6.25726141e-03 -6.90719915e+01] [-2.21136205e-03 6.26198872e-03 9.99977948e-01 6.07354601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.269072329 meters 0.23058136426895606 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99995783e-01 -2.28441439e-03 1.79295944e-03 -3.68512790e+01] [ 2.29648267e-03 9.99974528e-01 -6.75798433e-03 -6.90703666e+01] [-1.77747574e-03 6.76207333e-03 9.99975557e-01 6.07355723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29907232899996 meters 0.22666038205666167 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99997492e-01 1.65039866e-03 1.51413506e-03 -3.68508624e+01] [-1.64548368e-03 9.99993392e-01 -3.24159059e-03 -6.90679870e+01] [-1.51947497e-03 3.23909097e-03 9.99993600e-01 6.07360744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.329072329 meters 0.2551205489832164 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99998143e-01 1.62957434e-03 1.02900352e-03 -3.68497993e+01] [-1.62601748e-03 9.99992734e-01 -3.44804096e-03 -6.90673195e+01] [-1.03461488e-03 3.44636138e-03 9.99993526e-01 6.07363476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35907232899996 meters 0.24693616136115404 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.07, Z:60.74 [[ 9.99998570e-01 1.60029337e-03 5.46632768e-04 -3.68488821e+01] [-1.59825884e-03 9.99991869e-01 -3.70229824e-03 -6.90666119e+01] [-5.52553087e-04 3.70141928e-03 9.99992997e-01 6.07368434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.389072329 meters 0.222080922537086 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.07, Z:60.74 [[ 9.99995158e-01 2.96605679e-03 -9.41363420e-04 -3.68443150e+01] [-2.96902899e-03 9.99990562e-01 -3.17179858e-03 -6.90651860e+01] [ 9.31946801e-04 3.17457816e-03 9.99994527e-01 6.07361547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41907232899996 meters 0.24083636625606794 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99994702e-01 2.76411675e-03 -1.71911887e-03 -3.68426504e+01] [-2.77083024e-03 9.99988497e-01 -3.91515035e-03 -6.90628984e+01] [ 1.70827717e-03 3.91989299e-03 9.99990858e-01 6.07367319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.449072329 meters 0.24083636625606794 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99994702e-01 2.76411675e-03 -1.71911887e-03 -3.68426504e+01] [-2.77083024e-03 9.99988497e-01 -3.91515035e-03 -6.90628984e+01] [ 1.70827717e-03 3.91989299e-03 9.99990858e-01 6.07367319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47907232899996 meters 0.2421434944698772 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99987774e-01 4.03454718e-03 -2.85913687e-03 -3.68382713e+01] [-4.04467490e-03 9.99985535e-01 -3.54534571e-03 -6.90605513e+01] [ 2.84479164e-03 3.55686664e-03 9.99989628e-01 6.07353509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.509072329 meters 0.28307452517699455 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.06, Z:60.74 [[ 9.99986601e-01 3.98254103e-03 -3.30711523e-03 -3.68371743e+01] [-3.99508140e-03 9.99984822e-01 -3.79402595e-03 -6.90596676e+01] [ 3.29195517e-03 3.80718730e-03 9.99987334e-01 6.07354514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53907232899996 meters 0.27772053402123714 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.73 [[ 9.99980664e-01 4.62883894e-03 -4.15287800e-03 -3.68341073e+01] [-4.64229040e-03 9.99983991e-01 -3.23529726e-03 -6.90595832e+01] [ 4.13783585e-03 3.25451356e-03 9.99986143e-01 6.07342490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.569072329 meters 0.2744231147252737 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.73 [[ 9.99968463e-01 5.75903561e-03 -5.46870498e-03 -3.68297274e+01] [-5.77529552e-03 9.99978936e-01 -2.96214257e-03 -6.90573905e+01] [ 5.45153070e-03 2.99363254e-03 9.99980659e-01 6.07333303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59907232899997 meters 0.2617905985430651 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.06, Z:60.73 [[ 9.99966681e-01 5.60485719e-03 -5.93487463e-03 -3.68287188e+01] [-5.62536799e-03 9.99978244e-01 -3.44494232e-03 -6.90558780e+01] [ 5.91543710e-03 3.47821339e-03 9.99976455e-01 6.07336921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62907232899994 meters 0.2624656866510259 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.05, Z:60.73 [[ 9.99964438e-01 5.49206563e-03 -6.39991965e-03 -3.68277491e+01] [-5.51651198e-03 9.99977532e-01 -3.80841856e-03 -6.90547499e+01] [ 6.37885977e-03 3.84358836e-03 9.99972268e-01 6.07340641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65907232899997 meters 0.26464776439046844 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.05, Z:60.73 [[ 9.99964117e-01 5.19304084e-03 -6.69310675e-03 -3.68272473e+01] [-5.22282783e-03 9.99976501e-01 -4.44063044e-03 -6.90529071e+01] [ 6.66988909e-03 4.47542804e-03 9.99967741e-01 6.07344774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68907232899994 meters 0.26284881429509316 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.74 [[ 9.99916985e-01 4.37839735e-03 -1.21182689e-02 -3.68157160e+01] [-4.31374979e-03 9.99976354e-01 5.35572700e-03 -6.90541421e+01] [ 1.21414318e-02 -5.30300721e-03 9.99912228e-01 6.07419764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71907232899997 meters 0.2515948316093087 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.05, Z:60.74 [[ 9.99917505e-01 4.30402084e-03 -1.21019790e-02 -3.68159309e+01] [-4.24083743e-03 9.99977269e-01 5.24173972e-03 -6.90539306e+01] [ 1.21242645e-02 -5.18998478e-03 9.99913029e-01 6.07422022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74907232899994 meters 0.24623530428807025 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99910533e-01 4.43348729e-03 -1.26202134e-02 -3.68145313e+01] [-4.36743983e-03 9.99976649e-01 5.25622451e-03 -6.90536498e+01] [ 1.26432221e-02 -5.20063623e-03 9.99906547e-01 6.07420742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779072329 meters 0.2784774953933823 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99905693e-01 4.24963228e-03 -1.30593266e-02 -3.68137665e+01] [-4.18749371e-03 9.99979799e-01 4.78184229e-03 -6.90523463e+01] [ 1.30793839e-02 -4.72670548e-03 9.99903289e-01 6.07425931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80907232899995 meters 0.28111333251213594 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99899394e-01 4.03638738e-03 -1.35981437e-02 -3.68127582e+01] [-3.97918604e-03 9.99983132e-01 4.23098820e-03 -6.90507680e+01] [ 1.36149922e-02 -4.17645300e-03 9.99898589e-01 6.07431181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839072329 meters 0.2700040173578099 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99888556e-01 3.96581356e-03 -1.43926192e-02 -3.68108015e+01] [-3.91247485e-03 9.99985381e-01 3.73224326e-03 -6.90487542e+01] [ 1.44072102e-02 -3.67551656e-03 9.99889455e-01 6.07433416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.86907232899995 meters 0.2704033091356419 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99888465e-01 3.80189388e-03 -1.44430825e-02 -3.68108245e+01] [-3.75264838e-03 9.99987058e-01 3.43519822e-03 -6.90479326e+01] [ 1.44559559e-02 -3.38061527e-03 9.99889792e-01 6.07435703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899072329 meters 0.26869295958361883 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99984183e-01 5.62242363e-03 1.49824423e-04 -3.68128585e+01] [-5.62324331e-03 9.99965034e-01 6.18942595e-03 -6.90526774e+01] [-1.15019610e-04 -6.19017055e-03 9.99980834e-01 6.07392526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.92907232899995 meters 0.2553292388706041 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99999239e-01 1.16951970e-03 -3.93016949e-04 -3.68118275e+01] [-1.16894773e-03 9.99998262e-01 1.45241890e-03 -6.90514495e+01] [ 3.94714898e-04 -1.45195838e-03 9.99998868e-01 6.07397620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959072329 meters 0.25417467527994153 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99999169e-01 1.22185484e-03 4.10944058e-04 -3.68136196e+01] [-1.22261284e-03 9.99997543e-01 1.84937946e-03 -6.90528588e+01] [-4.08683375e-04 -1.84988035e-03 9.99998205e-01 6.07394687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.98907232899995 meters 0.24937823554805497 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.05, Z:60.74 [[ 9.99995776e-01 -2.90159531e-03 1.71314270e-04 -3.68128477e+01] [ 2.90196563e-03 9.99993364e-01 -2.20246118e-03 -6.90534595e+01] [-1.64922482e-04 2.20294902e-03 9.99997560e-01 6.07392639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019072329 meters 0.24559120885928 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.74 [[ 9.99995395e-01 -2.72663414e-03 1.33208598e-03 -3.68152076e+01] [ 2.72804095e-03 9.99995722e-01 -1.05542035e-03 -6.90569247e+01] [-1.32920254e-03 1.05904948e-03 9.99998556e-01 6.07382309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.04907232899996 meters 0.24566115047846374 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.74 [[ 9.99993572e-01 -2.65377433e-03 2.41098718e-03 -3.68174986e+01] [ 2.65487069e-03 9.99996374e-01 -4.51650182e-04 -6.90588965e+01] [-2.40977986e-03 4.58048138e-04 9.99996992e-01 6.07376576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079072329 meters 0.2347581921748798 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.74 [[ 9.99992012e-01 -2.49144978e-03 3.12549422e-03 -3.68189501e+01] [ 2.49102718e-03 9.99996888e-01 1.39099132e-04 -6.90606368e+01] [-3.12583105e-03 -1.31312330e-04 9.99995106e-01 6.07371391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.10907232899996 meters 0.27567134946278615 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.06, Z:60.74 [[ 9.99971416e-01 -6.39271356e-03 4.03729570e-03 -3.68206242e+01] [ 6.40489538e-03 9.99974953e-01 -3.01163334e-03 -6.90640292e+01] [-4.01794207e-03 3.03740572e-03 9.99987315e-01 6.07362141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139072329 meters 0.269889469854259 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.07, Z:60.73 [[ 9.99968347e-01 -6.10778922e-03 5.09893628e-03 -3.68225503e+01] [ 6.11753981e-03 9.99979485e-01 -1.89887704e-03 -6.90670901e+01] [-5.08723374e-03 1.93000988e-03 9.99985197e-01 6.07349682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16907232899996 meters 0.25410743242379125 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.73 [[ 9.99961611e-01 -6.07768055e-03 6.31172928e-03 -3.68250108e+01] [ 6.08526609e-03 9.99980784e-01 -1.18330872e-03 -6.90693097e+01] [-6.30441623e-03 1.22167185e-03 9.99979381e-01 6.07340491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199072329 meters 0.2505382654968877 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.07, Z:60.73 [[ 9.99939955e-01 -7.07161712e-03 8.37128719e-03 -3.68295700e+01] [ 7.06913486e-03 9.99974960e-01 3.26073857e-04 -6.90748811e+01] [-8.37338344e-03 -2.66876520e-04 9.99964907e-01 6.07319263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22907232899996 meters 0.2509740110393035 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.08, Z:60.73 [[ 9.99928915e-01 -7.11182432e-03 9.57008851e-03 -3.68321356e+01] [ 7.10279839e-03 9.99974298e-01 9.76797446e-04 -6.90769843e+01] [-9.57678935e-03 -9.08753601e-04 9.99953729e-01 6.07311906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259072329 meters 0.24593274047310912 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.08, Z:60.73 [[ 9.99916318e-01 -7.08453305e-03 1.08243755e-02 -3.68348213e+01] [ 7.06684711e-03 9.99973633e-01 1.67127566e-03 -6.90792731e+01] [-1.08359303e-02 -1.59464160e-03 9.99940018e-01 6.07305015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28907232899996 meters 0.2888010848031021 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.08, Z:60.73 [[ 9.99847414e-01 -1.19033921e-02 1.27850665e-02 -3.68391324e+01] [ 1.19184922e-02 9.99928361e-01 -1.10552278e-03 -6.90845874e+01] [-1.27709912e-02 1.25773281e-03 9.99917657e-01 6.07290044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319072329 meters 0.23869786450925065 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.09, Z:60.73 [[ 9.99837253e-01 -1.17744355e-02 1.36685992e-02 -3.68409473e+01] [ 1.17813719e-02 9.99930506e-01 -4.27054432e-04 -6.90865516e+01] [-1.36626210e-02 5.88019780e-04 9.99906489e-01 6.07283844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34907232899997 meters 0.2740502378205373 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.09, Z:60.73 [[ 9.99824008e-01 -1.18268028e-02 1.45629836e-02 -3.68427457e+01] [ 1.18309398e-02 9.99929992e-01 -1.97950291e-04 -6.90872112e+01] [-1.45596230e-02 3.70209235e-04 9.99893935e-01 6.07277547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37907232899994 meters 0.23631878459842345 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.73 [[ 9.99806602e-01 -1.18402236e-02 1.57024732e-02 -3.68450841e+01] [ 1.18310822e-02 9.99929783e-01 6.74934906e-04 -6.90897771e+01] [-1.57093620e-02 -4.89027124e-04 9.99876481e-01 6.07268323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40907232899997 meters 0.26561791962478065 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.73 [[ 9.99789859e-01 -1.19666964e-02 1.66443902e-02 -3.68470729e+01] [ 1.19536002e-02 9.99928161e-01 8.86087750e-04 -6.90904311e+01] [-1.66537980e-02 -6.86941160e-04 9.99861080e-01 6.07263050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43907232899994 meters 0.24602188697490712 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.73 [[ 9.99774031e-01 -1.19500749e-02 1.75807324e-02 -3.68489009e+01] [ 1.19295982e-02 9.99928034e-01 1.26914060e-03 -6.90914958e+01] [-1.75946335e-02 -1.05912274e-03 9.99844641e-01 6.07255190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46907232899997 meters 0.2525840076699618 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.09, Z:60.72 [[ 9.99669129e-01 -1.67313651e-02 1.95369995e-02 -3.68528771e+01] [ 1.67760387e-02 9.99857014e-01 -2.12495387e-03 -6.90948275e+01] [-1.94986526e-02 2.45200424e-03 9.99806876e-01 6.07240780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49907232899994 meters 0.23307308418136574 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.09, Z:60.72 [[ 9.99786814e-01 -1.77472713e-02 1.05528144e-02 -3.68562643e+01] [ 1.78876231e-02 9.99750771e-01 -1.33577219e-02 -6.90914198e+01] [-1.03131212e-02 1.35436390e-02 9.99855094e-01 6.07214419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.529072329 meters 0.25325418628202456 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.09, Z:60.72 [[ 9.99762582e-01 -1.81465902e-02 1.20615460e-02 -3.68597098e+01] [ 1.83039193e-02 9.99747117e-01 -1.30640254e-02 -6.90928581e+01] [-1.18214283e-02 1.32816973e-02 9.99841913e-01 6.07209803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55907232899995 meters 0.2525672888392076 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.09, Z:60.72 [[ 9.99746381e-01 -1.81780802e-02 1.32940391e-02 -3.68623882e+01] [ 1.83432195e-02 9.99754761e-01 -1.24074497e-02 -6.90948769e+01] [-1.30652352e-02 1.26481585e-02 9.99834648e-01 6.07203254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.589072329 meters 0.26321970377712217 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.09, Z:60.72 [[ 9.99553191e-01 -2.35160176e-02 1.84503556e-02 -3.68758481e+01] [ 2.37249620e-02 9.99655910e-01 -1.11887021e-02 -6.90943412e+01] [-1.81808933e-02 1.16214368e-02 9.99767172e-01 6.07160519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61907232899995 meters 0.2400903095744431 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.10, Z:60.71 [[ 9.99514022e-01 -2.39580458e-02 1.99432289e-02 -3.68789249e+01] [ 2.41787641e-02 9.99648219e-01 -1.09007376e-02 -6.90954661e+01] [-1.96750528e-02 1.13776427e-02 9.99741687e-01 6.07149530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.649072329 meters 0.23330687868855463 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.09, Z:60.71 [[ 9.99433266e-01 -2.24325215e-02 2.50983821e-02 -3.68915931e+01] [ 2.29498280e-02 9.99526077e-01 -2.05165189e-02 -6.90947014e+01] [-2.46262501e-02 2.10808950e-02 9.99474434e-01 6.07071663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.67907232899995 meters 0.23567359066560614 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.10, Z:60.71 [[ 9.99430574e-01 -2.22739303e-02 2.53455872e-02 -3.68920401e+01] [ 2.27870489e-02 9.99537470e-01 -2.01394211e-02 -6.90957783e+01] [-2.48852800e-02 2.07055043e-02 9.99475865e-01 6.07068944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.709072329 meters 0.2749119682856351 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.10, Z:60.71 [[ 9.99155018e-01 -3.23497837e-02 2.53523664e-02 -3.68954650e+01] [ 3.26337452e-02 9.99408288e-01 -1.08679543e-02 -6.90960309e+01] [-2.49857892e-02 1.16861137e-02 9.99619500e-01 6.07097604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.73907232899995 meters 0.21650296789696943 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.09, Z:60.70 [[ 9.99126819e-01 -3.01176376e-02 2.89573407e-02 -3.69064559e+01] [ 3.07309228e-02 9.99307646e-01 -2.09723540e-02 -6.90883999e+01] [-2.83056542e-02 2.18439272e-02 9.99360612e-01 6.07036425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.769072329 meters 0.23851118191663684 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.09, Z:60.70 [[ 9.99111981e-01 -3.00530934e-02 2.95306765e-02 -3.69075195e+01] [ 3.06675238e-02 9.99317779e-01 -2.05785996e-02 -6.90894081e+01] [-2.88920795e-02 2.14659582e-02 9.99352020e-01 6.07030481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.79907232899996 meters 0.23754815244862054 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.09, Z:60.70 [[ 9.99214472e-01 -2.59478727e-02 2.99524172e-02 -3.69086188e+01] [ 2.64423059e-02 9.99518566e-01 -1.62308844e-02 -6.90893917e+01] [-2.95168401e-02 1.70101455e-02 9.99419537e-01 6.07026550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.829072329 meters 0.22879901839790756 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.09, Z:60.70 [[ 9.99199121e-01 -2.62290641e-02 3.02184151e-02 -3.69092921e+01] [ 2.67405718e-02 9.99503752e-01 -1.66490483e-02 -6.90881277e+01] [-2.97667303e-02 1.74437721e-02 9.99404651e-01 6.07027627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.85907232899996 meters 0.27523534411732914 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.08, Z:60.71 [[ 9.99612226e-01 -2.26942065e-02 1.61360173e-02 -3.69085293e+01] [ 2.29552991e-02 9.99605489e-01 -1.61839331e-02 -6.90798339e+01] [-1.57623700e-02 1.65480645e-02 9.99738821e-01 6.07061444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.889072329 meters 0.22983294217980224 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.08, Z:60.71 [[ 9.99679054e-01 -1.91249723e-02 1.66140037e-02 -3.69099573e+01] [ 1.93405039e-02 9.99729595e-01 -1.29105436e-02 -6.90769517e+01] [-1.63625974e-02 1.32277232e-02 9.99778622e-01 6.07064151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91907232899996 meters 0.33241696414321265 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.08, Z:60.71 [[ 9.99741597e-01 -1.52493977e-02 1.68581042e-02 -3.69107612e+01] [ 1.54056839e-02 9.99839183e-01 -9.18001680e-03 -6.90752307e+01] [-1.67154034e-02 9.43735527e-03 9.99815749e-01 6.07065113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.949072329 meters 0.2290915061877483 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.07, Z:60.71 [[ 9.99920896e-01 -1.22762681e-02 2.73773102e-03 -3.69094369e+01] [ 1.23016323e-02 9.99879688e-01 -9.44872920e-03 -6.90676896e+01] [-2.62140651e-03 9.48166033e-03 9.99951612e-01 6.07096294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97907232899996 meters 0.22802483848996846 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.71 [[ 9.99960980e-01 -8.47904982e-03 2.47859151e-03 -3.69092106e+01] [ 8.49406460e-03 9.99945250e-01 -6.11136662e-03 -6.90647549e+01] [-2.42663722e-03 6.13218147e-03 9.99978254e-01 6.07101236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.009072329 meters 0.24805558493393504 Centerline is valid? [False, False] Translation: X:-36.91, Y:-69.06, Z:60.71 [[ 9.99991800e-01 -3.92715450e-03 9.88902142e-04 -3.69057987e+01] [ 3.92982234e-03 9.99988605e-01 -2.71044213e-03 -6.90615017e+01] [-9.78246549e-04 2.71430611e-03 9.99995838e-01 6.07109041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03907232899996 meters 0.22272701740782602 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.71 [[ 9.99999885e-01 2.45382575e-04 4.12594929e-04 -3.69047234e+01] [-2.45833883e-04 9.99999371e-01 1.09413202e-03 -6.90600034e+01] [-4.12326189e-04 -1.09423332e-03 9.99999316e-01 6.07114780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.069072329 meters 0.2628116960568082 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.06, Z:60.71 [[ 9.99999052e-01 8.48316688e-04 -1.08437735e-03 -3.69009323e+01] [-8.47360125e-04 9.99999252e-01 8.82286628e-04 -6.90583127e+01] [ 1.08512500e-03 -8.81366933e-04 9.99999023e-01 6.07117473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09907232899997 meters 0.26723310207710005 Centerline is valid? [False, False] Translation: X:-36.90, Y:-69.05, Z:60.71 [[ 9.99993909e-01 1.62056130e-03 -3.09111592e-03 -3.68962187e+01] [-1.62080426e-03 9.99998684e-01 -7.60960103e-05 -6.90546026e+01] [ 3.09098854e-03 8.11056407e-05 9.99995220e-01 6.07130011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12907232899994 meters 0.2600698218095686 Centerline is valid? [False, False] Translation: X:-36.89, Y:-69.05, Z:60.71 [[ 9.99986343e-01 2.43599062e-03 -4.62384741e-03 -3.68925684e+01] [-2.43739164e-03 9.99996985e-01 -2.97387062e-04 -6.90526292e+01] [ 4.62310904e-03 3.08653128e-04 9.99989266e-01 6.07136397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15907232899997 meters 0.22451509762602445 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.72 [[ 9.99923521e-01 8.78260348e-03 -8.70736509e-03 -3.68839514e+01] [-8.76992482e-03 9.99960429e-01 1.49319974e-03 -6.90489350e+01] [ 8.72013470e-03 -1.41672260e-03 9.99960975e-01 6.07183369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18907232899994 meters 0.22143822269882057 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.05, Z:60.72 [[ 9.99914404e-01 8.62216510e-03 -9.84092362e-03 -3.68815691e+01] [-8.61721129e-03 9.99962722e-01 5.45679578e-04 -6.90460263e+01] [ 9.84526171e-03 -4.60831551e-04 9.99951428e-01 6.07192102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21907232899997 meters 0.23396352487265165 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.72 [[ 9.99898718e-01 8.82424582e-03 -1.11662689e-02 -3.68785108e+01] [-8.82851638e-03 9.99960972e-01 -3.33216324e-04 -6.90427979e+01] [ 1.11628927e-02 4.31764163e-04 9.99937600e-01 6.07199551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24907232899994 meters 0.22843237963537516 Centerline is valid? [False, False] Translation: X:-36.88, Y:-69.04, Z:60.72 [[ 9.99880708e-01 9.07289633e-03 -1.25001310e-02 -3.68752844e+01] [-9.08570690e-03 9.99958255e-01 -9.68426995e-04 -6.90400496e+01] [ 1.24908228e-02 1.08188400e-03 9.99921401e-01 6.07204316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279072329 meters 0.2462640174591421 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.73 [[ 9.99680466e-01 1.81705656e-02 -1.75726310e-02 -3.68622975e+01] [-1.81540315e-02 9.99834597e-01 1.09997143e-03 -6.90375505e+01] [ 1.75897115e-02 -7.80605856e-04 9.99844984e-01 6.07258933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.30907232899995 meters 0.2887230542753722 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.04, Z:60.73 [[ 9.99742047e-01 1.68368615e-02 -1.52433156e-02 -3.68563629e+01] [-1.66605468e-02 9.99793671e-01 1.16207270e-02 -6.90363942e+01] [ 1.54358270e-02 -1.13637674e-02 9.99816283e-01 6.07336755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339072329 meters 0.2887230542753722 Centerline is valid? [False, False] Translation: X:-36.85, Y:-69.04, Z:60.73 [[ 9.99787962e-01 1.27346263e-02 -1.61820718e-02 -3.68542130e+01] [-1.26143326e-02 9.99892202e-01 7.51421681e-03 -6.90363143e+01] [ 1.62760182e-02 -7.30849748e-03 9.99840826e-01 6.07337638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.36907232899995 meters 0.2887159955122365 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.03, Z:60.74 [[ 9.99570916e-01 2.05065321e-02 -2.09157014e-02 -3.68431395e+01] [-2.03255422e-02 9.99754426e-01 8.82951022e-03 -6.90309101e+01] [ 2.10916277e-02 -8.40059864e-03 9.99742253e-01 6.07394261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399072329 meters 0.2539426838243081 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.03, Z:60.74 [[ 9.99529850e-01 2.10358925e-02 -2.23062815e-02 -3.68395698e+01] [-2.08601412e-02 9.99749731e-01 8.08265996e-03 -6.90273064e+01] [ 2.24707249e-02 -7.61354771e-03 9.99718511e-01 6.07399209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.42907232899995 meters 0.2790416471260276 Centerline is valid? [False, False] Translation: X:-36.84, Y:-69.02, Z:60.74 [[ 9.99485509e-01 2.14562435e-02 -2.38400445e-02 -3.68358444e+01] [-2.12912133e-02 9.99747715e-01 7.15482332e-03 -6.90232049e+01] [ 2.39875457e-02 -6.64355875e-03 9.99690182e-01 6.07406913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459072329 meters 0.24661810770672296 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.02, Z:60.74 [[ 9.99097623e-01 3.89401476e-02 -1.69589194e-02 -3.68246086e+01] [-3.86972742e-02 9.99146906e-01 1.44215203e-02 -6.90219755e+01] [ 1.75060279e-02 -1.37522427e-02 9.99752177e-01 6.07378747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.48907232899995 meters 0.26232853419657876 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.02, Z:60.74 [[ 9.98795897e-01 4.40606841e-02 -2.15734109e-02 -3.68114419e+01] [-4.37983973e-02 9.98962396e-01 1.24832809e-02 -6.90201875e+01] [ 2.21010481e-02 -1.15233689e-02 9.99689330e-01 6.07427151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519072329 meters 0.29121583797050515 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.01, Z:60.74 [[ 9.98590424e-01 4.79982064e-02 -2.26569431e-02 -3.68090316e+01] [-4.76701253e-02 9.98753405e-01 1.48052418e-02 -6.90145769e+01] [ 2.33393241e-02 -1.37043134e-02 9.99633667e-01 6.07444621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.54907232899996 meters 0.2877263777821825 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.00, Z:60.75 [[ 9.97906703e-01 5.89438600e-02 -2.66051546e-02 -3.67993509e+01] [-5.84430549e-02 9.98105612e-01 1.92248910e-02 -6.90045362e+01] [ 2.76879434e-02 -1.76297610e-02 9.99461139e-01 6.07503410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579072329 meters 0.2780232088319753 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.00, Z:60.75 [[ 9.97849439e-01 5.91739721e-02 -2.81946562e-02 -3.67954849e+01] [-5.86913116e-02 9.98120134e-01 1.76501739e-02 -6.89986699e+01] [ 2.91860849e-02 -1.59574348e-02 9.99446613e-01 6.07515640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.60907232899996 meters 0.27921744462105774 Centerline is valid? [False, False] Translation: X:-36.79, Y:-68.99, Z:60.76 [[ 9.97116874e-01 6.89720281e-02 -3.16354190e-02 -3.67875811e+01] [-6.83200530e-02 9.97437164e-01 2.12479085e-02 -6.89878747e+01] [ 3.30198539e-02 -1.90253146e-02 9.99273599e-01 6.07582025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639072329 meters 0.29189805606268787 Centerline is valid? [False, False] Translation: X:-36.79, Y:-68.98, Z:60.76 [[ 9.96835758e-01 7.26449254e-02 -3.22674317e-02 -3.67862267e+01] [-7.18998920e-02 9.97130708e-01 2.36803010e-02 -6.89827747e+01] [ 3.38951007e-02 -2.12853459e-02 9.99198707e-01 6.07599084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66907232899996 meters 0.28685256397679687 Centerline is valid? [False, False] Translation: X:-36.78, Y:-68.98, Z:60.76 [[ 9.96789458e-01 7.25953436e-02 -3.37741383e-02 -3.67828838e+01] [-7.18860492e-02 9.97175390e-01 2.17632190e-02 -6.89763967e+01] [ 3.52586479e-02 -1.92654579e-02 9.99192509e-01 6.07616375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699072329 meters 0.28553373046049635 Centerline is valid? [False, False] Translation: X:-36.78, Y:-68.96, Z:60.77 [[ 9.95928072e-01 8.23771633e-02 -3.66234580e-02 -3.67757330e+01] [-8.14813495e-02 9.96353272e-01 2.53169135e-02 -6.89639395e+01] [ 3.85754378e-02 -2.22296961e-02 9.99008396e-01 6.07678576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72907232899996 meters 0.2872257243180411 Centerline is valid? [False, False] Translation: X:-36.77, Y:-68.96, Z:60.77 [[ 9.95599454e-01 8.59671360e-02 -3.73011936e-02 -3.67739504e+01] [-8.49696788e-02 9.96002533e-01 2.75519175e-02 -6.89580352e+01] [ 3.95206427e-02 -2.42612035e-02 9.98924178e-01 6.07693718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759072329 meters 0.32969429358249264 Centerline is valid? [False, False] Translation: X:-36.77, Y:-68.95, Z:60.77 [[ 9.95242265e-01 8.97125022e-02 -3.80065883e-02 -3.67719215e+01] [-8.86006213e-02 9.95615453e-01 2.99966529e-02 -6.89525609e+01] [ 4.05310215e-02 -2.64865295e-02 9.98827162e-01 6.07706462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78907232899996 meters 0.31748978544307815 Centerline is valid? [False, False] Translation: X:-36.78, Y:-68.94, Z:60.77 [[ 9.93906924e-01 1.04606756e-01 -3.47340260e-02 -3.67777916e+01] [-1.03678757e-01 9.94229842e-01 2.75270235e-02 -6.89356586e+01] [ 3.74131179e-02 -2.37581187e-02 9.99017422e-01 6.07690808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819072329 meters 0.31687694191149496 Centerline is valid? [False, False] Translation: X:-36.78, Y:-68.93, Z:60.77 [[ 9.93520553e-01 1.08160647e-01 -3.49025198e-02 -3.67771041e+01] [-1.07132301e-01 9.93788917e-01 3.01041211e-02 -6.89308997e+01] [ 3.79418185e-02 -2.61698758e-02 9.98937213e-01 6.07704478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84907232899997 meters 0.3091370739405133 Centerline is valid? [False, False] Translation: X:-36.78, Y:-68.93, Z:60.77 [[ 9.93105459e-01 1.11791328e-01 -3.52738880e-02 -3.67759454e+01] [-1.10656168e-01 9.93322399e-01 3.26469695e-02 -6.89260642e+01] [ 3.86879911e-02 -2.85186103e-02 9.98844296e-01 6.07719775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87907232899994 meters 0.2749699518963023 Centerline is valid? [False, False] Translation: X:-36.77, Y:-68.92, Z:60.77 [[ 9.92673679e-01 1.15481777e-01 -3.55376860e-02 -3.67747894e+01] [-1.14235010e-01 9.92825698e-01 3.53199227e-02 -6.89214847e+01] [ 3.93615353e-02 -3.10015097e-02 9.98743999e-01 6.07731965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90907232899997 meters 0.29382839949561523 Centerline is valid? [False, False] Translation: X:-36.78, Y:-68.90, Z:60.77 [[ 9.91144554e-01 1.29020582e-01 -3.14032125e-02 -3.67822087e+01] [-1.28045167e-01 9.91273772e-01 3.13168190e-02 -6.89046214e+01] [ 3.51696951e-02 -2.70184650e-02 9.99016063e-01 6.07728219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93907232899994 meters 0.2937919802926871 Centerline is valid? [False, False] Translation: X:-36.78, Y:-68.90, Z:60.78 [[ 9.90235507e-01 1.36078975e-01 -3.02680274e-02 -3.67847398e+01] [-1.34926321e-01 9.90152025e-01 3.73343753e-02 -6.88994760e+01] [ 3.50503721e-02 -3.28858705e-02 9.98844328e-01 6.07757858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96907232899997 meters 0.2773925437419663 Centerline is valid? [False, False] Translation: X:-36.79, Y:-68.89, Z:60.78 [[ 9.89234643e-01 1.43318097e-01 -2.95760753e-02 -3.67855770e+01] [-1.41979913e-01 9.88924081e-01 4.32535163e-02 -6.88929803e+01] [ 3.54475047e-02 -3.85886681e-02 9.98626251e-01 6.07785398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99907232899994 meters 0.27803468100456646 Centerline is valid? [False, False] Translation: X:-36.79, Y:-68.89, Z:60.78 [[ 9.88716087e-01 1.46898802e-01 -2.93469041e-02 -3.67856987e+01] [-1.45466544e-01 9.88288042e-01 4.61110730e-02 -6.88893111e+01] [ 3.57768558e-02 -4.13217670e-02 9.98505147e-01 6.07800207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.029072329 meters 0.2761671345329574 Centerline is valid? [False, False] Translation: X:-36.79, Y:-68.89, Z:60.78 [[ 9.88222144e-01 1.50238961e-01 -2.90731722e-02 -3.67867189e+01] [-1.48721860e-01 9.87676735e-01 4.87491168e-02 -6.88857352e+01] [ 3.60389124e-02 -4.38511404e-02 9.98387838e-01 6.07822511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.05907232899995 meters 0.27031319839772944 Centerline is valid? [False, False] Translation: X:-36.79, Y:-68.88, Z:60.79 [[ 9.87839585e-01 1.52803457e-01 -2.87064133e-02 -3.67892584e+01] [-1.51247976e-01 9.87219115e-01 5.02241795e-02 -6.88803652e+01] [ 3.60139482e-02 -4.52716458e-02 9.98325335e-01 6.07858986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.089072329 meters 0.26516724627525684 Centerline is valid? [False, False] Translation: X:-36.80, Y:-68.87, Z:60.79 [[ 9.87697139e-01 1.53829356e-01 -2.81227718e-02 -3.67951230e+01] [-1.52296326e-01 9.87053120e-01 5.03186546e-02 -6.88747432e+01] [ 3.54991559e-02 -4.54165964e-02 9.98337189e-01 6.07918433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.11907232899995 meters 0.2839408972346818 Centerline is valid? [False, False] Translation: X:-36.80, Y:-68.87, Z:60.80 [[ 9.87586746e-01 1.54660200e-01 -2.74343181e-02 -3.68003100e+01] [-1.53171936e-01 9.86937991e-01 4.99175373e-02 -6.88705632e+01] [ 3.47962271e-02 -4.50957306e-02 9.98376481e-01 6.07970898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.149072329 meters 0.2843083839453601 Centerline is valid? [False, False] Translation: X:-36.81, Y:-68.86, Z:60.80 [[ 9.88019317e-01 1.52240917e-01 -2.53087438e-02 -3.68127737e+01] [-1.50864691e-01 9.87314901e-01 4.94887012e-02 -6.88610488e+01] [ 3.25219052e-02 -4.50775969e-02 9.98453973e-01 6.08018172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.17907232899995 meters 0.24417623466956953 Centerline is valid? [False, False] Translation: X:-36.82, Y:-68.86, Z:60.81 [[ 9.88324034e-01 1.50219996e-01 -2.54864146e-02 -3.68163763e+01] [-1.48928613e-01 9.87745975e-01 4.66707217e-02 -6.88570503e+01] [ 3.21849790e-02 -4.23301396e-02 9.98585142e-01 6.08062969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.209072329 meters 0.28456475486415195 Centerline is valid? [False, False] Translation: X:-36.83, Y:-68.85, Z:60.81 [[ 9.89071968e-01 1.45548500e-01 -2.35005427e-02 -3.68263487e+01] [-1.44442361e-01 9.88561354e-01 4.33918596e-02 -6.88503082e+01] [ 2.95473485e-02 -3.95231981e-02 9.98781693e-01 6.08092913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.23907232899995 meters 0.2793172293050473 Centerline is valid? [False, False] Translation: X:-36.84, Y:-68.84, Z:60.81 [[ 9.90146762e-01 1.38376245e-01 -2.14803390e-02 -3.68404967e+01] [-1.37425457e-01 9.89672597e-01 4.07724631e-02 -6.88441826e+01] [ 2.69004432e-02 -3.74187769e-02 9.98937536e-01 6.08116680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.269072329 meters 0.2754174604641468 Centerline is valid? [False, False] Translation: X:-36.85, Y:-68.84, Z:60.81 [[ 9.90787172e-01 1.34139768e-01 -1.86360301e-02 -3.68511215e+01] [-1.33343663e-01 9.90307287e-01 3.88708741e-02 -6.88397407e+01] [ 2.36695264e-02 -3.60277669e-02 9.99070445e-01 6.08125905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.29907232899996 meters 0.27662329416168835 Centerline is valid? [False, False] Translation: X:-36.87, Y:-68.84, Z:60.81 [[ 9.91719871e-01 1.27358385e-01 -1.64784346e-02 -3.68650574e+01] [-1.26647950e-01 9.91193111e-01 3.86848026e-02 -6.88381266e+01] [ 2.12601449e-02 -3.62775275e-02 9.99115583e-01 6.08123518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.329072329 meters 0.321303169281628 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.83, Z:60.81 [[ 9.92490448e-01 1.21559287e-01 -1.36400268e-02 -3.68778088e+01] [-1.20972350e-01 9.91936895e-01 3.77741699e-02 -6.88345551e+01] [ 1.81218470e-02 -3.58404367e-02 9.99193205e-01 6.08120638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.35907232899996 meters 0.2759062244069568 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.83, Z:60.81 [[ 9.93008373e-01 1.17593173e-01 -1.03061021e-02 -3.68887792e+01] [-1.17146142e-01 9.92440362e-01 3.65911162e-02 -6.88317544e+01] [ 1.45310572e-02 -3.51279646e-02 9.99277176e-01 6.08122433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.389072329 meters 0.32203087933371266 Centerline is valid? [False, False] Translation: X:-36.90, Y:-68.83, Z:60.81 [[ 9.93749950e-01 1.11371114e-01 -7.58365010e-03 -3.69019051e+01] [-1.11027672e-01 9.93155235e-01 3.62703107e-02 -6.88291839e+01] [ 1.15712067e-02 -3.52016244e-02 9.99313241e-01 6.08114145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41907232899996 meters 0.3189580328685147 Centerline is valid? [False, False] Translation: X:-36.92, Y:-68.82, Z:60.81 [[ 9.94911423e-01 1.00668826e-01 -4.12900179e-03 -3.69237721e+01] [-1.00463412e-01 9.94321211e-01 3.51060203e-02 -6.88236698e+01] [ 7.63963591e-03 -3.45125670e-02 9.99375064e-01 6.08116179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.449072329 meters 0.30748874444738883 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.82, Z:60.81 [[ 9.95440225e-01 9.53820341e-02 -1.01332720e-03 -3.69361235e+01] [-9.52848859e-02 9.94806550e-01 3.57871273e-02 -6.88221763e+01] [ 4.42151353e-03 -3.55273912e-02 9.99358922e-01 6.08094712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47907232899996 meters 0.3049435134460685 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.82, Z:60.81 [[ 9.96382521e-01 8.49599722e-02 1.91685164e-03 -3.69502436e+01] [-8.49770292e-02 9.95841752e-01 3.28345690e-02 -6.88235964e+01] [ 8.80743178e-04 -3.28786790e-02 9.99458962e-01 6.08071148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.509072329 meters 0.31783271005791586 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.83, Z:60.81 [[ 9.96726575e-01 8.08132004e-02 2.31546924e-03 -3.69522256e+01] [-8.08463484e-02 9.96299090e-01 2.91888912e-02 -6.88261505e+01] [ 5.19478143e-05 -2.92805408e-02 9.99571232e-01 6.08071870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53907232899996 meters 0.3033400856559086 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.83, Z:60.80 [[ 9.96983915e-01 7.73745631e-02 6.02080437e-03 -3.69625756e+01] [-7.75251105e-02 9.96506208e-01 3.10682111e-02 -6.88267041e+01] [-3.59587968e-03 -3.14412702e-02 9.99499133e-01 6.08030104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.569072329 meters 0.29464475460599526 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.83, Z:60.80 [[ 9.97643838e-01 6.79745736e-02 9.28600892e-03 -3.69754322e+01] [-6.82179076e-02 9.97247624e-01 2.90429588e-02 -6.88293971e+01] [-7.28626759e-03 -2.96080009e-02 9.99535030e-01 6.07994523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59907232899997 meters 0.3088568539305817 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.83, Z:60.80 [[ 9.97913972e-01 6.38276238e-02 9.68192013e-03 -3.69772353e+01] [-6.40546911e-02 9.97625493e-01 2.53055716e-02 -6.88315914e+01] [-8.04373583e-03 -2.58729559e-02 9.99632877e-01 6.07995291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62907232899994 meters 0.31679008989654756 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.83, Z:60.81 [[ 9.98248603e-01 5.89722980e-02 -4.68990059e-03 -3.69790362e+01] [-5.88596393e-02 9.98038264e-01 2.13346300e-02 -6.88281107e+01] [ 5.93885240e-03 -2.10212187e-02 9.99761391e-01 6.08061161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65907232899997 meters 0.3129840705917697 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.83, Z:60.81 [[ 9.98874194e-01 4.63978236e-02 -9.87854206e-03 -3.69827637e+01] [-4.61114133e-02 9.98558337e-01 2.74770035e-02 -6.88308562e+01] [ 1.11391737e-02 -2.69905562e-02 9.99573623e-01 6.08117609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68907232899994 meters 0.30819526999600844 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.83, Z:60.81 [[ 9.99226038e-01 3.79898894e-02 -1.02025663e-02 -3.69829277e+01] [-3.77863314e-02 9.99096465e-01 1.94537246e-02 -6.88328415e+01] [ 1.09323928e-02 -1.90531506e-02 9.99758701e-01 6.08118159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71907232899997 meters 0.30555056878884884 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.84, Z:60.81 [[ 9.99501786e-01 2.97438498e-02 -1.05585437e-02 -3.69828098e+01] [-2.96203241e-02 9.99493109e-01 1.16688502e-02 -6.88354618e+01] [ 1.09002682e-02 -1.13502891e-02 9.99876170e-01 6.08118024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74907232899994 meters 0.2909017691182818 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.84, Z:60.82 [[ 9.99831589e-01 1.38306142e-02 -1.20626845e-02 -3.69863220e+01] [-1.36357262e-02 9.99777539e-01 1.60915743e-02 -6.88424791e+01] [ 1.22825574e-02 -1.59243808e-02 9.99797756e-01 6.08155902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779072329 meters 0.2682088906519865 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.84, Z:60.82 [[ 9.99882049e-01 9.66991822e-03 -1.19323558e-02 -3.69867626e+01] [-9.52385067e-03 9.99879757e-01 1.22379991e-02 -6.88440077e+01] [ 1.20492614e-02 -1.21229136e-02 9.99853914e-01 6.08155204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.80907232899995 meters 0.28082734667735987 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.82 [[ 9.99916516e-01 5.58123755e-03 -1.16538234e-02 -3.69874313e+01] [-5.48149658e-03 9.99948226e-01 8.57312013e-03 -6.88460790e+01] [ 1.17010686e-02 -8.50852402e-03 9.99895340e-01 6.08152704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839072329 meters 0.2697069696402257 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.81 [[ 9.99940974e-01 1.72245088e-03 -1.07276035e-02 -3.69890334e+01] [-1.65965018e-03 9.99981451e-01 5.86027596e-03 -6.88505909e+01] [ 1.07374985e-02 -5.84212598e-03 9.99925285e-01 6.08137721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.86907232899995 meters 0.3107542163822665 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.81 [[ 9.99942061e-01 -2.62715138e-03 -1.04390158e-02 -3.69895859e+01] [ 2.64488647e-03 9.99995082e-01 1.68548093e-03 -6.88510306e+01] [ 1.04345365e-02 -1.71299329e-03 9.99944091e-01 6.08135330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899072329 meters 0.257261213597135 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.81 [[ 9.99926156e-01 -6.47151602e-03 -1.02859933e-02 -3.69894602e+01] [ 6.45454058e-03 9.99977753e-01 -1.68268623e-03 -6.88536575e+01] [ 1.02966540e-02 1.61617061e-03 9.99945682e-01 6.08128318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.92907232899995 meters 0.2567600880650219 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99933957e-01 -1.00180996e-02 5.63204317e-03 -3.69952500e+01] [ 1.00280996e-02 9.99948186e-01 -1.75014158e-03 -6.88616571e+01] [-5.61421826e-03 1.80650468e-03 9.99982608e-01 6.08075824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959072329 meters 0.24825739971479538 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99923622e-01 -1.01958654e-02 6.98535253e-03 -3.69983400e+01] [ 1.02047982e-02 9.99947155e-01 -1.24434578e-03 -6.88638972e+01] [-6.97229621e-03 1.31553485e-03 9.99974828e-01 6.08072066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.98907232899995 meters 0.24504786534979764 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.81 [[ 9.99918634e-01 -9.95294710e-03 7.97892820e-03 -3.70004335e+01] [ 9.95524110e-03 9.99950415e-01 -2.47841854e-04 -6.88669937e+01] [-7.97606580e-03 3.27253842e-04 9.99968137e-01 6.08065470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019072329 meters 0.24291473209663875 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.81 [[ 9.99862894e-01 -1.37978644e-02 9.15487346e-03 -3.70027675e+01] [ 1.38227140e-02 9.99900932e-01 -2.65665439e-03 -6.88727584e+01] [-9.11731035e-03 2.78283534e-03 9.99954564e-01 6.08054201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.04907232899996 meters 0.2389649289422257 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99851722e-01 -1.37638209e-02 1.03484753e-02 -3.70051948e+01] [ 1.37858630e-02 9.99902845e-01 -2.06168082e-03 -6.88747306e+01] [-1.03190933e-02 2.20403779e-03 9.99944328e-01 6.08045824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079072329 meters 0.344853500948312 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99834689e-01 -1.39701840e-02 1.16373919e-02 -3.70082097e+01] [ 1.39786160e-02 9.99902087e-01 -6.43537880e-04 -6.88797948e+01] [-1.16272621e-02 8.06106129e-04 9.99932076e-01 6.08035514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.10907232899996 meters 0.24486462410051976 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99831013e-01 -1.38022406e-02 1.21426457e-02 -3.70091209e+01] [ 1.38046456e-02 9.99904705e-01 -1.14259944e-04 -6.88812564e+01] [-1.21399116e-02 2.81865556e-04 9.99926269e-01 6.08029805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139072329 meters 0.22940115310708287 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99823249e-01 -1.36572958e-02 1.29208587e-02 -3.70106878e+01] [ 1.36524111e-02 9.99906693e-01 4.66184260e-04 -6.88829660e+01] [-1.29260199e-02 -2.89700988e-04 9.99916414e-01 6.08023837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16907232899996 meters 0.2441526364887533 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.80 [[ 9.99799060e-01 -1.41190714e-02 1.42299537e-02 -3.70138201e+01] [ 1.41056947e-02 9.99899969e-01 1.03997199e-03 -6.88857856e+01] [-1.42432137e-02 -8.39039636e-04 9.99898208e-01 6.08019172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199072329 meters 0.23995049793132356 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.80 [[ 9.99892029e-01 -1.26627460e-02 7.45551855e-03 -3.70197849e+01] [ 1.27322554e-02 9.99875219e-01 -9.35075822e-03 -6.88805666e+01] [-7.33618196e-03 9.44467418e-03 9.99928487e-01 6.07998879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22907232899996 meters 0.3104460428371866 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.80 [[ 9.99889367e-01 -1.24777338e-02 8.09691021e-03 -3.70209668e+01] [ 1.25483819e-02 9.99883121e-01 -8.73397448e-03 -6.88822668e+01] [-7.98698364e-03 8.83461133e-03 9.99929076e-01 6.07991912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259072329 meters 0.3104460428371866 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.80 [[ 9.99924186e-01 -8.49973633e-03 8.90939963e-03 -3.70231950e+01] [ 8.54136233e-03 9.99952736e-01 -4.64455258e-03 -6.88824787e+01] [-8.86950106e-03 4.72029886e-03 9.99949524e-01 6.07993449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28907232899996 meters 0.22803651054970528 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.80 [[ 9.99919017e-01 -8.20712736e-03 9.72637073e-03 -3.70247884e+01] [ 8.24416167e-03 9.99958896e-01 -3.77366094e-03 -6.88850191e+01] [-9.69500002e-03 3.85354111e-03 9.99945577e-01 6.07986348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319072329 meters 0.23041002146648293 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99917264e-01 -8.08266414e-03 1.00067373e-02 -3.70252327e+01] [ 8.11746415e-03 9.99961129e-01 -3.44193988e-03 -6.88859074e+01] [-9.97852830e-03 3.52288444e-03 9.99944008e-01 6.07982258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34907232899997 meters 0.28782839269429433 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99915196e-01 -8.08582805e-03 1.02088224e-02 -3.70256611e+01] [ 8.12063704e-03 9.99961339e-01 -3.37286085e-03 -6.88860917e+01] [-1.01811553e-02 3.45547696e-03 9.99942200e-01 6.07981154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37907232899994 meters 0.30030918472930784 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99915729e-01 -8.20643830e-03 1.00593127e-02 -3.70253791e+01] [ 8.24363130e-03 9.99959317e-01 -3.66149847e-03 -6.88851727e+01] [-1.00288556e-02 3.74411517e-03 9.99942700e-01 6.07983369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40907232899997 meters 0.29621788400974053 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99913822e-01 -8.12160190e-03 1.03144904e-02 -3.70258804e+01] [ 8.15727258e-03 9.99960877e-01 -3.42095783e-03 -6.88858484e+01] [-1.02863032e-02 3.50480113e-03 9.99940952e-01 6.07981356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43907232899994 meters 0.2817689539297768 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99906676e-01 -7.93382787e-03 1.11218028e-02 -3.70274554e+01] [ 7.96397272e-03 9.99964726e-01 -2.66876489e-03 -6.88881023e+01] [-1.11002370e-02 2.75708957e-03 9.99934589e-01 6.07973251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46907232899997 meters 0.2666530358065836 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99905901e-01 -7.95040342e-03 1.11794275e-02 -3.70276554e+01] [ 7.98086095e-03 9.99964555e-01 -2.68245766e-03 -6.88880881e+01] [-1.11577046e-02 2.77142670e-03 9.99933910e-01 6.07974259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49907232899994 meters 0.2813365149153768 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99905960e-01 -7.86826008e-03 1.12321726e-02 -3.70276384e+01] [ 7.89706444e-03 9.99965636e-01 -2.52240613e-03 -6.88884831e+01] [-1.12119397e-02 2.61087012e-03 9.99933736e-01 6.07971991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.529072329 meters 0.27235280387136784 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99904930e-01 -7.79982011e-03 1.13707516e-02 -3.70278327e+01] [ 7.82703780e-03 9.99966604e-01 -2.35112446e-03 -6.88889134e+01] [-1.13520336e-02 2.43990024e-03 9.99932587e-01 6.07969711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.55907232899995 meters 0.2724116230052262 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99917651e-01 -3.65470585e-03 1.23018082e-02 -3.70298248e+01] [ 3.62975187e-03 9.99991311e-01 2.05019673e-03 -6.88894054e+01] [-1.23091942e-02 -2.00537538e-03 9.99922228e-01 6.07964219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.589072329 meters 0.2555450889387072 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99910319e-01 -3.64949272e-03 1.28854536e-02 -3.70310341e+01] [ 3.61977283e-03 9.99990736e-01 2.32903792e-03 -6.88902368e+01] [-1.28938340e-02 -2.28218663e-03 9.99914267e-01 6.07960043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.61907232899995 meters 0.2488029033161205 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99903396e-01 -3.59561340e-03 1.34264594e-02 -3.70322485e+01] [ 3.56077652e-03 9.99990234e-01 2.61764901e-03 -6.88911852e+01] [-1.34357403e-02 -2.56958752e-03 9.99906435e-01 6.07957697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.649072329 meters 0.2404760253710289 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99902248e-01 -3.56567530e-03 1.35196470e-02 -3.70327838e+01] [ 3.52923227e-03 9.99990077e-01 2.71846130e-03 -6.88917398e+01] [-1.35292060e-02 -2.67048159e-03 9.99904910e-01 6.07961683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.67907232899995 meters 0.24262723988348753 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99898445e-01 -3.81264602e-03 1.37318227e-02 -3.70336894e+01] [ 3.78066103e-03 9.99990081e-01 2.35446728e-03 -6.88909316e+01] [-1.37406632e-02 -2.30231281e-03 9.99902942e-01 6.07967543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.709072329 meters 0.24417179947249526 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99897844e-01 -3.86652435e-03 1.37604740e-02 -3.70341553e+01] [ 3.83553030e-03 9.99990049e-01 2.27807600e-03 -6.88909985e+01] [-1.37691453e-02 -2.22506457e-03 9.99902725e-01 6.07973372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.73907232899995 meters 0.28295293112903264 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99896186e-01 -3.99534311e-03 1.38439104e-02 -3.70344712e+01] [ 3.96688867e-03 9.99989964e-01 2.08222671e-03 -6.88905117e+01] [-1.38520907e-02 -2.02709329e-03 9.99902000e-01 6.07974709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.769072329 meters 0.23826710468563983 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99895570e-01 -4.03358402e-03 1.38772968e-02 -3.70345736e+01] [ 4.00580053e-03 9.99989918e-01 2.02929620e-03 -6.88903945e+01] [-1.38853422e-02 -1.97349460e-03 9.99901646e-01 6.07974665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.79907232899996 meters 0.2741272973383549 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99897658e-01 -3.95503164e-03 1.37488690e-02 -3.70342530e+01] [ 3.92614894e-03 9.99990030e-01 2.12708980e-03 -6.88906548e+01] [-1.37571447e-02 -2.07289200e-03 9.99903217e-01 6.07974610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.829072329 meters 0.23465733472303713 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99896810e-01 -4.11603408e-03 1.37632351e-02 -3.70345227e+01] [ 4.09093762e-03 9.99989919e-01 1.85109822e-03 -6.88899738e+01] [-1.37707155e-02 -1.79460267e-03 9.99903569e-01 6.07977953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.85907232899996 meters 0.28819629235496086 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99894790e-01 -4.11176662e-03 1.39105312e-02 -3.70348497e+01] [ 4.08543614e-03 9.99989810e-01 1.92073273e-03 -6.88902077e+01] [-1.39182870e-02 -1.86370006e-03 9.99901399e-01 6.07976989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.889072329 meters 0.2668098073813784 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99895868e-01 -3.99923360e-03 1.38657404e-02 -3.70347815e+01] [ 3.97029827e-03 9.99989884e-01 2.11372090e-03 -6.88908219e+01] [-1.38740534e-02 -2.05844967e-03 9.99901632e-01 6.07977482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91907232899996 meters 0.2758565785205392 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99901775e-01 -4.06450665e-03 1.34134028e-02 -3.70339153e+01] [ 4.04055972e-03 9.99990195e-01 1.81191645e-03 -6.88899880e+01] [-1.34206359e-02 -1.75754082e-03 9.99908395e-01 6.07981598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.949072329 meters 0.32862952228499026 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99906555e-01 -4.38471938e-03 1.29481676e-02 -3.70328881e+01] [ 4.37142287e-03 9.99989889e-01 1.05502658e-03 -6.88876222e+01] [-1.29526626e-02 -9.98326078e-04 9.99915612e-01 6.07984196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97907232899996 meters 0.31859570462864145 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99910319e-01 -4.50648454e-03 1.26113015e-02 -3.70323419e+01] [ 4.49814593e-03 9.99989646e-01 6.89488598e-04 -6.88866455e+01] [-1.26142780e-02 -6.32699289e-04 9.99920237e-01 6.07989086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.009072329 meters 0.3224042459734416 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99917296e-01 -4.41280411e-03 1.20800928e-02 -3.70313005e+01] [ 4.40507255e-03 9.99990075e-01 6.66558366e-04 -6.88866063e+01] [-1.20829143e-02 -6.13289553e-04 9.99926811e-01 6.07993325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03907232899996 meters 0.3088048927314965 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.80 [[ 9.99920831e-01 -4.50570229e-03 1.17486120e-02 -3.70308272e+01] [ 4.50164421e-03 9.99989798e-01 3.71831173e-04 -6.88858964e+01] [-1.17501675e-02 -3.18913664e-04 9.99930914e-01 6.07998785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.069072329 meters 0.25564357847553243 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.80 [[ 9.99967051e-01 2.37389944e-03 7.76277721e-03 -3.70222212e+01] [-2.39437569e-03 9.99993676e-01 2.62951881e-03 -6.88846503e+01] [-7.75648591e-03 -2.64801918e-03 9.99966412e-01 6.08048146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09907232899997 meters 0.3137890884920972 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.81 [[ 9.99975119e-01 2.33652226e-03 6.65598659e-03 -3.70198497e+01] [-2.34991970e-03 9.99995227e-01 2.00573135e-03 -6.88824803e+01] [-6.65126839e-03 -2.02132248e-03 9.99975837e-01 6.08054194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12907232899994 meters 0.3057904080118775 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.81 [[ 9.99982183e-01 2.28558468e-03 5.51446612e-03 -3.70174214e+01] [-2.29001307e-03 9.99997060e-01 7.96870367e-04 -6.88786132e+01] [-5.51262860e-03 -8.09484369e-04 9.99984478e-01 6.08064611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15907232899997 meters 0.2987726979014189 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.81 [[ 9.99983203e-01 2.01976657e-03 5.43274929e-03 -3.70174187e+01] [-2.02140554e-03 9.99997913e-01 2.96209424e-04 -6.88771893e+01] [-5.43213967e-03 -3.07186238e-04 9.99985199e-01 6.08068026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18907232899994 meters 0.305948024972545 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.81 [[ 9.99984442e-01 2.08603387e-03 5.17347506e-03 -3.70167090e+01] [-2.08763724e-03 9.99997775e-01 3.04539388e-04 -6.88770867e+01] [-5.17282827e-03 -3.15334989e-04 9.99986571e-01 6.08067371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21907232899997 meters 0.29289869189708423 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.81 [[ 9.99988444e-01 1.84802547e-03 4.43817266e-03 -3.70152752e+01] [-1.84604571e-03 9.99998195e-01 -4.50129982e-04 -6.88748441e+01] [-4.43899649e-03 4.41931711e-04 9.99990050e-01 6.08074501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24907232899994 meters 0.28571486086494907 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99990914e-01 1.63038871e-03 3.93866016e-03 -3.70141988e+01] [-1.62622650e-03 9.99998116e-01 -1.05972946e-03 -6.88729260e+01] [-3.94038051e-03 1.05331468e-03 9.99991682e-01 6.08078108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279072329 meters 0.2808875825511952 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99993240e-01 1.52020517e-03 3.34803050e-03 -3.70127691e+01] [-1.51508452e-03 9.99997680e-01 -1.53145680e-03 -6.88712178e+01] [-3.35035086e-03 1.52637389e-03 9.99993223e-01 6.08079945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.30907232899995 meters 0.2764317312763576 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99993608e-01 1.44243594e-03 3.27154436e-03 -3.70127606e+01] [-1.43686757e-03 9.99997516e-01 -1.70377151e-03 -6.88707935e+01] [-3.27399382e-03 1.69905985e-03 9.99993197e-01 6.08082908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339072329 meters 0.27139648114214077 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99994089e-01 1.40066147e-03 3.14013554e-03 -3.70125983e+01] [-1.39492499e-03 9.99997356e-01 -1.82827383e-03 -6.88704592e+01] [-3.14268803e-03 1.82388277e-03 9.99993398e-01 6.08085830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.36907232899995 meters 0.2681703308050274 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99996101e-01 1.15494091e-03 2.54254834e-03 -3.70113154e+01] [-1.14844642e-03 9.99996078e-01 -2.55430314e-03 -6.88681514e+01] [-2.54548843e-03 2.55137320e-03 9.99993505e-01 6.08090824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399072329 meters 0.2701405251881924 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99996902e-01 1.18203836e-03 2.19060988e-03 -3.70104370e+01] [-1.17623569e-03 9.99995802e-01 -2.64828207e-03 -6.88677347e+01] [-2.19373106e-03 2.64569719e-03 9.99994094e-01 6.08091236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.42907232899995 meters 0.2658353470247581 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99997561e-01 1.77108007e-03 1.31964583e-03 -3.70073515e+01] [-1.76822665e-03 9.99996103e-01 -2.16029610e-03 -6.88674982e+01] [-1.32346674e-03 2.15795740e-03 9.99996796e-01 6.08077678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459072329 meters 0.2639362377903921 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99998004e-01 1.81674839e-03 8.32008283e-04 -3.70060504e+01] [-1.81482694e-03 9.99995698e-01 -2.30437406e-03 -6.88667445e+01] [-8.36191172e-04 2.30285951e-03 9.99996999e-01 6.08076708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.48907232899995 meters 0.25646325318902075 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.81 [[ 9.99998290e-01 1.77276333e-03 5.26128467e-04 -3.70053101e+01] [-1.77143456e-03 9.99995267e-01 -2.51538124e-03 -6.88660226e+01] [-5.30585152e-04 2.51444493e-03 9.99996698e-01 6.08077678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519072329 meters 0.2509668055451179 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99998709e-01 1.60463100e-03 8.68703476e-05 -3.70043993e+01] [-1.60436334e-03 9.99994218e-01 -2.99825680e-03 -6.88645420e+01] [-9.16809411e-05 2.99811355e-03 9.99995501e-01 6.08081377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.54907232899996 meters 0.2583488340191891 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99997076e-01 2.21622245e-03 -9.67362214e-04 -3.70009899e+01] [-2.21882511e-03 9.99993899e-01 -2.69774361e-03 -6.88635354e+01] [ 9.61377513e-04 2.69988213e-03 9.99995893e-01 6.08071732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579072329 meters 0.24787368592752373 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996705e-01 2.20626833e-03 -1.31224666e-03 -3.70000915e+01] [-2.21001124e-03 9.99993475e-01 -2.85771161e-03 -6.88628859e+01] [ 1.30593322e-03 2.86060228e-03 9.99995056e-01 6.08071602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.60907232899996 meters 0.24512233377336823 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996793e-01 2.01740582e-03 -1.53114502e-03 -3.69996700e+01] [-2.02243207e-03 9.99992549e-01 -3.28825524e-03 -6.88615710e+01] [ 1.52449986e-03 3.29134133e-03 9.99993421e-01 6.08074436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639072329 meters 0.3192428211125521 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996914e-01 1.85151874e-03 -1.65648924e-03 -3.69994888e+01] [-1.85753418e-03 9.99991660e-01 -3.63729887e-03 -6.88605121e+01] [ 1.64974090e-03 3.64036463e-03 9.99992013e-01 6.08077207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66907232899996 meters 0.23850770089395174 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99997062e-01 1.90317502e-03 -1.50135414e-03 -3.69997917e+01] [-1.90840035e-03 9.99992100e-01 -3.48668765e-03 -6.88609325e+01] [ 1.49470650e-03 3.48954259e-03 9.99992794e-01 6.08075829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699072329 meters 0.2797056337175785 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99997131e-01 2.04781667e-03 -1.24277564e-03 -3.70002141e+01] [-2.05171744e-03 9.99992948e-01 -3.14563829e-03 -6.88618577e+01] [ 1.23632519e-03 3.14817909e-03 9.99994280e-01 6.08072237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72907232899996 meters 0.26980869219154296 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99997293e-01 2.13786187e-03 -9.18318872e-04 -3.70007828e+01] [-2.14048637e-03 9.99993601e-01 -2.86652942e-03 -6.88626058e+01] [ 9.12184752e-04 2.86848731e-03 9.99995470e-01 6.08068250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759072329 meters 0.2646688589521882 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99997202e-01 2.19603153e-03 -8.79754995e-04 -3.70006958e+01] [-2.19845096e-03 9.99993778e-01 -2.75865632e-03 -6.88627927e+01] [ 8.73691426e-04 2.76058270e-03 9.99995808e-01 6.08065721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78907232899996 meters 0.2594615702739961 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996843e-01 2.36349286e-03 -8.53013918e-04 -3.70005527e+01] [-2.36558432e-03 9.99994178e-01 -2.45922988e-03 -6.88635475e+01] [ 8.47196580e-04 2.46124000e-03 9.99996612e-01 6.08062651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819072329 meters 0.24972934826896379 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99997184e-01 2.32651276e-03 -4.68653731e-04 -3.70012966e+01] [-2.32762794e-03 9.99994427e-01 -2.39320686e-03 -6.88636960e+01] [ 4.63083293e-04 2.39429097e-03 9.99997026e-01 6.08059463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84907232899997 meters 0.2525173761125612 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99997028e-01 2.42413954e-03 -2.59383331e-04 -3.70017442e+01] [-2.42469030e-03 9.99994761e-01 -2.14452969e-03 -6.88644321e+01] [ 2.54183333e-04 2.14515224e-03 9.99997667e-01 6.08058103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87907232899994 meters 0.25438991176055115 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.81 [[ 9.99996480e-01 2.65300516e-03 -4.79552624e-05 -3.70022383e+01] [-2.65308171e-03 9.99995080e-01 -1.67360925e-03 -6.88659069e+01] [ 4.35149325e-05 1.67373059e-03 9.99998598e-01 6.08057083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90907232899997 meters 0.26550229525389807 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.81 [[ 9.99996464e-01 2.64673438e-03 -2.60031307e-04 -3.70017837e+01] [-2.64719092e-03 9.99994927e-01 -1.77133991e-03 -6.88655900e+01] [ 2.55341722e-04 1.77202200e-03 9.99998397e-01 6.08058600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93907232899994 meters 0.28652605804306575 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.81 [[ 9.99996632e-01 2.57590093e-03 3.17804448e-04 -3.70030155e+01] [-2.57535893e-03 9.99995249e-01 -1.69424884e-03 -6.88659114e+01] [-3.22167156e-04 1.69342467e-03 9.99998514e-01 6.08055968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96907232899997 meters 0.2896732866349165 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.81 [[ 9.99996074e-01 2.79560106e-03 -1.93572486e-04 -3.70016984e+01] [-2.79588523e-03 9.99994991e-01 -1.48364079e-03 -6.88662078e+01] [ 1.89423849e-04 1.48417617e-03 9.99998881e-01 6.08054822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99907232899994 meters 0.25534127583814 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996605e-01 2.55727999e-03 -5.00320864e-04 -3.70009883e+01] [-2.55830248e-03 9.99994618e-01 -2.05381704e-03 -6.88644212e+01] [ 4.95065986e-04 2.05509004e-03 9.99997766e-01 6.08056729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.029072329 meters 0.27368540967793503 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996511e-01 2.47741376e-03 -9.16766398e-04 -3.70000809e+01] [-2.47955406e-03 9.99994186e-01 -2.34089445e-03 -6.88635112e+01] [ 9.10961704e-04 2.34315945e-03 9.99996840e-01 6.08059290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.05907232899995 meters 0.276162374082803 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996145e-01 2.30224108e-03 -1.55253152e-03 -3.69985460e+01] [-2.30682332e-03 9.99992970e-01 -2.95615742e-03 -6.88613376e+01] [ 1.54571482e-03 2.95972744e-03 9.99994425e-01 6.08061667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.089072329 meters 0.27025048949561575 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996400e-01 2.08311911e-03 -1.69162451e-03 -3.69983736e+01] [-2.08887913e-03 9.99992003e-01 -3.41042566e-03 -6.88600329e+01] [ 1.68450666e-03 3.41394698e-03 9.99992754e-01 6.08064973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.11907232899995 meters 0.2682770751482522 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996381e-01 2.10798410e-03 -1.67140839e-03 -3.69983319e+01] [-2.11360119e-03 9.99992101e-01 -3.36607675e-03 -6.88600876e+01] [ 1.66429955e-03 3.36959726e-03 9.99992938e-01 6.08063868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.149072329 meters 0.2682770751482522 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99996381e-01 2.10798410e-03 -1.67140839e-03 -3.69983319e+01] [-2.11360119e-03 9.99992101e-01 -3.36607675e-03 -6.88600876e+01] [ 1.66429955e-03 3.36959726e-03 9.99992938e-01 6.08063868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.17907232899995 meters 0.26101029320994173 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99995139e-01 2.17268841e-03 -2.23630953e-03 -3.69968832e+01] [-2.18049752e-03 9.99991514e-01 -3.49546556e-03 -6.88593240e+01] [ 2.22869599e-03 3.50032484e-03 9.99991390e-01 6.08063959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.209072329 meters 0.2623559980171879 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99994857e-01 2.13127032e-03 -2.39675123e-03 -3.69965216e+01] [-2.13996498e-03 9.99991118e-01 -3.63098930e-03 -6.88588846e+01] [ 2.38899133e-03 3.63609959e-03 9.99990536e-01 6.08064929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.23907232899995 meters 0.25839484500824494 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99994221e-01 2.06058786e-03 -2.70413102e-03 -3.69957261e+01] [-2.07117399e-03 9.99990180e-01 -3.91785635e-03 -6.88578663e+01] [ 2.69603138e-03 3.92343443e-03 9.99988669e-01 6.08065348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.269072329 meters 0.25398858403749214 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99993936e-01 1.85994228e-03 -2.94433254e-03 -3.69954010e+01] [-1.87283074e-03 9.99988651e-01 -4.38068917e-03 -6.88565810e+01] [ 2.93615130e-03 4.38617685e-03 9.99986070e-01 6.08070300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.29907232899996 meters 0.24792534099823943 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.81 [[ 9.99993776e-01 1.86035977e-03 -2.99772240e-03 -3.69953772e+01] [-1.87353347e-03 9.99988575e-01 -4.39776855e-03 -6.88565623e+01] [ 2.98950672e-03 4.40335751e-03 9.99985837e-01 6.08072236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.329072329 meters 0.2686564077555693 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.81 [[ 9.99989744e-01 2.45204105e-03 -3.80782352e-03 -3.69925804e+01] [-2.46681868e-03 9.99989426e-01 -3.88102574e-03 -6.88563506e+01] [ 3.79826682e-03 3.89037915e-03 9.99985219e-01 6.08062254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.35907232899996 meters 0.25506009693798143 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.81 [[ 9.99990900e-01 2.24199551e-03 -3.62943022e-03 -3.69930545e+01] [-2.25719973e-03 9.99988672e-01 -4.19048480e-03 -6.88554627e+01] [ 3.61999406e-03 4.19863902e-03 9.99984633e-01 6.08062916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.389072329 meters 0.269172205252594 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.81 [[ 9.99990353e-01 2.48131734e-03 -3.62437496e-03 -3.69927748e+01] [-2.49499649e-03 9.99989764e-01 -3.77457652e-03 -6.88565020e+01] [ 3.61497194e-03 3.78358291e-03 9.99986308e-01 6.08058529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41907232899996 meters 0.25381255733273445 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.81 [[ 9.99989738e-01 2.55886739e-03 -3.73835962e-03 -3.69923841e+01] [-2.57265341e-03 9.99989892e-01 -3.68757588e-03 -6.88566432e+01] [ 3.72888581e-03 3.69715554e-03 9.99986213e-01 6.08057158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.449072329 meters 0.2572367502759768 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.81 [[ 9.99987983e-01 2.49891075e-03 -4.21764200e-03 -3.69910573e+01] [-2.51599143e-03 9.99988636e-01 -4.04938166e-03 -6.88551539e+01] [ 4.20747502e-03 4.05994455e-03 9.99982907e-01 6.08055951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47907232899996 meters 0.2790913815785483 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.81 [[ 9.99988916e-01 2.45474470e-03 -4.01782989e-03 -3.69914098e+01] [-2.47103618e-03 9.99988726e-01 -4.05486716e-03 -6.88550723e+01] [ 4.00783093e-03 4.06475041e-03 9.99983707e-01 6.08053815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.509072329 meters 0.268337820862411 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99984018e-01 2.98967446e-03 -4.79849118e-03 -3.69885300e+01] [-3.00723100e-03 9.99988796e-01 -3.65572697e-03 -6.88543443e+01] [ 4.78750798e-03 3.67009872e-03 9.99981805e-01 6.08042320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53907232899996 meters 0.2668519466208342 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99984620e-01 2.88617565e-03 -4.73601868e-03 -3.69886871e+01] [-2.90428553e-03 9.99988481e-01 -3.82145057e-03 -6.88538403e+01] [ 4.72493475e-03 3.83514654e-03 9.99981483e-01 6.08042532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.569072329 meters 0.2719020777814645 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99984208e-01 2.91124870e-03 -4.80704893e-03 -3.69884292e+01] [-2.92960977e-03 9.99988424e-01 -3.81699893e-03 -6.88537440e+01] [ 4.79588105e-03 3.83102143e-03 9.99981161e-01 6.08041771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59907232899997 meters 0.2683650830281953 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99985011e-01 2.85320104e-03 -4.67300572e-03 -3.69888321e+01] [-2.87131074e-03 9.99988377e-01 -3.87327294e-03 -6.88536115e+01] [ 4.66190017e-03 3.88663254e-03 9.99981580e-01 6.08042989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62907232899994 meters 0.2711469866509625 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99987421e-01 2.89219149e-03 -4.09792563e-03 -3.69900445e+01] [-2.90691936e-03 9.99989321e-01 -3.59259493e-03 -6.88544999e+01] [ 4.08749140e-03 3.60446208e-03 9.99985150e-01 6.08039533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65907232899997 meters 0.2714747570068177 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99986665e-01 2.99540522e-03 -4.20688621e-03 -3.69896667e+01] [-3.00992737e-03 9.99989519e-01 -3.44991583e-03 -6.88547945e+01] [ 4.19650823e-03 3.46253225e-03 9.99985200e-01 6.08038161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68907232899994 meters 0.3061782062552755 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99987942e-01 3.00432879e-03 -3.88456473e-03 -3.69902900e+01] [-3.01731255e-03 9.99989867e-01 -3.34086873e-03 -6.88550746e+01] [ 3.87448830e-03 3.35254939e-03 9.99986874e-01 6.08035379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71907232899997 meters 0.29888284933274273 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99989415e-01 3.29968170e-03 -3.20651638e-03 -3.69917494e+01] [-3.30787754e-03 9.99991267e-01 -2.55406442e-03 -6.88575699e+01] [ 3.19806078e-03 2.56464415e-03 9.99991597e-01 6.08031203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74907232899994 meters 0.26021360082761075 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99993442e-01 -9.23433867e-04 -3.50190086e-03 -3.69910217e+01] [ 8.99671057e-04 9.99976603e-01 -6.78120387e-03 -6.88577026e+01] [ 3.50808092e-03 6.77800884e-03 9.99970876e-01 6.08031800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779072329 meters 0.2522054665722759 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99996058e-01 -8.62279189e-04 -2.67198136e-03 -3.69927928e+01] [ 8.45425208e-04 9.99979782e-01 -6.30239447e-03 -6.88592981e+01] [ 2.67736176e-03 6.30011067e-03 9.99976570e-01 6.08027161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.80907232899995 meters 0.28552332508949285 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99996628e-01 -6.35881619e-04 -2.51795245e-03 -3.69929442e+01] [ 6.21146801e-04 9.99982705e-01 -5.84836909e-03 -6.88605303e+01] [ 2.52162778e-03 5.84678535e-03 9.99979728e-01 6.08023477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839072329 meters 0.28115484219292786 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99998538e-01 -1.38266104e-03 -1.00604949e-03 -3.69966125e+01] [ 1.37727063e-03 9.99984798e-01 -5.33910527e-03 -6.88638486e+01] [ 1.01341637e-03 5.33771186e-03 9.99985241e-01 6.08017532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.86907232899995 meters 0.2727529936828953 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99999197e-01 -1.18176436e-03 -4.57500073e-04 -3.69976202e+01] [ 1.17955902e-03 9.99987827e-01 -4.79103754e-03 -6.88653738e+01] [ 4.63156381e-04 4.79049404e-03 9.99988418e-01 6.08011658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899072329 meters 0.27037770365880864 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99999425e-01 -9.05248966e-04 5.74891233e-04 -3.69997390e+01] [ 9.07445150e-04 9.99992248e-01 -3.83147124e-03 -6.88684329e+01] [-5.71418341e-04 3.83199072e-03 9.99992495e-01 6.08003538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.92907232899995 meters 0.25850940394829075 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99998638e-01 -9.30995569e-04 1.36260164e-03 -3.70013708e+01] [ 9.35836949e-04 9.99993237e-01 -3.55672649e-03 -6.88693069e+01] [-1.35928113e-03 3.55799682e-03 9.99992746e-01 6.07998687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959072329 meters 0.24884445192857158 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99998110e-01 -8.16727636e-04 1.76462846e-03 -3.70021366e+01] [ 8.22370790e-04 9.99994543e-01 -3.19957190e-03 -6.88703006e+01] [-1.76200565e-03 3.20101703e-03 9.99993324e-01 6.07994989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.98907232899995 meters 0.2575182449001112 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99996188e-01 -8.27668328e-04 2.63430538e-03 -3.70039480e+01] [ 8.35052872e-04 9.99995722e-01 -2.80335810e-03 -6.88716241e+01] [-2.63197386e-03 2.80554719e-03 9.99992601e-01 6.07989555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019072329 meters 0.2502491510236772 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99995256e-01 -6.16031290e-04 3.01805432e-03 -3.70045998e+01] [ 6.22917978e-04 9.99997204e-01 -2.28142188e-03 -6.88730603e+01] [-3.01664045e-03 2.28329106e-03 9.99992843e-01 6.07984537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.04907232899996 meters 0.24851611064384327 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99994514e-01 -5.65494679e-04 3.26386723e-03 -3.70050699e+01] [ 5.72368996e-04 9.99997619e-01 -2.10563808e-03 -6.88735339e+01] [-3.26266873e-03 2.10749466e-03 9.99992457e-01 6.07982328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079072329 meters 0.27723662507037683 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99992991e-01 -4.43394101e-04 3.71774399e-03 -3.70062264e+01] [ 4.49790594e-04 9.99998420e-01 -1.71987123e-03 -6.88748819e+01] [-3.71697553e-03 1.72153138e-03 9.99991610e-01 6.07982703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.10907232899996 meters 0.23394453367831325 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99992790e-01 -4.46788907e-04 3.77091210e-03 -3.70062778e+01] [ 4.53264878e-04 9.99998424e-01 -1.71666900e-03 -6.88748191e+01] [-3.77013916e-03 1.71836585e-03 9.99991417e-01 6.07981770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139072329 meters 0.2629188160739282 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99989534e-01 -5.88856744e-04 4.53704433e-03 -3.70080765e+01] [ 5.96419927e-04 9.99998435e-01 -1.66581194e-03 -6.88752641e+01] [-4.53605630e-03 1.66850049e-03 9.99988320e-01 6.07980891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16907232899996 meters 0.22558404566301374 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99989159e-01 -5.64787802e-04 4.62204924e-03 -3.70081949e+01] [ 5.72181776e-04 9.99998559e-01 -1.59855181e-03 -6.88754147e+01] [-4.62113974e-03 1.60117914e-03 9.99988041e-01 6.07979534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199072329 meters 0.2528465381725464 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99987640e-01 -4.11063419e-04 4.95492585e-03 -3.70089843e+01] [ 4.17069233e-04 9.99999180e-01 -1.21111725e-03 -6.88766615e+01] [-4.95442394e-03 1.21316883e-03 9.99986991e-01 6.07978935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22907232899996 meters 0.24946253445888408 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99986811e-01 -4.44003392e-04 5.11667650e-03 -3.70092539e+01] [ 4.50239091e-04 9.99999157e-01 -1.21761377e-03 -6.88765762e+01] [-5.11613157e-03 1.21990144e-03 9.99986168e-01 6.07977002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259072329 meters 0.2416848940906431 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99985639e-01 -3.50097141e-04 5.34788557e-03 -3.70097004e+01] [ 3.55289931e-04 9.99999466e-01 -9.70079689e-04 -6.88772772e+01] [-5.34754309e-03 9.71965808e-04 9.99985229e-01 6.07974995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28907232899996 meters 0.2463188073834867 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99986390e-01 -3.15259062e-04 5.20764894e-03 -3.70093918e+01] [ 3.20300689e-04 9.99999481e-01 -9.67313903e-04 -6.88772732e+01] [-5.20734128e-03 9.68968752e-04 9.99985972e-01 6.07975778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319072329 meters 0.35248492406342585 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99988091e-01 -1.92415347e-04 4.87656813e-03 -3.70084897e+01] [ 1.96752119e-04 9.99999586e-01 -8.88844046e-04 -6.88772637e+01] [-4.87639508e-03 8.89792936e-04 9.99987714e-01 6.07975070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34907232899997 meters 0.23448600506811587 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99987565e-01 -2.97998335e-04 4.97797006e-03 -3.70086461e+01] [ 3.03232063e-04 9.99999402e-01 -1.05065627e-03 -6.88767193e+01] [-4.97765399e-03 1.05215268e-03 9.99987058e-01 6.07973863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37907232899994 meters 0.2510459349013356 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99987627e-01 -3.97937504e-04 4.95861874e-03 -3.70085320e+01] [ 4.04101898e-04 9.99999147e-01 -1.24222782e-03 -6.88760824e+01] [-4.95812018e-03 1.24421624e-03 9.99986934e-01 6.07973178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40907232899997 meters 0.24241488675655962 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99987141e-01 -3.58759517e-04 5.05857773e-03 -3.70086174e+01] [ 3.64563280e-04 9.99999276e-01 -1.14643567e-03 -6.88762654e+01] [-5.05816278e-03 1.14826510e-03 9.99986548e-01 6.07970870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43907232899994 meters 0.33582640562902594 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99987791e-01 -4.64813284e-04 4.91958239e-03 -3.70084719e+01] [ 4.71680939e-04 9.99998916e-01 -1.39491511e-03 -6.88755840e+01] [-4.91892868e-03 1.39721855e-03 9.99986926e-01 6.07974444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46907232899997 meters 0.22534340102980072 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99988178e-01 -5.89224176e-04 4.82657418e-03 -3.70083091e+01] [ 5.97219072e-04 9.99998452e-01 -1.65515908e-03 -6.88747977e+01] [-4.82559145e-03 1.65802203e-03 9.99986982e-01 6.07976000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49907232899994 meters 0.31893079704794486 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99989568e-01 -6.62028502e-04 4.51953966e-03 -3.70077406e+01] [ 6.70644280e-04 9.99997960e-01 -1.90509057e-03 -6.88740262e+01] [-4.51826922e-03 1.90810169e-03 9.99987972e-01 6.07979805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.529072329 meters 0.22246718037177346 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99990966e-01 -5.51654099e-04 4.21479253e-03 -3.70069595e+01] [ 5.59339089e-04 9.99998183e-01 -1.82237647e-03 -6.88741152e+01] [-4.21377955e-03 1.82471751e-03 9.99989457e-01 6.07979716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.55907232899995 meters 0.3119197792816082 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99989983e-01 -6.01180766e-04 4.43527291e-03 -3.70072922e+01] [ 6.09376753e-04 9.99998109e-01 -1.84679065e-03 -6.88739277e+01] [-4.43415426e-03 1.84947491e-03 9.99988459e-01 6.07976720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.589072329 meters 0.30611443996731086 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99989173e-01 -5.62983027e-04 4.61916896e-03 -3.70074488e+01] [ 5.70955157e-04 9.99998350e-01 -1.72474275e-03 -6.88740899e+01] [-4.61819034e-03 1.72736141e-03 9.99987844e-01 6.07972480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.61907232899995 meters 0.3022242192111765 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99986559e-01 -4.75901691e-04 5.16293416e-03 -3.70085751e+01] [ 4.82954208e-04 9.99998952e-01 -1.36482923e-03 -6.88751671e+01] [-5.16227923e-03 1.36730434e-03 9.99985741e-01 6.07969031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.649072329 meters 0.300016829184636 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99984039e-01 -3.80542560e-04 5.63717185e-03 -3.70095455e+01] [ 3.86295110e-04 9.99999406e-01 -1.01941379e-03 -6.88761947e+01] [-5.63678057e-03 1.02157513e-03 9.99983591e-01 6.07965559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.67907232899995 meters 0.3027869501249504 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.80 [[ 9.99984490e-01 -2.51957668e-04 5.56388175e-03 -3.70092739e+01] [ 2.56512752e-04 9.99999633e-01 -8.17989708e-04 -6.88767174e+01] [-5.56367361e-03 8.19404227e-04 9.99984187e-01 6.07964173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.709072329 meters 0.29828422126400234 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99990135e-01 2.18573842e-04 4.43637491e-03 -3.70060639e+01] [-2.14148553e-04 9.99999479e-01 -9.97951683e-04 -6.88745079e+01] [-4.43659072e-03 9.96991795e-04 9.99989661e-01 6.07960263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.73907232899995 meters 0.2787652167629369 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.80 [[ 9.99990498e-01 -1.33718235e-04 4.35718165e-03 -3.70059731e+01] [ 1.40928010e-04 9.99998622e-01 -1.65442283e-03 -6.88725626e+01] [-4.35695441e-03 1.65502116e-03 9.99989139e-01 6.07962572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.769072329 meters 0.2936325393205526 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99987314e-01 3.85444548e-03 3.24254987e-03 -3.70038165e+01] [-3.85906709e-03 9.99991545e-01 1.42025256e-03 -6.88688123e+01] [-3.23704816e-03 -1.43274776e-03 9.99993734e-01 6.07975226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.79907232899996 meters 0.29567398817842033 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99990800e-01 3.40042338e-03 2.61462594e-03 -3.70028304e+01] [-3.40116367e-03 9.99994177e-01 2.78739680e-04 -6.88656533e+01] [-2.61366288e-03 -2.87629887e-04 9.99996543e-01 6.07986032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.829072329 meters 0.26984994764799897 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99992459e-01 3.15461897e-03 2.26487839e-03 -3.70022550e+01] [-3.15396534e-03 9.99994984e-01 -2.92109091e-04 -6.88640339e+01] [-2.26578852e-03 2.84963540e-04 9.99997392e-01 6.07991304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.85907232899996 meters 0.26619886120958913 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99993838e-01 3.37060646e-03 9.81550050e-04 -3.69992872e+01] [-3.36926932e-03 9.99993398e-01 -1.36075478e-03 -6.88598722e+01] [-9.86130139e-04 1.35743929e-03 9.99998592e-01 6.08000207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.889072329 meters 0.2853812155751259 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99994739e-01 3.16354021e-03 7.16482901e-04 -3.69987362e+01] [-3.16221102e-03 9.99993291e-01 -1.84876419e-03 -6.88583755e+01] [-7.22326734e-04 1.84648879e-03 9.99998034e-01 6.08002763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91907232899996 meters 0.2730973400240677 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.80 [[ 9.99995788e-01 2.89209179e-03 -2.46282000e-04 -3.69967607e+01] [-2.89281138e-03 9.99991395e-01 -2.97338130e-03 -6.88548034e+01] [ 2.37680589e-04 2.97408123e-03 9.99995549e-01 6.08012175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.949072329 meters 0.26753178826416524 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.80 [[ 9.99995242e-01 2.93813099e-03 -9.39576673e-04 -3.69951300e+01] [-2.94112577e-03 9.99990548e-01 -3.20204120e-03 -6.88537332e+01] [ 9.30159776e-04 3.20478938e-03 9.99994432e-01 6.08013876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97907232899996 meters 0.2698573319414522 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.80 [[ 9.99995379e-01 2.88612747e-03 -9.55463484e-04 -3.69950603e+01] [-2.88927938e-03 9.99990335e-01 -3.31405462e-03 -6.88533429e+01] [ 9.45889465e-04 3.31679990e-03 9.99994052e-01 6.08013923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.009072329 meters 0.2667395125985599 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99993875e-01 3.14200707e-03 -1.54222631e-03 -3.69932087e+01] [-3.14683174e-03 9.99990131e-01 -3.13598756e-03 -6.88530708e+01] [ 1.53235779e-03 3.14082148e-03 9.99993894e-01 6.08007699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03907232899996 meters 0.2731968424401597 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99992860e-01 3.14276265e-03 -2.09834910e-03 -3.69918588e+01] [-3.14985563e-03 9.99989308e-01 -3.38556195e-03 -6.88520116e+01] [ 2.08768665e-03 3.39214727e-03 9.99992067e-01 6.08009117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.069072329 meters 0.2731968424401597 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99992860e-01 3.14276265e-03 -2.09834910e-03 -3.69918588e+01] [-3.14985563e-03 9.99989308e-01 -3.38556195e-03 -6.88520116e+01] [ 2.08768665e-03 3.39214727e-03 9.99992067e-01 6.08009117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09907232899997 meters 0.2577348664390239 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99992746e-01 3.09008960e-03 -2.22688682e-03 -3.69916527e+01] [-3.09797602e-03 9.99988911e-01 -3.54675159e-03 -6.88515182e+01] [ 2.21590234e-03 3.55362471e-03 9.99991231e-01 6.08011622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12907232899994 meters 0.2657030527176257 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99993018e-01 3.11196446e-03 -2.06875773e-03 -3.69920114e+01] [-3.11910227e-03 9.99989163e-01 -3.45605959e-03 -6.88517917e+01] [ 2.05798018e-03 3.46248813e-03 9.99991888e-01 6.08011049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15907232899997 meters 0.25345003706326524 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99992854e-01 3.35126399e-03 -1.74960265e-03 -3.69925733e+01] [-3.35637045e-03 9.99990093e-01 -2.92390971e-03 -6.88532961e+01] [ 1.73978652e-03 2.92976113e-03 9.99994195e-01 6.08007189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18907232899994 meters 0.2611929630501495 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99992715e-01 3.48374622e-03 -1.56013849e-03 -3.69929388e+01] [-3.48783538e-03 9.99990469e-01 -2.62601659e-03 -6.88541118e+01] [ 1.55097524e-03 2.63143897e-03 9.99995335e-01 6.08005808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21907232899997 meters 0.26926827819965427 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.85, Z:60.80 [[ 9.99992551e-01 3.60074753e-03 -1.39031492e-03 -3.69931975e+01] [-3.60402492e-03 9.99990716e-01 -2.36203485e-03 -6.88548135e+01] [ 1.38179692e-03 2.36702799e-03 9.99996244e-01 6.08003311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24907232899994 meters 0.26331730510616547 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99998083e-01 -3.77276905e-04 -1.92128544e-03 -3.69917192e+01] [ 3.65229412e-04 9.99980295e-01 -6.26703287e-03 -6.88554544e+01] [ 1.92361199e-03 6.26631915e-03 9.99978516e-01 6.08001144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279072329 meters 0.2599578736428072 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99997982e-01 -3.74305336e-04 -1.97363085e-03 -3.69915090e+01] [ 3.61887575e-04 9.99980162e-01 -6.28844288e-03 -6.88553055e+01] [ 1.97594550e-03 6.28771596e-03 9.99978280e-01 6.08000204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.30907232899995 meters 0.27109643269296646 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99998453e-01 -3.76378279e-04 -1.71842198e-03 -3.69920097e+01] [ 3.65693376e-04 9.99980626e-01 -6.21394386e-03 -6.88554830e+01] [ 1.72072748e-03 6.21330583e-03 9.99979217e-01 6.07998271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339072329 meters 0.26310273606326473 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99998429e-01 -2.63144521e-04 -1.75278297e-03 -3.69919217e+01] [ 2.52580404e-04 9.99981820e-01 -6.02455112e-03 -6.88560205e+01] [ 1.75433643e-03 6.02409894e-03 9.99980316e-01 6.07998277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.36907232899995 meters 0.2505778803232498 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99998466e-01 -3.81099071e-04 -1.70978776e-03 -3.69919330e+01] [ 3.70425800e-04 9.99980472e-01 -6.23843365e-03 -6.88552988e+01] [ 1.71213183e-03 6.23779073e-03 9.99979079e-01 6.07997307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399072329 meters 0.25943775430661425 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99999547e-01 -3.85882834e-04 -8.70342613e-04 -3.69935894e+01] [ 3.80750985e-04 9.99982588e-01 -5.88883326e-03 -6.88563753e+01] [ 8.72599859e-04 5.88849921e-03 9.99982282e-01 6.07990937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.42907232899995 meters 0.24452643597025545 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.86, Z:60.80 [[ 9.99999598e-01 -3.04199716e-04 -8.43438546e-04 -3.69934420e+01] [ 2.99351110e-04 9.99983465e-01 -5.74279771e-03 -6.88566551e+01] [ 8.45171558e-04 5.74254292e-03 9.99983154e-01 6.07987826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459072329 meters 0.25950481951449667 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99999998e-01 -6.81265774e-05 -2.23276451e-06 -3.69950173e+01] [ 6.81147981e-05 9.99987953e-01 -4.90814226e-03 -6.88590965e+01] [ 2.56711254e-06 4.90814209e-03 9.99987955e-01 6.07978668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.48907232899995 meters 0.30071571051237583 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99999977e-01 -3.12774017e-06 2.14475204e-04 -3.69954024e+01] [ 4.13960761e-06 9.99988870e-01 -4.71803796e-03 -6.88596017e+01] [-2.14458060e-04 4.71803874e-03 9.99988847e-01 6.07976151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519072329 meters 0.2334323297090341 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99999657e-01 3.20955182e-05 8.27345315e-04 -3.69968004e+01] [-2.84230317e-05 9.99990149e-01 -4.43850960e-03 -6.88606250e+01] [-8.27479622e-04 4.43848457e-03 9.99989808e-01 6.07974494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.54907232899996 meters 0.2864320569729642 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99999576e-01 1.56710459e-04 9.07603171e-04 -3.69968966e+01] [-1.52908602e-04 9.99991221e-01 -4.18745342e-03 -6.88613272e+01] [-9.08251420e-04 4.18731286e-03 9.99990821e-01 6.07972766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579072329 meters 0.2827564435220563 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99999404e-01 1.96690653e-04 1.07373778e-03 -3.69972568e+01] [-1.92332327e-04 9.99991749e-01 -4.05761874e-03 -6.88616936e+01] [-1.07452702e-03 4.05740981e-03 9.99991191e-01 6.07972046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.60907232899996 meters 0.32084507369869636 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99999446e-01 2.57235342e-04 1.02113566e-03 -3.69970233e+01] [-2.53173716e-04 9.99992065e-01 -3.97569576e-03 -6.88618426e+01] [-1.02215025e-03 3.97543503e-03 9.99991576e-01 6.07970616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639072329 meters 0.3108486627852968 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99998718e-01 4.70925149e-04 1.53034925e-03 -3.69979693e+01] [-4.65715455e-04 9.99994102e-01 -3.40282716e-03 -6.88634809e+01] [-1.53194271e-03 3.40211009e-03 9.99993039e-01 6.07965311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66907232899996 meters 0.3113661118054552 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.80 [[ 9.99997398e-01 6.06605297e-04 2.19915485e-03 -3.69992917e+01] [-6.00196717e-04 9.99995575e-01 -2.91359987e-03 -6.88649486e+01] [-2.20091253e-03 2.91227236e-03 9.99993337e-01 6.07960034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699072329 meters 0.30283902215516967 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.80 [[ 9.99996004e-01 9.35452382e-04 2.66769674e-03 -3.70001569e+01] [-9.29695878e-04 9.99997239e-01 -2.15827973e-03 -6.88671811e+01] [-2.66970835e-03 2.15579096e-03 9.99994113e-01 6.07954501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72907232899996 meters 0.2981325437888604 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99994258e-01 1.11585578e-03 3.19969400e-03 -3.70010857e+01] [-1.11063772e-03 9.99998051e-01 -1.63211229e-03 -6.88686267e+01] [-3.20150897e-03 1.62854922e-03 9.99993549e-01 6.07947986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759072329 meters 0.2983527047724166 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99993270e-01 1.26429234e-03 3.44392520e-03 -3.70013511e+01] [-1.25988085e-03 9.99998384e-01 -1.28281805e-03 -6.88694882e+01] [-3.44554149e-03 1.27847048e-03 9.99993247e-01 6.07942695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78907232899996 meters 0.2505694639193615 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99990827e-01 1.43626264e-03 4.03511791e-03 -3.70024009e+01] [-1.43336467e-03 9.99998713e-01 -7.20985691e-04 -6.88710299e+01] [-4.03614824e-03 7.15195283e-04 9.99991599e-01 6.07935777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819072329 meters 0.28077175057890985 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99991428e-01 1.47055874e-03 3.87050129e-03 -3.70020113e+01] [-1.46776947e-03 9.99998661e-01 -7.23389050e-04 -6.88709738e+01] [-3.87155989e-03 7.17701845e-04 9.99992248e-01 6.07936283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84907232899997 meters 0.2739256616426789 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99991907e-01 1.22334230e-03 3.83264243e-03 -3.70022492e+01] [-1.21886022e-03 9.99998571e-01 -1.17156482e-03 -6.88697888e+01] [-3.83407018e-03 1.16688389e-03 9.99991969e-01 6.07942085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87907232899994 meters 0.29073107447125013 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99991038e-01 1.18451002e-03 4.06458341e-03 -3.70027709e+01] [-1.17979619e-03 9.99998629e-01 -1.16193462e-03 -6.88698016e+01] [-4.06595416e-03 1.15712883e-03 9.99991064e-01 6.07941507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90907232899997 meters 0.269667551400071 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99989469e-01 1.38481145e-03 4.37531122e-03 -3.70032598e+01] [-1.38178959e-03 9.99998805e-01 -6.93609392e-04 -6.88710804e+01] [-4.37626651e-03 6.87556328e-04 9.99990188e-01 6.07936940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93907232899994 meters 0.2628589751969158 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99982955e-01 -2.51982946e-03 5.26695364e-03 -3.70049203e+01] [ 2.53994084e-03 9.99989496e-01 -3.81521302e-03 -6.88745244e+01] [-5.25728463e-03 3.82852574e-03 9.99978851e-01 6.07927086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96907232899997 meters 0.25063811940535335 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99979752e-01 -2.33349386e-03 5.92039669e-03 -3.70062293e+01] [ 2.35271178e-03 9.99991980e-01 -3.24116679e-03 -6.88762226e+01] [-5.91278597e-03 3.25503015e-03 9.99977222e-01 6.07921894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99907232899994 meters 0.2522275675655838 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99972724e-01 -2.21581190e-03 7.04568864e-03 -3.70085912e+01] [ 2.23299437e-03 9.99994550e-01 -2.43179163e-03 -6.88788617e+01] [-7.04026185e-03 2.44745829e-03 9.99972222e-01 6.07914367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.029072329 meters 0.2526744710783914 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99969445e-01 -1.94311993e-03 7.57188493e-03 -3.70094698e+01] [ 1.95609372e-03 9.99996631e-01 -1.70638813e-03 -6.88808404e+01] [-7.56854371e-03 1.72114730e-03 9.99969877e-01 6.07907045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.05907232899995 meters 0.2511783122598992 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99964436e-01 -1.87888745e-03 8.22169948e-03 -3.70107186e+01] [ 1.89008019e-03 9.99997297e-01 -1.35380845e-03 -6.88818067e+01] [-8.21913360e-03 1.36929998e-03 9.99965285e-01 6.07901546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.089072329 meters 0.26808425679173 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99959698e-01 -1.75146661e-03 8.80535954e-03 -3.70118147e+01] [ 1.75935504e-03 9.99998058e-01 -8.88201273e-04 -6.88830744e+01] [-8.80378678e-03 9.03657231e-04 9.99960838e-01 6.07895942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.11907232899995 meters 0.2354583276429466 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.79 [[ 9.99954562e-01 -1.49338671e-03 9.41513002e-03 -3.70130072e+01] [ 1.49481763e-03 9.99998872e-01 -1.44945924e-04 -6.88852371e+01] [-9.41490294e-03 1.59013241e-04 9.99955666e-01 6.07890446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.149072329 meters 0.24515900381664055 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99955522e-01 -1.53490828e-03 9.30583141e-03 -3.70127658e+01] [ 1.53738343e-03 9.99998785e-01 -2.58830963e-04 -6.88848790e+01] [-9.30542282e-03 2.73126082e-04 9.99956666e-01 6.07891084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.17907232899995 meters 0.23893014766007872 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99957321e-01 -1.52215744e-03 9.11263050e-03 -3.70123265e+01] [ 1.52500301e-03 9.99998791e-01 -3.05326717e-04 -6.88847262e+01] [-9.11215472e-03 3.19210475e-04 9.99958433e-01 6.07891728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.209072329 meters 0.23725148083078246 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99953966e-01 -1.54255555e-03 9.47026790e-03 -3.70129373e+01] [ 1.54468682e-03 9.99998783e-01 -2.17737627e-04 -6.88848718e+01] [-9.46992050e-03 2.32356202e-04 9.99955132e-01 6.07887530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.23907232899995 meters 0.22787429314668828 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.79 [[ 9.99951600e-01 -1.33602206e-03 9.74749336e-03 -3.70133271e+01] [ 1.33343932e-03 9.99999074e-01 2.71458483e-04 -6.88862050e+01] [-9.74784701e-03 -2.58447653e-04 9.99952455e-01 6.07882451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.269072329 meters 0.3077903242586311 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99944064e-01 -1.14492143e-03 1.05146759e-02 -3.70150522e+01] [ 1.13480148e-03 9.99998887e-01 9.68375798e-04 -6.88885200e+01] [-1.05157729e-02 -9.56389561e-04 9.99944250e-01 6.07878635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.29907232899996 meters 0.28974335660459144 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99938768e-01 -9.28073072e-04 1.10272283e-02 -3.70160739e+01] [ 9.10755599e-04 9.99998344e-01 1.57534639e-03 -6.88903030e+01] [-1.10286721e-02 -1.56520682e-03 9.99937957e-01 6.07874465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.329072329 meters 0.29383220941412935 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99939779e-01 -9.30386486e-04 1.09349387e-02 -3.70160986e+01] [ 9.13478922e-04 9.99998380e-01 1.55108943e-03 -6.88903903e+01] [-1.09363641e-02 -1.54100719e-03 9.99939009e-01 6.07878084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.35907232899996 meters 0.23709638429792784 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99938052e-01 -1.13840755e-03 1.10723411e-02 -3.70168657e+01] [ 1.12469531e-03 9.99998593e-01 1.24457154e-03 -6.88898684e+01] [-1.10737424e-02 -1.23204144e-03 9.99937925e-01 6.07884225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.389072329 meters 0.2766561908238954 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99941332e-01 -1.39264820e-03 1.07420989e-02 -3.70164806e+01] [ 1.38576653e-03 9.99998830e-01 6.48042717e-04 -6.88883017e+01] [-1.07429888e-02 -6.33118656e-04 9.99942092e-01 6.07891356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41907232899996 meters 0.2658261763635617 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.79 [[ 9.99951031e-01 -1.65006041e-03 9.75772175e-03 -3.70143832e+01] [ 1.65328047e-03 9.99998582e-01 -3.21944135e-04 -6.88851793e+01] [-9.75717668e-03 3.38060620e-04 9.99952340e-01 6.07898027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.449072329 meters 0.27352615134734387 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99953418e-01 -1.81438238e-03 9.47997151e-03 -3.70138924e+01] [ 1.82125809e-03 9.99998085e-01 -7.16705298e-04 -6.88840616e+01] [-9.47865297e-03 7.33937388e-04 9.99954807e-01 6.07901325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47907232899996 meters 0.2817281287099857 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99962377e-01 -1.68307788e-03 8.50953155e-03 -3.70116147e+01] [ 1.69134035e-03 9.99998105e-01 -9.63863736e-04 -6.88827992e+01] [-8.50789317e-03 9.78219986e-04 9.99963329e-01 6.07903210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.509072329 meters 0.26793667780839653 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99966707e-01 -1.81692413e-03 7.95506520e-03 -3.70102495e+01] [ 1.82874538e-03 9.99997234e-01 -1.47898165e-03 -6.88810328e+01] [-7.95235600e-03 1.49348020e-03 9.99967264e-01 6.07904581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53907232899996 meters 0.2650902835038341 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99970387e-01 -1.87897178e-03 7.46286623e-03 -3.70091161e+01] [ 1.89247343e-03 9.99996585e-01 -1.80252860e-03 -6.88799596e+01] [-7.45945384e-03 1.81659850e-03 9.99970528e-01 6.07906353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.569072329 meters 0.2601089508256601 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99973743e-01 -1.95876514e-03 6.97684254e-03 -3.70079116e+01] [ 1.97402777e-03 9.99995672e-01 -2.18139812e-03 -6.88785828e+01] [-6.97253950e-03 2.19511333e-03 9.99973282e-01 6.07907410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59907232899997 meters 0.25886337595285464 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99971930e-01 -1.95160819e-03 7.23395278e-03 -3.70084767e+01] [ 1.96667928e-03 9.99995909e-01 -2.07685480e-03 -6.88788915e+01] [-7.22986998e-03 2.09102337e-03 9.99971678e-01 6.07906338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62907232899994 meters 0.25899068984454354 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99971173e-01 -1.91290428e-03 7.34799450e-03 -3.70088224e+01] [ 1.92731303e-03 9.99996233e-01 -1.95432969e-03 -6.88793129e+01] [-7.34422837e-03 1.96843524e-03 9.99971093e-01 6.07907199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65907232899997 meters 0.24684205324024566 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99972989e-01 -2.18984983e-03 7.01604494e-03 -3.70082527e+01] [ 2.20813254e-03 9.99994184e-01 -2.59915699e-03 -6.88774195e+01] [-7.01031237e-03 2.61457914e-03 9.99972009e-01 6.07912137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68907232899994 meters 0.24937733431844863 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99971753e-01 -2.15903379e-03 7.19935960e-03 -3.70084824e+01] [ 2.17692801e-03 9.99994559e-01 -2.47862087e-03 -6.88776629e+01] [-7.19396900e-03 2.49422335e-03 9.99971012e-01 6.07908626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71907232899997 meters 0.24271389330560517 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99970812e-01 -1.96671946e-03 7.38289789e-03 -3.70087401e+01] [ 1.98205014e-03 9.99995894e-01 -2.06977015e-03 -6.88788091e+01] [-7.37879692e-03 2.08434301e-03 9.99970604e-01 6.07905334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74907232899994 meters 0.260556063404643 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99973448e-01 -1.85648196e-03 7.04673424e-03 -3.70077666e+01] [ 1.87079312e-03 9.99996200e-01 -2.02484565e-03 -6.88786875e+01] [-7.04294838e-03 2.03797487e-03 9.99973121e-01 6.07903471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779072329 meters 0.2486832858866523 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99974034e-01 -1.76889256e-03 6.98585291e-03 -3.70074630e+01] [ 1.78220530e-03 9.99996607e-01 -1.89990642e-03 -6.88789360e+01] [-6.98246848e-03 1.91230731e-03 9.99973794e-01 6.07901251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.80907232899995 meters 0.24798424436446534 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99975946e-01 -1.69890139e-03 6.72469216e-03 -3.70065318e+01] [ 1.71178986e-03 9.99996708e-01 -1.91129779e-03 -6.88785877e+01] [-6.72142291e-03 1.92276308e-03 9.99975562e-01 6.07897085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839072329 meters 0.2398962088527442 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99975806e-01 -1.70901652e-03 6.74291227e-03 -3.70064284e+01] [ 1.72206615e-03 9.99996655e-01 -1.92998053e-03 -6.88784339e+01] [-6.73959134e-03 1.94154557e-03 9.99975404e-01 6.07894855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.86907232899995 meters 0.2376285155550084 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99977766e-01 -1.69247441e-03 6.44996529e-03 -3.70057836e+01] [ 1.70552503e-03 9.99996509e-01 -2.01840027e-03 -6.88781276e+01] [-6.44652668e-03 2.02935597e-03 9.99977162e-01 6.07896411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899072329 meters 0.2947150571202686 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99977038e-01 -1.65719953e-03 6.57092340e-03 -3.70060396e+01] [ 1.66984149e-03 9.99996765e-01 -1.91890536e-03 -6.88784133e+01] [-6.56772213e-03 1.92983370e-03 9.99976570e-01 6.07895685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.92907232899995 meters 0.26369643841128987 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99975822e-01 -1.80567121e-03 6.71522720e-03 -3.70066352e+01] [ 1.82003298e-03 9.99996068e-01 -2.13319099e-03 -6.88779418e+01] [-6.71134896e-03 2.14536135e-03 9.99975177e-01 6.07899466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959072329 meters 0.26369643841128987 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99975822e-01 -1.80567121e-03 6.71522720e-03 -3.70066352e+01] [ 1.82003298e-03 9.99996068e-01 -2.13319099e-03 -6.88779418e+01] [-6.71134896e-03 2.14536135e-03 9.99975177e-01 6.07899466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.98907232899995 meters 0.2388221681844891 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99978650e-01 -1.99521495e-03 6.22237388e-03 -3.70055092e+01] [ 2.01197818e-03 9.99994361e-01 -2.68892927e-03 -6.88760552e+01] [-6.21697380e-03 2.70139115e-03 9.99977026e-01 6.07902373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019072329 meters 0.22996431199740716 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99978499e-01 -2.14461653e-03 6.19692947e-03 -3.70055565e+01] [ 2.16306016e-03 9.99993247e-01 -2.97108467e-03 -6.88752365e+01] [-6.19051578e-03 2.98442512e-03 9.99976385e-01 6.07904537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.04907232899996 meters 0.25883725816198105 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99982893e-01 -1.96054350e-03 5.51098682e-03 -3.70038466e+01] [ 1.97661712e-03 9.99993805e-01 -2.91271837e-03 -6.88749601e+01] [-5.50524217e-03 2.92356165e-03 9.99980572e-01 6.07904193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079072329 meters 0.24865846607045264 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99984407e-01 -1.99510223e-03 5.21595922e-03 -3.70030814e+01] [ 2.01130898e-03 9.99993161e-01 -3.10374942e-03 -6.88742792e+01] [-5.20973125e-03 3.11419192e-03 9.99981580e-01 6.07904060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.10907232899996 meters 0.27125788317267185 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99988902e-01 -1.53541419e-03 4.45393043e-03 -3.70004997e+01] [ 1.54786611e-03 9.99994900e-01 -2.79361628e-03 -6.88737697e+01] [-4.44961836e-03 2.80047936e-03 9.99986179e-01 6.07894838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139072329 meters 0.26049795298599826 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99989644e-01 -1.77816931e-03 4.18927678e-03 -3.69999707e+01] [ 1.79223248e-03 9.99992764e-01 -3.35558482e-03 -6.88720891e+01] [-4.18327967e-03 3.36305823e-03 9.99985595e-01 6.07897507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16907232899996 meters 0.2620834654572915 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99989344e-01 -1.89182405e-03 4.21114380e-03 -3.69999226e+01] [ 1.90685296e-03 9.99991818e-01 -3.56769296e-03 -6.88713666e+01] [-4.20435989e-03 3.57568497e-03 9.99984769e-01 6.07896233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199072329 meters 0.2449167659039191 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99989236e-01 -1.79421613e-03 4.27890483e-03 -3.70000233e+01] [ 1.80866987e-03 9.99992664e-01 -3.37643308e-03 -6.88718959e+01] [-4.27281539e-03 3.38413587e-03 9.99985145e-01 6.07895178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22907232899996 meters 0.26238328261128396 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99988733e-01 -1.94992780e-03 4.32804779e-03 -3.70002336e+01] [ 1.96570993e-03 9.99991424e-01 -3.64522544e-03 -6.88711278e+01] [-4.32090275e-03 3.65369205e-03 9.99983990e-01 6.07896924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259072329 meters 0.24563095647893088 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99986710e-01 -1.72134968e-03 4.85976220e-03 -3.70014223e+01] [ 1.73603935e-03 9.99993933e-01 -3.02011557e-03 -6.88731460e+01] [-4.85453404e-03 3.02851217e-03 9.99983631e-01 6.07894401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28907232899996 meters 0.2575508044073465 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99984864e-01 -1.57024545e-03 5.27312602e-03 -3.70022281e+01] [ 1.58391982e-03 9.99995391e-01 -2.59004381e-03 -6.88743799e+01] [-5.26903472e-03 2.59835681e-03 9.99982743e-01 6.07890806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319072329 meters 0.24948954401877937 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.88, Z:60.79 [[ 9.99989327e-01 -7.40785816e-04 4.56035182e-03 -3.69995666e+01] [ 7.47863112e-04 9.99998518e-01 -1.55040915e-03 -6.88758247e+01] [-4.55919654e-03 1.55380312e-03 9.99988400e-01 6.07876467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34907232899997 meters 0.2422927632603699 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.88, Z:60.79 [[ 9.99989028e-01 -8.59100239e-04 4.60495332e-03 -3.69995107e+01] [ 8.67230196e-04 9.99998069e-01 -1.76377486e-03 -6.88750625e+01] [-4.60342917e-03 1.76774906e-03 9.99987842e-01 6.07874316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37907232899994 meters 0.2494740632867847 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99990980e-01 -7.60894073e-04 4.17859754e-03 -3.69983916e+01] [ 7.68083958e-04 9.99998227e-01 -1.71931037e-03 -6.88749892e+01] [-4.17728192e-03 1.72250438e-03 9.99989792e-01 6.07873016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40907232899997 meters 0.24564463478438708 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99991478e-01 -1.08823660e-03 3.98246016e-03 -3.69978631e+01] [ 1.09788554e-03 9.99996466e-01 -2.42147633e-03 -6.88727576e+01] [-3.97981094e-03 2.42582798e-03 9.99989138e-01 6.07873365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43907232899994 meters 0.2488108094920635 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99993094e-01 -1.04902490e-03 3.56530259e-03 -3.69968195e+01] [ 1.05808631e-03 9.99996213e-01 -2.54061993e-03 -6.88721968e+01] [-3.56262391e-03 2.54437478e-03 9.99990417e-01 6.07873641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46907232899997 meters 0.24102337181598266 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99994387e-01 -1.30218092e-03 3.08725565e-03 -3.69959335e+01] [ 1.31219304e-03 9.99993880e-01 -3.24324529e-03 -6.88701144e+01] [-3.08301347e-03 3.24727816e-03 9.99989975e-01 6.07879814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49907232899994 meters 0.24583025732659242 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99994616e-01 -1.30689138e-03 3.01004946e-03 -3.69956522e+01] [ 1.31678898e-03 9.99993726e-01 -3.28855487e-03 -6.88698847e+01] [-3.00573279e-03 3.29250076e-03 9.99990062e-01 6.07878593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.529072329 meters 0.2573296110185957 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99993168e-01 -1.28771450e-03 3.46507166e-03 -3.69966669e+01] [ 1.29842005e-03 9.99994386e-01 -3.08908730e-03 -6.88705249e+01] [-3.46107435e-03 3.09356531e-03 9.99989225e-01 6.07876901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.55907232899995 meters 0.27288842999265933 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99991651e-01 -1.17370662e-03 3.91407613e-03 -3.69976528e+01] [ 1.18432643e-03 9.99995621e-01 -2.71202284e-03 -6.88716890e+01] [-3.91087587e-03 2.71663574e-03 9.99988662e-01 6.07874609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.589072329 meters 0.30626210353762534 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.87, Z:60.79 [[ 9.99985588e-01 -1.30742250e-03 5.20719923e-03 -3.70006208e+01] [ 1.31866967e-03 9.99996804e-01 -2.15707976e-03 -6.88740844e+01] [-5.20436237e-03 2.16391525e-03 9.99984116e-01 6.07871171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.61907232899995 meters 0.32518479482883056 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.88, Z:60.79 [[ 9.99982993e-01 -1.19799980e-03 5.70768900e-03 -3.70015833e+01] [ 1.20795664e-03 9.99997754e-01 -1.74133313e-03 -6.88752401e+01] [-5.70559007e-03 1.74819815e-03 9.99982195e-01 6.07866519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.649072329 meters 0.3142489065460791 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.88, Z:60.79 [[ 9.99978209e-01 -8.50889549e-04 6.54661327e-03 -3.70030251e+01] [ 8.55008629e-04 9.99999438e-01 -6.26419473e-04 -6.88783180e+01] [-6.54607658e-03 6.32003233e-04 9.99978374e-01 6.07854837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.67907232899995 meters 0.30716842710988057 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.88, Z:60.79 [[ 9.99974002e-01 -9.24675894e-04 7.15117717e-03 -3.70042677e+01] [ 9.28623340e-04 9.99999418e-01 -5.48698819e-04 -6.88785593e+01] [-7.15066565e-03 5.55325304e-04 9.99974279e-01 6.07851283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.709072329 meters 0.34948077873782907 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.88, Z:60.79 [[ 9.99973184e-01 -8.81731029e-04 7.27013195e-03 -3.70045318e+01] [ 8.84816202e-04 9.99999520e-01 -4.21157323e-04 -6.88789384e+01] [-7.26975712e-03 4.27578760e-04 9.99973484e-01 6.07850740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.73907232899995 meters 0.2945829149475513 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99970158e-01 -1.01224524e-03 7.65885098e-03 -3.70055535e+01] [ 1.01614319e-03 9.99999356e-01 -5.05072158e-04 -6.88788438e+01] [-7.65833479e-03 5.12839575e-04 9.99970543e-01 6.07852052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.769072329 meters 0.2919121184179733 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99966441e-01 -1.07354807e-03 8.12184928e-03 -3.70067138e+01] [ 1.07717172e-03 9.99999322e-01 -4.41798593e-04 -6.88791747e+01] [-8.12136949e-03 4.50532393e-04 9.99966920e-01 6.07852431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.79907232899996 meters 0.31987126042464686 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99960576e-01 -9.26533947e-04 8.83108198e-03 -3.70083380e+01] [ 9.25396167e-04 9.99999563e-01 1.32923372e-04 -6.88810779e+01] [-8.83120128e-03 -1.24745883e-04 9.99960996e-01 6.07850328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.829072329 meters 0.27850084842918543 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99955363e-01 -7.18681214e-04 9.42101422e-03 -3.70095587e+01] [ 7.11393212e-04 9.99999445e-01 7.76918214e-04 -6.88830340e+01] [-9.42156735e-03 -7.70181489e-04 9.99955319e-01 6.07846141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.85907232899996 meters 0.30328191078022787 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99951818e-01 -6.21531899e-04 9.79675307e-03 -3.70103438e+01] [ 6.10776820e-04 9.99999208e-01 1.10077441e-03 -6.88840087e+01] [-9.79742947e-03 -1.09473774e-03 9.99951405e-01 6.07843337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.889072329 meters 0.30431079127517424 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.78 [[ 9.99949228e-01 -2.43916157e-04 1.00737763e-02 -3.70106478e+01] [ 2.24835707e-04 9.99998179e-01 1.89516036e-03 -6.88862316e+01] [-1.00742202e-02 -1.89279919e-03 9.99947462e-01 6.07836487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91907232899996 meters 0.3195183837421489 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.78 [[ 9.99946522e-01 -2.40910930e-04 1.03389874e-02 -3.70111219e+01] [ 2.20042775e-04 9.99997937e-01 2.01948453e-03 -6.88865452e+01] [-1.03394526e-02 -2.01710152e-03 9.99944512e-01 6.07833325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.949072329 meters 0.2960797196839563 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.78 [[ 9.99945913e-01 -3.49042623e-04 1.03946331e-02 -3.70113641e+01] [ 3.29828107e-04 9.99998234e-01 1.85016044e-03 -6.88861496e+01] [-1.03952605e-02 -1.84663193e-03 9.99944263e-01 6.07834811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97907232899996 meters 0.29329641985007154 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.78 [[ 9.99944056e-01 -6.28280506e-04 1.05588618e-02 -3.70122636e+01] [ 6.13496096e-04 9.99998827e-01 1.40337048e-03 -6.88851772e+01] [-1.05597311e-02 -1.39681415e-03 9.99943269e-01 6.07842613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.009072329 meters 0.2980902845143163 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99932695e-01 -1.09815858e-03 1.15498314e-02 -3.70149189e+01] [ 1.08698610e-03 9.99998935e-01 9.73561001e-04 -6.88848583e+01] [-1.15508882e-02 -9.60940970e-04 9.99932825e-01 6.07849470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03907232899996 meters 0.27438481282923305 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99932078e-01 -1.12841979e-03 1.16002275e-02 -3.70158915e+01] [ 1.11735042e-03 9.99998914e-01 9.60674540e-04 -6.88854796e+01] [-1.16012990e-02 -9.47647770e-04 9.99932254e-01 6.07862210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.069072329 meters 0.26073660755767347 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99931885e-01 -1.32601432e-03 1.15959871e-02 -3.70161577e+01] [ 1.31907221e-03 9.99998946e-01 6.06292617e-04 -6.88846031e+01] [-1.15967789e-02 -5.90955375e-04 9.99932580e-01 6.07866465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09907232899997 meters 0.3012412217055281 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99927345e-01 -1.42657481e-03 1.19695615e-02 -3.70168668e+01] [ 1.41974286e-03 9.99998824e-01 5.79254192e-04 -6.88844621e+01] [-1.19703737e-02 -5.62218407e-04 9.99928194e-01 6.07863445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12907232899994 meters 0.2591972831982702 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99919190e-01 -1.58067422e-03 1.26140464e-02 -3.70183172e+01] [ 1.57403697e-03 9.99998618e-01 5.36089315e-04 -6.88844950e+01] [-1.26148763e-02 -5.16191018e-04 9.99920296e-01 6.07861715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15907232899997 meters 0.2794595367582444 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99907835e-01 -1.45662234e-03 1.34981561e-02 -3.70200114e+01] [ 1.43896777e-03 9.99998097e-01 1.31754451e-03 -6.88868299e+01] [-1.35000496e-02 -1.29799967e-03 9.99908028e-01 6.07852373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18907232899994 meters 0.2688011690669895 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99901276e-01 -1.34024647e-03 1.39872414e-02 -3.70209511e+01] [ 1.31610267e-03 9.99997628e-01 1.73519243e-03 -6.88880293e+01] [-1.39895338e-02 -1.71661247e-03 9.99900668e-01 6.07847480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21907232899997 meters 0.2807050843797888 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99898287e-01 -1.19423772e-03 1.42122786e-02 -3.70214664e+01] [ 1.16440726e-03 9.99997102e-01 2.10701176e-03 -6.88892273e+01] [-1.42147537e-02 -2.09024857e-03 9.99896780e-01 6.07845940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24907232899994 meters 0.25217687477141254 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99904076e-01 -1.25493470e-03 1.37935939e-02 -3.70206578e+01] [ 1.22973507e-03 9.99997560e-01 1.83523813e-03 -6.88884759e+01] [-1.37958634e-02 -1.81809962e-03 9.99903180e-01 6.07849177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279072329 meters 0.26959252301359066 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99901207e-01 -1.47618841e-03 1.39784873e-02 -3.70209454e+01] [ 1.45562640e-03 9.99997844e-01 1.48103502e-03 -6.88873460e+01] [-1.39806434e-02 -1.46054125e-03 9.99901199e-01 6.07846767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.30907232899995 meters 0.2643728639295614 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99903844e-01 -1.52646548e-03 1.37830670e-02 -3.70204419e+01] [ 1.50858004e-03 9.99998007e-01 1.30794288e-03 -6.88867674e+01] [-1.37850360e-02 -1.28702426e-03 9.99904154e-01 6.07846361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339072329 meters 0.3170920549609639 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99909471e-01 -1.52929263e-03 1.33682658e-02 -3.70195796e+01] [ 1.51376276e-03 9.99998168e-01 1.17173809e-03 -6.88863588e+01] [-1.33700333e-02 -1.15139563e-03 9.99909954e-01 6.07848670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.36907232899995 meters 0.35742779902714295 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.79 [[ 9.99912721e-01 -1.65867153e-03 1.31072535e-02 -3.70191710e+01] [ 1.64786389e-03 9.99998293e-01 8.35311096e-04 -6.88854501e+01] [-1.31086166e-02 -8.13639220e-04 9.99913747e-01 6.07852563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399072329 meters 0.30588415568099425 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99917013e-01 -1.72325522e-03 1.27670086e-02 -3.70185591e+01] [ 1.71575853e-03 9.99998349e-01 5.98122104e-04 -6.88848197e+01] [-1.27680182e-02 -5.76167364e-04 9.99918320e-01 6.07856258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.42907232899995 meters 0.3172614409949255 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99925249e-01 -1.87254083e-03 1.20826191e-02 -3.70170562e+01] [ 1.87261912e-03 9.99998247e-01 4.83394620e-06 -6.88829216e+01] [-1.20826070e-02 1.77925587e-05 9.99927002e-01 6.07859159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459072329 meters 0.30770284175577917 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99929256e-01 -2.10615587e-03 1.17067288e-02 -3.70163633e+01] [ 2.11321889e-03 9.99997593e-01 -5.90993394e-04 -6.88812000e+01] [-1.17054559e-02 6.15690465e-04 9.99931299e-01 6.07863441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.48907232899995 meters 0.30474768772941035 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99934294e-01 -2.48659342e-03 1.11903954e-02 -3.70155586e+01] [ 2.50354230e-03 9.99995740e-01 -1.50083795e-03 -6.88786557e+01] [-1.11866158e-02 1.52875497e-03 9.99936259e-01 6.07871638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519072329 meters 0.3295134912550825 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99935790e-01 -2.52634661e-03 1.10468808e-02 -3.70152759e+01] [ 2.54461710e-03 9.99995417e-01 -1.64016211e-03 -6.88782328e+01] [-1.10426866e-02 1.66816688e-03 9.99937636e-01 6.07873153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.54907232899996 meters 0.32660105117991944 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99936379e-01 -2.47902894e-03 1.10042055e-02 -3.70152645e+01] [ 2.49642292e-03 9.99995656e-01 -1.56721257e-03 -6.88784943e+01] [-1.10002726e-02 1.59458401e-03 9.99938224e-01 6.07874763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579072329 meters 0.32235333761721296 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99935694e-01 -2.49292947e-03 1.10631316e-02 -3.70157374e+01] [ 2.51048087e-03 9.99995612e-01 -1.57287260e-03 -6.88787230e+01] [-1.10591620e-02 1.60054524e-03 9.99937565e-01 6.07880079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.60907232899996 meters 0.3085060701698542 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99932313e-01 -2.64395195e-03 1.13304385e-02 -3.70163834e+01] [ 2.66410671e-03 9.99994895e-01 -1.76409172e-03 -6.88781939e+01] [-1.13257165e-02 1.79415781e-03 9.99934252e-01 6.07880122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639072329 meters 0.3024515445366133 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99939674e-01 -2.38134183e-03 1.07227458e-02 -3.70148948e+01] [ 2.39726512e-03 9.99996043e-01 -1.47239318e-03 -6.88787304e+01] [-1.07191971e-02 1.49800962e-03 9.99941426e-01 6.07879668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66907232899996 meters 0.2951278447324415 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99952045e-01 -1.93657855e-03 9.59990745e-03 -3.70116477e+01] [ 1.95118810e-03 9.99996952e-01 -1.51271123e-03 -6.88771591e+01] [-9.59694871e-03 1.53136991e-03 9.99952776e-01 6.07872957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699072329 meters 0.29462404853210633 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99953455e-01 -1.99620955e-03 9.43944390e-03 -3.70111847e+01] [ 2.01227063e-03 9.99996543e-01 -1.69229538e-03 -6.88765284e+01] [-9.43603310e-03 1.71121133e-03 9.99954015e-01 6.07872257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72907232899996 meters 0.28623011945699744 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99955366e-01 -2.18608107e-03 9.19163766e-03 -3.70106376e+01] [ 2.20592595e-03 9.99995257e-01 -2.14943074e-03 -6.88750877e+01] [-9.18689524e-03 2.16961088e-03 9.99955446e-01 6.07873960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759072329 meters 0.2944876722734726 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99956389e-01 -2.25266539e-03 9.06341507e-03 -3.70104072e+01] [ 2.27395508e-03 9.99994678e-01 -2.33935013e-03 -6.88745298e+01] [-9.05809706e-03 2.35985790e-03 9.99956190e-01 6.07875755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78907232899996 meters 0.29422995917342 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99957127e-01 -2.21363656e-03 8.99134819e-03 -3.70102326e+01] [ 2.23438263e-03 9.99994863e-01 -2.29794816e-03 -6.88746404e+01] [-8.98621519e-03 2.31793975e-03 9.99956937e-01 6.07875779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819072329 meters 0.28353775280176297 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99960296e-01 -2.16301711e-03 8.64454956e-03 -3.70092155e+01] [ 2.18336243e-03 9.99994867e-01 -2.34479881e-03 -6.88742088e+01] [-8.63943335e-03 2.36357990e-03 9.99959886e-01 6.07873823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84907232899997 meters 0.28342876134414335 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99961270e-01 -2.26837666e-03 8.50373211e-03 -3.70088249e+01] [ 2.29061860e-03 9.99993979e-01 -2.60672387e-03 -6.88733278e+01] [-8.49776787e-03 2.62610172e-03 9.99960445e-01 6.07873778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87907232899994 meters 0.28342876134414335 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99961270e-01 -2.26837666e-03 8.50373211e-03 -3.70088249e+01] [ 2.29061860e-03 9.99993979e-01 -2.60672387e-03 -6.88733278e+01] [-8.49776787e-03 2.62610172e-03 9.99960445e-01 6.07873778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90907232899997 meters 0.28248364123994746 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99964813e-01 -2.17111228e-03 8.10308354e-03 -3.70077987e+01] [ 2.19207619e-03 9.99994271e-01 -2.57916881e-03 -6.88732000e+01] [-8.09743745e-03 2.59684063e-03 9.99963843e-01 6.07873741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93907232899994 meters 0.26904135440936316 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99967816e-01 -2.12183002e-03 7.73718558e-03 -3.70069387e+01] [ 2.14243325e-03 9.99994179e-01 -2.65556884e-03 -6.88728047e+01] [-7.73150587e-03 2.67205978e-03 9.99966541e-01 6.07874957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96907232899997 meters 0.26435538016581506 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99966361e-01 -2.18936660e-03 7.90465314e-03 -3.70074348e+01] [ 2.21091871e-03 9.99993860e-01 -2.71880072e-03 -6.88726900e+01] [-7.89865216e-03 2.73618580e-03 9.99965062e-01 6.07876411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99907232899994 meters 0.26113772866855156 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99964801e-01 -2.30017777e-03 8.06887225e-03 -3.70079878e+01] [ 2.32338103e-03 9.99993190e-01 -2.86745755e-03 -6.88723830e+01] [-8.06222164e-03 2.88610368e-03 9.99963335e-01 6.07879001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.029072329 meters 0.2517336803718694 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99965300e-01 -2.41207362e-03 7.97374552e-03 -3.70078144e+01] [ 2.43693553e-03 9.99992195e-01 -3.10972698e-03 -6.88716553e+01] [-7.96618239e-03 3.12905058e-03 9.99963374e-01 6.07880328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.05907232899995 meters 0.25246670758650863 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99967997e-01 -2.40860897e-03 7.62912987e-03 -3.70069264e+01] [ 2.43331046e-03 9.99991822e-01 -3.23016121e-03 -6.88711593e+01] [-7.62128729e-03 3.24862188e-03 9.99965681e-01 6.07880147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.089072329 meters 0.2543014987348771 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99971356e-01 -2.57768761e-03 7.11635196e-03 -3.70057057e+01] [ 2.60468888e-03 9.99989435e-01 -3.78760034e-03 -6.88692054e+01] [-7.10651353e-03 3.80602773e-03 9.99967505e-01 6.07882566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.11907232899995 meters 0.29551851057601003 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99969344e-01 -2.51286406e-03 7.41592489e-03 -3.70063570e+01] [ 2.53936053e-03 9.99990419e-01 -3.56566402e-03 -6.88698672e+01] [-7.40689380e-03 3.58438642e-03 9.99966144e-01 6.07881106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.149072329 meters 0.24160042071826368 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99965009e-01 -2.14348544e-03 8.08615063e-03 -3.70074419e+01] [ 2.16485741e-03 9.99994185e-01 -2.63520830e-03 -6.88724894e+01] [-8.08045508e-03 2.65262146e-03 9.99963834e-01 6.07871161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.17907232899995 meters 0.28405177603313675 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99965327e-01 -2.02169699e-03 8.07819694e-03 -3.70071872e+01] [ 2.04136323e-03 9.99994971e-01 -2.42698040e-03 -6.88729429e+01] [-8.07324970e-03 2.44338679e-03 9.99964426e-01 6.07867496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.209072329 meters 0.2648080874976671 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99961756e-01 -1.87059578e-03 8.54328092e-03 -3.70079242e+01] [ 1.88741809e-03 9.99996295e-01 -1.96143111e-03 -6.88741556e+01] [-8.53958023e-03 1.97748084e-03 9.99961582e-01 6.07860607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.23907232899995 meters 0.2471989336678589 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99957116e-01 -1.68486349e-03 9.10647266e-03 -3.70091129e+01] [ 1.69771259e-03 9.99997574e-01 -1.40343940e-03 -6.88758713e+01] [-9.10408597e-03 1.41883939e-03 9.99957550e-01 6.07857000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.269072329 meters 0.23858392508389675 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99954470e-01 -1.56524801e-03 9.41314321e-03 -3.70096523e+01] [ 1.57541282e-03 9.99998184e-01 -1.07253536e-03 -6.88767833e+01] [-9.41144733e-03 1.08731612e-03 9.99955120e-01 6.07853376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.29907232899996 meters 0.26039143044803215 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99946793e-01 -1.55827395e-03 1.01972224e-02 -3.70115312e+01] [ 1.56603340e-03 9.99998490e-01 -7.52997882e-04 -6.88780751e+01] [-1.01960337e-02 7.68927008e-04 9.99947723e-01 6.07852799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.329072329 meters 0.25730043326772345 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99944391e-01 -1.49746977e-03 1.04389579e-02 -3.70119764e+01] [ 1.50328244e-03 9.99998719e-01 -5.49000418e-04 -6.88786369e+01] [-1.04381225e-02 5.64662591e-04 9.99945362e-01 6.07850247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.35907232899996 meters 0.25196768674245196 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99942833e-01 -1.50568115e-03 1.05860033e-02 -3.70122965e+01] [ 1.51116764e-03 9.99998728e-01 -5.10297636e-04 -6.88787485e+01] [-1.05852215e-02 5.26265689e-04 9.99943836e-01 6.07849474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.389072329 meters 0.24471493905235198 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99938635e-01 -1.66879126e-03 1.09517907e-02 -3.70130751e+01] [ 1.67623491e-03 9.99998370e-01 -6.70530337e-04 -6.88783266e+01] [-1.09506538e-02 6.88846963e-04 9.99939803e-01 6.07847612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41907232899996 meters 0.23841010636957088 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99936634e-01 -1.59339779e-03 1.11440494e-02 -3.70134613e+01] [ 1.59857245e-03 9.99998619e-01 -4.55451330e-04 -6.88789401e+01] [-1.11433083e-02 4.73237040e-04 9.99937799e-01 6.07846199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.449072329 meters 0.25024864615694503 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99930110e-01 -1.63604905e-03 1.17088728e-02 -3.70146388e+01] [ 1.64026783e-03 9.99998593e-01 -3.50712320e-04 -6.88793303e+01] [-1.17082826e-02 3.69893497e-04 9.99931387e-01 6.07843016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47907232899996 meters 0.24385431737491808 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99925505e-01 -1.57905978e-03 1.21033798e-02 -3.70156586e+01] [ 1.58021550e-03 9.99998748e-01 -8.59244803e-05 -6.88802912e+01] [-1.21032290e-02 1.05044028e-04 9.99926748e-01 6.07843292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.509072329 meters 0.2895436705762638 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99918171e-01 -1.41022758e-03 1.27146573e-02 -3.70169179e+01] [ 1.40434133e-03 9.99998903e-01 4.71866241e-04 -6.88820052e+01] [-1.27153088e-02 -4.53971910e-04 9.99919054e-01 6.07838623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53907232899996 meters 0.28024374988372597 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99904458e-01 -1.26573415e-03 1.37648865e-02 -3.70192494e+01] [ 1.24516000e-03 9.99998095e-01 1.50315067e-03 -6.88854649e+01] [-1.37667628e-02 -1.48586757e-03 9.99904130e-01 6.07832272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.569072329 meters 0.2986641809477606 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99900023e-01 -1.15311188e-03 1.40930480e-02 -3.70199965e+01] [ 1.12702846e-03 9.99997638e-01 1.85860191e-03 -6.88865911e+01] [-1.40951578e-02 -1.84253283e-03 9.99898961e-01 6.07830664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59907232899997 meters 0.2819342054321221 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99892857e-01 -8.96783638e-04 1.46106306e-02 -3.70206934e+01] [ 8.59581452e-04 9.99996373e-01 2.55232187e-03 -6.88883949e+01] [-1.46128665e-02 -2.53948938e-03 9.99890002e-01 6.07820750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62907232899994 meters 0.26047450362268326 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99904234e-01 -9.40861085e-04 1.38071539e-02 -3.70189452e+01] [ 9.10698233e-04 9.99997186e-01 2.19070617e-03 -6.88870814e+01] [-1.38091762e-02 -2.17792222e-03 9.99902277e-01 6.07824096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65907232899997 meters 0.2803346397816685 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99906854e-01 -1.31609598e-03 1.35849566e-02 -3.70186521e+01] [ 1.29692899e-03 9.99998151e-01 1.41961167e-03 -6.88848652e+01] [-1.35867999e-02 -1.40186072e-03 9.99906712e-01 6.07828497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68907232899994 meters 0.3231291884914438 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99916642e-01 -1.68210726e-03 1.28015100e-02 -3.70174510e+01] [ 1.67699055e-03 9.99998510e-01 4.10419392e-04 -6.88821898e+01] [-1.28021813e-02 -3.88917169e-04 9.99917973e-01 6.07841272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71907232899997 meters 0.26612789242902907 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99927018e-01 -1.84024905e-03 1.19403322e-02 -3.70157758e+01] [ 1.84346756e-03 9.99998267e-01 -2.58549205e-04 -6.88802004e+01] [-1.19398357e-02 2.80541951e-04 9.99928678e-01 6.07849049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74907232899994 meters 0.2560062178707753 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99928800e-01 -2.11705178e-03 1.17436319e-02 -3.70155734e+01] [ 2.12716369e-03 9.99997377e-01 -8.48630088e-04 -6.88785690e+01] [-1.17418045e-02 8.73550293e-04 9.99930681e-01 6.07853805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779072329 meters 0.2539271180172657 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.79 [[ 9.99940307e-01 -2.29793487e-03 1.06818788e-02 -3.70132746e+01] [ 2.31810666e-03 9.99995553e-01 -1.87641402e-03 -6.88753393e+01] [-1.06775194e-02 1.90106374e-03 9.99941187e-01 6.07860605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.80907232899995 meters 0.2593289995811342 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99943955e-01 -2.29270763e-03 1.03359235e-02 -3.70123782e+01] [ 2.31364490e-03 9.99995295e-01 -2.01417802e-03 -6.88747659e+01] [-1.03312569e-02 2.03797879e-03 9.99944554e-01 6.07860250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839072329 meters 0.2566696939922988 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99948677e-01 -2.26628411e-03 9.87457388e-03 -3.70113119e+01] [ 2.28811053e-03 9.99994963e-01 -2.19962896e-03 -6.88740333e+01] [-9.86953916e-03 2.22211019e-03 9.99948826e-01 6.07862162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.86907232899995 meters 0.30909720527484974 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99948740e-01 -2.40455184e-03 9.83539856e-03 -3.70113880e+01] [ 2.42904044e-03 9.99993978e-01 -2.47865621e-03 -6.88732789e+01] [-9.82937928e-03 2.50241974e-03 9.99948559e-01 6.07865260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899072329 meters 0.2521956234581638 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99949680e-01 -2.44190521e-03 9.73013590e-03 -3.70113026e+01] [ 2.46714715e-03 9.99993621e-01 -2.58304429e-03 -6.88730508e+01] [-9.72376628e-03 2.60691998e-03 9.99949325e-01 6.07868134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.92907232899995 meters 0.29152165101465 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99947623e-01 -2.29148893e-03 9.97495366e-03 -3.70116264e+01] [ 2.31368005e-03 9.99994873e-01 -2.21371390e-03 -6.88740066e+01] [-9.96982982e-03 2.23667681e-03 9.99947799e-01 6.07863579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959072329 meters 0.2598961600190474 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.79 [[ 9.99943865e-01 -2.25315559e-03 1.03532316e-02 -3.70124091e+01] [ 2.27398586e-03 9.99995413e-01 -2.00062652e-03 -6.88746587e+01] [-1.03486764e-02 2.02405732e-03 9.99944402e-01 6.07860747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.98907232899995 meters 0.2755343770963663 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99935511e-01 -1.84182966e-03 1.12063152e-02 -3.70139510e+01] [ 1.84977448e-03 9.99998045e-01 -6.98635248e-04 -6.88784268e+01] [-1.12050065e-02 7.19319350e-04 9.99936963e-01 6.07849182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019072329 meters 0.3022952554459303 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.78 [[ 9.99930701e-01 -1.66480897e-03 1.16542569e-02 -3.70147745e+01] [ 1.66722738e-03 9.99998591e-01 -1.97800644e-04 -6.88798423e+01] [-1.16539112e-02 2.17217233e-04 9.99932067e-01 6.07844188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.04907232899996 meters 0.3014169690464152 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99925687e-01 -1.55477258e-03 1.20914433e-02 -3.70157068e+01] [ 1.55256675e-03 9.99998776e-01 1.91813293e-04 -6.88810220e+01] [-1.20917267e-02 -1.73026266e-04 9.99926877e-01 6.07841489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079072329 meters 0.25341991997115276 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99913178e-01 -1.56083033e-03 1.30843140e-02 -3.70177032e+01] [ 1.55217402e-03 9.99998570e-01 6.71708471e-04 -6.88825757e+01] [-1.30853438e-02 -6.51341020e-04 9.99914171e-01 6.07833560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.10907232899996 meters 0.25331435177651435 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99909059e-01 -1.50052428e-03 1.34022981e-02 -3.70183298e+01] [ 1.48842744e-03 9.99998476e-01 9.12523937e-04 -6.88832773e+01] [-1.34036470e-02 -8.92492603e-04 9.99909769e-01 6.07830680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139072329 meters 0.24696011027345538 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99903511e-01 -1.39661000e-03 1.38209503e-02 -3.70193381e+01] [ 1.37882812e-03 9.99998210e-01 1.29603366e-03 -6.88845665e+01] [-1.38227356e-02 -1.27685190e-03 9.99903646e-01 6.07829496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16907232899996 meters 0.2562673241696231 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99898314e-01 -1.55468504e-03 1.41754836e-02 -3.70204758e+01] [ 1.53866661e-03 9.99998165e-01 1.14084570e-03 -6.88844035e+01] [-1.41772312e-02 -1.11891835e-03 9.99898872e-01 6.07833464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199072329 meters 0.2367759480861813 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99886658e-01 -1.75608509e-03 1.49528069e-02 -3.70224255e+01] [ 1.73945995e-03 9.99997855e-01 1.12477359e-03 -6.88848099e+01] [-1.49547501e-02 -1.09863630e-03 9.99887568e-01 6.07834958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22907232899996 meters 0.2887729909839324 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99877084e-01 -1.82380887e-03 1.55721052e-02 -3.70240135e+01] [ 1.80298592e-03 9.99997462e-01 1.35112958e-03 -6.88858946e+01] [-1.55745298e-02 -1.32288722e-03 9.99877835e-01 6.07834615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259072329 meters 0.3025690979907951 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99877853e-01 -1.90132906e-03 1.55133756e-02 -3.70239475e+01] [ 1.88301125e-03 9.99997513e-01 1.19529654e-03 -6.88854875e+01] [-1.55156097e-02 -1.16593868e-03 9.99878946e-01 6.07835496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28907232899996 meters 0.29439796337150514 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.78 [[ 9.99871135e-01 -1.94546000e-03 1.59351578e-02 -3.70247902e+01] [ 1.92509281e-03 9.99997311e-01 1.29336846e-03 -6.88857501e+01] [-1.59376311e-02 -1.26252513e-03 9.99872191e-01 6.07832252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319072329 meters 0.28963871156536874 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99866029e-01 -2.19776645e-03 1.62201538e-02 -3.70256560e+01] [ 2.18249672e-03 9.99997158e-01 9.59045977e-04 -6.88849674e+01] [-1.62222154e-02 -9.23517060e-04 9.99867985e-01 6.07834507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34907232899997 meters 0.2851245565912069 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99856795e-01 -2.22618252e-03 1.67760057e-02 -3.70269395e+01] [ 2.20747645e-03 9.99996921e-01 1.13348379e-03 -6.88856139e+01] [-1.67784774e-02 -1.09628883e-03 9.99858630e-01 6.07832806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37907232899994 meters 0.315337080233936 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99841836e-01 -5.94421001e-03 1.67621654e-02 -3.70264196e+01] [ 5.98267121e-03 9.99979583e-01 -2.24531412e-03 -6.88880545e+01] [-1.67484765e-02 2.34524152e-03 9.99856984e-01 6.07825604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40907232899997 meters 0.31188831661595995 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99833758e-01 -5.90298967e-03 1.72514164e-02 -3.70274259e+01] [ 5.93818684e-03 9.99980389e-01 -1.98973524e-03 -6.88887963e+01] [-1.72393327e-02 2.09184659e-03 9.99849203e-01 6.07822261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43907232899994 meters 0.29152082017602743 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99829803e-01 -5.80132019e-03 1.75131273e-02 -3.70279545e+01] [ 5.83211487e-03 9.99981535e-01 -1.70781560e-03 -6.88896160e+01] [-1.75028963e-02 1.80966350e-03 9.99845175e-01 6.07820405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46907232899997 meters 0.2639339464551215 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99965045e-01 -7.60857343e-03 3.46662059e-03 -3.70271331e+01] [ 7.62911241e-03 9.99953192e-01 -5.95059424e-03 -6.88821154e+01] [-3.42118279e-03 5.97683348e-03 9.99976286e-01 6.07858895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49907232899994 meters 0.28743046918544446 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99965742e-01 -7.51062973e-03 3.47921900e-03 -3.70268467e+01] [ 7.53065792e-03 9.99954941e-01 -5.77963794e-03 -6.88823874e+01] [-3.43565351e-03 5.80564075e-03 9.99977245e-01 6.07854432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.529072329 meters 0.251571954736919 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99983873e-01 -3.38100844e-03 4.56320590e-03 -3.70292251e+01] [ 3.38646389e-03 9.99993560e-01 -1.18833213e-03 -6.88836646e+01] [-4.55915876e-03 1.20376610e-03 9.99988882e-01 6.07848239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.55907232899995 meters 0.2837348404539633 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99983037e-01 -3.19240692e-03 4.87183089e-03 -3.70297263e+01] [ 3.19605504e-03 9.99994618e-01 -7.41218103e-04 -6.88848896e+01] [-4.86943840e-03 7.56776169e-04 9.99987858e-01 6.07844070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.589072329 meters 0.2879948690920374 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99982559e-01 -3.21645609e-03 4.95345539e-03 -3.70298254e+01] [ 3.22031637e-03 9.99994517e-01 -7.71532798e-04 -6.88847284e+01] [-4.95094663e-03 7.87471035e-04 9.99987434e-01 6.07842711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.61907232899995 meters 0.2865636064419756 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99979293e-01 -3.41432435e-03 5.45498807e-03 -3.70309012e+01] [ 3.41965877e-03 9.99993684e-01 -9.68869898e-04 -6.88841915e+01] [-5.45164558e-03 9.87504033e-04 9.99984652e-01 6.07840585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.649072329 meters 0.24026738815222423 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99980371e-01 -3.41182257e-03 5.25512196e-03 -3.70304688e+01] [ 3.41728999e-03 9.99993629e-01 -1.03177122e-03 -6.88839948e+01] [-5.25156826e-03 1.04970924e-03 9.99985659e-01 6.07841727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.67907232899995 meters 0.2654629039769442 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99980643e-01 -3.68168853e-03 5.01585377e-03 -3.70300871e+01] [ 3.68997179e-03 9.99991842e-01 -1.64316227e-03 -6.88822032e+01] [-5.00976324e-03 1.66163882e-03 9.99986071e-01 6.07845962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.709072329 meters 0.2688184480901339 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99983362e-01 -3.75023631e-03 4.38308047e-03 -3.70287596e+01] [ 3.75963939e-03 9.99990645e-01 -2.13904795e-03 -6.88805233e+01] [-4.37501753e-03 2.15549116e-03 9.99988106e-01 6.07851697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.73907232899995 meters 0.25034306839727866 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99983801e-01 -3.73205720e-03 4.29751660e-03 -3.70286300e+01] [ 3.74126233e-03 9.99990720e-01 -2.13592313e-03 -6.88805580e+01] [-4.28950534e-03 2.15196667e-03 9.99988485e-01 6.07853040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.769072329 meters 0.25034306839727866 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99983801e-01 -3.73205720e-03 4.29751660e-03 -3.70286300e+01] [ 3.74126233e-03 9.99990720e-01 -2.13592313e-03 -6.88805580e+01] [-4.28950534e-03 2.15196667e-03 9.99988485e-01 6.07853040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.79907232899996 meters 0.24631401773519537 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99985203e-01 -3.77343560e-03 3.91858658e-03 -3.70277883e+01] [ 3.78296803e-03 9.99989897e-01 -2.42806183e-03 -6.88795393e+01] [-3.90938486e-03 2.44284979e-03 9.99989375e-01 6.07855797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.829072329 meters 0.25102164944771155 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99986886e-01 -3.76182906e-03 3.47513102e-03 -3.70268041e+01] [ 3.77080128e-03 9.99989565e-01 -2.57890379e-03 -6.88789672e+01] [-3.46539336e-03 2.59197400e-03 9.99990636e-01 6.07858191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.85907232899996 meters 0.28107856249535923 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.79 [[ 9.99987576e-01 -3.83670550e-03 3.18250459e-03 -3.70261280e+01] [ 3.84576464e-03 9.99988557e-01 -2.84532583e-03 -6.88780805e+01] [-3.17155150e-03 2.85752964e-03 9.99990888e-01 6.07859695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.889072329 meters 0.24950780550443435 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.79 [[ 9.99996245e-01 1.69729379e-04 2.73506378e-03 -3.70249837e+01] [-1.71657054e-04 9.99999737e-01 7.04581170e-04 -6.88754801e+01] [-2.73494347e-03 -7.05048018e-04 9.99996011e-01 6.07859759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91907232899996 meters 0.24623062645281177 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99997714e-01 1.18158846e-04 2.13510848e-03 -3.70235916e+01] [-1.18960586e-04 9.99999922e-01 3.75379916e-04 -6.88743082e+01] [-2.13506396e-03 -3.75633051e-04 9.99997650e-01 6.07861819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.949072329 meters 0.2695004668621086 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99998360e-01 -3.76089316e-05 1.81076825e-03 -3.70229570e+01] [ 3.77078281e-05 9.99999998e-01 -5.45816759e-05 -6.88730184e+01] [-1.81076619e-03 5.46498665e-05 9.99998359e-01 6.07865287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97907232899996 meters 0.2633207303761566 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999102e-01 1.81557466e-04 1.32796364e-03 -3.70216196e+01] [-1.81682061e-04 9.99999979e-01 9.37041335e-05 -6.88730390e+01] [-1.32794660e-03 -9.39453165e-05 9.99999114e-01 6.07863438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.009072329 meters 0.29087491388300196 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999029e-01 7.61028912e-05 1.39116713e-03 -3.70217884e+01] [-7.59746663e-05 9.99999993e-01 -9.22233914e-05 -6.88724703e+01] [-1.39117414e-03 9.21176084e-05 9.99999028e-01 6.07863950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03907232899996 meters 0.2876223431030845 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999467e-01 6.89579298e-05 1.02995378e-03 -3.70208695e+01] [-6.86873204e-05 9.99999963e-01 -2.62772453e-04 -6.88717520e+01] [-1.02997186e-03 2.62701569e-04 9.99999435e-01 6.07864212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.069072329 meters 0.24705769466733388 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999510e-01 1.20900989e-05 9.89857744e-04 -3.70207611e+01] [-1.17057094e-05 9.99999925e-01 -3.88332896e-04 -6.88713327e+01] [-9.89862365e-04 3.88321119e-04 9.99999435e-01 6.07864493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09907232899997 meters 0.28052632602884864 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999686e-01 7.66921216e-05 7.88716574e-04 -3.70202349e+01] [-7.64098739e-05 9.99999933e-01 -3.57880906e-04 -6.88712966e+01] [-7.88743968e-04 3.57820528e-04 9.99999625e-01 6.07864814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12907232899994 meters 0.2780599037633407 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999594e-01 -3.38823231e-05 9.00465066e-04 -3.70205565e+01] [ 3.43593327e-05 9.99999859e-01 -5.29726759e-04 -6.88707987e+01] [-9.00446990e-04 5.29757483e-04 9.99999454e-01 6.07866080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15907232899997 meters 0.266161748983991 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999087e-01 -1.06067944e-04 1.34700405e-03 -3.70214680e+01] [ 1.06737281e-04 9.99999871e-01 -4.96845945e-04 -6.88708942e+01] [-1.34695118e-03 4.96989267e-04 9.99998969e-01 6.07863020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18907232899994 meters 0.26443368249148236 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99998997e-01 1.98999299e-04 1.40221477e-03 -3.70212807e+01] [-1.99085061e-04 9.99999978e-01 6.10229954e-05 -6.88723681e+01] [-1.40220260e-03 -6.13020943e-05 9.99999015e-01 6.07858091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21907232899997 meters 0.2542165286411132 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999756e-01 2.85099753e-04 6.38448996e-04 -3.70192011e+01] [-2.84989858e-04 9.99999945e-01 -1.72212794e-04 -6.88709136e+01] [-6.38498058e-04 1.72030800e-04 9.99999781e-01 6.07855638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24907232899994 meters 0.2507261293029336 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999942e-01 7.41940325e-05 3.31407236e-04 -3.70184934e+01] [-7.39606754e-05 9.99999749e-01 -7.04096853e-04 -6.88692112e+01] [-3.31459393e-04 7.04072301e-04 9.99999697e-01 6.07857636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279072329 meters 0.24635814707252984 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999984e-01 -1.59638258e-04 7.77161961e-05 -3.70180376e+01] [ 1.59735844e-04 9.99999197e-01 -1.25728409e-03 -6.88675316e+01] [-7.75154230e-05 1.25729649e-03 9.99999207e-01 6.07861328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.30907232899995 meters 0.2518284774230135 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999969e-01 -2.20431503e-04 -1.19051370e-04 -3.70175611e+01] [ 2.20257862e-04 9.99998915e-01 -1.45658423e-03 -6.88668403e+01] [ 1.19372318e-04 1.45655796e-03 9.99998932e-01 6.07862331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339072329 meters 0.2476853214994801 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.79 [[ 9.99999792e-01 -3.16069202e-04 -5.62663980e-04 -3.70165330e+01] [ 3.15028517e-04 9.99998242e-01 -1.84869583e-03 -6.88655299e+01] [ 5.63247306e-04 1.84851819e-03 9.99998133e-01 6.07864382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.36907232899995 meters 0.26049615786317526 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.86, Z:60.79 [[ 9.99999647e-01 -3.80825237e-04 -7.49153715e-04 -3.70161101e+01] [ 3.79294762e-04 9.99997843e-01 -2.04202159e-03 -6.88648756e+01] [ 7.49929752e-04 2.04173672e-03 9.99997634e-01 6.07865732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399072329 meters 0.24334638875123737 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99998554e-01 2.72800864e-04 -1.67864454e-03 -3.70130039e+01] [-2.75797661e-04 9.99998368e-01 -1.78527553e-03 -6.88637670e+01] [ 1.67815477e-03 1.78573592e-03 9.99996997e-01 6.07856225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.42907232899995 meters 0.2424617515841141 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99998017e-01 2.42090616e-04 -1.97674645e-03 -3.70122540e+01] [-2.45983568e-04 9.99998031e-01 -1.96936810e-03 -6.88630618e+01] [ 1.97626580e-03 1.96985045e-03 9.99996107e-01 6.07856707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459072329 meters 0.25231405820403874 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99997121e-01 2.67008680e-04 -2.38450382e-03 -3.70110508e+01] [-2.72016933e-04 9.99997757e-01 -2.10025623e-03 -6.88622444e+01] [ 2.38393768e-03 2.10089881e-03 9.99994952e-01 6.07854734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.48907232899995 meters 0.25094937112862 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99997290e-01 4.55190006e-05 -2.32756619e-03 -3.70112107e+01] [-5.13026936e-05 9.99996911e-01 -2.48486791e-03 -6.88610676e+01] [ 2.32744589e-03 2.48498059e-03 9.99994204e-01 6.07855445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519072329 meters 0.24079471750033402 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99997469e-01 8.52187809e-05 -2.24846731e-03 -3.70113491e+01] [-9.05926284e-05 9.99997140e-01 -2.39001114e-03 -6.88613170e+01] [ 2.24825720e-03 2.39020879e-03 9.99994616e-01 6.07854721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.54907232899996 meters 0.23159669984007228 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99997774e-01 4.83581638e-05 -2.10952335e-03 -3.70118074e+01] [-5.34359065e-05 9.99997102e-01 -2.40706693e-03 -6.88613741e+01] [ 2.10940084e-03 2.40717430e-03 9.99994878e-01 6.07856571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579072329 meters 0.22681765896970943 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99997492e-01 2.81424189e-05 -2.23945017e-03 -3.70114852e+01] [-3.37448433e-05 9.99996870e-01 -2.50169790e-03 -6.88610204e+01] [ 2.23937276e-03 2.50176719e-03 9.99994363e-01 6.07857035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.60907232899996 meters 0.35125589108588157 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99997594e-01 -1.26272827e-05 -2.19372180e-03 -3.70115671e+01] [ 7.00556297e-06 9.99996716e-01 -2.56262900e-03 -6.88608065e+01] [ 2.19374695e-03 2.56260746e-03 9.99994310e-01 6.07856735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639072329 meters 0.3423013306675813 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99997429e-01 -3.89130363e-05 -2.26724857e-03 -3.70113945e+01] [ 3.29069442e-05 9.99996491e-01 -2.64904351e-03 -6.88604586e+01] [ 2.26734370e-03 2.64896209e-03 9.99993921e-01 6.07857430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66907232899996 meters 0.3387679238524042 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99998273e-01 1.40332897e-04 -1.85305454e-03 -3.70121677e+01] [-1.44355390e-04 9.99997633e-01 -2.17078088e-03 -6.88618181e+01] [ 1.85274552e-03 2.17104463e-03 9.99995927e-01 6.07853135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699072329 meters 0.2481953707098822 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.79 [[ 9.99998515e-01 3.03047033e-04 -1.69662373e-03 -3.70123663e+01] [-3.06152153e-04 9.99998278e-01 -1.83021584e-03 -6.88627384e+01] [ 1.69606617e-03 1.83073255e-03 9.99996886e-01 6.07850018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72907232899996 meters 0.2397305896872092 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99998610e-01 3.41027122e-04 -1.63223985e-03 -3.70123687e+01] [-3.43890698e-04 9.99998402e-01 -1.75442497e-03 -6.88628397e+01] [ 1.63163894e-03 1.75498385e-03 9.99997129e-01 6.07847881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759072329 meters 0.2643835154829558 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99999046e-01 3.66065985e-04 -1.33228135e-03 -3.70130519e+01] [-3.68196250e-04 9.99998654e-01 -1.59906590e-03 -6.88633615e+01] [ 1.33169419e-03 1.59955492e-03 9.99997834e-01 6.07846637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78907232899996 meters 0.31425774830459113 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997969e-01 6.57482117e-04 -1.90507703e-03 -3.70114263e+01] [-6.60053796e-04 9.99998871e-01 -1.34959370e-03 -6.88634381e+01] [ 1.90418754e-03 1.35084841e-03 9.99997275e-01 6.07844004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819072329 meters 0.3129400459420415 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997722e-01 4.33750736e-04 -2.08988103e-03 -3.70108901e+01] [-4.37612689e-04 9.99998197e-01 -1.84782682e-03 -6.88617730e+01] [ 2.08907577e-03 1.84873717e-03 9.99996109e-01 6.07843624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84907232899997 meters 0.3113057370850705 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996775e-01 5.20806918e-04 -2.48563369e-03 -3.70097085e+01] [-5.25397999e-04 9.99998157e-01 -1.84675116e-03 -6.88614280e+01] [ 2.48466731e-03 1.84805115e-03 9.99995206e-01 6.07841099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87907232899994 meters 0.295386976631881 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99995004e-01 5.97286149e-04 -3.10409428e-03 -3.70078414e+01] [-6.03765489e-04 9.99997640e-01 -2.08683502e-03 -6.88599099e+01] [ 3.10284052e-03 2.08869873e-03 9.99993005e-01 6.07837549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90907232899997 meters 0.30169126305287003 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99993170e-01 6.24986555e-04 -3.64268868e-03 -3.70065202e+01] [-6.33228985e-04 9.99997241e-01 -2.26201870e-03 -6.88590542e+01] [ 3.64126490e-03 2.26430990e-03 9.99990807e-01 6.07838829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93907232899994 meters 0.29888454933856856 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99993087e-01 6.44785285e-04 -3.66192103e-03 -3.70061156e+01] [-6.53090034e-04 9.99997217e-01 -2.26712394e-03 -6.88587058e+01] [ 3.66044903e-03 2.26949983e-03 9.99990725e-01 6.07833959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96907232899997 meters 0.31912034668579586 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99993064e-01 6.65402819e-04 -3.66459341e-03 -3.70059918e+01] [-6.73634699e-04 9.99997252e-01 -2.24555214e-03 -6.88586732e+01] [ 3.66308914e-03 2.24800516e-03 9.99990764e-01 6.07832481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99907232899994 meters 0.284345646432948 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99992509e-01 6.37879325e-04 -3.81764104e-03 -3.70055214e+01] [-6.46925761e-04 9.99996985e-01 -2.36887477e-03 -6.88581408e+01] [ 3.81611848e-03 2.37132676e-03 9.99989907e-01 6.07831869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.029072329 meters 0.35443883763585216 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.78 [[ 9.99991718e-01 6.81436824e-04 -4.01233038e-03 -3.70048613e+01] [-6.91021181e-04 9.99996910e-01 -2.38782420e-03 -6.88577787e+01] [ 4.01069083e-03 2.39057703e-03 9.99989100e-01 6.07829986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.05907232899995 meters 0.272517272002095 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99994415e-01 5.83219259e-04 -3.29072417e-03 -3.70064921e+01] [-5.90909366e-04 9.99997096e-01 -2.33641588e-03 -6.88581605e+01] [ 3.28935198e-03 2.33834735e-03 9.99991856e-01 6.07828532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.089072329 meters 0.3345901358459592 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99995882e-01 7.05070774e-04 -2.78202528e-03 -3.70075546e+01] [-7.10502888e-04 9.99997842e-01 -1.95207041e-03 -6.88593973e+01] [ 2.78064293e-03 1.95403901e-03 9.99994225e-01 6.07825239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.11907232899995 meters 0.3338894245171721 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99995702e-01 7.81065399e-04 -2.82600953e-03 -3.70073023e+01] [-7.86266040e-04 9.99997999e-01 -1.83963454e-03 -6.88596105e+01] [ 2.82456700e-03 1.84184863e-03 9.99994315e-01 6.07823218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.149072329 meters 0.33537766691806287 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996870e-01 8.48482615e-04 -2.35366963e-03 -3.70083203e+01] [-8.52147924e-04 9.99998425e-01 -1.55670894e-03 -6.88605106e+01] [ 2.35234508e-03 1.55870974e-03 9.99996018e-01 6.07820657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.17907232899995 meters 0.32527300579365725 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997033e-01 9.62911103e-04 -2.23778703e-03 -3.70082265e+01] [-9.65854253e-04 9.99998670e-01 -1.31449738e-03 -6.88609544e+01] [ 2.23651831e-03 1.31665485e-03 9.99996632e-01 6.07815003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.209072329 meters 0.32427775960687844 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997764e-01 9.51897052e-04 -1.88860700e-03 -3.70088022e+01] [-9.54229465e-04 9.99998783e-01 -1.23447455e-03 -6.88610665e+01] [ 1.88742961e-03 1.23627395e-03 9.99997455e-01 6.07810745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.23907232899995 meters 0.3207136217010658 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997212e-01 1.08853625e-03 -2.09570676e-03 -3.70080608e+01] [-1.09077127e-03 9.99998837e-01 -1.06562650e-03 -6.88613028e+01] [ 2.09454435e-03 1.06790947e-03 9.99997236e-01 6.07807623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.269072329 meters 0.3435161669764014 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99991631e-01 -3.06507692e-03 -2.70998717e-03 -3.70061628e+01] [ 3.05049838e-03 9.99980942e-01 -5.36742862e-03 -6.88604264e+01] [ 2.72638711e-03 5.35911689e-03 9.99981923e-01 6.07804099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.29907232899996 meters 0.3053967908396397 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996596e-01 1.30987103e-03 -2.25678616e-03 -3.70071816e+01] [-1.31174414e-03 9.99998796e-01 -8.28708490e-04 -6.88611409e+01] [ 2.25569794e-03 8.31665995e-04 9.99997110e-01 6.07801933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.329072329 meters 0.3158649896358614 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997575e-01 9.31512206e-04 -1.99573762e-03 -3.70079635e+01] [-9.34421551e-04 9.99998502e-01 -1.45734324e-03 -6.88594044e+01] [ 1.99437709e-03 1.45920457e-03 9.99996947e-01 6.07805260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.35907232899996 meters 0.316162801684417 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997445e-01 9.71433830e-04 -2.04101500e-03 -3.70079707e+01] [-9.74302815e-04 9.99998538e-01 -1.40514185e-03 -6.88596292e+01] [ 2.03964702e-03 1.40712683e-03 9.99996930e-01 6.07807082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.389072329 meters 0.306830531746498 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997324e-01 1.02260175e-03 -2.07538432e-03 -3.70078274e+01] [-1.02538228e-03 9.99998578e-01 -1.33914568e-03 -6.88597092e+01] [ 2.07401196e-03 1.34127016e-03 9.99996950e-01 6.07806715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41907232899996 meters 0.3055158229469068 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997697e-01 1.17523266e-03 -1.79565515e-03 -3.70083792e+01] [-1.17699134e-03 9.99998828e-01 -9.78669850e-04 -6.88607761e+01] [ 1.79450288e-03 9.80781067e-04 9.99997909e-01 6.07804260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.449072329 meters 0.3006218295848303 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996276e-01 1.34103746e-03 -2.37685195e-03 -3.70066941e+01] [-1.34327462e-03 9.99998656e-01 -9.39879543e-04 -6.88601710e+01] [ 2.37558834e-03 9.43068808e-04 9.99996734e-01 6.07801523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47907232899996 meters 0.2857081725723484 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996740e-01 1.31695047e-03 -2.18772716e-03 -3.70072126e+01] [-1.31900170e-03 9.99998692e-01 -9.36432742e-04 -6.88602578e+01] [ 2.18649106e-03 9.39315305e-04 9.99997168e-01 6.07802524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.509072329 meters 0.2888997781291194 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99995701e-01 1.27488173e-03 -2.64045177e-03 -3.70060527e+01] [-1.27803767e-03 9.99998471e-01 -1.19388801e-03 -6.88591679e+01] [ 2.63892566e-03 1.19725748e-03 9.99995801e-01 6.07802790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53907232899996 meters 0.27593940297801833 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99995491e-01 1.06750291e-03 -2.80686663e-03 -3.70055747e+01] [-1.07206220e-03 9.99998108e-01 -1.62333325e-03 -6.88577173e+01] [ 2.80512841e-03 1.62633507e-03 9.99994743e-01 6.07802791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.569072329 meters 0.2759038263081976 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.78 [[ 9.99993926e-01 1.04128106e-03 -3.32617513e-03 -3.70038887e+01] [-1.04758084e-03 9.99997660e-01 -1.89282169e-03 -6.88560766e+01] [ 3.32419639e-03 1.89629463e-03 9.99992677e-01 6.07798644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59907232899997 meters 0.27283669261272697 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.78 [[ 9.99993214e-01 9.85253800e-04 -3.54968962e-03 -3.70033085e+01] [-9.92657299e-04 9.99997335e-01 -2.08451733e-03 -6.88553415e+01] [ 3.54762638e-03 2.08802681e-03 9.99991527e-01 6.07798910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62907232899994 meters 0.2852932720717846 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.78 [[ 9.99993470e-01 9.71365943e-04 -3.48073937e-03 -3.70033428e+01] [-9.78673851e-04 9.99997319e-01 -2.09843975e-03 -6.88551864e+01] [ 3.47869168e-03 2.10183256e-03 9.99991740e-01 6.07797135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65907232899997 meters 0.25841599783803143 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.78 [[ 9.99993005e-01 1.00692006e-03 -3.60220063e-03 -3.70029482e+01] [-1.01453328e-03 9.99997254e-01 -2.11229043e-03 -6.88549756e+01] [ 3.60006383e-03 2.11593021e-03 9.99991281e-01 6.07796271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68907232899994 meters 0.25841599783803143 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.78 [[ 9.99993005e-01 1.00692006e-03 -3.60220063e-03 -3.70029482e+01] [-1.01453328e-03 9.99997254e-01 -2.11229043e-03 -6.88549756e+01] [ 3.60006383e-03 2.11593021e-03 9.99991281e-01 6.07796271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71907232899997 meters 0.2628712005588253 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.78 [[ 9.99994653e-01 9.68493479e-04 -3.12336756e-03 -3.70040822e+01] [-9.74813257e-04 9.99997480e-01 -2.02249866e-03 -6.88553898e+01] [ 3.12140091e-03 2.02553255e-03 9.99993077e-01 6.07795705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74907232899994 meters 0.26004163755676873 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.78 [[ 9.99992545e-01 1.02338199e-03 -3.72333231e-03 -3.70026888e+01] [-1.03163058e-03 9.99997017e-01 -2.21413371e-03 -6.88544155e+01] [ 3.72105530e-03 2.21795831e-03 9.99990617e-01 6.07798504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779072329 meters 0.2593560792697765 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.78 [[ 9.99992571e-01 1.08269089e-03 -3.69930720e-03 -3.70027158e+01] [-1.09047318e-03 9.99997196e-01 -2.10234590e-03 -6.88547074e+01] [ 3.69702063e-03 2.10636427e-03 9.99990948e-01 6.07798136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.80907232899995 meters 0.272176256884025 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.85, Z:60.78 [[ 9.99992516e-01 9.85078996e-04 -3.74123349e-03 -3.70027236e+01] [-9.93700803e-04 9.99996854e-01 -2.30337671e-03 -6.88541269e+01] [ 3.73895271e-03 2.30707714e-03 9.99990349e-01 6.07800403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839072329 meters 0.24215819058120294 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.86, Z:60.78 [[ 9.99994833e-01 1.11212397e-03 -3.01629624e-03 -3.70042140e+01] [-1.11757176e-03 9.99997746e-01 -1.80503528e-03 -6.88556970e+01] [ 3.01428202e-03 1.80839688e-03 9.99993822e-01 6.07795464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.86907232899995 meters 0.23992504848487223 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996548e-01 1.39768634e-03 -2.22494285e-03 -3.70056082e+01] [-1.39967568e-03 9.99998622e-01 -8.92803501e-04 -6.88583997e+01] [ 2.22369192e-03 8.95914618e-04 9.99997126e-01 6.07784769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899072329 meters 0.24203294020916635 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997243e-01 1.39534204e-03 -1.88859670e-03 -3.70061953e+01] [-1.39685391e-03 9.99998705e-01 -7.99439490e-04 -6.88585846e+01] [ 1.88747876e-03 8.02075380e-04 9.99997897e-01 6.07781072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.92907232899995 meters 0.25634479470255156 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997648e-01 1.61839442e-03 -1.44390651e-03 -3.70068380e+01] [-1.61868691e-03 9.99998670e-01 -2.01418438e-04 -6.88601630e+01] [ 1.44357861e-03 2.03755197e-04 9.99998937e-01 6.07773300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959072329 meters 0.2623352300665541 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99994787e-01 -2.82367220e-03 -1.56615147e-03 -3.70064226e+01] [ 2.81617572e-03 9.99984666e-01 -4.76829306e-03 -6.88592202e+01] [ 1.57959155e-03 4.76385765e-03 9.99987405e-01 6.07773001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.98907232899995 meters 0.24676015404093712 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99995261e-01 -2.70943043e-03 -1.46152184e-03 -3.70065740e+01] [ 2.70278783e-03 9.99986096e-01 -4.52797141e-03 -6.88598876e+01] [ 1.47376974e-03 4.52399977e-03 9.99988681e-01 6.07771302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019072329 meters 0.2560219624982273 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996606e-01 -2.53795930e-03 -5.89253188e-04 -3.70084590e+01] [ 2.53571205e-03 9.99989627e-01 -3.78365220e-03 -6.88624086e+01] [ 5.98849831e-04 3.78214518e-03 9.99992668e-01 6.07765972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.04907232899996 meters 0.235175102693609 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99996944e-01 -2.47171985e-03 -5.27507207e-05 -3.70096168e+01] [ 2.47152249e-03 9.99990957e-01 -3.46083298e-03 -6.88634581e+01] [ 6.13044532e-05 3.46069203e-03 9.99994010e-01 6.07762815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079072329 meters 0.2687151405899061 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.78 [[ 9.99997309e-01 -2.31342037e-03 1.76165301e-04 -3.70099446e+01] [ 2.31395589e-03 9.99992509e-01 -3.10286964e-03 -6.88644155e+01] [-1.68985740e-04 3.10326893e-03 9.99995171e-01 6.07758974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.10907232899996 meters 0.2535179832777055 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.78 [[ 9.99996266e-01 -2.38563244e-03 1.33262080e-03 -3.70125084e+01] [ 2.38889517e-03 9.99994140e-01 -2.45214943e-03 -6.88669415e+01] [-1.32676307e-03 2.45532376e-03 9.99996106e-01 6.07752949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139072329 meters 0.25014454757434124 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99996892e-01 -2.10489347e-03 1.33615668e-03 -3.70122405e+01] [ 2.10750371e-03 9.99995868e-01 -1.95514527e-03 -6.88682381e+01] [-1.33203579e-03 1.95795515e-03 9.99997196e-01 6.07748574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16907232899996 meters 0.2466174176323168 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99996564e-01 -1.73074585e-03 1.96894331e-03 -3.70132609e+01] [ 1.73287125e-03 9.99997917e-01 -1.07826913e-03 -6.88707368e+01] [-1.96707300e-03 1.08167735e-03 9.99997480e-01 6.07739118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199072329 meters 0.2737939293098895 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99996445e-01 -1.40908842e-03 2.26383099e-03 -3.70137671e+01] [ 1.41000481e-03 9.99998925e-01 -4.03252307e-04 -6.88726909e+01] [-2.26326034e-03 4.06442886e-04 9.99997356e-01 6.07735160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22907232899996 meters 0.28684974715684314 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99995443e-01 -1.38719340e-03 2.68147991e-03 -3.70146918e+01] [ 1.38786615e-03 9.99999006e-01 -2.49044129e-04 -6.88732131e+01] [-2.68113177e-03 2.52764529e-04 9.99996374e-01 6.07733304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259072329 meters 0.25756240261587765 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99990438e-01 -1.96520694e-03 3.90661034e-03 -3.70177288e+01] [ 1.96453602e-03 9.99998055e-01 1.75571117e-04 -6.88759070e+01] [-3.90694777e-03 -1.67894762e-04 9.99992354e-01 6.07728697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28907232899996 meters 0.25064074441568573 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99989598e-01 -1.87791175e-03 4.15661232e-03 -3.70182726e+01] [ 1.87614751e-03 9.99998148e-01 4.28299914e-04 -6.88766787e+01] [-4.15740893e-03 -4.20497041e-04 9.99991270e-01 6.07727262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319072329 meters 0.24794848181572537 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99989198e-01 -1.96217198e-03 4.21353868e-03 -3.70183741e+01] [ 1.96098254e-03 9.99998036e-01 2.86403585e-04 -6.88761979e+01] [-4.21409237e-03 -2.78137815e-04 9.99991082e-01 6.07727025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34907232899997 meters 0.29644903181810467 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99989739e-01 -2.05115174e-03 4.03922597e-03 -3.70178891e+01] [ 2.05088937e-03 9.99997895e-01 6.90957333e-05 -6.88753753e+01] [-4.03935920e-03 -6.08110187e-05 9.99991840e-01 6.07726896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37907232899994 meters 0.2659428432491925 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99989151e-01 -2.04266930e-03 4.18637201e-03 -3.70181176e+01] [ 2.04216499e-03 9.99997907e-01 1.24734281e-04 -6.88754872e+01] [-4.18661804e-03 -1.16183665e-04 9.99991229e-01 6.07724720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40907232899997 meters 0.2834934913484578 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99987965e-01 -2.05089913e-03 4.45684219e-03 -3.70184384e+01] [ 2.05013704e-03 9.99997883e-01 1.75555719e-04 -6.88755131e+01] [-4.45719281e-03 -1.66416469e-04 9.99990053e-01 6.07719211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43907232899994 meters 0.27406863850194946 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99987676e-01 -1.81115122e-03 4.62257622e-03 -3.70186282e+01] [ 1.80805203e-03 9.99998138e-01 6.74537127e-04 -6.88769305e+01] [-4.62378930e-03 -6.66170955e-04 9.99989088e-01 6.07715161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46907232899997 meters 0.26101228279730104 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99989399e-01 -1.76252258e-03 4.25391713e-03 -3.70176896e+01] [ 1.76006146e-03 9.99998282e-01 5.82227651e-04 -6.88764218e+01] [-4.25493601e-03 -5.74734323e-04 9.99990783e-01 6.07715299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49907232899994 meters 0.24476664499975687 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99987719e-01 -1.73444091e-03 4.64256073e-03 -3.70184071e+01] [ 1.73095836e-03 9.99998218e-01 7.54049379e-04 -6.88768850e+01] [-4.64386031e-03 -7.46004039e-04 9.99988939e-01 6.07711481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.529072329 meters 0.24425663328605177 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99985601e-01 -1.89008061e-03 5.02242495e-03 -3.70192292e+01] [ 1.88719141e-03 9.99998051e-01 5.79935864e-04 -6.88763783e+01] [-5.02351129e-03 -5.70449237e-04 9.99987219e-01 6.07709996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.55907232899995 meters 0.25728741977332775 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99986454e-01 -1.79945033e-03 4.88395526e-03 -3.70189883e+01] [ 1.79603126e-03 9.99998139e-01 7.04357710e-04 -6.88767973e+01] [-4.88521363e-03 -6.95576433e-04 9.99987825e-01 6.07711382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.589072329 meters 0.246759833268192 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99984493e-01 -1.72908481e-03 5.29383823e-03 -3.70198242e+01] [ 1.72400370e-03 9.99998049e-01 9.64228033e-04 -6.88776028e+01] [-5.29549513e-03 -9.55086483e-04 9.99985523e-01 6.07708338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.61907232899995 meters 0.271054337592613 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99985316e-01 -1.83329332e-03 5.09973879e-03 -3.70195378e+01] [ 1.82980415e-03 9.99998089e-01 6.88766626e-04 -6.88768440e+01] [-5.10099176e-03 -6.79424989e-04 9.99986759e-01 6.07711804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.649072329 meters 0.2495881640059472 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99985906e-01 -1.82604146e-03 4.98539963e-03 -3.70191306e+01] [ 1.82275902e-03 9.99998119e-01 6.62874585e-04 -6.88766507e+01] [-4.98660069e-03 -6.53778060e-04 9.99987353e-01 6.07709869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.67907232899995 meters 0.25947213856417745 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99984073e-01 -1.88420681e-03 5.32007665e-03 -3.70196815e+01] [ 1.88073014e-03 9.99998015e-01 6.58427015e-04 -6.88765125e+01] [-5.32130670e-03 -6.48410900e-04 9.99985632e-01 6.07705784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.709072329 meters 0.35408762667290516 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99984462e-01 -1.80842253e-03 5.27313416e-03 -3.70194362e+01] [ 1.80433892e-03 9.99998069e-01 7.79072704e-04 -6.88767683e+01] [-5.27453287e-03 -7.69546078e-04 9.99985793e-01 6.07703919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.73907232899995 meters 0.2624762434998783 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99987151e-01 -1.86100603e-03 4.71539555e-03 -3.70180805e+01] [ 1.85892274e-03 9.99998173e-01 4.46151498e-04 -6.88754824e+01] [-4.71621723e-03 -4.37380210e-04 9.99988783e-01 6.07704955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.769072329 meters 0.26839718914305793 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99988965e-01 -1.94946764e-03 4.27433012e-03 -3.70170177e+01] [ 1.94893846e-03 9.99998093e-01 1.27966733e-04 -6.88743190e+01] [-4.27457143e-03 -1.19634915e-04 9.99990857e-01 6.07706189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.79907232899996 meters 0.3405732391427736 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99989778e-01 -2.19114771e-03 3.95517807e-03 -3.70164250e+01] [ 2.19294041e-03 9.99997495e-01 -4.48973032e-04 -6.88725805e+01] [-3.95418439e-03 4.57641913e-04 9.99992077e-01 6.07710179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.829072329 meters 0.2509217581324795 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99989689e-01 -2.30938963e-03 3.90997913e-03 -3.70163161e+01] [ 2.31208193e-03 9.99997093e-01 -6.84191288e-04 -6.88718026e+01] [-3.90838770e-03 6.93224426e-04 9.99992122e-01 6.07710735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.85907232899996 meters 0.3261321273961298 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99991210e-01 -2.47011734e-03 3.38801088e-03 -3.70153376e+01] [ 2.47428493e-03 9.99996187e-01 -1.22645930e-03 -6.88700853e+01] [-3.38496847e-03 1.23483142e-03 9.99993509e-01 6.07717262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.889072329 meters 0.32264158542723775 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99991064e-01 -2.60717510e-03 3.32779533e-03 -3.70153365e+01] [ 2.61215829e-03 9.99995472e-01 -1.49397816e-03 -6.88693327e+01] [-3.32388520e-03 1.50265754e-03 9.99993347e-01 6.07719778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91907232899996 meters 0.3132233115192757 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99991523e-01 -2.56861203e-03 3.21824724e-03 -3.70149519e+01] [ 2.57338692e-03 9.99995593e-01 -1.48043115e-03 -6.88692166e+01] [-3.21443041e-03 1.48870040e-03 9.99993726e-01 6.07718565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.949072329 meters 0.311401776303671 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99991407e-01 -2.53628919e-03 3.27920264e-03 -3.70148560e+01] [ 2.54094349e-03 9.99995769e-01 -1.41595434e-03 -6.88692537e+01] [-3.27559749e-03 1.42427444e-03 9.99993621e-01 6.07714904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97907232899996 meters 0.2899269815745151 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99992961e-01 -2.41982319e-03 2.86761212e-03 -3.70134989e+01] [ 2.42379359e-03 9.99996108e-01 -1.38190120e-03 -6.88688247e+01] [-2.86425700e-03 1.38884197e-03 9.99994934e-01 6.07710359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.009072329 meters 0.3049481156657456 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99993434e-01 -2.45493200e-03 2.66548145e-03 -3.70128325e+01] [ 2.45900724e-03 9.99995811e-01 -1.52669746e-03 -6.88681374e+01] [-2.66172235e-03 1.53324187e-03 9.99995282e-01 6.07708718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03907232899996 meters 0.302541697693408 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99993291e-01 -2.33922264e-03 2.81877002e-03 -3.70127290e+01] [ 2.34287840e-03 9.99996418e-01 -1.29433013e-03 -6.88684894e+01] [-2.81573220e-03 1.30092548e-03 9.99995190e-01 6.07701750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.069072329 meters 0.29847363423765466 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99993489e-01 -2.38087427e-03 2.71163094e-03 -3.70124392e+01] [ 2.38471909e-03 9.99996155e-01 -1.41554903e-03 -6.88680581e+01] [-2.70825027e-03 1.42200630e-03 9.99995322e-01 6.07701719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09907232899997 meters 0.2969304624551213 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99993518e-01 -2.43461609e-03 2.65276438e-03 -3.70122395e+01] [ 2.43877779e-03 9.99995799e-01 -1.56671153e-03 -6.88674887e+01] [-2.64893890e-03 1.57317087e-03 9.99995254e-01 6.07701723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12907232899994 meters 0.2929843039658119 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99994079e-01 -2.39949297e-03 2.46651585e-03 -3.70116644e+01] [ 2.40341968e-03 9.99995847e-01 -1.59027729e-03 -6.88672033e+01] [-2.46268975e-03 1.59619595e-03 9.99995694e-01 6.07700570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15907232899997 meters 0.2964433247881442 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99994916e-01 -2.30010992e-03 2.20852859e-03 -3.70109843e+01] [ 2.30345720e-03 9.99996201e-01 -1.51426992e-03 -6.88672600e+01] [-2.20503721e-03 1.51934947e-03 9.99996415e-01 6.07700505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18907232899994 meters 0.29088264871692165 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99997022e-01 -2.04304170e-03 1.33497298e-03 -3.70087824e+01] [ 2.04513699e-03 9.99996676e-01 -1.57006672e-03 -6.88661413e+01] [-1.33176083e-03 1.57279224e-03 9.99997876e-01 6.07701675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21907232899997 meters 0.304354619339287 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99996901e-01 -2.18767391e-03 1.18852914e-03 -3.70084950e+01] [ 2.18991408e-03 9.99995822e-01 -1.88679890e-03 -6.88651494e+01] [-1.18439647e-03 1.88939583e-03 9.99997514e-01 6.07703571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24907232899994 meters 0.2742576964356851 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.77 [[ 9.99996888e-01 -2.26629259e-03 1.04264444e-03 -3.70079980e+01] [ 2.26849383e-03 9.99995191e-01 -2.11488464e-03 -6.88641740e+01] [-1.03784648e-03 2.11724329e-03 9.99997220e-01 6.07702716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279072329 meters 0.2616553664238063 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.86, Z:60.77 [[ 9.99996949e-01 -2.17055107e-03 1.17904325e-03 -3.70082020e+01] [ 2.17278731e-03 9.99995837e-01 -1.89870019e-03 -6.88647626e+01] [-1.17491712e-03 1.90125621e-03 9.99997502e-01 6.07700622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.30907232899995 meters 0.2850334364986721 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99996871e-01 -2.01407144e-03 1.48377578e-03 -3.70087126e+01] [ 2.01633255e-03 9.99996806e-01 -1.52397321e-03 -6.88657922e+01] [-1.48070165e-03 1.52696023e-03 9.99997738e-01 6.07696721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339072329 meters 0.2775107837050981 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99997031e-01 -2.01443991e-03 1.37142682e-03 -3.70082280e+01] [ 2.01661900e-03 9.99996704e-01 -1.58939424e-03 -6.88653326e+01] [-1.36822056e-03 1.59215517e-03 9.99997797e-01 6.07694197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.36907232899995 meters 0.2738014437330914 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99997623e-01 -1.79508702e-03 1.23749663e-03 -3.70077070e+01] [ 1.79662748e-03 9.99997611e-01 -1.24483603e-03 -6.88661642e+01] [-1.23525909e-03 1.24705639e-03 9.99998459e-01 6.07691377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399072329 meters 0.26015884447921594 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99996518e-01 -1.87706229e-03 1.85483271e-03 -3.70089520e+01] [ 1.87931755e-03 9.99997496e-01 -1.21488878e-03 -6.88663519e+01] [-1.85254765e-03 1.21837037e-03 9.99997542e-01 6.07687454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.42907232899995 meters 0.2635350954455647 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99997018e-01 -1.71240704e-03 1.74136892e-03 -3.70085094e+01] [ 1.71410297e-03 9.99998058e-01 -9.72883612e-04 -6.88668809e+01] [-1.73969957e-03 9.75865596e-04 9.99998011e-01 6.07685285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459072329 meters 0.2559053888980544 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99996532e-01 -1.54064533e-03 2.13579552e-03 -3.70092366e+01] [ 1.54179613e-03 9.99998667e-01 -5.37275747e-04 -6.88681511e+01] [-2.13496492e-03 5.40566846e-04 9.99997575e-01 6.07680938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.48907232899995 meters 0.251147549778009 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99995600e-01 -1.41397517e-03 2.60776181e-03 -3.70102136e+01] [ 1.41437439e-03 9.99998988e-01 -1.51251147e-04 -6.88693376e+01] [-2.60754531e-03 1.54938833e-04 9.99996588e-01 6.07677771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519072329 meters 0.2461481352291223 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99993305e-01 -1.17103189e-03 3.46686645e-03 -3.70119731e+01] [ 1.16888857e-03 9.99999125e-01 6.20191160e-04 -6.88718005e+01] [-3.46758968e-03 -6.16134627e-04 9.99993798e-01 6.07671166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.54907232899996 meters 0.23685946909002586 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99989646e-01 -1.10664725e-03 4.41390422e-03 -3.70142129e+01] [ 1.10097811e-03 9.99998566e-01 1.28660346e-03 -6.88742703e+01] [-4.41532170e-03 -1.28173053e-03 9.99989431e-01 6.07669224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579072329 meters 0.23685946909002586 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99989646e-01 -1.10664725e-03 4.41390422e-03 -3.70142129e+01] [ 1.10097811e-03 9.99998566e-01 1.28660346e-03 -6.88742703e+01] [-4.41532170e-03 -1.28173053e-03 9.99989431e-01 6.07669224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.60907232899996 meters 0.25324184011609024 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99987327e-01 -9.67585694e-04 4.94066341e-03 -3.70153741e+01] [ 9.58917286e-04 9.99997997e-01 1.75657044e-03 -6.88757780e+01] [-4.94235315e-03 -1.75181049e-03 9.99986252e-01 6.07666106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639072329 meters 0.2514608980594559 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99985459e-01 -8.45454073e-04 5.32605613e-03 -3.70161609e+01] [ 8.34079172e-04 9.99997368e-01 2.13756730e-03 -6.88769597e+01] [-5.32784932e-03 -2.13309386e-03 9.99983532e-01 6.07662661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66907232899996 meters 0.2388421242180609 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99983439e-01 -7.79911080e-04 5.70200989e-03 -3.70169136e+01] [ 7.66310671e-04 9.99996858e-01 2.38699147e-03 -6.88776850e+01] [-5.70385361e-03 -2.38258242e-03 9.99980894e-01 6.07659695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699072329 meters 0.2400199404180514 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99980132e-01 -8.92557708e-04 6.24010773e-03 -3.70183241e+01] [ 8.77594366e-04 9.99996734e-01 2.40025707e-03 -6.88780786e+01] [-6.24222972e-03 -2.39473310e-03 9.99977650e-01 6.07660200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72907232899996 meters 0.24558772212061475 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99976501e-01 -8.48614309e-04 6.80281239e-03 -3.70196654e+01] [ 8.30146310e-04 9.99995964e-01 2.71712358e-03 -6.88792486e+01] [-6.80509072e-03 -2.71141240e-03 9.99973169e-01 6.07658858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759072329 meters 0.25109240626299184 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99967511e-01 -4.34728375e-03 6.78808043e-03 -3.70187315e+01] [ 4.34900801e-03 9.99990514e-01 -2.39272330e-04 -6.88826515e+01] [-6.78697586e-03 2.68785973e-04 9.99976932e-01 6.07645345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78907232899996 meters 0.2535917122628467 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99967619e-01 -4.37336077e-03 6.75528714e-03 -3.70185439e+01] [ 4.37554722e-03 9.99990380e-01 -3.08919055e-04 -6.88823347e+01] [-6.75387113e-03 3.38467129e-04 9.99977135e-01 6.07643939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819072329 meters 0.2568780651580492 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99966931e-01 -4.22856672e-03 6.94672804e-03 -3.70188989e+01] [ 4.22854859e-03 9.99991059e-01 1.72970000e-05 -6.88832793e+01] [-6.94673907e-03 1.20781490e-05 9.99975871e-01 6.07642061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84907232899997 meters 0.2548685549096097 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99962562e-01 -4.33817891e-03 7.48692946e-03 -3.70201532e+01] [ 4.33849692e-03 9.99990588e-01 -2.62347631e-05 -6.88832546e+01] [-7.48674519e-03 5.87158014e-05 9.99971972e-01 6.07640921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87907232899994 meters 0.2458526218923391 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99962344e-01 -4.21810328e-03 7.58412290e-03 -3.70203769e+01] [ 4.21648563e-03 9.99991084e-01 2.29270425e-04 -6.88840448e+01] [-7.58502237e-03 -1.97283446e-04 9.99971214e-01 6.07640450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90907232899997 meters 0.2441255652354063 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99962645e-01 -4.20057651e-03 7.55411626e-03 -3.70204115e+01] [ 4.19888628e-03 9.99991156e-01 2.39596116e-04 -6.88841275e+01] [-7.55505589e-03 -2.07868291e-04 9.99971439e-01 6.07642304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93907232899994 meters 0.29147613648332177 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.76 [[ 9.99958311e-01 -4.07683831e-03 8.17035661e-03 -3.70216836e+01] [ 4.07116201e-03 9.99991460e-01 7.11254102e-04 -6.88856225e+01] [-8.17318650e-03 -6.77961605e-04 9.99966369e-01 6.07637961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96907232899997 meters 0.2843668602563825 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.76 [[ 9.99962596e-01 -3.93213869e-03 7.70359503e-03 -3.70204175e+01] [ 3.92611501e-03 9.99991975e-01 7.96897773e-04 -6.88855953e+01] [-7.70666672e-03 -7.66622766e-04 9.99970009e-01 6.07635907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99907232899994 meters 0.27831452065001366 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.76 [[ 9.99963747e-01 -3.87978508e-03 7.57974119e-03 -3.70197894e+01] [ 3.87366250e-03 9.99992159e-01 8.22269961e-04 -6.88853530e+01] [-7.58287199e-03 -7.92878792e-04 9.99970935e-01 6.07631204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.029072329 meters 0.2774343124261741 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99965042e-01 -3.92744532e-03 7.38170709e-03 -3.70194080e+01] [ 3.92260975e-03 9.99992082e-01 6.69439762e-04 -6.88849064e+01] [-7.38427783e-03 -6.40460803e-04 9.99972531e-01 6.07633102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.05907232899995 meters 0.2531677536678124 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99965042e-01 -4.12977971e-03 7.27048140e-03 -3.70192237e+01] [ 4.12803554e-03 9.99991447e-01 2.54887421e-04 -6.88836548e+01] [-7.27147185e-03 -2.24865705e-04 9.99973537e-01 6.07634867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.089072329 meters 0.261323072475719 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99966170e-01 -4.27358766e-03 7.02814686e-03 -3.70189090e+01] [ 4.27442849e-03 9.99990859e-01 -1.04620340e-04 -6.88826330e+01] [-7.02763551e-03 1.34658112e-04 9.99975297e-01 6.07640132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.11907232899995 meters 0.25769049569092284 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99965016e-01 -4.21582046e-03 7.22451625e-03 -3.70195275e+01] [ 4.21551451e-03 9.99991113e-01 5.75768041e-05 -6.88832758e+01] [-7.22469478e-03 -2.71197367e-05 9.99973901e-01 6.07642057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.149072329 meters 0.25665435354668104 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99967471e-01 -4.30484116e-03 6.82093195e-03 -3.70187408e+01] [ 4.30701893e-03 9.99990678e-01 -3.04620757e-04 -6.88821673e+01] [-6.81955703e-03 3.33988732e-04 9.99976691e-01 6.07646306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.17907232899995 meters 0.23657051486700278 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99962381e-01 -4.39900273e-03 7.47564158e-03 -3.70202759e+01] [ 4.40099245e-03 9.99990284e-01 -2.49730478e-04 -6.88825871e+01] [-7.47447039e-03 2.82621325e-04 9.99972026e-01 6.07645187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.209072329 meters 0.24472134864807935 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99963933e-01 -4.22157443e-03 7.36963186e-03 -3.70197664e+01] [ 4.22159824e-03 9.99991089e-01 1.23252922e-05 -6.88831281e+01] [-7.36961822e-03 1.87867773e-05 9.99972844e-01 6.07641410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.23907232899995 meters 0.2532543978896257 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99965233e-01 -4.12501898e-03 7.24689471e-03 -3.70193008e+01] [ 4.12413668e-03 9.99991486e-01 1.36689160e-04 -6.88833500e+01] [-7.24739686e-03 -1.06797224e-04 9.99973732e-01 6.07639128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.269072329 meters 0.24585706859083434 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99963829e-01 -4.16247961e-03 7.41722771e-03 -3.70196278e+01] [ 4.16168056e-03 9.99991333e-01 1.23160015e-04 -6.88832466e+01] [-7.41767607e-03 -9.22874274e-05 9.99972484e-01 6.07637947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.29907232899996 meters 0.2641086217216153 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99962682e-01 -4.21106143e-03 7.54330686e-03 -3.70200871e+01] [ 4.21063343e-03 9.99991133e-01 7.26205282e-05 -6.88832055e+01] [-7.54354578e-03 -4.08557182e-05 9.99971546e-01 6.07640145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.329072329 meters 0.23520520431743755 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.76 [[ 9.99962057e-01 -4.20151916e-03 7.63101235e-03 -3.70204400e+01] [ 4.20077133e-03 9.99991170e-01 1.14024517e-04 -6.88834310e+01] [-7.63142404e-03 -8.19640529e-05 9.99970877e-01 6.07642155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.35907232899996 meters 0.288978961888877 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.76 [[ 9.99955619e-01 -4.12752115e-03 8.46901769e-03 -3.70222905e+01] [ 4.12273640e-03 9.99991332e-01 5.82351148e-04 -6.88851333e+01] [-8.47134795e-03 -5.47409775e-04 9.99963968e-01 6.07638292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.389072329 meters 0.2536330214588293 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.76 [[ 9.99949768e-01 -4.18352343e-03 9.10822620e-03 -3.70239800e+01] [ 4.17694979e-03 9.99991002e-01 7.40628887e-04 -6.88860195e+01] [-9.11124269e-03 -7.02547080e-04 9.99958245e-01 6.07639325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41907232899996 meters 0.2678980517087846 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99939080e-01 -4.32505339e-03 1.01553369e-02 -3.70265019e+01] [ 4.31060505e-03 9.99989666e-01 1.44419100e-03 -6.88887248e+01] [-1.01614782e-02 -1.40032738e-03 9.99947390e-01 6.07635881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.449072329 meters 0.2710858000207326 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99917016e-01 -8.36066698e-03 9.80108575e-03 -3.70251968e+01] [ 8.38634781e-03 9.99961500e-01 -2.58203726e-03 -6.88890094e+01] [-9.77912086e-03 2.66401831e-03 9.99948635e-01 6.07630976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47907232899996 meters 0.27774781423705647 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99927015e-01 -5.01296168e-03 1.09924908e-02 -3.70286775e+01] [ 4.99762479e-03 9.99986500e-01 1.42224069e-03 -6.88899853e+01] [-1.09994721e-02 -1.36720055e-03 9.99938569e-01 6.07634991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.509072329 meters 0.23985563333539597 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99909124e-01 -5.62456502e-03 1.22518977e-02 -3.70317431e+01] [ 5.60215165e-03 9.99982573e-01 1.86293244e-03 -6.88926564e+01] [-1.22621624e-02 -1.79412615e-03 9.99923207e-01 6.07630304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53907232899996 meters 0.254133819366849 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99900296e-01 -5.71338759e-03 1.29133919e-02 -3.70334538e+01] [ 5.68811741e-03 9.99981837e-01 1.99277877e-03 -6.88934479e+01] [-1.29245429e-02 -1.91912720e-03 9.99914633e-01 6.07630929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.569072329 meters 0.23925837772864147 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99885734e-01 -5.86902791e-03 1.39310469e-02 -3.70357903e+01] [ 5.83454424e-03 9.99979817e-01 2.51466431e-03 -6.88955639e+01] [-1.39455243e-02 -2.43309566e-03 9.99899796e-01 6.07626033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59907232899997 meters 0.24648295886744384 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99882915e-01 -5.90873285e-03 1.41153462e-02 -3.70363589e+01] [ 5.87383580e-03 9.99979593e-01 2.51245783e-03 -6.88956943e+01] [-1.41299036e-02 -2.42925244e-03 9.99897217e-01 6.07627383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62907232899994 meters 0.2372448147425169 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99877007e-01 -6.08514924e-03 1.44548462e-02 -3.70373655e+01] [ 6.05248892e-03 9.99979034e-01 2.30214448e-03 -6.88952689e+01] [-1.44685520e-02 -2.21437353e-03 9.99892873e-01 6.07629655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65907232899997 meters 0.23731928286489423 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99871124e-01 -6.06158844e-03 1.48658301e-02 -3.70382257e+01] [ 6.02488450e-03 9.99978694e-01 2.51255728e-03 -6.88959301e+01] [-1.48807434e-02 -2.42266857e-03 9.99886341e-01 6.07626889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68907232899994 meters 0.23119253643950902 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.77 [[ 9.99969081e-01 -7.81747834e-03 8.50564007e-04 -3.70375727e+01] [ 7.81827808e-03 9.99968994e-01 -9.41022616e-04 -6.88918586e+01] [-8.43181211e-04 9.47643466e-04 9.99999196e-01 6.07659401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71907232899997 meters 0.22320249869819617 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.77 [[ 9.99968509e-01 -7.69869500e-03 1.92650895e-03 -3.70399546e+01] [ 7.69849767e-03 9.99970360e-01 1.09823495e-04 -6.88954493e+01] [-1.92729734e-03 -9.49888123e-05 9.99998138e-01 6.07652398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74907232899994 meters 0.2181779886452902 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.77 [[ 9.99965972e-01 -7.88038751e-03 2.44008081e-03 -3.70413138e+01] [ 7.88057257e-03 9.99968946e-01 -6.62370234e-05 -6.88951187e+01] [-2.43948306e-03 8.54640034e-05 9.99997021e-01 6.07653690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779072329 meters 0.234310713882528 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.77 [[ 9.99964732e-01 -7.89539446e-03 2.86299053e-03 -3.70423626e+01] [ 7.89526253e-03 9.99968830e-01 5.73810735e-05 -6.88956007e+01] [-2.86335434e-03 -3.47749880e-05 9.99995900e-01 6.07653500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.80907232899995 meters 0.2380281235030399 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.77 [[ 9.99963870e-01 -7.91968978e-03 3.08828117e-03 -3.70428756e+01] [ 7.91947278e-03 9.99968637e-01 8.24868509e-05 -6.88956699e+01] [-3.08883758e-03 -5.80263120e-05 9.99995228e-01 6.07652822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839072329 meters 0.22256137821927546 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.77 [[ 9.99964561e-01 -7.93971500e-03 2.79965201e-03 -3.70420904e+01] [ 7.93993081e-03 9.99968476e-01 -6.59776935e-05 -6.88950323e+01] [-2.79903991e-03 8.82043986e-05 9.99996079e-01 6.07652788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.86907232899995 meters 0.25059309649762435 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99962863e-01 -7.94926981e-03 3.32877849e-03 -3.70431954e+01] [ 7.94904089e-03 9.99968403e-01 8.19960250e-05 -6.88954805e+01] [-3.32932511e-03 -5.55323836e-05 9.99994456e-01 6.07649628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899072329 meters 0.228895471595439 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99961496e-01 -7.87518396e-03 3.87139205e-03 -3.70442571e+01] [ 7.87361224e-03 9.99968914e-01 4.21056748e-04 -6.88964339e+01] [-3.87458760e-03 -3.90558696e-04 9.99992417e-01 6.07644898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.92907232899995 meters 0.2382165081973251 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99959693e-01 -7.88824973e-03 4.28818691e-03 -3.70449422e+01] [ 7.88604756e-03 9.99968764e-01 5.30211233e-04 -6.88966243e+01] [-4.29223541e-03 -4.96373016e-04 9.99990665e-01 6.07639460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959072329 meters 0.24365715210196404 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99961152e-01 -7.67430312e-03 4.33586370e-03 -3.70446917e+01] [ 7.67037137e-03 9.99970157e-01 9.22699624e-04 -6.88975892e+01] [-4.34281538e-03 -8.89406094e-04 9.99990174e-01 6.07634090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.98907232899995 meters 0.23770492471425042 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99958486e-01 -7.61151688e-03 5.00912417e-03 -3.70460094e+01] [ 7.60521879e-03 9.99970267e-01 1.27517451e-03 -6.88986609e+01] [-5.01868124e-03 -1.23702609e-03 9.99986641e-01 6.07628106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019072329 meters 0.24641610378780598 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99957901e-01 -7.73586924e-03 4.93489851e-03 -3.70460777e+01] [ 7.73088376e-03 9.99969587e-01 1.02852602e-03 -6.88980170e+01] [-4.94270496e-03 -9.90331590e-04 9.99987294e-01 6.07632157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.04907232899996 meters 0.2750366418923611 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99956814e-01 -7.92728360e-03 4.85064689e-03 -3.70464318e+01] [ 7.92420342e-03 9.99968389e-01 6.53893888e-04 -6.88972284e+01] [-4.85567716e-03 -6.15428137e-04 9.99988022e-01 6.07640804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079072329 meters 0.23388380423339192 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99954719e-01 -8.07760129e-03 5.03118640e-03 -3.70470516e+01] [ 8.07547437e-03 9.99967295e-01 4.42919213e-04 -6.88967080e+01] [-5.03459958e-03 -4.02269941e-04 9.99987245e-01 6.07643265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.10907232899996 meters 0.28540318286952127 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99948366e-01 -8.18680745e-03 6.02015252e-03 -3.70493945e+01] [ 8.18281352e-03 9.99966284e-01 6.87760032e-04 -6.88978372e+01] [-6.02558010e-03 -6.38462734e-04 9.99981642e-01 6.07641901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139072329 meters 0.2804843479453972 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99943518e-01 -8.01189848e-03 6.98363370e-03 -3.70517996e+01] [ 8.00064827e-03 9.99966654e-01 1.63739085e-03 -6.89012905e+01] [-6.99651943e-03 -1.58142477e-03 9.99974274e-01 6.07640431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16907232899996 meters 0.2681235303283692 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99943905e-01 -7.94063235e-03 7.00950220e-03 -3.70517847e+01] [ 7.92839519e-03 9.99967000e-01 1.77186088e-03 -6.89016680e+01] [-7.02334058e-03 -1.71618739e-03 9.99973863e-01 6.07639078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199072329 meters 0.26228628464540654 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99939563e-01 -7.90672908e-03 7.63898378e-03 -3.70530841e+01] [ 7.89107684e-03 9.99966708e-01 2.07696712e-03 -6.89026363e+01] [-7.65515148e-03 -2.01656179e-03 9.99968666e-01 6.07634549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22907232899996 meters 0.25625532966136244 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99940287e-01 -7.70900869e-03 7.74561918e-03 -3.70532248e+01] [ 7.69011755e-03 9.99967390e-01 2.46577541e-03 -6.89038117e+01] [-7.76437529e-03 -2.40606345e-03 9.99966962e-01 6.07632223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259072329 meters 0.2620042587512094 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99937824e-01 -7.81265278e-03 7.95680781e-03 -3.70538330e+01] [ 7.79419321e-03 9.99966867e-01 2.34834556e-03 -6.89035431e+01] [-7.97489099e-03 -2.28618265e-03 9.99965587e-01 6.07633249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28907232899996 meters 0.24951063805696264 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99938373e-01 -7.57294031e-03 8.11798324e-03 -3.70540539e+01] [ 7.55022376e-03 9.99967505e-01 2.82530461e-03 -6.89049617e+01] [-8.13911531e-03 -2.76383791e-03 9.99963057e-01 6.07629952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319072329 meters 0.2499050139224549 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99937767e-01 -7.70586045e-03 8.06733953e-03 -3.70540397e+01] [ 7.68536023e-03 9.99967167e-01 2.56906175e-03 -6.89042441e+01] [-8.08687149e-03 -2.50690146e-03 9.99964158e-01 6.07631613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34907232899997 meters 0.23601667953877942 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99939183e-01 -7.83007138e-03 7.76658904e-03 -3.70535926e+01] [ 7.81279570e-03 9.99966943e-01 2.25220947e-03 -6.89033950e+01] [-7.78396727e-03 -2.19139372e-03 9.99967303e-01 6.07636314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37907232899994 meters 0.32512929905600485 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99941314e-01 -7.98581573e-03 7.32090424e-03 -3.70528565e+01] [ 7.97271108e-03 9.99966566e-01 1.81747286e-03 -6.89022214e+01] [-7.33517347e-03 -1.75899875e-03 9.99971550e-01 6.07642260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40907232899997 meters 0.24428089142805579 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99943259e-01 -8.24005254e-03 6.75125329e-03 -3.70518161e+01] [ 8.23262831e-03 9.99965477e-01 1.12673628e-03 -6.89002285e+01] [-6.76030457e-03 -1.07109179e-03 9.99976575e-01 6.07648732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43907232899994 meters 0.27296254603149905 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99965245e-01 -4.40722927e-03 7.07714042e-03 -3.70531750e+01] [ 4.37362408e-03 9.99979121e-01 4.75689102e-03 -6.88987127e+01] [-7.09795737e-03 -4.72577294e-03 9.99963642e-01 6.07655328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46907232899997 meters 0.26516783153877116 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99966895e-01 -4.35083384e-03 6.87601088e-03 -3.70528796e+01] [ 4.31789279e-03 9.99979166e-01 4.79832757e-03 -6.88989448e+01] [-6.89674435e-03 -4.76847884e-03 9.99964848e-01 6.07658160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49907232899994 meters 0.26516783153877116 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99966895e-01 -4.35083384e-03 6.87601088e-03 -3.70528796e+01] [ 4.31789279e-03 9.99979166e-01 4.79832757e-03 -6.88989448e+01] [-6.89674435e-03 -4.76847884e-03 9.99964848e-01 6.07658160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.529072329 meters 0.27126386526034474 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99964643e-01 -4.51906661e-03 7.09164150e-03 -3.70537508e+01] [ 4.48687209e-03 9.99979586e-01 4.54914636e-03 -6.88984938e+01] [-7.11205463e-03 -4.51716622e-03 9.99964506e-01 6.07662943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.55907232899995 meters 0.2432397333506258 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99962416e-01 -4.70815351e-03 7.28011864e-03 -3.70546146e+01] [ 4.67706876e-03 9.99979899e-01 4.28095962e-03 -6.88979809e+01] [-7.30012772e-03 -4.24674910e-03 9.99964336e-01 6.07668386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.589072329 meters 0.2664779234017478 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99963086e-01 -4.74510758e-03 7.16317528e-03 -3.70546276e+01] [ 4.71523195e-03 9.99980139e-01 4.18186744e-03 -6.88978546e+01] [-7.18287643e-03 -4.14793703e-03 9.99965600e-01 6.07672750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.61907232899995 meters 0.3297453104104416 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99963035e-01 -4.87319446e-03 7.08388014e-03 -3.70544962e+01] [ 4.84540554e-03 9.99980520e-01 3.93472206e-03 -6.88971544e+01] [-7.10291681e-03 -3.90025234e-03 9.99967168e-01 6.07673628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.649072329 meters 0.2585638474712691 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99962272e-01 -4.96799033e-03 7.12559597e-03 -3.70545684e+01] [ 4.94112828e-03 9.99980639e-01 3.78245955e-03 -6.88967016e+01] [-7.14424923e-03 -3.74710836e-03 9.99967459e-01 6.07673019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.67907232899995 meters 0.263368900957849 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.90, Z:60.77 [[ 9.99959629e-01 -4.88658185e-03 7.54066268e-03 -3.70552452e+01] [ 4.85557421e-03 9.99979704e-01 4.12490025e-03 -6.88976647e+01] [-7.56066630e-03 -4.08811948e-03 9.99963061e-01 6.07666524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.709072329 meters 0.312154714669391 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99961738e-01 -4.97838787e-03 7.19294025e-03 -3.70544906e+01] [ 4.95085588e-03 9.99980370e-01 3.84039053e-03 -6.88967786e+01] [-7.21191800e-03 -3.80463238e-03 9.99966756e-01 6.07668375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.73907232899995 meters 0.29622897004931803 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99961216e-01 -5.12764565e-03 7.16063369e-03 -3.70545926e+01] [ 5.10217411e-03 9.99980608e-01 3.57091170e-03 -6.88960776e+01] [-7.17880520e-03 -3.53423840e-03 9.99967986e-01 6.07670998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.769072329 meters 0.29806007458618045 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.77 [[ 9.99960448e-01 -5.30797158e-03 7.13641431e-03 -3.70547360e+01] [ 5.28496154e-03 9.99980788e-01 3.23931515e-03 -6.88951872e+01] [-7.15347140e-03 -3.20147135e-03 9.99969289e-01 6.07674141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.79907232899996 meters 0.2932862536367621 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.89, Z:60.77 [[ 9.99959719e-01 -5.40351129e-03 7.16677159e-03 -3.70551142e+01] [ 5.38158174e-03 9.99980789e-01 3.07565486e-03 -6.88949003e+01] [-7.18325325e-03 -3.03696240e-03 9.99969588e-01 6.07678617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.829072329 meters 0.29486167802732893 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.77 [[ 9.99962376e-01 -5.37722635e-03 6.80669013e-03 -3.70545343e+01] [ 5.35672876e-03 9.99981074e-01 3.02604640e-03 -6.88948577e+01] [-6.82283304e-03 -2.98947095e-03 9.99972256e-01 6.07683214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.85907232899996 meters 0.2799108651775387 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.77 [[ 9.99964566e-01 -5.50144048e-03 6.37191594e-03 -3.70536891e+01] [ 5.48491929e-03 9.99981558e-01 2.60739310e-03 -6.88936239e+01] [-6.38614285e-03 -2.57235126e-03 9.99976300e-01 6.07687563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.889072329 meters 0.32788234455792065 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.77 [[ 9.99965478e-01 -5.65654425e-03 6.08659605e-03 -3.70531828e+01] [ 5.64304580e-03 9.99981586e-01 2.23262739e-03 -6.88925630e+01] [-6.09911292e-03 -2.19820337e-03 9.99978984e-01 6.07690826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91907232899996 meters 0.31904763035513056 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.77 [[ 9.99967176e-01 -5.64458420e-03 5.81261765e-03 -3.70527248e+01] [ 5.63207391e-03 9.99981793e-01 2.16638775e-03 -6.88924465e+01] [-5.82474018e-03 -2.13357955e-03 9.99980760e-01 6.07694301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.949072329 meters 0.31716438947523323 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.77 [[ 9.99969924e-01 -5.84828232e-03 5.09399078e-03 -3.70512459e+01] [ 5.84064234e-03 9.99981798e-01 1.51339048e-03 -6.88903941e+01] [-5.10274879e-03 -1.48359279e-03 9.99985880e-01 6.07699680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97907232899996 meters 0.2698653914315609 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.77 [[ 9.99971336e-01 -5.90445677e-03 4.73967856e-03 -3.70505789e+01] [ 5.89831922e-03 9.99981749e-01 1.30786409e-03 -6.88898157e+01] [-4.74731428e-03 -1.27987047e-03 9.99987912e-01 6.07703165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.009072329 meters 0.29757099527353736 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.77 [[ 9.99973626e-01 -6.02790458e-03 4.05105447e-03 -3.70491611e+01] [ 6.02481980e-03 9.99981552e-01 7.73248676e-04 -6.88881776e+01] [-4.05564081e-03 -7.48821409e-04 9.99991495e-01 6.07708807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03907232899996 meters 0.30839806097019484 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.78 [[ 9.99999038e-01 -1.37023682e-03 -2.16674381e-04 -3.70382951e+01] [ 1.37016649e-03 9.99999009e-01 -3.24410751e-04 -6.88893027e+01] [ 2.17118686e-04 3.24113559e-04 9.99999924e-01 6.07754849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.069072329 meters 0.2950486158709273 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.78 [[ 9.99998354e-01 -1.70723607e-03 -6.14816788e-04 -3.70375408e+01] [ 1.70654874e-03 9.99997920e-01 -1.11674939e-03 -6.88869690e+01] [ 6.16722064e-04 1.11569834e-03 9.99999187e-01 6.07759652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09907232899997 meters 0.28786237465786574 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99997658e-01 -1.36568526e-03 -1.67867377e-03 -3.70345943e+01] [ 1.36343355e-03 9.99998170e-01 -1.34177748e-03 -6.88851397e+01] [ 1.68050314e-03 1.33948557e-03 9.99997691e-01 6.07758207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12907232899994 meters 0.2946660859742701 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99996953e-01 -1.44993251e-03 -1.99815170e-03 -3.70338967e+01] [ 1.44675694e-03 9.99997690e-01 -1.58978162e-03 -6.88843476e+01] [ 2.00045216e-03 1.58688594e-03 9.99996740e-01 6.07760165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15907232899997 meters 0.2835198466627031 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99995357e-01 -1.76537186e-03 -2.48375624e-03 -3.70328951e+01] [ 1.75956261e-03 9.99995716e-01 -2.33913844e-03 -6.88820487e+01] [ 2.48787505e-03 2.33475725e-03 9.99994180e-01 6.07764530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18907232899994 meters 0.28736277526481135 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99993289e-01 -1.81812905e-03 -3.18053920e-03 -3.70310892e+01] [ 1.80938033e-03 9.99994578e-01 -2.75142155e-03 -6.88803499e+01] [ 3.18552439e-03 2.74564828e-03 9.99991157e-01 6.07764986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21907232899997 meters 0.2833724281857883 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99993005e-01 -1.65164042e-03 -3.35580223e-03 -3.70306368e+01] [ 1.64319060e-03 9.99995477e-01 -2.51917260e-03 -6.88809797e+01] [ 3.35994782e-03 2.51364076e-03 9.99991196e-01 6.07764818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24907232899994 meters 0.27815709836161107 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.88, Z:60.78 [[ 9.99990432e-01 -1.60537526e-03 -4.06925098e-03 -3.70289060e+01] [ 1.59411532e-03 9.99994896e-01 -2.76881300e-03 -6.88798580e+01] [ 4.07367519e-03 2.76229966e-03 9.99987887e-01 6.07766534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279072329 meters 0.27396963601753815 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99986465e-01 2.44557469e-04 -5.19711562e-03 -3.70247113e+01] [-2.52481540e-04 9.99998807e-01 -1.52410411e-03 -6.88794351e+01] [ 5.19673669e-03 1.52539566e-03 9.99985333e-01 6.07752369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.30907232899995 meters 0.2718828379502135 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99981347e-01 7.78665537e-04 -6.05806521e-03 -3.70217471e+01] [-7.86222505e-04 9.99998916e-01 -1.24514117e-03 -6.88785767e+01] [ 6.05708909e-03 1.24988094e-03 9.99980875e-01 6.07743151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339072329 meters 0.2635672925921522 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99982976e-01 5.25616398e-04 -5.81134519e-03 -3.70224919e+01] [-5.35109436e-04 9.99998525e-01 -1.63210118e-03 -6.88775389e+01] [ 5.81047876e-03 1.63518310e-03 9.99981782e-01 6.07745790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.36907232899995 meters 0.26519058481948543 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99981771e-01 5.77790703e-04 -6.01031643e-03 -3.70220596e+01] [-5.87372768e-04 9.99998559e-01 -1.59262673e-03 -6.88776501e+01] [ 6.00938756e-03 1.59612800e-03 9.99980670e-01 6.07746722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399072329 meters 0.2605657792878503 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99980589e-01 3.33974025e-04 -6.22166675e-03 -3.70218291e+01] [-3.47025242e-04 9.99997742e-01 -2.09674297e-03 -6.88762265e+01] [ 6.22095244e-03 2.09886134e-03 9.99978447e-01 6.07752094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.42907232899995 meters 0.2502514031385284 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99978206e-01 3.21010450e-04 -6.59421748e-03 -3.70208921e+01] [-3.35704585e-04 9.99997463e-01 -2.22735039e-03 -6.88756392e+01] [ 6.59348575e-03 2.22951555e-03 9.99975777e-01 6.07752676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459072329 meters 0.2587376877514068 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.78 [[ 9.99978055e-01 2.56076856e-04 -6.61989800e-03 -3.70208492e+01] [-2.71659109e-04 9.99997195e-01 -2.35305879e-03 -6.88752442e+01] [ 6.61927687e-03 2.35480551e-03 9.99975320e-01 6.07753312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.48907232899995 meters 0.24645906794371836 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99970803e-01 6.94220431e-04 -7.60991159e-03 -3.70179322e+01] [-7.11089196e-04 9.99997296e-01 -2.21420196e-03 -6.88742285e+01] [ 7.60835386e-03 2.21954864e-03 9.99968593e-01 6.07748033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519072329 meters 0.24707647935746077 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99970289e-01 7.72512427e-04 -7.66976679e-03 -3.70176319e+01] [-7.88707534e-04 9.99997466e-01 -2.10875135e-03 -6.88744055e+01] [ 7.66811832e-03 2.11473790e-03 9.99968363e-01 6.07746052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.54907232899996 meters 0.2579983560082001 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99972221e-01 8.46088545e-04 -7.40548901e-03 -3.70180341e+01] [-8.60240687e-04 9.99997810e-01 -1.90805755e-03 -6.88749179e+01] [ 7.40385840e-03 1.91437505e-03 9.99970759e-01 6.07742003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579072329 meters 0.24444206938513363 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99972754e-01 1.00952653e-03 -7.31244227e-03 -3.70180294e+01] [-1.02124892e-03 9.99998199e-01 -1.59951871e-03 -6.88757163e+01] [ 7.31081434e-03 1.60694295e-03 9.99971984e-01 6.07738297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.60907232899996 meters 0.2737220628977267 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.87, Z:60.77 [[ 9.99966361e-01 9.56501674e-04 -8.14628094e-03 -3.70159466e+01] [-9.73651769e-04 9.99997318e-01 -2.10156112e-03 -6.88736340e+01] [ 8.14424894e-03 2.10942206e-03 9.99964610e-01 6.07739826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639072329 meters 0.274225954334287 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99961965e-01 8.89244343e-04 -8.67625850e-03 -3.70146146e+01] [-9.10261113e-04 9.99996661e-01 -2.41868288e-03 -6.88723705e+01] [ 8.67407873e-03 2.42648855e-03 9.99959435e-01 6.07740627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66907232899996 meters 0.2599525606842705 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99947088e-01 2.72014949e-03 -9.92082682e-03 -3.70101090e+01] [-2.73424780e-03 9.99995271e-01 -1.40779612e-03 -6.88707496e+01] [ 9.91695049e-03 1.43484763e-03 9.99949796e-01 6.07728656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699072329 meters 0.2521268266309385 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99945427e-01 2.35818349e-03 -1.01774936e-02 -3.70096767e+01] [-2.38024482e-03 9.99994843e-01 -2.15609011e-03 -6.88685570e+01] [ 1.01723566e-02 2.18019738e-03 9.99945883e-01 6.07732832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72907232899996 meters 0.25178389110554655 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99942505e-01 2.35275115e-03 -1.04619161e-02 -3.70091431e+01] [-2.37635696e-03 9.99994658e-01 -2.24449822e-03 -6.88683098e+01] [ 1.04565794e-02 2.26923042e-03 9.99942754e-01 6.07735670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759072329 meters 0.26016263690237457 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99937162e-01 2.17444266e-03 -1.09974671e-02 -3.70081299e+01] [-2.20609882e-03 9.99993456e-01 -2.86718349e-03 -6.88664510e+01] [ 1.09911606e-02 2.89126482e-03 9.99935415e-01 6.07742342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78907232899996 meters 0.2566386745570524 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99937306e-01 2.06617775e-03 -1.10052348e-02 -3.70081815e+01] [-2.09995051e-03 9.99993119e-01 -3.05811967e-03 -6.88659012e+01] [ 1.09988404e-02 3.08103839e-03 9.99934764e-01 6.07743643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819072329 meters 0.24601623282848287 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99937490e-01 2.10235994e-03 -1.09816256e-02 -3.70080852e+01] [-2.13542580e-03 9.99993219e-01 -3.00015927e-03 -6.88659446e+01] [ 1.09752437e-02 3.02342217e-03 9.99935199e-01 6.07741650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84907232899997 meters 0.25135123240834584 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99939917e-01 2.37479355e-03 -1.07015748e-02 -3.70086065e+01] [-2.40089616e-03 9.99994173e-01 -2.42694987e-03 -6.88676354e+01] [ 1.06957489e-02 2.45249742e-03 9.99939791e-01 6.07738298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87907232899994 meters 0.29895909735836806 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99940513e-01 2.31897588e-03 -1.06579585e-02 -3.70087515e+01] [-2.34587513e-03 9.99994093e-01 -2.51205717e-03 -6.88673932e+01] [ 1.06520702e-02 2.53690997e-03 9.99940047e-01 6.07739027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90907232899997 meters 0.2376917881805137 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99942529e-01 -1.78145514e-03 -1.05718879e-02 -3.70087651e+01] [ 1.71479649e-03 9.99978615e-01 -6.31099299e-03 -6.88688444e+01] [ 1.05829046e-02 6.29250166e-03 9.99924200e-01 6.07735834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93907232899994 meters 0.24084999916698283 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99947083e-01 2.67026182e-03 -9.93479688e-03 -3.70101159e+01] [-2.68659663e-03 9.99995061e-01 -1.63121892e-03 -6.88699673e+01] [ 9.93039202e-03 1.65782339e-03 9.99949318e-01 6.07731850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96907232899997 meters 0.29782427887634183 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99944577e-01 2.55290077e-03 -1.02139578e-02 -3.70093825e+01] [-2.57264703e-03 9.99994846e-01 -1.92059067e-03 -6.88688656e+01] [ 1.02090021e-02 1.94676114e-03 9.99945992e-01 6.07732310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99907232899994 meters 0.2773644294487475 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99947629e-01 2.45757665e-03 -9.93477772e-03 -3.70100254e+01] [-2.47758784e-03 9.99994926e-01 -2.00245099e-03 -6.88686485e+01] [ 9.92980614e-03 2.02696040e-03 9.99948644e-01 6.07731627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.029072329 meters 0.37345710539419374 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99951674e-01 2.71117474e-03 -9.44979589e-03 -3.70108832e+01] [-2.72440422e-03 9.99995326e-01 -1.38738413e-03 -6.88703903e+01] [ 9.44599029e-03 1.41306215e-03 9.99954387e-01 6.07725670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.05907232899995 meters 0.2886391045785368 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99952556e-01 2.90301923e-03 -9.29830723e-03 -3.70110792e+01] [-2.91252257e-03 9.99995250e-01 -1.00867206e-03 -6.88714408e+01] [ 9.29533487e-03 1.03570573e-03 9.99956261e-01 6.07722701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.089072329 meters 0.26848811727611877 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99953386e-01 2.95645461e-03 -9.19154020e-03 -3.70114978e+01] [-2.96466340e-03 9.99995219e-01 -8.79584352e-04 -6.88719533e+01] [ 9.18889580e-03 9.06793175e-04 9.99957370e-01 6.07724901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.11907232899995 meters 0.35878458893112136 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99953203e-01 3.05888443e-03 -9.17801178e-03 -3.70114754e+01] [-3.06541984e-03 9.99995058e-01 -6.98089022e-04 -6.88723935e+01] [ 9.17583105e-03 7.26190813e-04 9.99957637e-01 6.07724529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.149072329 meters 0.2537062367692848 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99955347e-01 -1.36429447e-03 -9.35110120e-03 -3.70110541e+01] [ 1.31579942e-03 9.99985665e-01 -5.19021778e-03 -6.88718085e+01] [ 9.35804814e-03 5.17768185e-03 9.99942808e-01 6.07725535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.17907232899995 meters 0.250121036364684 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.87, Z:60.77 [[ 9.99961822e-01 -1.20999934e-03 -8.65389032e-03 -3.70125071e+01] [ 1.16990745e-03 9.99988568e-01 -4.63637887e-03 -6.88735133e+01] [ 8.65940140e-03 4.62607761e-03 9.99951806e-01 6.07720591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.209072329 meters 0.28542990660644324 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.88, Z:60.77 [[ 9.99968772e-01 -8.76182610e-04 -7.85418254e-03 -3.70140607e+01] [ 8.47263397e-04 9.99992853e-01 -3.68458578e-03 -6.88763360e+01] [ 7.85735478e-03 3.67781616e-03 9.99962367e-01 6.07712606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.23907232899995 meters 0.27050648475853584 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99974731e-01 -4.22834611e-04 -7.09638043e-03 -3.70152852e+01] [ 4.04797129e-04 9.99996685e-01 -2.54303002e-03 -6.88795083e+01] [ 7.09743218e-03 2.54009316e-03 9.99971587e-01 6.07700895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.269072329 meters 0.2689154113841819 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99978015e-01 -2.71561753e-04 -6.62532904e-03 -3.70161136e+01] [ 2.57709476e-04 9.99997779e-01 -2.09157006e-03 -6.88807297e+01] [ 6.62588231e-03 2.08981667e-03 9.99975865e-01 6.07695308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.29907232899996 meters 0.2632498647409489 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99982700e-01 -2.71892689e-04 -5.87588588e-03 -3.70177780e+01] [ 2.61224319e-04 9.99998316e-01 -1.81631015e-03 -6.88817380e+01] [ 5.87636983e-03 1.81474380e-03 9.99981087e-01 6.07692321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.329072329 meters 0.254839383277338 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99987013e-01 -3.90568647e-04 -5.08144628e-03 -3.70197277e+01] [ 3.81942325e-04 9.99998485e-01 -1.69847121e-03 -6.88824344e+01] [ 5.08210195e-03 1.69650833e-03 9.99985647e-01 6.07692619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.35907232899996 meters 0.24981455638869543 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99988328e-01 -2.48316244e-04 -4.82510931e-03 -3.70202777e+01] [ 2.41780797e-04 9.99999053e-01 -1.35500227e-03 -6.88834595e+01] [ 4.82544121e-03 1.35381984e-03 9.99987441e-01 6.07691161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.389072329 meters 0.24981455638869543 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.88, Z:60.77 [[ 9.99988328e-01 -2.48316244e-04 -4.82510931e-03 -3.70202777e+01] [ 2.41780797e-04 9.99999053e-01 -1.35500227e-03 -6.88834595e+01] [ 4.82544121e-03 1.35381984e-03 9.99987441e-01 6.07691161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41907232899996 meters 0.26165862382031124 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.77 [[ 9.99982895e-01 -4.26722274e-03 -4.00016516e-03 -3.70217460e+01] [ 4.24857643e-03 9.99980124e-01 -4.65835209e-03 -6.88863327e+01] [ 4.01996388e-03 4.64127740e-03 9.99981149e-01 6.07681883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.449072329 meters 0.2888268089585033 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.89, Z:60.77 [[ 9.99987381e-01 -4.07788650e-03 -2.93398719e-03 -3.70238612e+01] [ 4.06731064e-03 9.99985243e-01 -3.60158637e-03 -6.88894776e+01] [ 2.94863075e-03 3.58960748e-03 9.99989210e-01 6.07671412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47907232899996 meters 0.3022444736437819 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.77 [[ 9.99990549e-01 -3.97843561e-03 -1.75321977e-03 -3.70263874e+01] [ 3.97347918e-03 9.99988125e-01 -2.82152067e-03 -6.88920507e+01] [ 1.76442419e-03 2.81452763e-03 9.99994483e-01 6.07664016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.509072329 meters 0.3372456591331279 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.77 [[ 9.99968038e-01 -7.89894904e-03 -1.23696348e-03 -3.70270295e+01] [ 7.89111323e-03 9.99949542e-01 -6.21640229e-03 -6.88945877e+01] [ 1.28600411e-03 6.20644258e-03 9.99979913e-01 6.07654973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53907232899996 meters 0.3243806287378728 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99961543e-01 -8.75629485e-03 4.89610456e-04 -3.70311300e+01] [ 8.75887187e-03 9.99946319e-01 -5.53547643e-03 -6.88983663e+01] [-4.41113909e-04 5.53955199e-03 9.99984559e-01 6.07645602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.569072329 meters 0.32512177141813153 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99963492e-01 -8.48276534e-03 1.02870927e-03 -3.70320364e+01] [ 8.48759429e-03 9.99952534e-01 -4.78437228e-03 -6.89004315e+01] [-9.88075731e-04 4.79292888e-03 9.99988026e-01 6.07638002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59907232899997 meters 0.3093133664753775 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99964087e-01 -8.30084310e-03 1.70928894e-03 -3.70330767e+01] [ 8.30778241e-03 9.99957111e-01 -4.09348990e-03 -6.89022506e+01] [-1.67523621e-03 4.10754329e-03 9.99990161e-01 6.07626688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62907232899994 meters 0.3032224709963314 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99963568e-01 -8.30645644e-03 1.96598024e-03 -3.70333684e+01] [ 8.31431383e-03 9.99957344e-01 -4.02283088e-03 -6.89022718e+01] [-1.93248090e-03 4.03903010e-03 9.99989976e-01 6.07621627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65907232899997 meters 0.2621563969588977 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99984842e-01 -4.55410806e-03 3.09444648e-03 -3.70360900e+01] [ 4.55380838e-03 9.99989626e-01 1.03883817e-04 -6.89027115e+01] [-3.09488747e-03 -8.97907261e-05 9.99995207e-01 6.07619524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68907232899994 meters 0.23256016278551164 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99985158e-01 -4.55211688e-03 2.99366261e-03 -3.70359701e+01] [ 4.55190544e-03 9.99989637e-01 7.74386887e-05 -6.89026925e+01] [-2.99398409e-03 -6.38106702e-05 9.99995516e-01 6.07621551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71907232899997 meters 0.2488729488038198 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99984512e-01 -4.75039365e-03 2.90008001e-03 -3.70359378e+01] [ 4.75132329e-03 9.99988663e-01 -3.13751448e-04 -6.89015849e+01] [-2.89855669e-03 3.27525806e-04 9.99995746e-01 6.07624982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74907232899994 meters 0.28578428676216644 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99986255e-01 -4.67642249e-03 2.37068727e-03 -3.70347334e+01] [ 4.67732344e-03 9.99988991e-01 -3.74635741e-04 -6.89012222e+01] [-2.36890922e-03 3.85719063e-04 9.99997120e-01 6.07626962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779072329 meters 0.26938133434477185 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99986171e-01 -4.75813392e-03 2.24011618e-03 -3.70345475e+01] [ 4.75942545e-03 9.99988511e-01 -5.71569634e-04 -6.89006617e+01] [-2.23737083e-03 5.82223396e-04 9.99997328e-01 6.07629449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.80907232899995 meters 0.2691148472170563 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99986712e-01 -4.73348755e-03 2.04191905e-03 -3.70341776e+01] [ 4.73472523e-03 9.99988610e-01 -6.01726966e-04 -6.89005788e+01] [-2.03904752e-03 6.11386896e-04 9.99997734e-01 6.07631385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839072329 meters 0.2667329086449568 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99986552e-01 -4.77153257e-03 2.03196958e-03 -3.70341623e+01] [ 4.77292526e-03 9.99988378e-01 -6.81091418e-04 -6.89003189e+01] [-2.02869612e-03 6.90780697e-04 9.99997704e-01 6.07631820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.86907232899995 meters 0.2642141284545056 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99987452e-01 -4.72512469e-03 1.66423467e-03 -3.70331642e+01] [ 4.72635720e-03 9.99988559e-01 -7.37435223e-04 -6.88999853e+01] [-1.66073116e-03 7.45291737e-04 9.99998343e-01 6.07630541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899072329 meters 0.2663898701661383 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99988138e-01 -4.65207441e-03 1.44261455e-03 -3.70324721e+01] [ 4.65305965e-03 9.99988943e-01 -6.80351686e-04 -6.89000177e+01] [-1.43943355e-03 6.87056187e-04 9.99998728e-01 6.07628543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.92907232899995 meters 0.2497699350928451 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99991944e-01 -3.94105865e-03 7.61163566e-04 -3.70296359e+01] [ 3.94099634e-03 9.99992231e-01 8.33402490e-05 -6.89004597e+01] [-7.61486101e-04 -8.03398348e-05 9.99999707e-01 6.07612314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959072329 meters 0.278882260763902 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99991538e-01 -4.01763004e-03 8.84413443e-04 -3.70298152e+01] [ 4.01764742e-03 9.99991929e-01 -1.78742018e-05 -6.89000830e+01] [-8.84334493e-04 2.14273119e-05 9.99999609e-01 6.07610528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.98907232899995 meters 0.2862734394226014 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99991653e-01 -4.07885973e-03 2.40135369e-04 -3.70283577e+01] [ 4.07896733e-03 9.99991580e-01 -4.49279657e-04 -6.88985533e+01] [-2.38300798e-04 4.50255411e-04 9.99999870e-01 6.07613798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019072329 meters 0.27252170181135493 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99990536e-01 -4.34833134e-03 1.39046077e-04 -3.70282237e+01] [ 4.34846355e-03 9.99990080e-01 -9.65124022e-04 -6.88970192e+01] [-1.34848019e-04 9.65719526e-04 9.99999525e-01 6.07616014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.04907232899996 meters 0.24429180633665676 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99991296e-01 -4.16689744e-03 -2.13393856e-04 -3.70273475e+01] [ 4.16673775e-03 9.99991043e-01 -7.43370370e-04 -6.88975416e+01] [ 2.16489492e-04 7.42474743e-04 9.99999701e-01 6.07615964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079072329 meters 0.25116505280977014 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99990741e-01 -4.28162912e-03 -4.30818010e-04 -3.70266421e+01] [ 4.28116860e-03 9.99990269e-01 -1.06423406e-03 -6.88963668e+01] [ 4.35370473e-04 1.06237980e-03 9.99999341e-01 6.07614057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.10907232899996 meters 0.2652791968397269 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99989803e-01 -4.46677737e-03 -6.64505094e-04 -3.70261753e+01] [ 4.46578161e-03 9.99988915e-01 -1.49250099e-03 -6.88950555e+01] [ 6.71164398e-04 1.48951823e-03 9.99998665e-01 6.07616406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139072329 meters 0.2623364608831037 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99988536e-01 -4.75378528e-03 -5.73072906e-04 -3.70266195e+01] [ 4.75263710e-03 9.99986729e-01 -1.98853948e-03 -6.88937015e+01] [ 5.82518390e-04 1.98579308e-03 9.99997859e-01 6.07620286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16907232899996 meters 0.2579246960848964 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99988586e-01 -4.74827854e-03 -5.30084768e-04 -3.70267336e+01] [ 4.74722714e-03 9.99986797e-01 -1.96739544e-03 -6.88937762e+01] [ 5.39419511e-04 1.96485655e-03 9.99997924e-01 6.07620385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199072329 meters 0.2522834553305778 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.76 [[ 9.99989326e-01 -4.61788778e-03 -1.52967329e-04 -3.70273821e+01] [ 4.61763585e-03 9.99988045e-01 -1.60824375e-03 -6.88947520e+01] [ 1.60392190e-04 1.60752023e-03 9.99998695e-01 6.07615741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22907232899996 meters 0.249595173827934 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99990468e-01 -4.35481716e-03 3.16684924e-04 -3.70279913e+01] [ 4.35512056e-03 9.99990052e-01 -9.63749734e-04 -6.88964634e+01] [-3.12484820e-04 9.65119749e-04 9.99999485e-01 6.07606477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259072329 meters 0.2476209402498536 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99990728e-01 -4.23773506e-03 7.65729190e-04 -3.70288656e+01] [ 4.23818986e-03 9.99990843e-01 -5.93299025e-04 -6.88975037e+01] [-7.63207934e-04 5.96538830e-04 9.99999531e-01 6.07602753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28907232899996 meters 0.24084326378508264 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99991021e-01 -4.00914827e-03 1.37311801e-03 -3.70296897e+01] [ 4.00908206e-03 9.99991962e-01 5.09624262e-05 -6.88991694e+01] [-1.37331129e-03 -4.54570258e-05 9.99999056e-01 6.07591241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319072329 meters 0.28758808935768027 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99990612e-01 -3.90240588e-03 1.88348784e-03 -3.70306428e+01] [ 3.90161269e-03 9.99992299e-01 4.24617644e-04 -6.89002006e+01] [-1.88513036e-03 -4.17265017e-04 9.99998136e-01 6.07585986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34907232899997 meters 0.2313338484532985 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99990226e-01 -3.77192892e-03 2.30662836e-03 -3.70314890e+01] [ 3.77007255e-03 9.99992566e-01 8.08618233e-04 -6.89013039e+01] [-2.30966127e-03 -7.99914173e-04 9.99997013e-01 6.07582682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37907232899994 meters 0.27507550501800426 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.76 [[ 9.99988222e-01 -3.73600669e-03 3.09823158e-03 -3.70332472e+01] [ 3.73228909e-03 9.99992309e-01 1.20482607e-03 -6.89026558e+01] [-3.10270899e-03 -1.19324838e-03 9.99994475e-01 6.07579567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40907232899997 meters 0.26761107468339906 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99984685e-01 -3.95215175e-03 3.87418234e-03 -3.70350714e+01] [ 3.94801667e-03 9.99991629e-01 1.07440952e-03 -6.89025224e+01] [-3.87839614e-03 -1.05909773e-03 9.99991918e-01 6.07578911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43907232899994 meters 0.25440486270038803 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99958041e-01 -8.17108995e-03 4.14127087e-03 -3.70358517e+01] [ 8.18351658e-03 9.99962036e-01 -2.99267242e-03 -6.89034823e+01] [-4.11666026e-03 3.02643701e-03 9.99986947e-01 6.07582063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46907232899997 meters 0.25159472844545067 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99954990e-01 -8.14893283e-03 4.85927978e-03 -3.70374875e+01] [ 8.16198252e-03 9.99963121e-01 -2.67176282e-03 -6.89045575e+01] [-4.83732856e-03 2.71130392e-03 9.99984624e-01 6.07580169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49907232899994 meters 0.23748283314095772 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.76 [[ 9.99954256e-01 -7.94050181e-03 5.33230615e-03 -3.70383889e+01] [ 7.95190103e-03 9.99966136e-01 -2.11997610e-03 -6.89061582e+01] [-5.31529191e-03 2.16228110e-03 9.99983536e-01 6.07575578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.529072329 meters 0.23141862305381383 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.76 [[ 9.99951331e-01 -7.64343868e-03 6.23802760e-03 -3.70395191e+01] [ 7.64947985e-03 9.99970296e-01 -9.45158106e-04 -6.89090707e+01] [-6.23061805e-03 9.92829773e-04 9.99980097e-01 6.07555765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.55907232899995 meters 0.28630152077455834 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.75 [[ 9.99952862e-01 -7.45398205e-03 6.22189157e-03 -3.70390258e+01] [ 7.45796959e-03 9.99971998e-01 -6.17932472e-04 -6.89097402e+01] [-6.21711129e-03 6.64306022e-04 9.99980453e-01 6.07548880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.589072329 meters 0.2731094605802084 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.75 [[ 9.99951131e-01 -7.50428649e-03 6.43587139e-03 -3.70391591e+01] [ 7.50859127e-03 9.99971602e-01 -6.44970962e-04 -6.89093959e+01] [-6.43084858e-03 6.93263771e-04 9.99979082e-01 6.07543167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.61907232899995 meters 0.280735131061353 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.75 [[ 9.99948554e-01 -7.51698067e-03 6.81066596e-03 -3.70400450e+01] [ 7.52077401e-03 9.99971577e-01 -5.31531262e-04 -6.89097940e+01] [-6.80647688e-03 5.82725396e-04 9.99976666e-01 6.07542382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.649072329 meters 0.2722190209647148 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.75 [[ 9.99945735e-01 -7.43473541e-03 7.29741760e-03 -3.70410961e+01] [ 7.43639854e-03 9.99972329e-01 -2.00798984e-04 -6.89107800e+01] [-7.29572279e-03 2.55054593e-04 9.99973353e-01 6.07539872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.67907232899995 meters 0.32877664488851016 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.75 [[ 9.99940852e-01 -7.46898057e-03 7.90610293e-03 -3.70424001e+01] [ 7.46954124e-03 9.99972102e-01 -4.13898361e-05 -6.89112471e+01] [-7.90557323e-03 1.00442350e-04 9.99968745e-01 6.07536664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.709072329 meters 0.3151480938401435 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.91, Z:60.75 [[ 9.99929773e-01 -7.60672136e-03 9.08772913e-03 -3.70449057e+01] [ 7.60203776e-03 9.99970953e-01 5.49808364e-04 -6.89133200e+01] [-9.09164740e-03 -4.80684493e-04 9.99958555e-01 6.07528508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.73907232899995 meters 0.2565563935006846 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.91, Z:60.75 [[ 9.99922498e-01 -7.66928819e-03 9.80712700e-03 -3.70464739e+01] [ 7.66239871e-03 9.99970370e-01 7.39879564e-04 -6.89139715e+01] [-9.81251076e-03 -6.64676105e-04 9.99951635e-01 6.07524693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.769072329 meters 0.24659637335633072 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.92, Z:60.75 [[ 9.99914995e-01 -7.64103041e-03 1.05648798e-02 -3.70480802e+01] [ 7.62944205e-03 9.99970249e-01 1.13674460e-03 -6.89152379e+01] [-1.05732514e-02 -1.05604383e-03 9.99943544e-01 6.07520067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.79907232899996 meters 0.23104722766080596 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.92, Z:60.75 [[ 9.99912966e-01 -7.67322592e-03 1.07322543e-02 -3.70485720e+01] [ 7.66131871e-03 9.99969990e-01 1.15015285e-03 -6.89153676e+01] [-1.07407576e-02 -1.06782952e-03 9.99941746e-01 6.07520911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.829072329 meters 0.26790971932693336 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.91, Z:60.75 [[ 9.99904598e-01 -7.91405342e-03 1.13209152e-02 -3.70500739e+01] [ 7.90409966e-03 9.99968335e-01 9.23708868e-04 -6.89148895e+01] [-1.13278670e-02 -8.34139102e-04 9.99935490e-01 6.07521858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.85907232899996 meters 0.2711356068847644 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.92, Z:60.75 [[ 9.99883429e-01 -8.59920682e-03 1.26167422e-02 -3.70536599e+01] [ 8.58645530e-03 9.99962569e-01 1.06450467e-03 -6.89167337e+01] [-1.26254238e-02 -9.56047485e-04 9.99919839e-01 6.07525516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.889072329 meters 0.27733368740952613 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.92, Z:60.75 [[ 9.99883352e-01 -8.38679839e-03 1.27649838e-02 -3.70539180e+01] [ 8.36816412e-03 9.99963842e-01 1.51250932e-03 -6.89180697e+01] [-1.27772074e-02 -1.40551341e-03 9.99917380e-01 6.07523602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91907232899996 meters 0.27057783958761855 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.92, Z:60.75 [[ 9.99871805e-01 -8.42924214e-03 1.36132849e-02 -3.70557336e+01] [ 8.40546606e-03 9.99963048e-01 1.80280823e-03 -6.89190281e+01] [-1.36279781e-02 -1.68815112e-03 9.99905710e-01 6.07518926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.949072329 meters 0.2629727328825075 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.92, Z:60.75 [[ 9.99812067e-01 -1.24679827e-02 1.48451978e-02 -3.70579487e+01] [ 1.24886386e-02 9.99921169e-01 -1.29952529e-03 -6.89224695e+01] [-1.48278250e-02 1.48467738e-03 9.99888960e-01 6.07505220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97907232899996 meters 0.24855465721776096 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.92, Z:60.75 [[ 9.99802831e-01 -1.22712435e-02 1.56114151e-02 -3.70594120e+01] [ 1.22812387e-02 9.99924434e-01 -5.44531381e-04 -6.89245928e+01] [-1.56035533e-02 7.36151531e-04 9.99877986e-01 6.07497517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.009072329 meters 0.24352054807295975 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.92, Z:60.75 [[ 9.99908903e-01 -1.23095922e-02 5.53718513e-03 -3.70656855e+01] [ 1.23599117e-02 9.99881775e-01 -9.14704128e-03 -6.89152284e+01] [-5.42393415e-03 9.21464713e-03 9.99942834e-01 6.07505174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03907232899996 meters 0.24537354035388212 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99937378e-01 -8.86136167e-03 6.83488376e-03 -3.70692339e+01] [ 8.89958123e-03 9.99944819e-01 -5.58183979e-03 -6.89142206e+01] [-6.78504390e-03 5.64231785e-03 9.99961063e-01 6.07509771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.069072329 meters 0.23687656776558966 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99935717e-01 -8.88784510e-03 7.04040685e-03 -3.70695107e+01] [ 8.92712663e-03 9.99944651e-01 -5.56780311e-03 -6.89141215e+01] [-6.99053140e-03 5.63029580e-03 9.99959715e-01 6.07506497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09907232899997 meters 0.21705016963435805 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99933518e-01 -8.84690002e-03 7.39536980e-03 -3.70701893e+01] [ 8.88666429e-03 9.99946140e-01 -5.36145899e-03 -6.89146502e+01] [-7.34753919e-03 5.42682272e-03 9.99958281e-01 6.07503417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12907232899994 meters 0.231026313857039 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99933832e-01 -8.93822413e-03 7.24158137e-03 -3.70695055e+01] [ 8.97881084e-03 9.99944055e-01 -5.59168484e-03 -6.89136892e+01] [-7.19119651e-03 5.65633564e-03 9.99958145e-01 6.07499439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15907232899997 meters 0.23004360708083083 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99953281e-01 -5.18040547e-03 8.16086426e-03 -3.70716658e+01] [ 5.19668540e-03 9.99984547e-01 -1.97493782e-03 -6.89120213e+01] [-8.15050717e-03 2.01725499e-03 9.99964749e-01 6.07498528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18907232899994 meters 0.25409623663943354 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99954309e-01 -5.24163011e-03 7.99402662e-03 -3.70712552e+01] [ 5.25896411e-03 9.99983863e-01 -2.14889211e-03 -6.89114196e+01] [-7.98263392e-03 2.19083422e-03 9.99965738e-01 6.07499129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21907232899997 meters 0.28897148178244453 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99955936e-01 -5.30680283e-03 7.74362557e-03 -3.70707501e+01] [ 5.32533608e-03 9.99983001e-01 -2.37470318e-03 -6.89107432e+01] [-7.73089185e-03 2.41583595e-03 9.99967198e-01 6.07501387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24907232899994 meters 0.25141233962595 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99975961e-01 -1.09204481e-03 6.84719705e-03 -3.70689824e+01] [ 1.08253055e-03 9.99998444e-01 1.39306339e-03 -6.89090397e+01] [-6.84870769e-03 -1.38561760e-03 9.99975587e-01 6.07508687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279072329 meters 0.2523513028849549 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99984874e-01 -5.98615882e-04 5.46755502e-03 -3.70657250e+01] [ 5.93367829e-04 9.99999362e-01 9.61425497e-04 -6.89068060e+01] [-5.46812706e-03 -9.58166683e-04 9.99984591e-01 6.07514541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.30907232899995 meters 0.2523513028849549 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99984874e-01 -5.98615882e-04 5.46755502e-03 -3.70657250e+01] [ 5.93367829e-04 9.99999362e-01 9.61425497e-04 -6.89068060e+01] [-5.46812706e-03 -9.58166683e-04 9.99984591e-01 6.07514541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339072329 meters 0.28979771228288126 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.91, Z:60.75 [[ 9.99992725e-01 -2.45850881e-05 3.81438711e-03 -3.70620853e+01] [ 2.15475511e-05 9.99999683e-01 7.96375875e-04 -6.89050693e+01] [-3.81440548e-03 -7.96287891e-04 9.99992408e-01 6.07521967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.36907232899995 meters 0.2503941735823787 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99929241e-01 1.18656630e-02 -8.48052586e-04 -3.70510859e+01] [-1.18601895e-02 9.99910496e-01 6.19154310e-03 -6.89008266e+01] [ 9.21443447e-04 -6.18104693e-03 9.99980473e-01 6.07578456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399072329 meters 0.25146193678412476 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99971792e-01 7.24434995e-03 -1.98379054e-03 -3.70486917e+01] [-7.24377949e-03 9.99973720e-01 2.94597735e-04 -6.88959499e+01] [ 1.98587257e-03 -2.80219284e-04 9.99997989e-01 6.07587415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.42907232899995 meters 0.26385641999681614 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99964790e-01 7.59230211e-03 -3.57428261e-03 -3.70449290e+01] [-7.59429069e-03 9.99971015e-01 -5.43115166e-04 -6.88925160e+01] [ 3.57005552e-03 5.70240185e-04 9.99993465e-01 6.07594613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459072329 meters 0.2585656660009039 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99958739e-01 7.73880442e-03 -4.75726874e-03 -3.70420149e+01] [-7.74383951e-03 9.99969474e-01 -1.04089210e-03 -6.88902388e+01] [ 4.74906826e-03 1.07768868e-03 9.99988142e-01 6.07597309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.48907232899995 meters 0.248810611674318 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99957930e-01 7.35256392e-03 -5.48429369e-03 -3.70404667e+01] [-7.36417159e-03 9.99970680e-01 -2.09934608e-03 -6.88869970e+01] [ 5.46869732e-03 2.13964504e-03 9.99982757e-01 6.07603143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519072329 meters 0.2819432451691361 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99954601e-01 7.29142635e-03 -6.13442674e-03 -3.70387240e+01] [-7.30693184e-03 9.99970156e-01 -2.50901346e-03 -6.88853113e+01] [ 6.11594938e-03 2.55372339e-03 9.99978037e-01 6.07602769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.54907232899996 meters 0.2624996689186 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.88, Z:60.76 [[ 9.99953785e-01 7.18622303e-03 -6.38635269e-03 -3.70383376e+01] [-7.20419518e-03 9.99970142e-01 -2.79561359e-03 -6.88844726e+01] [ 6.36607210e-03 2.84149292e-03 9.99975699e-01 6.07607233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579072329 meters 0.27178469560782725 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.88, Z:60.76 [[ 9.99953755e-01 7.24497372e-03 -6.32446576e-03 -3.70385641e+01] [-7.26199267e-03 9.99970061e-01 -2.67216627e-03 -6.88848982e+01] [ 6.30491664e-03 2.71797092e-03 9.99976430e-01 6.07608200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.60907232899996 meters 0.2870943029021724 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99952963e-01 7.36480285e-03 -6.31123184e-03 -3.70385090e+01] [-7.38051478e-03 9.99969713e-01 -2.46985458e-03 -6.88854378e+01] [ 6.29285071e-03 2.51631854e-03 9.99977034e-01 6.07607034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639072329 meters 0.28283082060143316 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.88, Z:60.76 [[ 9.99947821e-01 7.32517454e-03 -7.12021925e-03 -3.70366997e+01] [-7.34716068e-03 9.99968307e-01 -3.06660826e-03 -6.88833375e+01] [ 7.09753015e-03 3.11876165e-03 9.99969949e-01 6.07612464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66907232899996 meters 0.28028824685848336 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.88, Z:60.76 [[ 9.99952804e-01 6.85500031e-03 -6.88463110e-03 -3.70374176e+01] [-6.88125600e-03 9.99969114e-01 -3.79724612e-03 -6.88812703e+01] [ 6.85838834e-03 3.84444182e-03 9.99969091e-01 6.07614860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699072329 meters 0.27229342185441174 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.88, Z:60.76 [[ 9.99953890e-01 6.93668001e-03 -6.64084205e-03 -3.70380267e+01] [-6.96056323e-03 9.99969366e-01 -3.58008246e-03 -6.88819933e+01] [ 6.61580473e-03 3.62614138e-03 9.99971541e-01 6.07614685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72907232899996 meters 0.27256625971847137 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.88, Z:60.76 [[ 9.99954740e-01 7.11807549e-03 -6.31279737e-03 -3.70386766e+01] [-7.13807093e-03 9.99969560e-01 -3.15059090e-03 -6.88832450e+01] [ 6.29017907e-03 3.19550950e-03 9.99975111e-01 6.07611932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759072329 meters 0.27530249478847096 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99956808e-01 7.34213984e-03 -5.69874135e-03 -3.70398629e+01] [-7.35664212e-03 9.99969744e-01 -2.52804450e-03 -6.88850609e+01] [ 5.68000767e-03 2.56985891e-03 9.99980566e-01 6.07606188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78907232899996 meters 0.2771935447684556 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99957573e-01 7.32195722e-03 -5.58946565e-03 -3.70400517e+01] [-7.33619215e-03 9.99969888e-01 -2.53050119e-03 -6.88850131e+01] [ 5.57076912e-03 2.57139922e-03 9.99981177e-01 6.07604948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819072329 meters 0.26716292423427807 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99979407e-01 3.04464111e-03 -5.64942340e-03 -3.70397854e+01] [-3.08273729e-03 9.99972487e-01 -6.74696545e-03 -6.88852293e+01] [ 5.62872588e-03 6.76424219e-03 9.99961280e-01 6.07602952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84907232899997 meters 0.27763471539937035 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99983874e-01 3.13505832e-03 -4.73538621e-03 -3.70415079e+01] [-3.16413724e-03 9.99976108e-01 -6.14581336e-03 -6.88869509e+01] [ 4.71600559e-03 6.16069766e-03 9.99969902e-01 6.07593311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87907232899994 meters 0.272812642435806 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99985073e-01 3.29073200e-03 -4.36183392e-03 -3.70420492e+01] [-3.31574450e-03 9.99978031e-01 -5.73962640e-03 -6.88880070e+01] [ 4.34285052e-03 5.75400345e-03 9.99974015e-01 6.07587042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90907232899997 meters 0.327750631519471 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.89, Z:60.76 [[ 9.99988254e-01 3.46619485e-03 -3.38796143e-03 -3.70438828e+01] [-3.48287584e-03 9.99981781e-01 -4.93017242e-03 -6.88903288e+01] [ 3.37081077e-03 4.94191436e-03 9.99982107e-01 6.07576411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93907232899994 meters 0.2653159308057653 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.76 [[ 9.99990266e-01 3.48834593e-03 -2.70186280e-03 -3.70454219e+01] [-3.50082698e-03 9.99983160e-01 -4.62855417e-03 -6.88912917e+01] [ 2.68567130e-03 4.63796786e-03 9.99985638e-01 6.07573442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96907232899997 meters 0.32549867769575797 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.76 [[ 9.99992145e-01 3.42414031e-03 -1.99644546e-03 -3.70468396e+01] [-3.43306768e-03 9.99984047e-01 -4.48548466e-03 -6.88916821e+01] [ 1.98105468e-03 4.49230336e-03 9.99987947e-01 6.07568000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99907232899994 meters 0.3138122616824284 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.89, Z:60.76 [[ 9.99999107e-01 -5.76968415e-04 -1.20541655e-03 -3.70481482e+01] [ 5.67541674e-04 9.99969371e-01 -7.80607830e-03 -6.88944179e+01] [ 1.20988349e-03 7.80538720e-03 9.99968806e-01 6.07556718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.029072329 meters 0.3106062855063701 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.76 [[ 9.99999772e-01 -5.50866114e-04 -3.91381350e-04 -3.70498084e+01] [ 5.47953195e-04 9.99972438e-01 -7.40418895e-03 -6.88955685e+01] [ 3.95449279e-04 7.40397280e-03 9.99972512e-01 6.07550578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.05907232899995 meters 0.2293181141809645 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.75 [[ 9.99998319e-01 -1.40217491e-03 1.18153878e-03 -3.70537346e+01] [ 1.41085222e-03 9.99971805e-01 -7.37553409e-03 -6.88972335e+01] [-1.17116368e-03 7.37718867e-03 9.99972102e-01 6.07548909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.089072329 meters 0.28991821057714307 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.90, Z:60.75 [[ 9.99995867e-01 -1.61476034e-03 2.37886827e-03 -3.70565525e+01] [ 1.63185855e-03 9.99972725e-01 -7.20321996e-03 -6.88981582e+01] [-2.36717191e-03 7.20707216e-03 9.99971227e-01 6.07546711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.11907232899995 meters 0.278938958815339 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.90, Z:60.75 [[ 9.99991944e-01 -1.76397308e-03 3.60572375e-03 -3.70593400e+01] [ 1.78850567e-03 9.99975199e-01 -6.81192573e-03 -6.88996346e+01] [-3.59361828e-03 6.81831971e-03 9.99970298e-01 6.07541756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.149072329 meters 0.2644789521921843 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.90, Z:60.75 [[ 9.99987631e-01 -1.65493715e-03 4.69022477e-03 -3.70616419e+01] [ 1.68304844e-03 9.99980608e-01 -5.99599629e-03 -6.89021155e+01] [-4.68021081e-03 6.00381600e-03 9.99971024e-01 6.07534146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.17907232899995 meters 0.2858635889429061 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99979075e-01 -2.05528085e-03 6.13396758e-03 -3.70650534e+01] [ 2.08656051e-03 9.99984831e-01 -5.09738279e-03 -6.89056427e+01] [-6.12339798e-03 5.11007502e-03 9.99968195e-01 6.07525923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.209072329 meters 0.2738364861799996 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99973155e-01 -2.02399926e-03 7.04220701e-03 -3.70669325e+01] [ 2.05702349e-03 9.99986908e-01 -4.68539312e-03 -6.89068603e+01] [-7.03263158e-03 4.69975332e-03 9.99964227e-01 6.07519823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.23907232899995 meters 0.2707643988589322 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99963982e-01 -1.94324909e-03 8.26189397e-03 -3.70695032e+01] [ 1.97329979e-03 9.99991462e-01 -3.63067129e-03 -6.89103169e+01] [-8.25476813e-03 3.64684371e-03 9.99959279e-01 6.07510112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.269072329 meters 0.26220766905214304 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99957878e-01 -1.95355854e-03 8.96804294e-03 -3.70709101e+01] [ 1.98355899e-03 9.99992463e-01 -3.33758750e-03 -6.89111313e+01] [-8.96145518e-03 3.35523555e-03 9.99954216e-01 6.07504346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.29907232899996 meters 0.24817306271312425 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99956821e-01 -1.78211851e-03 9.12029830e-03 -3.70707751e+01] [ 1.80929904e-03 9.99993944e-01 -2.97284146e-03 -6.89119364e+01] [-9.11494511e-03 2.98921445e-03 9.99953990e-01 6.07496515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.329072329 meters 0.25375191913189354 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99949835e-01 -1.69035764e-03 9.87267817e-03 -3.70719287e+01] [ 1.71435059e-03 9.99995597e-01 -2.42228008e-03 -6.89133169e+01] [-9.86854018e-03 2.43908380e-03 9.99948330e-01 6.07484687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.35907232899996 meters 0.24528980494509448 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99944666e-01 -1.77626472e-03 1.03686894e-02 -3.70729565e+01] [ 1.80124050e-03 9.99995498e-01 -2.39992766e-03 -6.89133376e+01] [-1.03643798e-02 2.41847136e-03 9.99943364e-01 6.07481410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.389072329 meters 0.25866359947759227 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.91, Z:60.75 [[ 9.99930382e-01 -2.34826818e-03 1.15635689e-02 -3.70760188e+01] [ 2.38018177e-03 9.99993395e-01 -2.74685114e-03 -6.89132504e+01] [-1.15570421e-02 2.77418330e-03 9.99929367e-01 6.07484639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41907232899996 meters 0.23799798433479072 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.91, Z:60.75 [[ 9.99921698e-01 -2.47142617e-03 1.22674629e-02 -3.70778324e+01] [ 2.50502705e-03 9.99993151e-01 -2.72441546e-03 -6.89135585e+01] [-1.22606457e-02 2.75493246e-03 9.99921040e-01 6.07486160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.449072329 meters 0.23474028287545712 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.91, Z:60.75 [[ 9.99913195e-01 -2.54572618e-03 1.29275600e-02 -3.70794458e+01] [ 2.57984914e-03 9.99993231e-01 -2.62356173e-03 -6.89140017e+01] [-1.29207936e-02 2.65668515e-03 9.99912994e-01 6.07486050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47907232899996 meters 0.22551690046381703 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99899425e-01 -2.50789238e-03 1.39589046e-02 -3.70816884e+01] [ 2.53458979e-03 9.99994992e-01 -1.89520992e-03 -6.89164825e+01] [-1.39540817e-02 1.93039941e-03 9.99900774e-01 6.07479492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.509072329 meters 0.2462584186098995 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99897299e-01 -2.42409518e-03 1.41250044e-02 -3.70819250e+01] [ 2.44807608e-03 9.99995591e-01 -1.68071919e-03 -6.89170574e+01] [-1.41208679e-02 1.71512567e-03 9.99898825e-01 6.07476614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53907232899996 meters 0.23341411012377034 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99900198e-01 -2.44578288e-03 1.39144320e-02 -3.70813313e+01] [ 2.47077033e-03 9.99995365e-01 -1.77888667e-03 -6.89166757e+01] [-1.39100168e-02 1.81308850e-03 9.99901607e-01 6.07475623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.569072329 meters 0.23376073263380162 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99900673e-01 -2.52257737e-03 1.38665423e-02 -3.70814315e+01] [ 2.54971287e-03 9.99994868e-01 -1.93957406e-03 -6.89162870e+01] [-1.38615785e-02 1.97473711e-03 9.99901974e-01 6.07479136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59907232899997 meters 0.22226665443510427 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99898162e-01 -2.47848518e-03 1.40542902e-02 -3.70822414e+01] [ 2.50425348e-03 9.99995215e-01 -1.81618101e-03 -6.89169447e+01] [-1.40497216e-02 1.85119156e-03 9.99899584e-01 6.07483969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62907232899994 meters 0.21989884693735606 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99896793e-01 -2.46218350e-03 1.41542114e-02 -3.70823627e+01] [ 2.48724395e-03 9.99995370e-01 -1.75319854e-03 -6.89170922e+01] [-1.41498292e-02 1.78822257e-03 9.99898287e-01 6.07481870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65907232899997 meters 0.2634534654521791 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99896974e-01 -2.43505711e-03 1.41460945e-02 -3.70820952e+01] [ 2.45951583e-03 9.99995510e-01 -1.71186895e-03 -6.89170719e+01] [-1.41418625e-02 1.74648512e-03 9.99898474e-01 6.07478169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68907232899994 meters 0.2474997341466428 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99908443e-01 -1.97163933e-03 1.33872762e-02 -3.70795481e+01] [ 1.98902583e-03 9.99997196e-01 -1.28554344e-03 -6.89173818e+01] [-1.33847040e-02 1.31205338e-03 9.99909560e-01 6.07467308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71907232899997 meters 0.24268444548539048 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99912583e-01 -1.98321803e-03 1.30725964e-02 -3.70786663e+01] [ 2.00190497e-03 9.99996993e-01 -1.41654351e-03 -6.89168643e+01] [-1.30697478e-02 1.44258978e-03 9.99913547e-01 6.07465993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.74907232899994 meters 0.2391625240304237 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.92, Z:60.75 [[ 9.99921366e-01 -2.00609699e-03 1.23789454e-02 -3.70768710e+01] [ 2.02859922e-03 9.99996312e-01 -1.80549380e-03 -6.89154063e+01] [-1.23752778e-02 1.83046375e-03 9.99921748e-01 6.07465711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779072329 meters 0.27305701937148935 Centerline is valid? [False, False] Translation: X:-37.08, Y:-68.91, Z:60.75 [[ 9.99925461e-01 -2.15567933e-03 1.20176913e-02 -3.70760484e+01] [ 2.18253968e-03 9.99995149e-01 -2.22240024e-03 -6.89140972e+01] [-1.20128422e-02 2.24846368e-03 9.99925315e-01 6.07467362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.80907232899995 meters 0.24692486872942473 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99934453e-01 -2.03570228e-03 1.12670286e-02 -3.70742365e+01] [ 2.06260429e-03 9.99995049e-01 -2.37657091e-03 -6.89133865e+01] [-1.12621348e-02 2.39965455e-03 9.99933701e-01 6.07468766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839072329 meters 0.24606660229918156 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99941498e-01 -2.06503042e-03 1.06177273e-02 -3.70727659e+01] [ 2.09474197e-03 9.99993920e-01 -2.78793673e-03 -6.89119737e+01] [-1.06119056e-02 2.81001503e-03 9.99939744e-01 6.07472512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.86907232899995 meters 0.257984108177548 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99944250e-01 -2.07976376e-03 1.03524072e-02 -3.70724422e+01] [ 2.11011101e-03 9.99993507e-01 -2.92136075e-03 -6.89117070e+01] [-1.03462643e-02 2.94304261e-03 9.99942145e-01 6.07478098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899072329 meters 0.24382225101383037 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99952940e-01 -1.90731862e-03 9.51213413e-03 -3.70703448e+01] [ 1.93811292e-03 9.99992908e-01 -3.22920415e-03 -6.89102309e+01] [-9.50590755e-03 3.24748777e-03 9.99949544e-01 6.07480653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.92907232899995 meters 0.24402883557535274 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99956697e-01 -2.08688149e-03 9.06911620e-03 -3.70693938e+01] [ 2.12087053e-03 9.99990758e-01 -3.73977816e-03 -6.89086517e+01] [-9.06122791e-03 3.75885064e-03 9.99951881e-01 6.07483763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959072329 meters 0.2504952912847681 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99961139e-01 -2.06303480e-03 8.57117165e-03 -3.70681543e+01] [ 2.09640894e-03 9.99990250e-01 -3.88660910e-03 -6.89080360e+01] [-8.56306987e-03 3.90442674e-03 9.99955714e-01 6.07484437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.98907232899995 meters 0.2183666312829462 Centerline is valid? [False, False] Translation: X:-37.07, Y:-68.91, Z:60.75 [[ 9.99966938e-01 2.02282392e-03 7.87594322e-03 -3.70665399e+01] [-2.02127375e-03 9.99997936e-01 -2.04778601e-04 -6.89059443e+01] [-7.87634120e-03 1.88852394e-04 9.99968963e-01 6.07486864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019072329 meters 0.25004113009988826 Centerline is valid? [False, False] Translation: X:-37.06, Y:-68.90, Z:60.75 [[ 9.99958166e-01 6.03984451e-03 6.86918139e-03 -3.70641660e+01] [-6.06000558e-03 9.99977381e-01 2.91798567e-03 -6.89021133e+01] [-6.85140183e-03 -2.95949087e-03 9.99972149e-01 6.07492043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.04907232899996 meters 0.2302439223000264 Centerline is valid? [False, False] Translation: X:-37.05, Y:-68.90, Z:60.75 [[ 9.99887714e-01 1.48634394e-02 1.90716979e-03 -3.70508578e+01] [-1.48714985e-02 9.99880238e-01 4.28348629e-03 -6.88985665e+01] [-1.84327405e-03 -4.31136779e-03 9.99989007e-01 6.07543196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079072329 meters 0.22953635393463062 Centerline is valid? [False, False] Translation: X:-37.04, Y:-68.90, Z:60.76 [[ 9.99728549e-01 2.30959507e-02 -3.06672142e-03 -3.70391764e+01] [-2.30772673e-02 9.99715715e-01 5.99400233e-03 -6.88957849e+01] [ 3.20428678e-03 -5.92160371e-03 9.99977333e-01 6.07603719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.10907232899996 meters 0.23467677230689651 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99535533e-01 2.93823453e-02 -8.08677340e-03 -3.70253441e+01] [-2.93410417e-02 9.99556039e-01 5.17967995e-03 -6.88955618e+01] [ 8.23537433e-03 -4.93999981e-03 9.99953886e-01 6.07651576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139072329 meters 0.22599800323078081 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.89, Z:60.77 [[ 9.99028279e-01 4.21071111e-02 -1.30187879e-02 -3.70123561e+01] [-4.19711412e-02 9.99063156e-01 1.05467810e-02 -6.88914994e+01] [ 1.34506858e-02 -9.99011905e-03 9.99859628e-01 6.07711999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16907232899996 meters 0.2294690539731763 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.89, Z:60.78 [[ 9.98947817e-01 4.20510243e-02 -1.83021878e-02 -3.69998106e+01] [-4.16618727e-02 9.98907918e-01 2.11485286e-02 -6.88943137e+01] [ 1.91715176e-02 -2.03637730e-02 9.99608808e-01 6.07780949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199072329 meters 0.2294690539731763 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.89, Z:60.78 [[ 9.99090530e-01 3.80350937e-02 -1.92729016e-02 -3.69975540e+01] [-3.77049680e-02 9.99140666e-01 1.72123736e-02 -6.88944349e+01] [ 1.99110140e-02 -1.64700353e-02 9.99666089e-01 6.07778521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22907232899996 meters 0.2406788959840008 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99060856e-01 3.80289881e-02 -2.07654046e-02 -3.69944387e+01] [-3.77035194e-02 9.99163316e-01 1.58465227e-02 -6.88897955e+01] [ 2.13506577e-02 -1.50487117e-02 9.99658785e-01 6.07793046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259072329 meters 0.29036855060807387 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.79 [[ 9.98470174e-01 4.93384807e-02 -2.49605020e-02 -3.69841833e+01] [-4.88299955e-02 9.98594916e-01 2.05870017e-02 -6.88835274e+01] [ 2.59411618e-02 -1.93366860e-02 9.99476437e-01 6.07856207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28907232899996 meters 0.2855219090737022 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.79 [[ 9.98413028e-01 4.97181464e-02 -2.64486616e-02 -3.69806651e+01] [-4.92251329e-02 9.98607425e-01 1.89762401e-02 -6.88772305e+01] [ 2.73552933e-02 -1.76441865e-02 9.99470045e-01 6.07871203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319072329 meters 0.2878949360113461 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.87, Z:60.79 [[ 9.98598502e-01 4.49491514e-02 -2.79393029e-02 -3.69779638e+01] [-4.46038164e-02 9.98921938e-01 1.28632108e-02 -6.88720171e+01] [ 2.84873730e-02 -1.15989835e-02 9.99526855e-01 6.07885209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34907232899997 meters 0.25732080498739207 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.88, Z:60.79 [[ 9.98580082e-01 4.29303151e-02 -3.15405755e-02 -3.69672862e+01] [-4.22182498e-02 9.98845806e-01 2.29057905e-02 -6.88784545e+01] [ 3.24875244e-02 -2.15416782e-02 9.99239970e-01 6.07945107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37907232899994 meters 0.28010270983091246 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.88, Z:60.80 [[ 9.98571821e-01 4.25137799e-02 -3.23557851e-02 -3.69657416e+01] [-4.18204395e-02 9.98887020e-01 2.18121882e-02 -6.88752999e+01] [ 3.32470924e-02 -2.04279034e-02 9.99238376e-01 6.07953580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40907232899997 meters 0.2796055429241227 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.87, Z:60.80 [[ 9.98544209e-01 4.21554944e-02 -3.36508159e-02 -3.69629066e+01] [-4.14914373e-02 9.98934758e-01 2.01942869e-02 -6.88702642e+01] [ 3.44662698e-02 -1.87686675e-02 9.99229610e-01 6.07963290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43907232899994 meters 0.2706152775084811 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.87, Z:60.80 [[ 9.98526640e-01 4.17639280e-02 -3.46456982e-02 -3.69609443e+01] [-4.11188198e-02 9.98971141e-01 1.91285469e-02 -6.88669829e+01] [ 3.54089359e-02 -1.76757734e-02 9.99216580e-01 6.07972322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46907232899997 meters 0.2567792578090434 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.86, Z:60.80 [[ 9.98326534e-01 4.56204805e-02 -3.55373572e-02 -3.69589027e+01] [-4.48756931e-02 9.98761596e-01 2.14813043e-02 -6.88611787e+01] [ 3.64733350e-02 -1.98505925e-02 9.99137453e-01 6.07987041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49907232899994 meters 0.2553626751529128 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.86, Z:60.80 [[ 9.98325256e-01 4.51620886e-02 -3.61534087e-02 -3.69579206e+01] [-4.44400579e-02 9.98801036e-01 2.05321899e-02 -6.88584642e+01] [ 3.70373386e-02 -1.88911442e-02 9.99135306e-01 6.07995848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.529072329 meters 0.30165448170638365 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.86, Z:60.80 [[ 9.98328133e-01 4.47666969e-02 -3.65634066e-02 -3.69574678e+01] [-4.40670692e-02 9.98833891e-01 1.97218789e-02 -6.88562880e+01] [ 3.74036531e-02 -1.80776643e-02 9.99136710e-01 6.08004644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.55907232899995 meters 0.26051656719372784 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.86, Z:60.80 [[ 9.98330688e-01 4.45707006e-02 -3.67326766e-02 -3.69573626e+01] [-4.38814912e-02 9.98849129e-01 1.93605842e-02 -6.88553571e+01] [ 3.75533168e-02 -1.77163807e-02 9.99137567e-01 6.08008993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.589072329 meters 0.30383836492099153 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.85, Z:60.80 [[ 9.98331322e-01 4.43071509e-02 -3.70330583e-02 -3.69570846e+01] [-4.36324632e-02 9.98870129e-01 1.88327637e-02 -6.88540247e+01] [ 3.78256418e-02 -1.71854943e-02 9.99136567e-01 6.08015753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.61907232899995 meters 0.2984918336799065 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.85, Z:60.80 [[ 9.98339513e-01 4.38876568e-02 -3.73107227e-02 -3.69569329e+01] [-4.32375634e-02 9.98901643e-01 1.80560563e-02 -6.88519604e+01] [ 3.80621802e-02 -1.64128498e-02 9.99140575e-01 6.08023871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.649072329 meters 0.29175002831945723 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.86, Z:60.80 [[ 9.98748993e-01 4.16277754e-02 -2.77051925e-02 -3.69534948e+01] [-4.09130995e-02 9.98827450e-01 2.58813490e-02 -6.88584769e+01] [ 2.87500898e-02 -2.47154659e-02 9.99281031e-01 6.08032979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.67907232899995 meters 0.2907008134518591 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.86, Z:60.80 [[ 9.98909949e-01 3.70913101e-02 -2.83398758e-02 -3.69526272e+01] [-3.64943777e-02 9.99106876e-01 2.12981161e-02 -6.88576700e+01] [ 2.91045398e-02 -2.02406539e-02 9.99371423e-01 6.08037492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.709072329 meters 0.26739307367323356 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.86, Z:60.80 [[ 9.99053207e-01 3.27200028e-02 -2.86721376e-02 -3.69524007e+01] [-3.22392032e-02 9.99334338e-01 1.70738230e-02 -6.88580817e+01] [ 2.92117071e-02 -1.61332908e-02 9.99443041e-01 6.08040584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.73907232899995 meters 0.30904844520654756 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.87, Z:60.80 [[ 9.99492042e-01 2.88371796e-02 -1.35674267e-02 -3.69571033e+01] [-2.86097697e-02 9.99451693e-01 1.66671858e-02 -6.88651302e+01] [ 1.40406222e-02 -1.62705586e-02 9.99769038e-01 6.07999899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.769072329 meters 0.29963649869617076 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.87, Z:60.80 [[ 9.99693410e-01 2.03981673e-02 -1.40356809e-02 -3.69566364e+01] [-2.02788837e-02 9.99757468e-01 8.58908326e-03 -6.88667074e+01] [ 1.42074783e-02 -8.30182199e-03 9.99864604e-01 6.08001841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.79907232899996 meters 0.26380629000504036 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99857260e-01 1.63079346e-02 -4.41708074e-03 -3.69502951e+01] [-1.62440536e-02 9.99768191e-01 1.41313633e-02 -6.88776747e+01] [ 4.64651017e-03 -1.40575949e-02 9.99890391e-01 6.07986659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.829072329 meters 0.3390385295578785 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99915284e-01 1.20508674e-02 -4.91949100e-03 -3.69493323e+01] [-1.20018780e-02 9.99879270e-01 9.86916866e-03 -6.88777392e+01] [ 5.03782912e-03 -9.80928945e-03 9.99939197e-01 6.07988206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.85907232899996 meters 0.3247071162219136 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99958855e-01 7.60932040e-03 -4.93824340e-03 -3.69494564e+01] [-7.58252662e-03 9.99956553e-01 5.42200160e-03 -6.88774603e+01] [ 4.97928659e-03 -5.38433415e-03 9.99973107e-01 6.07989339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.889072329 meters 0.28828761191809105 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99979874e-01 3.30700323e-03 -5.41430237e-03 -3.69485279e+01] [-3.30106548e-03 9.99993941e-01 1.10524935e-03 -6.88774010e+01] [ 5.41792463e-03 -1.08735414e-03 9.99984732e-01 6.07992143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91907232899996 meters 0.2889197661134086 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99983190e-01 3.16906682e-03 -4.85548848e-03 -3.69497179e+01] [-3.16405958e-03 9.99994455e-01 1.03858796e-03 -6.88772513e+01] [ 4.85875291e-03 -1.02320745e-03 9.99987673e-01 6.07989401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.949072329 meters 0.3114552653694368 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99983669e-01 3.21769017e-03 -4.72319332e-03 -3.69498597e+01] [-3.21218084e-03 9.99994152e-01 1.17356414e-03 -6.88775161e+01] [ 4.72694186e-03 -1.15837322e-03 9.99988157e-01 6.07986793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97907232899996 meters 0.2789922618947189 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99986959e-01 -8.56128666e-04 -5.03476699e-03 -3.69488749e+01] [ 8.42148415e-04 9.99995786e-01 -2.77820707e-03 -6.88782543e+01] [ 5.03712428e-03 2.77393082e-03 9.99983466e-01 6.07984064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.009072329 meters 0.3518868259068183 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99989137e-01 -6.09157820e-04 -4.62112883e-03 -3.69497519e+01] [ 5.99018358e-04 9.99997411e-01 -2.19521937e-03 -6.88800915e+01] [ 4.62245411e-03 2.19242739e-03 9.99986913e-01 6.07980988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03907232899996 meters 0.2920298291266266 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99989852e-01 -6.19920510e-04 -4.46224887e-03 -3.69500759e+01] [ 6.10254598e-04 9.99997465e-01 -2.16718821e-03 -6.88801376e+01] [ 4.46358104e-03 2.16444311e-03 9.99987696e-01 6.07980019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.069072329 meters 0.29002941246011094 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99990963e-01 -5.60920531e-04 -4.21415171e-03 -3.69505987e+01] [ 5.52607428e-04 9.99997900e-01 -1.97356902e-03 -6.88807065e+01] [ 4.21524988e-03 1.97122241e-03 9.99989173e-01 6.07978511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09907232899997 meters 0.34132739675490387 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99990271e-01 -5.93314594e-04 -4.37114039e-03 -3.69502345e+01] [ 5.84138367e-04 9.99997624e-01 -2.10025306e-03 -6.88802287e+01] [ 4.37237612e-03 2.09767927e-03 9.99988241e-01 6.07979542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12907232899994 meters 0.33162451879250415 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99990797e-01 -5.17433121e-04 -4.25889845e-03 -3.69503636e+01] [ 5.09207647e-04 9.99998004e-01 -1.93221963e-03 -6.88806362e+01] [ 4.25988974e-03 1.93003318e-03 9.99989064e-01 6.07977449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15907232899997 meters 0.271317584165427 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99992307e-01 -4.88595425e-04 -3.89203548e-03 -3.69511182e+01] [ 4.81789401e-04 9.99998354e-01 -1.74945142e-03 -6.88811760e+01] [ 3.89288385e-03 1.74756282e-03 9.99990896e-01 6.07974908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18907232899994 meters 0.3251550815601068 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99993700e-01 -2.18989592e-04 -3.54277083e-03 -3.69517393e+01] [ 2.14973532e-04 9.99999334e-01 -1.13393400e-03 -6.88829436e+01] [ 3.54301679e-03 1.13316525e-03 9.99993081e-01 6.07970648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21907232899997 meters 0.31440738315896605 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99994502e-01 -2.72398028e-04 -3.30491740e-03 -3.69522982e+01] [ 2.68591502e-04 9.99999300e-01 -1.15216577e-03 -6.88828996e+01] [ 3.30522893e-03 1.15127177e-03 9.99993875e-01 6.07970215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.24907232899994 meters 0.2998583095394849 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.80 [[ 9.99997139e-01 -2.26327372e-04 -2.38122524e-03 -3.69542033e+01] [ 2.24860219e-04 9.99999785e-01 -6.16383518e-04 -6.88846413e+01] [ 2.38136423e-03 6.15846312e-04 9.99996975e-01 6.07963870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279072329 meters 0.2958922699623707 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.80 [[ 9.99997890e-01 2.25838728e-06 -2.05416603e-03 -3.69547070e+01] [-2.43736412e-06 9.99999996e-01 -8.71262119e-05 -6.88861096e+01] [ 2.05416583e-03 8.71310349e-05 9.99997886e-01 6.07958668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.30907232899995 meters 0.2896181267510379 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.80 [[ 9.99998551e-01 1.16575738e-05 -1.70216444e-03 -3.69553793e+01] [-1.15869855e-05 9.99999999e-01 4.14795930e-05 -6.88864403e+01] [ 1.70216493e-03 -4.14598099e-05 9.99998550e-01 6.07955436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339072329 meters 0.2929671217250937 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.80 [[ 9.99999071e-01 6.12924815e-05 -1.36193686e-03 -3.69561260e+01] [-6.09523871e-05 9.99999967e-01 2.49753869e-04 -6.88870966e+01] [ 1.36195213e-03 -2.49670623e-04 9.99999041e-01 6.07953899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.36907232899995 meters 0.2862850206203361 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.80 [[ 9.99999374e-01 2.59423016e-05 -1.11880942e-03 -3.69567379e+01] [-2.56355252e-05 9.99999962e-01 2.74212396e-04 -6.88872296e+01] [ 1.11881649e-03 -2.74183543e-04 9.99999337e-01 6.07954086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399072329 meters 0.27183907200605606 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999738e-01 1.44329569e-04 -7.08654220e-04 -3.69574720e+01] [-1.43877604e-04 9.99999786e-01 6.37789243e-04 -6.88882439e+01] [ 7.08746120e-04 -6.37687117e-04 9.99999546e-01 6.07949521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.42907232899995 meters 0.2784433666839582 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999650e-01 2.72646530e-04 -7.90615394e-04 -3.69571240e+01] [-2.71992400e-04 9.99999621e-01 8.27357959e-04 -6.88886539e+01] [ 7.90840670e-04 -8.27142628e-04 9.99999345e-01 6.07947615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459072329 meters 0.35010652699654277 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999849e-01 2.64081225e-04 -4.81468230e-04 -3.69577570e+01] [-2.63634921e-04 9.99999536e-01 9.26791690e-04 -6.88889341e+01] [ 4.81712754e-04 -9.26664618e-04 9.99999455e-01 6.07945341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.48907232899995 meters 0.33758221876402017 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999732e-01 2.72831379e-04 -6.79167141e-04 -3.69572255e+01] [-2.72242438e-04 9.99999587e-01 8.67093231e-04 -6.88886418e+01] [ 6.79403430e-04 -8.66908100e-04 9.99999393e-01 6.07945063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519072329 meters 0.2636620295391862 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999866e-01 1.99193059e-04 -4.77443776e-04 -3.69576690e+01] [-1.98817668e-04 9.99999671e-01 7.86170584e-04 -6.88883687e+01] [ 4.77600218e-04 -7.86075555e-04 9.99999577e-01 6.07944663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.54907232899996 meters 0.2520964523864971 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999932e-01 1.78312662e-04 -3.22165555e-04 -3.69578489e+01] [-1.78057543e-04 9.99999671e-01 7.91741925e-04 -6.88882657e+01] [ 3.22306627e-04 -7.91684507e-04 9.99999635e-01 6.07941649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579072329 meters 0.24512197507533562 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999944e-01 3.32656396e-04 -3.21936565e-05 -3.69582787e+01] [-3.32618844e-04 9.99999272e-01 1.15950350e-03 -6.88892357e+01] [ 3.25793493e-05 -1.15949273e-03 9.99999327e-01 6.07937225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.60907232899996 meters 0.2926887143257653 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999911e-01 3.74455915e-04 -1.95290607e-04 -3.69579208e+01] [-3.74225875e-04 9.99999238e-01 1.17664707e-03 -6.88892743e+01] [ 1.95731061e-04 -1.17657388e-03 9.99999289e-01 6.07938083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639072329 meters 0.2954262855693889 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999910e-01 4.18544914e-04 7.33585633e-05 -3.69584654e+01] [-4.18643191e-04 9.99999008e-01 1.34482615e-03 -6.88897673e+01] [-7.27956204e-05 -1.34485674e-03 9.99999093e-01 6.07936104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66907232899996 meters 0.3037411931980673 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999920e-01 3.76511474e-04 -1.37094271e-04 -3.69578979e+01] [-3.76349715e-04 9.99999235e-01 1.17803196e-03 -6.88891543e+01] [ 1.37537709e-04 -1.17798027e-03 9.99999297e-01 6.07935456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699072329 meters 0.30108996493231455 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999949e-01 3.19386819e-04 -2.06495333e-06 -3.69580300e+01] [-3.19384328e-04 9.99999332e-01 1.11121505e-03 -6.88888248e+01] [ 2.41985939e-06 -1.11121433e-03 9.99999383e-01 6.07932592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72907232899996 meters 0.28597768948696095 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999962e-01 2.58230654e-04 -1.01393899e-04 -3.69577778e+01] [-2.58133639e-04 9.99999510e-01 9.55665439e-04 -6.88882873e+01] [ 1.01640632e-04 -9.55639229e-04 9.99999538e-01 6.07933033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759072329 meters 0.29263576047820933 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999885e-01 2.04477989e-04 -4.34681520e-04 -3.69569389e+01] [-2.04164534e-04 9.99999719e-01 7.21035725e-04 -6.88873196e+01] [ 4.34828834e-04 -7.20946896e-04 9.99999646e-01 6.07934010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78907232899996 meters 0.28749271021263534 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999814e-01 1.54990150e-04 -5.90302437e-04 -3.69564811e+01] [-1.54654151e-04 9.99999826e-01 5.69199923e-04 -6.88867235e+01] [ 5.90390554e-04 -5.69108525e-04 9.99999664e-01 6.07933494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819072329 meters 0.2910186860477602 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999547e-01 1.28038503e-04 -9.42806285e-04 -3.69553361e+01] [-1.27699915e-04 9.99999927e-01 3.59178516e-04 -6.88856607e+01] [ 9.42852205e-04 -3.59057958e-04 9.99999491e-01 6.07930372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84907232899997 meters 0.29609857383306004 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999502e-01 1.52256100e-04 -9.86778634e-04 -3.69551073e+01] [-1.51882323e-04 9.99999917e-01 3.78849440e-04 -6.88855820e+01] [ 9.86836234e-04 -3.78699377e-04 9.99999441e-01 6.07929065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87907232899994 meters 0.2899591636470995 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.79 [[ 9.99999446e-01 1.18987909e-04 -1.04555707e-03 -3.69548981e+01] [-1.18685671e-04 9.99999951e-01 2.89126636e-04 -6.88852168e+01] [ 1.04559143e-03 -2.89002383e-04 9.99999412e-01 6.07928517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90907232899997 meters 0.2605728555543859 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.79 [[ 9.99999436e-01 2.80177273e-04 -1.02409892e-03 -3.69547410e+01] [-2.79596550e-04 9.99999800e-01 5.67156446e-04 -6.88858594e+01] [ 1.02425762e-03 -5.66869792e-04 9.99999315e-01 6.07925586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93907232899994 meters 0.2568059110124714 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999700e-01 3.25279459e-04 -7.02449971e-04 -3.69553770e+01] [-3.24736393e-04 9.99999648e-01 7.73078262e-04 -6.88864238e+01] [ 7.02701191e-04 -7.72849919e-04 9.99999454e-01 6.07923056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96907232899997 meters 0.25721514609329654 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999710e-01 3.88565309e-04 -6.55619963e-04 -3.69553409e+01] [-3.87967326e-04 9.99999509e-01 9.11968512e-04 -6.88867098e+01] [ 6.55974001e-04 -9.11713888e-04 9.99999369e-01 6.07920893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99907232899994 meters 0.2923224124132063 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999744e-01 4.18951136e-04 -5.80560795e-04 -3.69554536e+01] [-4.18381954e-04 9.99999432e-01 9.80173649e-04 -6.88868462e+01] [ 5.80971110e-04 -9.79930501e-04 9.99999351e-01 6.07920045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.029072329 meters 0.26301159560161896 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.79 [[ 9.99999755e-01 4.74493918e-04 -5.14670568e-04 -3.69556493e+01] [-4.73923317e-04 9.99999274e-01 1.10822781e-03 -6.88872853e+01] [ 5.15196041e-04 -1.10798362e-03 9.99999253e-01 6.07920287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.05907232899995 meters 0.28889774739466745 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.79 [[ 9.99999375e-01 3.73904502e-04 -1.05372536e-03 -3.69542408e+01] [-3.73236101e-04 9.99999729e-01 6.34446723e-04 -6.88855222e+01] [ 1.05396230e-03 -6.34053038e-04 9.99999244e-01 6.07920345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.089072329 meters 0.29989127360935847 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99999269e-01 1.76314506e-04 -1.19612772e-03 -3.69537914e+01] [-1.76063190e-04 9.99999962e-01 2.10210209e-04 -6.88840765e+01] [ 1.19616474e-03 -2.09999461e-04 9.99999263e-01 6.07919642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.11907232899995 meters 0.29989127360935847 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99999269e-01 1.76314506e-04 -1.19612772e-03 -3.69537914e+01] [-1.76063190e-04 9.99999962e-01 2.10210209e-04 -6.88840765e+01] [ 1.19616474e-03 -2.09999461e-04 9.99999263e-01 6.07919642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.149072329 meters 0.279869134034968 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99998074e-01 3.92225124e-04 -1.92329881e-03 -3.69516964e+01] [-3.91700892e-04 9.99999886e-01 2.72938401e-04 -6.88835446e+01] [ 1.92340564e-03 -2.72184517e-04 9.99998113e-01 6.07915603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.17907232899995 meters 0.28502911456344143 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997701e-01 2.56483940e-04 -2.12889484e-03 -3.69511694e+01] [-2.56608256e-04 9.99999965e-01 -5.81220350e-05 -6.88823977e+01] [ 2.12887986e-03 5.86681934e-05 9.99997732e-01 6.07916214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.209072329 meters 0.28271285058917295 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997156e-01 1.68176218e-04 -2.37894559e-03 -3.69505885e+01] [-1.68926313e-04 9.99999936e-01 -3.15108177e-04 -6.88815107e+01] [ 2.37889244e-03 3.15509148e-04 9.99997121e-01 6.07917735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.23907232899995 meters 0.26220497147915517 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99996842e-01 5.85577851e-05 -2.51238785e-03 -3.69504796e+01] [-6.00297038e-05 9.99999827e-01 -5.85793022e-04 -6.88807512e+01] [ 2.51235311e-03 5.85941991e-04 9.99996672e-01 6.07921859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.269072329 meters 0.27514323226394727 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997076e-01 1.25729264e-04 -2.41496311e-03 -3.69506444e+01] [-1.26788241e-04 9.99999896e-01 -4.38358702e-04 -6.88811537e+01] [ 2.41490774e-03 4.38663609e-04 9.99996988e-01 6.07920717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.29907232899996 meters 0.27155188400842184 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997187e-01 1.54284202e-04 -2.36669753e-03 -3.69505399e+01] [-1.55189890e-04 9.99999915e-01 -3.82501145e-04 -6.88811503e+01] [ 2.36663831e-03 3.82867356e-04 9.99997126e-01 6.07917594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.329072329 meters 0.2601563799451975 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997243e-01 2.74976212e-04 -2.33210972e-03 -3.69502141e+01] [-2.75349455e-04 9.99999949e-01 -1.59725670e-04 -6.88814949e+01] [ 2.33206568e-03 1.60367375e-04 9.99997268e-01 6.07911654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.35907232899996 meters 0.25646432214957343 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997812e-01 3.05373506e-04 -2.06965991e-03 -3.69506336e+01] [-3.05416781e-04 9.99999953e-01 -2.05932880e-05 -6.88817791e+01] [ 2.06965353e-03 2.12253518e-05 9.99997858e-01 6.07908359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.389072329 meters 0.2774045761930709 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99998137e-01 3.84667630e-04 -1.89159642e-03 -3.69507403e+01] [-3.84317343e-04 9.99999909e-01 1.85540474e-04 -6.88821773e+01] [ 1.89166761e-03 -1.84813155e-04 9.99998194e-01 6.07903441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41907232899996 meters 0.24514120275632734 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99998114e-01 3.68494907e-04 -1.90710694e-03 -3.69505505e+01] [-3.68224062e-04 9.99999922e-01 1.42367656e-04 -6.88819116e+01] [ 1.90715925e-03 -1.41665144e-04 9.99998171e-01 6.07901511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.449072329 meters 0.2727963215780198 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99998267e-01 4.49625065e-04 -1.80656522e-03 -3.69505590e+01] [-4.49063770e-04 9.99999851e-01 3.11091165e-04 -6.88822579e+01] [ 1.80670482e-03 -3.10279363e-04 9.99998320e-01 6.07897979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47907232899996 meters 0.2669480057909943 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99998400e-01 3.18099643e-04 -1.76055086e-03 -3.69506993e+01] [-3.17944319e-04 9.99999946e-01 8.85040562e-05 -6.88815821e+01] [ 1.76057892e-03 -8.79441574e-05 9.99998446e-01 6.07898515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.509072329 meters 0.26342896556439754 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997734e-01 4.37088226e-04 -2.08349401e-03 -3.69497720e+01] [-4.36701216e-04 9.99999887e-01 1.86202136e-04 -6.88816426e+01] [ 2.08357516e-03 -1.85291849e-04 9.99997812e-01 6.07897087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53907232899996 meters 0.25503246552689623 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99996950e-01 2.45705124e-04 -2.45747045e-03 -3.69488578e+01] [-2.46597328e-04 9.99999904e-01 -3.62761703e-04 -6.88797676e+01] [ 2.45738109e-03 3.63366602e-04 9.99996915e-01 6.07898906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.569072329 meters 0.3463685796344017 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99996551e-01 1.56567025e-04 -2.62188817e-03 -3.69484289e+01] [-1.58144570e-04 9.99999807e-01 -6.01486151e-04 -6.88789180e+01] [ 2.62179349e-03 6.01898714e-04 9.99996382e-01 6.07899434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59907232899997 meters 0.2449825615083423 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99996786e-01 9.49823423e-05 -2.53357635e-03 -3.69486376e+01] [-9.67424369e-05 9.99999754e-01 -6.94594022e-04 -6.88786033e+01] [ 2.53350975e-03 6.94836894e-04 9.99996549e-01 6.07899703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62907232899994 meters 0.3380886517711191 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99997098e-01 1.35731357e-04 -2.40528531e-03 -3.69489378e+01] [-1.37126873e-04 9.99999822e-01 -5.80031733e-04 -6.88789538e+01] [ 2.40520615e-03 5.80359879e-04 9.99996939e-01 6.07899384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65907232899997 meters 0.24817167805454451 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99998133e-01 8.40840888e-05 -1.93048640e-03 -3.69499703e+01] [-8.50851309e-05 9.99999862e-01 -5.18467686e-04 -6.88791860e+01] [ 1.93044254e-03 5.18630974e-04 9.99998002e-01 6.07897155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68907232899994 meters 0.25265159260887393 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99998640e-01 2.48556809e-04 -1.63070739e-03 -3.69504959e+01] [-2.48759136e-04 9.99999961e-01 -1.23871595e-04 -6.88803016e+01] [ 1.63067654e-03 1.24277080e-04 9.99998663e-01 6.07893541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71907232899997 meters 0.3121218992681065 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99992770e-01 -3.17787814e-03 -2.08838008e-03 -3.69479219e+01] [ 3.17122705e-03 9.99989914e-01 -3.18043925e-03 -6.88822620e+01] [ 2.09846606e-03 3.17379353e-03 9.99992762e-01 6.07873500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.74907232899994 meters 0.3000017153711642 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99999261e-01 6.90900865e-04 -9.99885472e-04 -3.69505327e+01] [-6.89825658e-04 9.99999184e-01 1.07527492e-03 -6.88830787e+01] [ 1.00062756e-03 -1.07458438e-03 9.99998922e-01 6.07870730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779072329 meters 0.2979131830641718 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.88, Z:60.79 [[ 9.99999649e-01 7.81876388e-04 -3.02288473e-04 -3.69519725e+01] [-7.81417424e-04 9.99998546e-01 1.51544421e-03 -6.88844400e+01] [ 3.03472923e-04 -1.51520746e-03 9.99998806e-01 6.07865981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.80907232899995 meters 0.3008798565608523 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.79 [[ 9.99999543e-01 9.36143194e-04 -1.94443794e-04 -3.69519960e+01] [-9.35787476e-04 9.99997903e-01 1.82151658e-03 -6.88852192e+01] [ 1.96148587e-04 -1.82133379e-03 9.99998322e-01 6.07862248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839072329 meters 0.2917292677552615 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.79 [[ 9.99999594e-01 8.95177386e-04 1.04748223e-04 -3.69526247e+01] [-8.95369299e-04 9.99997894e-01 1.84665980e-03 -6.88852648e+01] [-1.03094915e-04 -1.84675284e-03 9.99998289e-01 6.07860463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.86907232899995 meters 0.2826229259732251 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.79 [[ 9.99994799e-01 -3.20609009e-03 3.49251661e-04 -3.69529856e+01] [ 3.20677881e-03 9.99992879e-01 -1.98959584e-03 -6.88866319e+01] [-3.42870350e-04 1.99070546e-03 9.99997960e-01 6.07857006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899072329 meters 0.28030461732102063 Centerline is valid? [False, False] Translation: X:-36.95, Y:-68.89, Z:60.79 [[ 9.99993945e-01 -3.26879758e-03 1.19411769e-03 -3.69549599e+01] [ 3.27084056e-03 9.99993184e-01 -1.71294501e-03 -6.88877846e+01] [-1.18851028e-03 1.71684040e-03 9.99997820e-01 6.07854930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.92907232899995 meters 0.27208569865675564 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.78 [[ 9.99991468e-01 -3.39424656e-03 2.35432967e-03 -3.69576176e+01] [ 3.39687969e-03 9.99993609e-01 -1.11532307e-03 -6.88901399e+01] [-2.35052894e-03 1.12331093e-03 9.99996607e-01 6.07849554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959072329 meters 0.2682792309349481 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.78 [[ 9.99990253e-01 -3.34227985e-03 2.88505047e-03 -3.69585576e+01] [ 3.34471617e-03 9.99994054e-01 -8.40053623e-04 -6.88908362e+01] [-2.88222562e-03 8.49695110e-04 9.99995485e-01 6.07843658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.98907232899995 meters 0.26668603963748877 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.78 [[ 9.99987774e-01 -3.33598449e-03 3.65004893e-03 -3.69601318e+01] [ 3.33783561e-03 9.99994304e-01 -5.01175924e-04 -6.88918893e+01] [-3.64835623e-03 5.13353060e-04 9.99993213e-01 6.07838229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019072329 meters 0.2533500578734696 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.89, Z:60.78 [[ 9.99980397e-01 -3.72594923e-03 5.03214318e-03 -3.69633724e+01] [ 3.72517735e-03 9.99993048e-01 1.62754814e-04 -6.88947525e+01] [-5.03271461e-03 -1.44005998e-04 9.99987325e-01 6.07830987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.04907232899996 meters 0.3012109497049037 Centerline is valid? [False, False] Translation: X:-36.96, Y:-68.90, Z:60.78 [[ 9.99977559e-01 -3.52592662e-03 5.69650255e-03 -3.69645258e+01] [ 3.52144774e-03 9.99993483e-01 7.96089492e-04 -6.88964904e+01] [-5.69927238e-03 -7.76011691e-04 9.99983458e-01 6.07822716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079072329 meters 0.3053411138021103 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99975447e-01 -3.39579980e-03 6.12975352e-03 -3.69652992e+01] [ 3.38852363e-03 9.99993543e-01 1.19702061e-03 -6.88976199e+01] [-6.13377878e-03 -1.17622040e-03 9.99980496e-01 6.07817543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.10907232899996 meters 0.3019827438143608 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99972167e-01 -3.28731001e-03 6.69766894e-03 -3.69664420e+01] [ 3.27633750e-03 9.99993274e-01 1.64857111e-03 -6.88989577e+01] [-6.70304326e-03 -1.62658140e-03 9.99976211e-01 6.07812631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139072329 meters 0.264622460989211 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99965323e-01 -3.46135205e-03 7.57448395e-03 -3.69684786e+01] [ 3.44770937e-03 9.99992412e-01 1.81345428e-03 -6.88998629e+01] [-7.58070348e-03 -1.78727678e-03 9.99969669e-01 6.07809855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16907232899996 meters 0.26569942625154575 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99964649e-01 -3.48856993e-03 7.65052280e-03 -3.69688086e+01] [ 3.47485132e-03 9.99992332e-01 1.80571922e-03 -6.88999667e+01] [-7.65676351e-03 -1.77907096e-03 9.99969104e-01 6.07811683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199072329 meters 0.2731732943705696 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99960650e-01 -3.52651227e-03 8.14016751e-03 -3.69701183e+01] [ 3.51085848e-03 9.99991962e-01 1.93651883e-03 -6.89006393e+01] [-8.14693124e-03 -1.90786365e-03 9.99964993e-01 6.07812700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22907232899996 meters 0.2720121522675799 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99959075e-01 -3.61934323e-03 8.29142958e-03 -3.69706441e+01] [ 3.60421714e-03 9.99991815e-01 1.83852109e-03 -6.89005066e+01] [-8.29801595e-03 -1.80856173e-03 9.99963935e-01 6.07814519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259072329 meters 0.25959434440745854 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99960162e-01 -3.97709497e-03 7.99112135e-03 -3.69700367e+01] [ 3.96868597e-03 9.99991555e-01 1.06787547e-03 -6.88981377e+01] [-7.99530090e-03 -1.03611868e-03 9.99967500e-01 6.07817517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28907232899996 meters 0.2750638986934697 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99961309e-01 -3.84435889e-03 7.91206805e-03 -3.69698092e+01] [ 3.83436760e-03 9.99991833e-01 1.27757282e-03 -6.88987637e+01] [-7.91691488e-03 -1.24718561e-03 9.99967883e-01 6.07816748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319072329 meters 0.24886580896964036 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99959483e-01 -3.80697807e-03 8.15721856e-03 -3.69704330e+01] [ 3.79539950e-03 9.99991769e-01 1.43443636e-03 -6.88993367e+01] [-8.16261229e-03 -1.40341833e-03 9.99965701e-01 6.07816459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34907232899997 meters 0.26173104961289256 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99954761e-01 -3.72582309e-03 8.75175950e-03 -3.69717607e+01] [ 3.71032202e-03 9.99991520e-01 1.78676360e-03 -6.89005563e+01] [-8.75834245e-03 -1.75421093e-03 9.99960106e-01 6.07813557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37907232899994 meters 0.25807819417901207 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99956375e-01 -3.70924579e-03 8.57255214e-03 -3.69714667e+01] [ 3.69427558e-03 9.99991625e-01 1.76147104e-03 -6.89005825e+01] [-8.57901407e-03 -1.72972482e-03 9.99961704e-01 6.07815561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40907232899997 meters 0.2547606063334103 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99951789e-01 -3.94848936e-03 8.99052812e-03 -3.69726896e+01] [ 3.93545976e-03 9.99991181e-01 1.46648922e-03 -6.88999786e+01] [-8.99623925e-03 -1.43103666e-03 9.99958509e-01 6.07818353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43907232899994 meters 0.2882048649204499 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99952685e-01 -3.84035776e-03 8.93748026e-03 -3.69727121e+01] [ 3.82576692e-03 9.99991322e-01 1.64906886e-03 -6.89006338e+01] [-8.94373572e-03 -1.61479812e-03 9.99958700e-01 6.07820437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46907232899997 meters 0.24866127307109268 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99955227e-01 -3.84613980e-03 8.64588520e-03 -3.69719920e+01] [ 3.83302733e-03 9.99991479e-01 1.53267316e-03 -6.89002169e+01] [-8.65170640e-03 -1.49946463e-03 9.99961449e-01 6.07820555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49907232899994 meters 0.23559719157140122 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99952160e-01 -4.01326931e-03 8.92033290e-03 -3.69724343e+01] [ 4.00162362e-03 9.99991118e-01 1.32298694e-03 -6.88995623e+01] [-8.92556317e-03 -1.28722783e-03 9.99959338e-01 6.07816881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.529072329 meters 0.22974653692052566 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99946694e-01 -4.07286286e-03 9.48795792e-03 -3.69736887e+01] [ 4.05948843e-03 9.99990740e-01 1.42845345e-03 -6.88999696e+01] [-9.49368796e-03 -1.38986104e-03 9.99953968e-01 6.07814467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.55907232899995 meters 0.27494564699491786 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99945472e-01 -4.20798424e-03 9.55746620e-03 -3.69738953e+01] [ 4.19652267e-03 9.99990452e-01 1.21896447e-03 -6.88994009e+01] [-9.56250433e-03 -1.17878988e-03 9.99953583e-01 6.07814622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.589072329 meters 0.26691233004066883 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99943073e-01 -4.22090673e-03 9.79971158e-03 -3.69744217e+01] [ 4.20846715e-03 9.99990313e-01 1.28965594e-03 -6.88996304e+01] [-9.80506016e-03 -1.24834076e-03 9.99951150e-01 6.07813181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.61907232899995 meters 0.2557010209918366 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99941666e-01 -4.23852405e-03 9.93475784e-03 -3.69748116e+01] [ 4.22577546e-03 9.99990221e-01 1.30387142e-03 -6.88997776e+01] [-9.94018718e-03 -1.26181331e-03 9.99949799e-01 6.07813763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.649072329 meters 0.2512516927272884 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99941629e-01 -4.31958794e-03 9.90351192e-03 -3.69748843e+01] [ 4.30860068e-03 9.99990079e-01 1.13049900e-03 -6.88993837e+01] [-9.90829696e-03 -1.08776273e-03 9.99950320e-01 6.07815915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.67907232899995 meters 0.24772491534439975 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99939222e-01 -4.44766449e-03 1.00881326e-02 -3.69754415e+01] [ 4.43812567e-03 9.99989683e-01 9.67738848e-04 -6.88990125e+01] [-1.00923327e-02 -9.22907631e-04 9.99948645e-01 6.07817296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.709072329 meters 0.23776303451562628 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99941507e-01 -4.56802412e-03 9.80382517e-03 -3.69749420e+01] [ 4.56186705e-03 9.99989383e-01 6.50298744e-04 -6.88981334e+01] [-9.80669166e-03 -6.05536960e-04 9.99951730e-01 6.07820557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.73907232899995 meters 0.2558123266025326 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.90, Z:60.78 [[ 9.99940970e-01 -4.77642519e-03 9.75919211e-03 -3.69749471e+01] [ 4.77410449e-03 9.99988570e-01 2.61078959e-04 -6.88969949e+01] [-9.76032758e-03 -2.14472145e-04 9.99952344e-01 6.07822557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.769072329 meters 0.22771654471766276 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99938949e-01 -4.80699572e-03 9.94943335e-03 -3.69753732e+01] [ 4.80452101e-03 9.99988421e-01 2.72615144e-04 -6.88970719e+01] [-9.95062860e-03 -2.24796239e-04 9.99950466e-01 6.07821647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.79907232899996 meters 0.27771141411001715 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99932616e-01 -4.81935808e-03 1.05611507e-02 -3.69767783e+01] [ 4.81435143e-03 9.99988286e-01 4.99435387e-04 -6.88979116e+01] [-1.05634339e-02 -4.48556642e-04 9.99944105e-01 6.07819664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.829072329 meters 0.24371013553412252 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99930500e-01 -4.90381987e-03 1.07213339e-02 -3.69772261e+01] [ 4.89985785e-03 9.99987917e-01 3.95781922e-04 -6.88977159e+01] [-1.07231452e-02 -3.43221403e-04 9.99942447e-01 6.07820146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.85907232899996 meters 0.26927359485506636 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99935342e-01 -4.89755876e-03 1.02628742e-02 -3.69761300e+01] [ 4.89543924e-03 9.99987990e-01 2.31633624e-04 -6.88970886e+01] [-1.02638854e-02 -1.81377370e-04 9.99947308e-01 6.07820762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.889072329 meters 0.25514806166551407 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99935720e-01 -5.04065995e-03 1.01562098e-02 -3.69758103e+01] [ 5.04165803e-03 9.99987288e-01 -7.26722766e-05 -6.88960738e+01] [-1.01557143e-02 1.23871742e-04 9.99948422e-01 6.07820215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91907232899996 meters 0.2704600695842453 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99936018e-01 -5.18088897e-03 1.00557406e-02 -3.69757071e+01] [ 5.18489299e-03 9.99986489e-01 -3.72153526e-04 -6.88952270e+01] [-1.00536766e-02 4.24267654e-04 9.99949371e-01 6.07822712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.949072329 meters 0.22243597761530612 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99934007e-01 -5.25177061e-03 1.02176456e-02 -3.69761483e+01] [ 5.25664630e-03 9.99986082e-01 -4.50385692e-04 -6.88950052e+01] [-1.02151380e-02 5.04066518e-04 9.99947697e-01 6.07823722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97907232899996 meters 0.24057749343785512 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.89, Z:60.78 [[ 9.99932879e-01 -5.34143282e-03 1.02813392e-02 -3.69765098e+01] [ 5.34776661e-03 9.99985527e-01 -5.88654262e-04 -6.88947026e+01] [-1.02780462e-02 6.43596954e-04 9.99946972e-01 6.07827184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.009072329 meters 0.24057749343785512 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.89, Z:60.78 [[ 9.99932879e-01 -5.34143282e-03 1.02813392e-02 -3.69765098e+01] [ 5.34776661e-03 9.99985527e-01 -5.88654262e-04 -6.88947026e+01] [-1.02780462e-02 6.43596954e-04 9.99946972e-01 6.07827184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03907232899996 meters 0.23051674225297986 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.89, Z:60.78 [[ 9.99931696e-01 -5.35147440e-03 1.03905915e-02 -3.69766987e+01] [ 5.35769156e-03 9.99985485e-01 -5.70602434e-04 -6.88946998e+01] [-1.03873871e-02 6.26233044e-04 9.99945854e-01 6.07826090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.069072329 meters 0.22079087587215504 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99925526e-01 -5.16382248e-03 1.10579386e-02 -3.69777582e+01] [ 5.16386718e-03 9.99986667e-01 2.45102073e-05 -6.88962826e+01] [-1.10579178e-02 3.25933445e-05 9.99938859e-01 6.07816412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09907232899997 meters 0.23633822286838393 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99916677e-01 -5.05888530e-03 1.18762791e-02 -3.69794623e+01] [ 5.05216254e-03 9.99987060e-01 5.95999533e-04 -6.88980367e+01] [-1.18791405e-02 -5.35948981e-04 9.99929297e-01 6.07810588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12907232899994 meters 0.23317585175246217 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99905668e-01 -5.20322685e-03 1.27114694e-02 -3.69816876e+01] [ 5.19457496e-03 9.99986254e-01 7.13558327e-04 -6.88990139e+01] [-1.27150075e-02 -6.47460334e-04 9.99918951e-01 6.07812518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15907232899997 meters 0.23054786529572116 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.90, Z:60.78 [[ 9.99898326e-01 -5.08110121e-03 1.33236974e-02 -3.69831220e+01] [ 5.06545629e-03 9.99986441e-01 1.20770178e-03 -6.89006780e+01] [-1.33296532e-02 -1.14008838e-03 9.99910506e-01 6.07810370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18907232899994 meters 0.22942627444968178 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.90, Z:60.78 [[ 9.99877391e-01 -5.64069645e-03 1.46077490e-02 -3.69863570e+01] [ 5.61477582e-03 9.99982590e-01 1.81484879e-03 -6.89040648e+01] [-1.46177317e-02 -1.73260704e-03 9.99891654e-01 6.07805963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21907232899997 meters 0.22351721621905515 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.91, Z:60.78 [[ 9.99867712e-01 -5.58414625e-03 1.52766169e-02 -3.69879382e+01] [ 5.54963800e-03 9.99981955e-01 2.30035413e-03 -6.89057405e+01] [-1.52891868e-02 -2.21527013e-03 9.99880660e-01 6.07803391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.24907232899994 meters 0.2644884957061189 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.91, Z:60.78 [[ 9.99851007e-01 -5.62480360e-03 1.63194682e-02 -3.69902248e+01] [ 5.57559750e-03 9.99979777e-01 3.05911127e-03 -6.89083432e+01] [-1.63363450e-02 -2.96766470e-03 9.99862149e-01 6.07795805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279072329 meters 0.21666481596683487 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.91, Z:60.78 [[ 9.99837742e-01 -5.72623582e-03 1.70791990e-02 -3.69921752e+01] [ 5.67174567e-03 9.99978676e-01 3.23717353e-03 -6.89092842e+01] [-1.70973716e-02 -3.13977940e-03 9.99848899e-01 6.07796361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.30907232899995 meters 0.23383299791242168 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.91, Z:60.78 [[ 9.99830279e-01 -5.78075600e-03 1.74927220e-02 -3.69932236e+01] [ 5.72384465e-03 9.99978168e-01 3.30175059e-03 -6.89096224e+01] [-1.75114267e-02 -3.20106459e-03 9.99841539e-01 6.07796271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339072329 meters 0.19937608176987504 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99953690e-01 -5.55134708e-03 7.86134084e-03 -3.70003431e+01] [ 5.59628692e-03 9.99968060e-01 -5.70614927e-03 -6.89003896e+01] [-7.82941293e-03 5.74987934e-03 9.99952818e-01 6.07809620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.36907232899995 meters 0.30388611188133274 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99953061e-01 -5.50623680e-03 7.97232280e-03 -3.70004788e+01] [ 5.55089689e-03 9.99968966e-01 -5.59064351e-03 -6.89006502e+01] [-7.94129197e-03 5.63463463e-03 9.99952592e-01 6.07807634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399072329 meters 0.2859636100211431 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99952309e-01 -5.38595695e-03 8.14687440e-03 -3.70007833e+01] [ 5.42935252e-03 9.99971142e-01 -5.31394757e-03 -6.89014215e+01] [-8.11801861e-03 5.35792639e-03 9.99952694e-01 6.07805734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.42907232899995 meters 0.2772900695899991 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99946951e-01 -5.32534314e-03 8.81678065e-03 -3.70021658e+01] [ 5.36881291e-03 9.99973514e-01 -4.91403921e-03 -6.89026595e+01] [-8.79037818e-03 4.96111417e-03 9.99949057e-01 6.07800739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459072329 meters 0.2166831890428016 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99942414e-01 -5.31170739e-03 9.32493977e-03 -3.70033348e+01] [ 5.35583902e-03 9.99974546e-01 -4.71406853e-03 -6.89033245e+01] [-9.29966266e-03 4.76373995e-03 9.99945410e-01 6.07799222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.48907232899995 meters 0.25885823075264125 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99935984e-01 -5.24543915e-03 1.00256523e-02 -3.70049013e+01] [ 5.28866511e-03 9.99976813e-01 -4.28989769e-03 -6.89047726e+01] [-1.00029174e-02 4.34264538e-03 9.99940540e-01 6.07795871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519072329 meters 0.2725281988094552 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.91, Z:60.78 [[ 9.99936034e-01 -5.05800473e-03 1.01165762e-02 -3.70048830e+01] [ 5.09791187e-03 9.99979311e-01 -3.92283847e-03 -6.89057384e+01] [-1.00965252e-02 3.97416096e-03 9.99941131e-01 6.07792103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.54907232899996 meters 0.27120786303263084 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.91, Z:60.78 [[ 9.99935487e-01 -4.99384137e-03 1.02021586e-02 -3.70049356e+01] [ 5.03280287e-03 9.99980127e-01 -3.79684888e-03 -6.89060144e+01] [-1.01829950e-02 3.84794939e-03 9.99940748e-01 6.07789862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579072329 meters 0.26055969712166255 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99948417e-01 -9.27027989e-04 1.01145671e-02 -3.70049228e+01] [ 9.26063077e-04 9.99999566e-01 1.00081316e-04 -6.89048347e+01] [-1.01146555e-02 -9.07094264e-05 9.99948841e-01 6.07792292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.60907232899996 meters 0.31342539513071305 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99953864e-01 -1.03851404e-03 9.54944213e-03 -3.70036963e+01] [ 1.04163895e-03 9.99999406e-01 -3.22267324e-04 -6.89035169e+01] [-9.54910177e-03 3.32199527e-04 9.99954351e-01 6.07795417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639072329 meters 0.3115934892183501 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99956611e-01 -1.21910542e-03 9.23521403e-03 -3.70029469e+01] [ 1.22665469e-03 9.99998918e-01 -8.11823977e-04 -6.89019249e+01] [-9.23421434e-03 8.23117171e-04 9.99957025e-01 6.07796810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66907232899996 meters 0.25505808861014395 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99960267e-01 -1.16619918e-03 8.83761763e-03 -3.70021341e+01] [ 1.17375498e-03 9.99998950e-01 -8.49821148e-04 -6.89018179e+01] [-8.83661729e-03 8.60160580e-04 9.99960586e-01 6.07799495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699072329 meters 0.3059664045172959 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99960358e-01 -1.26503629e-03 8.81374036e-03 -3.70021162e+01] [ 1.27434228e-03 9.99998636e-01 -1.05031424e-03 -6.89012068e+01] [-8.81239966e-03 1.06150433e-03 9.99960607e-01 6.07800539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72907232899996 meters 0.3611095195805173 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99963094e-01 -1.25165633e-03 8.49964807e-03 -3.70012636e+01] [ 1.26146296e-03 9.99998545e-01 -1.14850655e-03 -6.89007284e+01] [-8.49819816e-03 1.15918615e-03 9.99963218e-01 6.07799924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759072329 meters 0.28760616050518517 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99969648e-01 -1.15362981e-03 7.70539599e-03 -3.69993255e+01] [ 1.16442246e-03 9.99998347e-01 -1.39632129e-03 -6.88995963e+01] [-7.70377242e-03 1.40525125e-03 9.99969338e-01 6.07801277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78907232899996 meters 0.2867133520447437 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99973483e-01 -1.07850958e-03 7.20215190e-03 -3.69981835e+01] [ 1.08881866e-03 9.99998388e-01 -1.42762137e-03 -6.88993874e+01] [-7.20060059e-03 1.43542535e-03 9.99973045e-01 6.07803292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819072329 meters 0.3326386032986916 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99981301e-01 -8.40642561e-04 6.05729213e-03 -3.69955401e+01] [ 8.53793401e-04 9.99997284e-01 -2.16881703e-03 -6.88964856e+01] [-6.05545247e-03 2.17394815e-03 9.99979303e-01 6.07810697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84907232899997 meters 0.2769452467899569 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.90, Z:60.78 [[ 9.99983365e-01 -8.90029542e-04 5.69893177e-03 -3.69946054e+01] [ 9.03967323e-04 9.99996606e-01 -2.44357457e-03 -6.88954461e+01] [-5.69673758e-03 2.44868557e-03 9.99980775e-01 6.07811021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87907232899994 meters 0.3409737718080988 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99987798e-01 -7.34483996e-04 4.88512557e-03 -3.69924200e+01] [ 7.47366073e-04 9.99996247e-01 -2.63569755e-03 -6.88942606e+01] [-4.88317136e-03 2.63931637e-03 9.99984594e-01 6.07809894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90907232899997 meters 0.2614087540296841 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99991527e-01 -4.84466003e-04 4.08799221e-03 -3.69902913e+01] [ 4.94679557e-04 9.99996758e-01 -2.49778690e-03 -6.88939996e+01] [-4.08676886e-03 2.49978798e-03 9.99988525e-01 6.07807798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93907232899994 meters 0.2705076861125384 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99993628e-01 -5.84143748e-04 3.52185145e-03 -3.69888333e+01] [ 5.94889753e-04 9.99995169e-01 -3.05096219e-03 -6.88919697e+01] [-3.52005223e-03 3.05303786e-03 9.99989144e-01 6.07809093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96907232899997 meters 0.3148898832629736 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99989873e-01 3.18214527e-03 3.18245203e-03 -3.69884883e+01] [-3.18247579e-03 9.99994931e-01 9.87971424e-05 -6.88885870e+01] [-3.18212151e-03 -1.08924218e-04 9.99994931e-01 6.07818722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99907232899994 meters 0.2550915386752959 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99991477e-01 3.07949285e-03 2.75000261e-03 -3.69876829e+01] [-3.07881865e-03 9.99995229e-01 -2.49362395e-04 -6.88875430e+01] [-2.75075740e-03 2.40893510e-04 9.99996188e-01 6.07823652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.029072329 meters 0.32320189888599615 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99993917e-01 2.87177567e-03 1.97968196e-03 -3.69861981e+01] [-2.86965181e-03 9.99995305e-01 -1.07484049e-03 -6.88851089e+01] [-1.98275937e-03 1.06915295e-03 9.99997463e-01 6.07831948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.05907232899995 meters 0.3020631699602811 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99994458e-01 2.80504196e-03 1.79329461e-03 -3.69857010e+01] [-2.80276770e-03 9.99995266e-01 -1.26946180e-03 -6.88844007e+01] [-1.79684702e-03 1.26442857e-03 9.99997586e-01 6.07832071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.089072329 meters 0.33052350358862675 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99994716e-01 2.67942902e-03 1.84098554e-03 -3.69857880e+01] [-2.67670168e-03 9.99995319e-01 -1.48232766e-03 -6.88837024e+01] [-1.84494871e-03 1.47739206e-03 9.99997207e-01 6.07832044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.11907232899995 meters 0.29368675241885756 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99995333e-01 2.50483881e-03 1.74907562e-03 -3.69860191e+01] [-2.50163198e-03 9.99995191e-01 -1.83322437e-03 -6.88829021e+01] [-1.75365914e-03 1.82884027e-03 9.99996790e-01 6.07839702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.149072329 meters 0.2838158837076182 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99994697e-01 2.51794764e-03 2.06561583e-03 -3.69868270e+01] [-2.51442293e-03 9.99995382e-01 -1.70719666e-03 -6.88833632e+01] [-2.06990493e-03 1.70199377e-03 9.99996409e-01 6.07840038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.17907232899995 meters 0.2807344416235661 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99993027e-01 2.63750933e-03 2.64358404e-03 -3.69880915e+01] [-2.63411339e-03 9.99995702e-01 -1.28725620e-03 -6.88846963e+01] [-2.64696783e-03 1.28028372e-03 9.99995677e-01 6.07836998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.209072329 meters 0.2951445268395781 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99989405e-01 2.76558176e-03 3.67977247e-03 -3.69903584e+01] [-2.76480342e-03 9.99996154e-01 -2.16588241e-04 -6.88883127e+01] [-3.68035731e-03 2.06412099e-04 9.99993206e-01 6.07828461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.23907232899995 meters 0.2857156727972902 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99985600e-01 2.78896298e-03 4.58490021e-03 -3.69922631e+01] [-2.78994636e-03 9.99996086e-01 2.08100062e-04 -6.88897417e+01] [-4.58430188e-03 -2.20888691e-04 9.99989468e-01 6.07822684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.269072329 meters 0.2852290282849179 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99986858e-01 -9.40077286e-04 5.03989551e-03 -3.69925596e+01] [ 9.54326991e-04 9.99995552e-01 -2.82572210e-03 -6.88931547e+01] [-5.03721669e-03 2.83049467e-03 9.99983307e-01 6.07808774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.29907232899996 meters 0.2785752845169175 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99983971e-01 -8.44375531e-04 5.59869299e-03 -3.69936424e+01] [ 8.58095188e-04 9.99996634e-01 -2.44856161e-03 -6.88942157e+01] [-5.59660664e-03 2.45332658e-03 9.99981329e-01 6.07803735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.329072329 meters 0.2628809669550854 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.90, Z:60.78 [[ 9.99982035e-01 -7.17078669e-04 5.95115657e-03 -3.69942203e+01] [ 7.29513687e-04 9.99997555e-01 -2.08760522e-03 -6.88951704e+01] [-5.94964504e-03 2.09190917e-03 9.99980113e-01 6.07798938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.35907232899996 meters 0.2679779392408413 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99977155e-01 -5.95443770e-04 6.73316728e-03 -3.69958234e+01] [ 6.05447475e-04 9.99998716e-01 -1.48379478e-03 -6.88970083e+01] [-6.73227512e-03 1.48783746e-03 9.99976231e-01 6.07792826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.389072329 meters 0.2471231609280022 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99976603e-01 -5.07925817e-04 6.82163645e-03 -3.69960096e+01] [ 5.16746781e-04 9.99999033e-01 -1.29138595e-03 -6.88975944e+01] [-6.82097393e-03 1.29488080e-03 9.99975899e-01 6.07791999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41907232899996 meters 0.24365034938030541 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99982928e-01 -5.99228676e-04 5.81250518e-03 -3.69937916e+01] [ 6.13196180e-04 9.99996928e-01 -2.40152494e-03 -6.88939193e+01] [-5.81104826e-03 2.40504814e-03 9.99980224e-01 6.07800415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.449072329 meters 0.28474916076838047 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99983490e-01 -5.84266691e-04 5.71641334e-03 -3.69938721e+01] [ 5.98049962e-04 9.99996918e-01 -2.40976262e-03 -6.88941288e+01] [-5.71498777e-03 2.41314154e-03 9.99980758e-01 6.07804820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47907232899996 meters 0.24163531811924907 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99985567e-01 -4.27771114e-04 5.35565673e-03 -3.69929144e+01] [ 4.40076048e-04 9.99997266e-01 -2.29659066e-03 -6.88942130e+01] [-5.35465967e-03 2.29891441e-03 9.99983021e-01 6.07804407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.509072329 meters 0.23084634299568263 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99979868e-01 3.33983502e-03 5.39524437e-03 -3.69932807e+01] [-3.34560383e-03 9.99993841e-01 1.06056867e-03 -6.88915434e+01] [-5.39166901e-03 -1.07859767e-03 9.99984883e-01 6.07808858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53907232899996 meters 0.23102871335049377 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99982640e-01 3.24645502e-03 4.91730368e-03 -3.69923000e+01] [-3.25006212e-03 9.99994455e-01 7.25739166e-04 -6.88905146e+01] [-4.91492034e-03 -7.41708109e-04 9.99987647e-01 6.07812335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.569072329 meters 0.28765065801946355 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99984882e-01 3.29395219e-03 4.40291245e-03 -3.69910130e+01] [-3.29658039e-03 9.99994392e-01 5.89799982e-04 -6.88898615e+01] [-4.40094498e-03 -6.04305620e-04 9.99990133e-01 6.07812658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59907232899997 meters 0.21415496636247242 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99984943e-01 3.20043285e-03 4.45764119e-03 -3.69911453e+01] [-3.20236946e-03 9.99994781e-01 4.27377044e-04 -6.88893507e+01] [-4.45625014e-03 -4.41645623e-04 9.99989973e-01 6.07812967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62907232899994 meters 0.21200835129203205 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99986310e-01 3.16952089e-03 4.16344433e-03 -3.69903708e+01] [-3.17066337e-03 9.99994938e-01 2.67837595e-04 -6.88887376e+01] [-4.16257434e-03 -2.81034808e-04 9.99991297e-01 6.07812490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65907232899997 meters 0.267397028466082 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99987918e-01 3.10418411e-03 3.81146172e-03 -3.69895954e+01] [-3.10427288e-03 9.99995182e-01 1.73751698e-05 -6.88878894e+01] [-3.81138942e-03 -2.92067771e-05 9.99992736e-01 6.07814770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68907232899994 meters 0.2629097805359032 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99990190e-01 2.99215915e-03 3.26601643e-03 -3.69883497e+01] [-2.99084524e-03 9.99995445e-01 -4.07105503e-04 -6.88864266e+01] [-3.26721967e-03 3.97333359e-04 9.99994584e-01 6.07817367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71907232899997 meters 0.2596252737629859 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99990623e-01 2.82738218e-03 3.28032616e-03 -3.69883784e+01] [-2.82508361e-03 9.99995761e-01 -7.05137110e-04 -6.88855148e+01] [-3.28230595e-03 6.95863302e-04 9.99994371e-01 6.07817558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.74907232899994 meters 0.32329505464528796 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99992295e-01 2.86238329e-03 2.68657760e-03 -3.69867356e+01] [-2.86003729e-03 9.99995526e-01 -8.76665491e-04 -6.88845297e+01] [-2.68907493e-03 8.68975024e-04 9.99996007e-01 6.07815784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779072329 meters 0.24728391217641976 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99993393e-01 2.85572712e-03 2.24937413e-03 -3.69856743e+01] [-2.85337131e-03 9.99995378e-01 -1.04983007e-03 -6.88837898e+01] [-2.25236177e-03 1.04340484e-03 9.99996919e-01 6.07816986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.80907232899995 meters 0.312997786691539 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99994245e-01 2.68212790e-03 2.07742813e-03 -3.69854525e+01] [-2.67919850e-03 9.99995415e-01 -1.41161154e-03 -6.88827634e+01] [-2.08120473e-03 1.40603757e-03 9.99996846e-01 6.07820433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839072329 meters 0.29249393963132414 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995396e-01 2.48807551e-03 1.73719717e-03 -3.69848086e+01] [-2.48474704e-03 9.99995078e-01 -1.91553394e-03 -6.88812432e+01] [-1.74195461e-03 1.91120862e-03 9.99996656e-01 6.07824626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.86907232899995 meters 0.2907087653088713 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995606e-01 2.48368775e-03 1.61821491e-03 -3.69846363e+01] [-2.48050083e-03 9.99994986e-01 -1.96844459e-03 -6.88811167e+01] [-1.62309580e-03 1.96442196e-03 9.99996753e-01 6.07826795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899072329 meters 0.2746277975390506 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99995267e-01 2.49257161e-03 1.80374174e-03 -3.69851741e+01] [-2.48913406e-03 9.99995087e-01 -1.90552594e-03 -6.88814064e+01] [-1.80848254e-03 1.90102717e-03 9.99996558e-01 6.07827982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.92907232899995 meters 0.2746277975390506 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99995267e-01 2.49257161e-03 1.80374174e-03 -3.69851741e+01] [-2.48913406e-03 9.99995087e-01 -1.90552594e-03 -6.88814064e+01] [-1.80848254e-03 1.90102717e-03 9.99996558e-01 6.07827982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959072329 meters 0.30391464009251645 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995124e-01 3.03627397e-03 7.29435240e-04 -3.69820331e+01] [-3.03504781e-03 9.99993989e-01 -1.67623920e-03 -6.88806221e+01] [-7.34520377e-04 1.67401716e-03 9.99998329e-01 6.07821482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.98907232899995 meters 0.2912877161710283 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995411e-01 2.98690909e-03 5.05593570e-04 -3.69814048e+01] [-2.98596022e-03 9.99993799e-01 -1.86719771e-03 -6.88798869e+01] [-5.11167584e-04 1.86567946e-03 9.99998129e-01 6.07821118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019072329 meters 0.2871996136271981 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995802e-01 2.86595104e-03 4.26922919e-04 -3.69811406e+01] [-2.86503540e-03 9.99993627e-01 -2.13015603e-03 -6.88790288e+01] [-4.33025121e-04 2.12892394e-03 9.99997640e-01 6.07820474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.04907232899996 meters 0.27036280799487084 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995406e-01 3.01588122e-03 3.04080653e-04 -3.69807189e+01] [-3.01529919e-03 9.99993655e-01 -1.89668823e-03 -6.88795959e+01] [-3.09798910e-04 1.89576263e-03 9.99998155e-01 6.07818692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079072329 meters 0.2654228117450762 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995766e-01 2.87049075e-03 4.78656191e-04 -3.69812448e+01] [-2.86947383e-03 9.99993653e-01 -2.11183834e-03 -6.88790115e+01] [-4.84715166e-04 2.11045591e-03 9.99997656e-01 6.07820572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.10907232899996 meters 0.26199620058648765 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995398e-01 2.95194918e-03 6.99674976e-04 -3.69820521e+01] [-2.95062171e-03 9.99993859e-01 -1.89076450e-03 -6.88799152e+01] [-7.05252120e-04 1.88869132e-03 9.99997968e-01 6.07824435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139072329 meters 0.2520094279110239 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99995378e-01 2.81141887e-03 1.15789756e-03 -3.69831093e+01] [-2.80908835e-03 9.99994036e-01 -2.00944813e-03 -6.88796275e+01] [-1.16354006e-03 2.00618620e-03 9.99997311e-01 6.07823592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16907232899996 meters 0.24988781366415938 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99993893e-01 3.13629132e-03 1.54222182e-03 -3.69836383e+01] [-3.13430666e-03 9.99994259e-01 -1.28762557e-03 -6.88815821e+01] [-1.54625134e-03 1.28278391e-03 9.99997982e-01 6.07816585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199072329 meters 0.2528089989486283 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99992552e-01 3.20105936e-03 2.15605054e-03 -3.69847247e+01] [-3.19898136e-03 9.99994416e-01 -9.66556952e-04 -6.88824240e+01] [-2.15913251e-03 9.59652588e-04 9.99997209e-01 6.07809584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22907232899996 meters 0.23800119335254769 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.88, Z:60.78 [[ 9.99990212e-01 3.29980512e-03 2.94738186e-03 -3.69866050e+01] [-3.29899175e-03 9.99994519e-01 -2.80781587e-04 -6.88848584e+01] [-2.94829223e-03 2.71055450e-04 9.99995617e-01 6.07806383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259072329 meters 0.23287431473595258 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99992547e-01 3.25076133e-03 2.08308351e-03 -3.69845516e+01] [-3.24916689e-03 9.99994426e-01 -7.68350259e-04 -6.88829688e+01] [-2.08556963e-03 7.61576246e-04 9.99997535e-01 6.07808466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28907232899996 meters 0.2250561173600242 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99993561e-01 3.10089209e-03 1.80632777e-03 -3.69839529e+01] [-3.09881915e-03 9.99994538e-01 -1.14927140e-03 -6.88817164e+01] [-1.80988167e-03 1.14366651e-03 9.99997708e-01 6.07810902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319072329 meters 0.26896553476319524 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99993681e-01 2.90703267e-03 2.04603091e-03 -3.69845803e+01] [-2.90412317e-03 9.99994770e-01 -1.42356125e-03 -6.88809629e+01] [-2.05015854e-03 1.41761033e-03 9.99996894e-01 6.07811616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34907232899997 meters 0.2781387843023724 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99993538e-01 2.99527493e-03 1.98825298e-03 -3.69843587e+01] [-2.99270290e-03 9.99994683e-01 -1.29533309e-03 -6.88812643e+01] [-1.99212229e-03 1.28937447e-03 9.99997184e-01 6.07810658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37907232899994 meters 0.2649367227799422 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99993977e-01 3.01812111e-03 1.71379190e-03 -3.69836143e+01] [-3.01578257e-03 9.99994520e-01 -1.36549064e-03 -6.88808472e+01] [-1.71790373e-03 1.36031399e-03 9.99997599e-01 6.07810327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40907232899997 meters 0.24029792531695898 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99994450e-01 2.95082652e-03 1.54693146e-03 -3.69831906e+01] [-2.94840860e-03 9.99994432e-01 -1.56300041e-03 -6.88801597e+01] [-1.55153499e-03 1.55843075e-03 9.99997582e-01 6.07810889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43907232899994 meters 0.2544721082096878 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99994347e-01 2.91380985e-03 1.67789452e-03 -3.69836016e+01] [-2.91112836e-03 9.99994485e-01 -1.59835593e-03 -6.88801393e+01] [-1.68254257e-03 1.59346233e-03 9.99997315e-01 6.07812198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46907232899997 meters 0.2493933419697458 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99993782e-01 2.97348530e-03 1.89572943e-03 -3.69840546e+01] [-2.97078579e-03 9.99994572e-01 -1.42522274e-03 -6.88806551e+01] [-1.89995702e-03 1.41958207e-03 9.99997187e-01 6.07810747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49907232899994 meters 0.2501918944544538 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99994044e-01 2.93072876e-03 1.82296916e-03 -3.69839324e+01] [-2.92794252e-03 9.99994544e-01 -1.52920705e-03 -6.88803375e+01] [-1.82744091e-03 1.52386040e-03 9.99997169e-01 6.07811873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.529072329 meters 0.24745597591356824 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99992907e-01 2.99228761e-03 2.28728063e-03 -3.69849433e+01] [-2.98938919e-03 9.99994726e-01 -1.26955659e-03 -6.88811504e+01] [-2.29106744e-03 1.26271001e-03 9.99996578e-01 6.07809619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.55907232899995 meters 0.2414440017479844 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99998674e-01 -4.47380567e-04 1.56579194e-03 -3.69821833e+01] [ 4.54550043e-04 9.99989402e-01 -4.58146058e-03 -6.88821587e+01] [-1.56372569e-03 4.58216623e-03 9.99988279e-01 6.07797229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.589072329 meters 0.23018298904555745 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99998298e-01 -4.36103859e-04 1.79291210e-03 -3.69826477e+01] [ 4.44140510e-04 9.99989846e-01 -4.48450479e-03 -6.88823991e+01] [-1.79093818e-03 4.48529346e-03 9.99988337e-01 6.07795888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.61907232899995 meters 0.224526946061511 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99997741e-01 -2.33449168e-04 2.11284769e-03 -3.69832366e+01] [ 2.41937360e-04 9.99991898e-01 -4.01805416e-03 -6.88837369e+01] [-2.11189256e-03 4.01855626e-03 9.99989696e-01 6.07792704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.649072329 meters 0.2223083136552354 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99997466e-01 -2.40792795e-04 2.23850373e-03 -3.69833311e+01] [ 2.49748140e-04 9.99991964e-01 -4.00117583e-03 -6.88836654e+01] [-2.23752229e-03 4.00172475e-03 9.99989490e-01 6.07789447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.67907232899995 meters 0.22605574777468693 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.88, Z:60.78 [[ 9.99996289e-01 -1.63069175e-04 2.71953449e-03 -3.69842049e+01] [ 1.73113250e-04 9.99993164e-01 -3.69348049e-03 -6.88844900e+01] [-2.71891361e-03 3.69393757e-03 9.99989481e-01 6.07784482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.709072329 meters 0.2178698488208917 Centerline is valid? [False, False] Translation: X:-36.98, Y:-68.89, Z:60.78 [[ 9.99995105e-01 -2.20758866e-07 3.12881163e-03 -3.69847499e+01] [ 1.04139390e-05 9.99994693e-01 -3.25782807e-03 -6.88855635e+01] [-3.12879431e-03 3.25784471e-03 9.99989798e-01 6.07777273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.73907232899995 meters 0.21075886676336142 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99993973e-01 -8.53596072e-05 3.47069159e-03 -3.69853613e+01] [ 9.68546133e-05 9.99994511e-01 -3.31198861e-03 -6.88853144e+01] [-3.47038983e-03 3.31230480e-03 9.99988492e-01 6.07773772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.769072329 meters 0.20647398576346881 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99993398e-01 1.23319736e-04 3.63171228e-03 -3.69855255e+01] [-1.12832839e-04 9.99995824e-01 -2.88765347e-03 -6.88864611e+01] [-3.63205322e-03 2.88722463e-03 9.99989236e-01 6.07770184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.79907232899996 meters 0.19728705632918275 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99992504e-01 1.42607751e-04 3.86920178e-03 -3.69861977e+01] [-1.31784911e-04 9.99996079e-01 -2.79728718e-03 -6.88868231e+01] [-3.86958552e-03 2.79675631e-03 9.99988602e-01 6.07771636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.829072329 meters 0.1943593297441195 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99990390e-01 6.86969121e-05 4.38345367e-03 -3.69875703e+01] [-5.65845525e-05 9.99996181e-01 -2.76326429e-03 -6.88871649e+01] [-4.38362676e-03 2.76298970e-03 9.99986575e-01 6.07773496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.85907232899996 meters 0.2605431660735809 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99988131e-01 1.73811050e-04 4.86906913e-03 -3.69886467e+01] [-1.62010795e-04 9.99997049e-01 -2.42380321e-03 -6.88882591e+01] [-4.86947605e-03 2.42298560e-03 9.99985209e-01 6.07771424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.889072329 meters 0.2510470509879758 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99986640e-01 3.22126034e-04 5.15915239e-03 -3.69890479e+01] [-3.11472261e-04 9.99997818e-01 -2.06569425e-03 -6.88891893e+01] [-5.15980654e-03 2.06405971e-03 9.99984558e-01 6.07766521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91907232899996 meters 0.254100024763104 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99985063e-01 4.61364159e-04 5.44618863e-03 -3.69893735e+01] [-4.51960176e-04 9.99998405e-01 -1.72781360e-03 -6.88900166e+01] [-5.44697709e-03 1.72532633e-03 9.99983677e-01 6.07760598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.949072329 meters 0.24493791905323725 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99982347e-01 5.80838385e-04 5.91337051e-03 -3.69901121e+01] [-5.73293307e-04 9.99999020e-01 -1.27755045e-03 -6.88911972e+01] [-5.91410676e-03 1.27413781e-03 9.99981700e-01 6.07753400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97907232899996 meters 0.2796763706608354 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.78 [[ 9.99980785e-01 6.35739784e-04 6.16645232e-03 -3.69905642e+01] [-6.28913954e-04 9.99999188e-01 -1.10880572e-03 -6.88916193e+01] [-6.16715222e-03 1.10490624e-03 9.99980373e-01 6.07750807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.009072329 meters 0.28326268392613213 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.77 [[ 9.99975677e-01 5.80183913e-04 6.95051833e-03 -3.69922986e+01] [-5.73919151e-04 9.99999427e-01 -9.03298089e-04 -6.88924194e+01] [-6.95103843e-03 8.99287083e-04 9.99975437e-01 6.07747459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03907232899996 meters 0.22871638886489024 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.89, Z:60.77 [[ 9.99973792e-01 6.30533592e-04 7.21238204e-03 -3.69928545e+01] [-6.25372304e-04 9.99999547e-01 -7.17847737e-04 -6.88929941e+01] [-7.21283140e-03 7.13318499e-04 9.99973733e-01 6.07745625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.069072329 meters 0.2674461951573293 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.90, Z:60.77 [[ 9.99966879e-01 8.24659892e-04 8.09693683e-03 -3.69948111e+01] [-8.25792587e-04 9.99999650e-01 1.36549517e-04 -6.88957276e+01] [-8.09682138e-03 -1.43231384e-04 9.99967210e-01 6.07740692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09907232899997 meters 0.2541913725961263 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.77 [[ 9.99963714e-01 8.38054485e-04 8.47748216e-03 -3.69959200e+01] [-8.40702997e-04 9.99999599e-01 3.08858602e-04 -6.88965138e+01] [-8.47721991e-03 -3.15974440e-04 9.99964018e-01 6.07742457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12907232899994 meters 0.25747886014488625 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.77 [[ 9.99959347e-01 8.04239330e-04 8.98089963e-03 -3.69973015e+01] [-8.08168686e-04 9.99999579e-01 4.33903053e-04 -6.88971874e+01] [-8.98054689e-03 -4.41143496e-04 9.99959577e-01 6.07744240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15907232899997 meters 0.26270529247108704 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.77 [[ 9.99956370e-01 7.08001942e-04 9.31434868e-03 -3.69982748e+01] [-7.11728082e-04 9.99999668e-01 3.96734324e-04 -6.88973208e+01] [-9.31406470e-03 -4.03346298e-04 9.99956542e-01 6.07745683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18907232899994 meters 0.2671809382476697 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.77 [[ 9.99953320e-01 6.75479245e-04 9.63849557e-03 -3.69988430e+01] [-6.79771362e-04 9.99999671e-01 4.42040735e-04 -6.88973922e+01] [-9.63819381e-03 -4.48572074e-04 9.99953451e-01 6.07741900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21907232899997 meters 0.24158067009804834 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.77 [[ 9.99948688e-01 6.64571291e-04 1.01083631e-02 -3.69999155e+01] [-6.70735421e-04 9.99999591e-01 6.06427059e-04 -6.88980552e+01] [-1.01079559e-02 -6.13175979e-04 9.99948725e-01 6.07739691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.24907232899994 meters 0.2500694114293135 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.77 [[ 9.99946869e-01 5.45599577e-04 1.02937634e-02 -3.70004487e+01] [-5.50287856e-04 9.99999746e-01 4.52621608e-04 -6.88976816e+01] [-1.02935138e-02 -4.58262093e-04 9.99946915e-01 6.07740618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279072329 meters 0.2524173322622722 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.77 [[ 9.99943390e-01 4.24158618e-04 1.06319186e-02 -3.70015289e+01] [-4.28050599e-04 9.99999842e-01 3.63792860e-04 -6.88977206e+01] [-1.06317626e-02 -3.68323264e-04 9.99943413e-01 6.07744093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.30907232899995 meters 0.2538510096916316 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99937545e-01 3.02798109e-04 1.11720541e-02 -3.70033444e+01] [-3.06431343e-04 9.99999901e-01 3.23496956e-04 -6.88982150e+01] [-1.11719550e-02 -3.26900220e-04 9.99937538e-01 6.07751650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339072329 meters 0.2394418407707599 Centerline is valid? [False, False] Translation: X:-37.00, Y:-68.90, Z:60.78 [[ 9.99932153e-01 3.06605320e-04 1.16445605e-02 -3.70046125e+01] [-3.12430447e-04 9.99999827e-01 4.98428653e-04 -6.88989618e+01] [-1.16444056e-02 -5.02032951e-04 9.99932076e-01 6.07753166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.36907232899995 meters 0.2806168830122461 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.90, Z:60.78 [[ 9.99926435e-01 2.53206210e-04 1.21268516e-02 -3.70058985e+01] [-2.60109784e-04 9.99999805e-01 5.67706174e-04 -6.88993993e+01] [-1.21267055e-02 -5.70818723e-04 9.99926306e-01 6.07754532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399072329 meters 0.2584564195819227 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.90, Z:60.78 [[ 9.99915581e-01 1.88842964e-04 1.29921167e-02 -3.70082587e+01] [-1.99841058e-04 9.99999623e-01 8.45227569e-04 -6.89009592e+01] [-1.29919522e-02 -8.47752574e-04 9.99915242e-01 6.07756958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.42907232899995 meters 0.2615346017821135 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.90, Z:60.78 [[ 9.99906722e-01 1.20452613e-04 1.36577071e-02 -3.70100081e+01] [-1.35670773e-04 9.99999371e-01 1.11333336e-03 -6.89022200e+01] [-1.36575644e-02 -1.11508246e-03 9.99906109e-01 6.07757586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459072329 meters 0.30909760157975574 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.90, Z:60.78 [[ 9.99905215e-01 1.38474118e-04 1.37674000e-02 -3.70103246e+01] [-1.54877638e-04 9.99999279e-01 1.19041650e-03 -6.89025173e+01] [-1.37672252e-02 -1.19243593e-03 9.99904516e-01 6.07758134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.48907232899995 meters 0.30769574652146536 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.90, Z:60.78 [[ 9.99888806e-01 -1.14997803e-03 1.48678782e-02 -3.70143598e+01] [ 1.14417405e-03 9.99999266e-01 3.98870178e-04 -6.89030125e+01] [-1.48683260e-02 -3.81814385e-04 9.99889387e-01 6.07773329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519072329 meters 0.2944179912814139 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.90, Z:60.78 [[ 9.99874033e-01 -1.42728241e-03 1.58075973e-02 -3.70168272e+01] [ 1.42269771e-03 9.99998943e-01 3.01272529e-04 -6.89034334e+01] [-1.58080106e-02 -2.78745146e-04 9.99875007e-01 6.07776307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.54907232899996 meters 0.3087182710105674 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99975239e-01 -2.96880293e-03 6.38028412e-03 -3.70258028e+01] [ 3.03073566e-03 9.99948174e-01 -9.71924553e-03 -6.88929781e+01] [-6.35109893e-03 9.73834183e-03 9.99932412e-01 6.07800923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579072329 meters 0.28467095567034817 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99973610e-01 -2.95163022e-03 6.63829908e-03 -3.70261374e+01] [ 3.01544511e-03 9.99949144e-01 -9.62376393e-03 -6.88931092e+01] [-6.60955569e-03 9.64352739e-03 9.99931656e-01 6.07796602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.60907232899996 meters 0.36203422152495784 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.89, Z:60.78 [[ 9.99969431e-01 -2.94760754e-03 7.24220736e-03 -3.70272600e+01] [ 3.01556863e-03 9.99951356e-01 -9.39110020e-03 -6.88937207e+01] [-7.21417379e-03 9.41265249e-03 9.99929676e-01 6.07790992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639072329 meters 0.356967286590387 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.78 [[ 9.99973663e-01 -1.42155878e-04 7.25631361e-03 -3.70265302e+01] [ 1.76953728e-04 9.99988488e-01 -4.79511052e-03 -6.88974916e+01] [-7.25554842e-03 4.79626826e-03 9.99962176e-01 6.07769012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66907232899996 meters 0.5938830702957548 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.78 [[ 9.99969046e-01 7.68214128e-05 7.86777202e-03 -3.70276454e+01] [-4.40041911e-05 9.99991300e-01 -4.17118282e-03 -6.88992287e+01] [-7.86802400e-03 4.17070749e-03 9.99960349e-01 6.07762762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699072329 meters 0.6027481171220165 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.78 [[ 9.99963956e-01 1.87925693e-04 8.48827323e-03 -3.70287629e+01] [-1.55908837e-04 9.99992872e-01 -3.77239702e-03 -6.89002943e+01] [-8.48892166e-03 3.77093766e-03 9.99956858e-01 6.07756521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72907232899996 meters 0.5784580439511763 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.78 [[ 9.99960814e-01 3.69258776e-04 8.84504384e-03 -3.70293940e+01] [-3.39954345e-04 9.99994450e-01 -3.31436494e-03 -6.89015672e+01] [-8.84621861e-03 3.31122815e-03 9.99955389e-01 6.07752638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759072329 meters 0.5826278946641377 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.78 [[ 9.99958883e-01 3.27772618e-04 9.06232412e-03 -3.70298685e+01] [-2.97555346e-04 9.99994393e-01 -3.33553166e-03 -6.89015038e+01] [-9.06336660e-03 3.33269796e-03 9.99953373e-01 6.07752017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78907232899996 meters 0.5705743512936761 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99954008e-01 3.52478802e-04 9.58419413e-03 -3.70309371e+01] [-3.22619655e-04 9.99995091e-01 -3.11682482e-03 -6.89021620e+01] [-9.58524569e-03 3.11358943e-03 9.99949213e-01 6.07749002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819072329 meters 0.5705743512936761 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99954008e-01 3.52478802e-04 9.58419413e-03 -3.70309371e+01] [-3.22619655e-04 9.99995091e-01 -3.11682482e-03 -6.89021620e+01] [-9.58524569e-03 3.11358943e-03 9.99949213e-01 6.07749002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84907232899997 meters 0.5707686171283959 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99952092e-01 3.47557052e-04 9.78230335e-03 -3.70314219e+01] [-3.17536290e-04 9.99995236e-01 -3.07027066e-03 -6.89023424e+01] [-9.78332384e-03 3.06701734e-03 9.99947439e-01 6.07749248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87907232899994 meters 0.5673851289671744 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99949699e-01 3.27175773e-04 1.00245480e-02 -3.70319480e+01] [-2.96950643e-04 9.99995406e-01 -3.01645154e-03 -6.89025162e+01] [-1.00254889e-02 3.01332301e-03 9.99945203e-01 6.07748130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90907232899997 meters 0.5589710214781646 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99949852e-01 3.92323653e-04 1.00069477e-02 -3.70318374e+01] [-3.63225889e-04 9.99995702e-01 -2.90940785e-03 -6.89027632e+01] [-1.00080461e-02 2.90562717e-03 9.99945697e-01 6.07747290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93907232899994 meters 0.5489025989642393 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99954073e-01 4.12568480e-04 9.57507772e-03 -3.70308219e+01] [-3.83707282e-04 9.99995379e-01 -3.01584122e-03 -6.89022649e+01] [-9.57627771e-03 3.01202868e-03 9.99949610e-01 6.07748209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96907232899997 meters 0.5475119071360929 Centerline is valid? [False, False] Translation: X:-37.03, Y:-68.90, Z:60.77 [[ 9.99958239e-01 4.77246839e-04 9.12641922e-03 -3.70297012e+01] [-4.48887408e-04 9.99995066e-01 -3.10919552e-03 -6.89017288e+01] [-9.12785804e-03 3.10496895e-03 9.99953520e-01 6.07748633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99907232899994 meters 0.673252870049182 Centerline is valid? [False, False] Translation: X:-36.99, Y:-68.93, Z:60.77 [[ 9.99964519e-01 3.68284769e-03 7.57605573e-03 -3.69934355e+01] [-3.65967574e-03 9.99988590e-01 -3.07016999e-03 -6.89308250e+01] [-7.58727626e-03 3.04233515e-03 9.99966588e-01 6.07749504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.029072329 meters 0.5361770717426548 Centerline is valid? [False, False] Translation: X:-37.02, Y:-68.90, Z:60.78 [[ 9.99988711e-01 2.53354273e-03 4.01971726e-03 -3.70194902e+01] [-2.52730548e-03 9.99995596e-01 -1.55598459e-03 -6.89049436e+01] [-4.02364171e-03 1.54580797e-03 9.99990710e-01 6.07757047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.05907232899995 meters 0.6695568157373732 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.97, Z:60.77 [[ 9.99989463e-01 4.57472582e-03 3.82953370e-04 -3.69383702e+01] [-4.57245067e-03 9.99973044e-01 -5.74485039e-03 -6.89741592e+01] [-4.09224163e-04 5.74303882e-03 9.99983425e-01 6.07716249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.089072329 meters 0.6556151514312192 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.90, Z:60.78 [[ 9.99968585e-01 7.92618874e-03 -6.69796624e-05 -3.70130052e+01] [-7.92576213e-03 9.99956433e-01 4.93103972e-03 -6.89033026e+01] [ 1.06061096e-04 -4.93035395e-03 9.99987840e-01 6.07787076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.11907232899995 meters 0.6626693084807946 Centerline is valid? [False, False] Translation: X:-37.01, Y:-68.90, Z:60.78 [[ 9.99966965e-01 8.04978857e-03 -1.12700313e-03 -3.70106857e+01] [-8.04438479e-03 9.99956504e-01 4.71994613e-03 -6.89021938e+01] [ 1.16494868e-03 -4.71072416e-03 9.99988226e-01 6.07791696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.149072329 meters 0.6602405869250998 Centerline is valid? [False, False] Translation: X:-36.97, Y:-68.93, Z:60.78 [[ 9.99922972e-01 1.18204560e-02 -3.78507148e-03 -3.69700478e+01] [-1.18121237e-02 9.99927778e-01 2.21620139e-03 -6.89308321e+01] [ 3.81099463e-03 -2.17132095e-03 9.99990381e-01 6.07802913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.17907232899995 meters 0.6542999742919788 Centerline is valid? [False, False] Translation: X:-36.94, Y:-68.95, Z:60.78 [[ 9.99890042e-01 1.39585779e-02 -5.00615434e-03 -3.69378045e+01] [-1.39425381e-02 9.99897598e-01 3.22474050e-03 -6.89521345e+01] [ 5.05065450e-03 -3.15458742e-03 9.99982270e-01 6.07839889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.209072329 meters 0.6587483633178363 Centerline is valid? [False, False] Translation: X:-36.93, Y:-68.95, Z:60.78 [[ 9.99927786e-01 1.02051309e-02 -6.34648831e-03 -3.69348018e+01] [-1.02157295e-02 9.99946474e-01 -1.63981588e-03 -6.89488036e+01] [ 6.32941407e-03 1.70453147e-03 9.99978516e-01 6.07849248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.23907232899995 meters 0.651941303713728 Centerline is valid? [False, False] Translation: X:-36.90, Y:-68.97, Z:60.79 [[ 9.99820640e-01 1.70781311e-02 -8.18684197e-03 -3.69000725e+01] [-1.70608188e-02 9.99852077e-01 2.17984049e-03 -6.89716719e+01] [ 8.22285855e-03 -2.03977528e-03 9.99964111e-01 6.07883991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.269072329 meters 0.6534233869146897 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.99, Z:60.79 [[ 9.99777866e-01 2.06340430e-02 -4.29580996e-03 -3.68808027e+01] [-2.05825232e-02 9.99719574e-01 1.17103896e-02 -6.89868251e+01] [ 4.53623799e-03 -1.16193697e-02 9.99922203e-01 6.07900258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.29907232899996 meters 0.6561717687049837 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.98, Z:60.79 [[ 9.99778245e-01 2.04127702e-02 -5.17490110e-03 -3.68791600e+01] [-2.03567099e-02 9.99735910e-01 1.06637121e-02 -6.89836761e+01] [ 5.39121037e-03 -1.05560034e-02 9.99929750e-01 6.07911157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.329072329 meters 0.6537807553221504 Centerline is valid? [False, False] Translation: X:-36.86, Y:-69.00, Z:60.79 [[ 9.99799724e-01 1.99896136e-02 -9.62958749e-04 -3.68608735e+01] [-1.99714385e-02 9.99669745e-01 1.61722934e-02 -6.89975100e+01] [ 1.28591862e-03 -1.61498228e-02 9.99868756e-01 6.07931926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.35907232899996 meters 0.6499929466184331 Centerline is valid? [False, False] Translation: X:-36.86, Y:-68.99, Z:60.79 [[ 9.99798555e-01 1.99640903e-02 -2.06971442e-03 -3.68586398e+01] [-1.99312115e-02 9.99691121e-01 1.48461655e-02 -6.89930773e+01] [ 2.36546532e-03 -1.48019229e-02 9.99887648e-01 6.07946045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.389072329 meters 0.6506054329397563 Centerline is valid? [False, False] Translation: X:-36.86, Y:-68.99, Z:60.80 [[ 9.99865684e-01 1.60307142e-02 -3.41020861e-03 -3.68557634e+01] [-1.59959428e-02 9.99822147e-01 9.99022064e-03 -6.89899843e+01] [ 3.56975247e-03 -9.93432929e-03 9.99944281e-01 6.07953626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41907232899996 meters 0.6420662268560281 Centerline is valid? [False, False] Translation: X:-36.85, Y:-68.99, Z:60.80 [[ 9.99864008e-01 1.58847782e-02 -4.43164865e-03 -3.68536698e+01] [-1.58455683e-02 9.99836192e-01 8.74678772e-03 -6.89857667e+01] [ 4.56986350e-03 -8.67537624e-03 9.99951926e-01 6.07965349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.449072329 meters 0.6412394492354908 Centerline is valid? [False, False] Translation: X:-36.85, Y:-68.98, Z:60.80 [[ 9.99918343e-01 1.15447414e-02 -5.47962028e-03 -3.68518580e+01] [-1.15250480e-02 9.99927061e-01 3.61200457e-03 -6.89829546e+01] [ 5.52092026e-03 -3.54855674e-03 9.99978463e-01 6.07978296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47907232899996 meters 0.6379226473426138 Centerline is valid? [False, False] Translation: X:-36.85, Y:-68.98, Z:60.80 [[ 9.99943439e-01 8.29183787e-03 -6.66069400e-03 -3.68489806e+01] [-8.29305227e-03 9.99965600e-01 -1.54724585e-04 -6.89819675e+01] [ 6.65918192e-03 2.09953317e-04 9.99977805e-01 6.07979693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.509072329 meters 0.6423399687083454 Centerline is valid? [False, False] Translation: X:-36.83, Y:-69.00, Z:60.80 [[ 9.99921556e-01 1.12374661e-02 -5.53183478e-03 -3.68252739e+01] [-1.11787312e-02 9.99882003e-01 1.05364409e-02 -6.89988822e+01] [ 5.64958494e-03 -1.04737755e-02 9.99929189e-01 6.07978959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53907232899996 meters 0.6250329108277071 Centerline is valid? [False, False] Translation: X:-36.87, Y:-68.96, Z:60.80 [[ 9.99921416e-01 1.21649122e-02 -3.02941183e-03 -3.68671297e+01] [-1.21170701e-02 9.99808919e-01 1.53395490e-02 -6.89642101e+01] [ 3.21543723e-03 -1.53016360e-02 9.99877753e-01 6.08000475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.569072329 meters 0.6211195671837381 Centerline is valid? [False, False] Translation: X:-36.86, Y:-68.96, Z:60.80 [[ 9.99949305e-01 9.00246511e-03 -4.51036700e-03 -3.68634498e+01] [-8.95149979e-03 9.99897264e-01 1.11951519e-02 -6.89620416e+01] [ 4.61068759e-03 -1.11542098e-02 9.99927160e-01 6.08002921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59907232899997 meters 0.6176171786693353 Centerline is valid? [False, False] Translation: X:-36.86, Y:-68.96, Z:60.80 [[ 9.99973260e-01 4.83659669e-03 -5.48505664e-03 -3.68615472e+01] [-4.80079944e-03 9.99967215e-01 6.52081790e-03 -6.89603749e+01] [ 5.51641537e-03 -6.49431088e-03 9.99963696e-01 6.08011547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62907232899994 meters 0.6210648506161037 Centerline is valid? [False, False] Translation: X:-36.82, Y:-68.99, Z:60.80 [[ 9.99952794e-01 6.60340165e-03 -7.12781405e-03 -3.68222732e+01] [-6.58404604e-03 9.99974583e-01 2.73556151e-03 -6.89892334e+01] [ 7.14569689e-03 -2.68850252e-03 9.99970855e-01 6.08004979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65907232899997 meters 0.622344033577133 Centerline is valid? [False, False] Translation: X:-36.82, Y:-68.99, Z:60.80 [[ 9.99960879e-01 3.90057759e-03 -7.93891287e-03 -3.68192072e+01] [-3.89983199e-03 9.99992390e-01 1.09396288e-04 -6.89908108e+01] [ 7.93927916e-03 -7.84315824e-05 9.99968480e-01 6.07991165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68907232899994 meters 0.6314344053259879 Centerline is valid? [False, False] Translation: X:-36.78, Y:-69.02, Z:60.80 [[ 9.99931458e-01 5.87964985e-03 -1.01246336e-02 -3.67798710e+01] [-5.91327882e-03 9.99977089e-01 -3.29477294e-03 -6.90203031e+01] [ 1.01050295e-02 3.35441690e-03 9.99943317e-01 6.07995166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71907232899997 meters 0.6388347306418719 Centerline is valid? [False, False] Translation: X:-36.77, Y:-69.03, Z:60.80 [[ 9.99986724e-01 3.26045718e-03 -3.99019345e-03 -3.67668457e+01] [-3.25070854e-03 9.99991722e-01 2.44720303e-03 -6.90331121e+01] [ 3.99813942e-03 -2.43419958e-03 9.99989045e-01 6.08006414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.74907232899994 meters 0.6329702273215352 Centerline is valid? [False, False] Translation: X:-36.75, Y:-69.04, Z:60.80 [[ 9.99957240e-01 5.79269670e-03 -7.20847289e-03 -3.67535600e+01] [-5.80114481e-03 9.99982510e-01 -1.15161222e-03 -6.90368507e+01] [ 7.20167588e-03 1.19338037e-03 9.99973355e-01 6.08021642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779072329 meters 0.6328943695145857 Centerline is valid? [False, False] Translation: X:-36.75, Y:-69.04, Z:60.80 [[ 9.99966555e-01 2.52502449e-03 -7.77896531e-03 -3.67509163e+01] [-2.55775989e-03 9.99987904e-01 -4.20112371e-03 -6.90380729e+01] [ 7.76826328e-03 4.22087993e-03 9.99960918e-01 6.08006328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.80907232899995 meters 0.6418971631771024 Centerline is valid? [False, False] Translation: X:-36.74, Y:-69.05, Z:60.80 [[ 9.99937991e-01 1.69610364e-03 -1.10062396e-02 -3.67377954e+01] [-1.79486759e-03 9.99958160e-01 -8.96978557e-03 -6.90463832e+01] [ 1.09905654e-02 8.98898411e-03 9.99899198e-01 6.08001185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839072329 meters 0.6452905342735613 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.06, Z:60.80 [[ 9.99963924e-01 1.30227408e-04 -8.49315856e-03 -3.67180784e+01] [-1.36308356e-04 9.99999735e-01 -7.15406954e-04 -6.90640375e+01] [ 8.49306314e-03 7.16538833e-04 9.99963677e-01 6.07991582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.86907232899995 meters 0.6580193281125799 Centerline is valid? [False, False] Translation: X:-36.71, Y:-69.07, Z:60.80 [[ 9.99935654e-01 2.34824939e-03 -1.10983439e-02 -3.67066559e+01] [-2.37791174e-03 9.99993634e-01 -2.66024274e-03 -6.90701188e+01] [ 1.10920264e-02 2.68646244e-03 9.99934873e-01 6.07991833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899072329 meters 0.6819881594408072 Centerline is valid? [False, False] Translation: X:-36.71, Y:-69.07, Z:60.80 [[ 9.99934365e-01 2.17387044e-03 -1.12489704e-02 -3.67062520e+01] [-2.20881786e-03 9.99992770e-01 -3.09523101e-03 -6.90685016e+01] [ 1.12421604e-02 3.11987478e-03 9.99931938e-01 6.07993782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.92907232899995 meters 0.6574616704457575 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.06, Z:60.80 [[ 9.99963720e-01 6.50463852e-04 -8.49325824e-03 -3.67224997e+01] [-6.52996110e-04 9.99999743e-01 -2.95379519e-04 -6.90578495e+01] [ 8.49306392e-03 3.00914867e-04 9.99963888e-01 6.08030657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959072329 meters 0.6720038009590595 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.06, Z:60.80 [[ 9.99956521e-01 -3.22560142e-03 -8.74938417e-03 -3.67218063e+01] [ 3.19117322e-03 9.99987123e-01 -3.94603883e-03 -6.90594179e+01] [ 8.76199985e-03 3.91794646e-03 9.99953937e-01 6.08030805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.98907232899995 meters 0.6905875594112153 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.06, Z:60.80 [[ 9.99936079e-01 -6.59748017e-03 -9.18214927e-03 -3.67195309e+01] [ 6.53163831e-03 9.99952875e-01 -7.18224722e-03 -6.90609077e+01] [ 9.22910130e-03 7.12181364e-03 9.99932049e-01 6.08018993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019072329 meters 0.931431627026161 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.06, Z:60.80 [[ 9.99938506e-01 -6.65798593e-03 -8.86878654e-03 -3.67205172e+01] [ 6.59591407e-03 9.99953677e-01 -7.00987126e-03 -6.90617023e+01] [ 8.91504733e-03 6.95094244e-03 9.99936101e-01 6.08019499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.04907232899996 meters 0.9349433917346571 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.06, Z:60.80 [[ 9.99900288e-01 -1.07931651e-02 -9.10613095e-03 -3.67196609e+01] [ 1.06910081e-02 9.99880196e-01 -1.11935574e-02 -6.90618230e+01] [ 9.22585391e-03 1.10950876e-02 9.99895886e-01 6.08020491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079072329 meters 0.9405582999174946 Centerline is valid? [False, False] Translation: X:-36.72, Y:-69.06, Z:60.80 [[ 9.99902738e-01 -1.06120487e-02 -9.04984543e-03 -3.67198827e+01] [ 1.05135424e-02 9.99885715e-01 -1.08638365e-02 -6.90631178e+01] [ 9.16409873e-03 1.07676340e-02 9.99900034e-01 6.08020960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.10907232899996 meters 0.8993129304282772 Centerline is valid? [False, False] Translation: X:-36.75, Y:-69.05, Z:60.81 [[ 9.99928913e-01 -1.11133992e-02 -4.31998752e-03 -3.67477936e+01] [ 1.11040722e-02 9.99935978e-01 -2.17705383e-03 -6.90464918e+01] [ 4.34390541e-03 2.12892961e-03 9.99988299e-01 6.08053767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139072329 meters 0.8986548098423605 Centerline is valid? [False, False] Translation: X:-36.75, Y:-69.05, Z:60.81 [[ 9.99928404e-01 -1.11268850e-02 -4.40230560e-03 -3.67474455e+01] [ 1.11169219e-02 9.99935603e-01 -2.28120268e-03 -6.90459693e+01] [ 4.42740478e-03 2.23209926e-03 9.99987708e-01 6.08053045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16907232899996 meters 0.897620421378831 Centerline is valid? [False, False] Translation: X:-36.75, Y:-69.04, Z:60.81 [[ 9.99927060e-01 -1.11671734e-02 -4.60098566e-03 -3.67467558e+01] [ 1.11554184e-02 9.99934467e-01 -2.57268890e-03 -6.90445923e+01] [ 4.62941380e-03 2.52117533e-03 9.99986106e-01 6.08053134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199072329 meters 1.0011505436789525 Centerline is valid? [False, False] Translation: X:-36.64, Y:-69.12, Z:60.80 [[ 9.99885171e-01 -1.08190070e-02 -1.06109930e-02 -3.66354958e+01] [ 1.07972534e-02 9.99939492e-01 -2.10525064e-03 -6.91237212e+01] [ 1.06331277e-02 1.99043931e-03 9.99941486e-01 6.08030036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22907232899996 meters 1.022982956732521 Centerline is valid? [False, False] Translation: X:-36.63, Y:-69.12, Z:60.80 [[ 9.99839009e-01 -1.41057714e-02 -1.10897772e-02 -3.66328810e+01] [ 1.40419634e-02 9.99884523e-01 -5.81073462e-03 -6.91242602e+01] [ 1.11704615e-02 5.65407690e-03 9.99921623e-01 6.08021352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259072329 meters 1.0138435040899654 Centerline is valid? [False, False] Translation: X:-36.63, Y:-69.12, Z:60.80 [[ 9.99771636e-01 -1.83172504e-02 -1.10069963e-02 -3.66325683e+01] [ 1.82087271e-02 9.99785390e-01 -9.88011691e-03 -6.91247419e+01] [ 1.11856107e-02 9.67743725e-03 9.99890609e-01 6.08017641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28907232899996 meters 1.0075404989098131 Centerline is valid? [False, False] Translation: X:-36.65, Y:-69.11, Z:60.80 [[ 9.99786684e-01 -1.86984629e-02 -8.77229392e-03 -3.66548170e+01] [ 1.85358379e-02 9.99661307e-01 -1.82672822e-02 -6.91113984e+01] [ 9.11089291e-03 1.81007837e-02 9.99794656e-01 6.07973051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319072329 meters 0.9573716825728916 Centerline is valid? [False, False] Translation: X:-36.68, Y:-69.10, Z:60.80 [[ 9.99756118e-01 -2.15191731e-02 -4.96278976e-03 -3.66750085e+01] [ 2.14496017e-02 9.99676473e-01 -1.36698253e-02 -6.91032268e+01] [ 5.25534749e-03 1.35600416e-02 9.99894248e-01 6.07985294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34907232899997 meters 0.859635079476016 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.00, Z:60.83 [[ 9.99310618e-01 -3.32400103e-02 1.65345124e-02 -3.68232877e+01] [ 3.36890899e-02 9.99049349e-01 -2.76666500e-02 -6.89974625e+01] [-1.55991541e-02 2.82046098e-02 9.99480448e-01 6.08327854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37907232899994 meters 0.8829785400164788 Centerline is valid? [False, False] Translation: X:-36.77, Y:-69.04, Z:60.82 [[ 9.99296328e-01 -3.63852769e-02 -9.10828623e-03 -3.67677667e+01] [ 3.62343275e-02 9.99211637e-01 -1.62227756e-02 -6.90372391e+01] [ 9.69137578e-03 1.58813275e-02 9.99826915e-01 6.08206285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40907232899997 meters 0.8565869431527097 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.01, Z:60.83 [[ 9.99228899e-01 -3.90072068e-02 4.47727962e-03 -3.68085990e+01] [ 3.90698349e-02 9.99125746e-01 -1.48758811e-02 -6.90130830e+01] [-3.89309876e-03 1.50393369e-02 9.99879324e-01 6.08309735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43907232899994 meters 0.8604240554102724 Centerline is valid? [False, False] Translation: X:-36.81, Y:-69.01, Z:60.82 [[ 9.99488598e-01 -3.18502224e-02 -2.84710955e-03 -3.68085527e+01] [ 3.17922666e-02 9.99323332e-01 -1.84967660e-02 -6.90114287e+01] [ 3.43430911e-03 1.83967906e-02 9.99824866e-01 6.08218364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46907232899997 meters 0.8534132503245949 Centerline is valid? [False, False] Translation: X:-36.82, Y:-69.00, Z:60.81 [[ 9.99693268e-01 -2.44466628e-02 -3.96621437e-03 -3.68181369e+01] [ 2.43503164e-02 9.99444564e-01 -2.27513864e-02 -6.90040788e+01] [ 4.52020686e-03 2.26478292e-02 9.99733286e-01 6.08143603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49907232899994 meters 0.8595360036269201 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.02, Z:60.80 [[ 9.99654722e-01 -2.24239288e-02 -1.36968596e-02 -3.67951571e+01] [ 2.21444625e-02 9.99550175e-01 -2.02254724e-02 -6.90161242e+01] [ 1.41442329e-02 1.99151794e-02 9.99701619e-01 6.08040239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.529072329 meters 0.854011099260125 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.02, Z:60.80 [[ 9.99653294e-01 -2.25356565e-02 -1.36174781e-02 -3.67956424e+01] [ 2.22558976e-02 9.99545014e-01 -2.03577873e-02 -6.90156438e+01] [ 1.40700584e-02 2.00476599e-02 9.99700017e-01 6.08042665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.55907232899995 meters 0.8367339949167173 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.01, Z:60.81 [[ 9.99737845e-01 -1.86869399e-02 -1.32302508e-02 -3.67981728e+01] [ 1.84689867e-02 9.99694779e-01 -1.64087080e-02 -6.90144900e+01] [ 1.35328412e-02 1.61600570e-02 9.99777833e-01 6.08050865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.589072329 meters 0.8332777284149541 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.01, Z:60.81 [[ 9.99804597e-01 -1.49746478e-02 -1.29045258e-02 -3.68001046e+01] [ 1.48106953e-02 9.99809553e-01 -1.27083068e-02 -6.90125692e+01] [ 1.30923706e-02 1.25146986e-02 9.99835973e-01 6.08058444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.61907232899995 meters 0.8233755584516095 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.01, Z:60.81 [[ 9.99802458e-01 -1.50929660e-02 -1.29323926e-02 -3.67998812e+01] [ 1.49252777e-02 9.99804535e-01 -1.29663970e-02 -6.90113031e+01] [ 1.31255662e-02 1.27708160e-02 9.99832299e-01 6.08057464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.649072329 meters 0.839301083412881 Centerline is valid? [False, False] Translation: X:-36.80, Y:-69.01, Z:60.79 [[ 9.99782555e-01 -8.51320983e-03 -1.90359523e-02 -3.67983506e+01] [ 8.18879935e-03 9.99821011e-01 -1.70554808e-02 -6.90100956e+01] [ 1.91777420e-02 1.68958906e-02 9.99673318e-01 6.07932592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.67907232899995 meters 0.8139096999771835 Centerline is valid? [False, False] Translation: X:-36.82, Y:-68.99, Z:60.82 [[ 9.99823839e-01 -1.47040060e-02 -1.16654286e-02 -3.68227019e+01] [ 1.45955340e-02 9.99849951e-01 -9.32986809e-03 -6.89913604e+01] [ 1.18008646e-02 9.15796137e-03 9.99888429e-01 6.08155929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.709072329 meters 0.8003344769150538 Centerline is valid? [False, False] Translation: X:-36.85, Y:-68.98, Z:60.81 [[ 9.99914038e-01 -1.05356653e-02 -7.80485320e-03 -3.68453385e+01] [ 1.04303681e-02 9.99855662e-01 -1.34112862e-02 -6.89765759e+01] [ 7.94502348e-03 1.33287259e-02 9.99879604e-01 6.08104926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.73907232899995 meters 0.8003344769150538 Centerline is valid? [False, False] Translation: X:-36.85, Y:-68.98, Z:60.81 [[ 9.99914038e-01 -1.05356653e-02 -7.80485320e-03 -3.68453385e+01] [ 1.04303681e-02 9.99855662e-01 -1.34112862e-02 -6.89765759e+01] [ 7.94502348e-03 1.33287259e-02 9.99879604e-01 6.08104926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.769072329 meters 0.7877480975611972 Centerline is valid? [False, False] Translation: X:-36.84, Y:-68.98, Z:60.81 [[ 9.99914911e-01 -1.03845148e-02 -7.89508524e-03 -3.68449591e+01] [ 1.02790496e-02 9.99858934e-01 -1.32835766e-02 -6.89770105e+01] [ 8.03191501e-03 1.32012924e-02 9.99880600e-01 6.08104294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.79907232899996 meters 0.790674193893079 Centerline is valid? [False, False] Translation: X:-36.84, Y:-68.98, Z:60.81 [[ 9.99901519e-01 -1.14156869e-02 -8.16303044e-03 -3.68411681e+01] [ 1.13096279e-02 9.99852536e-01 -1.29228287e-02 -6.89821493e+01] [ 8.30934965e-03 1.28292353e-02 9.99883176e-01 6.08064446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.829072329 meters 0.7793086791525273 Centerline is valid? [False, False] Translation: X:-36.85, Y:-68.98, Z:60.81 [[ 9.99964781e-01 -4.75532936e-03 -6.91547069e-03 -3.68465015e+01] [ 4.72371895e-03 9.99978354e-01 -4.58014241e-03 -6.89827403e+01] [ 6.93710108e-03 4.54731436e-03 9.99965599e-01 6.08062790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.85907232899996 meters 0.7895544660207355 Centerline is valid? [False, False] Translation: X:-36.86, Y:-68.98, Z:60.80 [[ 9.99984709e-01 -1.79839284e-03 -5.22943777e-03 -3.68558197e+01] [ 1.73673651e-03 9.99929211e-01 -1.17709754e-02 -6.89777834e+01] [ 5.25023642e-03 1.17617132e-02 9.99917045e-01 6.07966945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.889072329 meters 0.7877047198797726 Centerline is valid? [False, False] Translation: X:-36.86, Y:-68.98, Z:60.80 [[ 9.99985215e-01 -1.77054554e-03 -5.14146281e-03 -3.68562471e+01] [ 1.71032085e-03 9.99930155e-01 -1.16943987e-02 -6.89781159e+01] [ 5.16180918e-03 1.16854322e-02 9.99918400e-01 6.07967867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91907232899996 meters 0.7895738871284307 Centerline is valid? [False, False] Translation: X:-36.86, Y:-68.98, Z:60.80 [[ 9.99985855e-01 -1.85473203e-03 -4.98503062e-03 -3.68571852e+01] [ 1.79621578e-03 9.99929736e-01 -1.17173481e-02 -6.89781012e+01] [ 5.00641290e-03 1.17082281e-02 9.99918923e-01 6.07971837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.949072329 meters 0.7793514082422857 Centerline is valid? [False, False] Translation: X:-36.87, Y:-68.97, Z:60.79 [[ 9.99989407e-01 -3.98412858e-03 -2.30507066e-03 -3.68705332e+01] [ 3.96736033e-03 9.99965965e-01 -7.23391026e-03 -6.89739132e+01] [ 2.33381303e-03 7.22468858e-03 9.99971178e-01 6.07947323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97907232899996 meters 0.772981726168767 Centerline is valid? [False, False] Translation: X:-36.87, Y:-68.97, Z:60.80 [[ 9.99998227e-01 -1.10485277e-03 -1.52505294e-03 -3.68746579e+01] [ 1.09997243e-03 9.99994284e-01 -3.19724896e-03 -6.89742940e+01] [ 1.52857671e-03 3.19556578e-03 9.99993726e-01 6.07957022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.009072329 meters 0.7768492449507182 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.97, Z:60.80 [[ 9.99998331e-01 -1.30623305e-03 -1.27720429e-03 -3.68758443e+01] [ 1.30200100e-03 9.99993678e-01 -3.30876122e-03 -6.89738376e+01] [ 1.28151822e-03 3.30709278e-03 9.99993710e-01 6.07959132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03907232899996 meters 0.7912823787749562 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.97, Z:60.80 [[ 9.99998363e-01 -1.53250778e-03 -9.61629408e-04 -3.68772504e+01] [ 1.52939445e-03 9.99993614e-01 -3.22998155e-03 -6.89743255e+01] [ 9.66573239e-04 3.22850556e-03 9.99994321e-01 6.07960421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.069072329 meters 0.7857123267773883 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.97, Z:60.80 [[ 9.99997108e-01 -2.38288105e-03 -3.26013088e-04 -3.68808683e+01] [ 2.38161061e-03 9.99989778e-01 -3.84330746e-03 -6.89721340e+01] [ 3.35167900e-04 3.84251991e-03 9.99992561e-01 6.07973906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09907232899997 meters 0.770907068659735 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.97, Z:60.80 [[ 9.99999119e-01 -9.98020787e-04 8.75411355e-04 -3.68867594e+01] [ 9.98600262e-04 9.99999282e-01 -6.61757839e-04 -6.89690675e+01] [-8.74750279e-04 6.62631441e-04 9.99999398e-01 6.07982614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12907232899994 meters 0.7696503935428676 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.97, Z:60.80 [[ 9.99999158e-01 1.26753161e-03 2.79294461e-04 -3.68831888e+01] [-1.26755563e-03 9.99999193e-01 8.58228247e-05 -6.89676423e+01] [-2.79185452e-04 -8.61767737e-05 9.99999957e-01 6.07970345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15907232899997 meters 0.7582178334572103 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.96, Z:60.80 [[ 9.99986197e-01 5.24689750e-03 2.76407702e-04 -3.68834969e+01] [-5.24792607e-03 9.99978771e-01 3.86210266e-03 -6.89649853e+01] [-2.56137777e-04 -3.86349992e-03 9.99992504e-01 6.07976154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18907232899994 meters 0.9377389358763555 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.96, Z:60.80 [[ 9.99976678e-01 6.81996406e-03 -3.61737239e-04 -3.68791546e+01] [-6.81843781e-03 9.99968493e-01 4.06481325e-03 -6.89629059e+01] [ 3.89447722e-04 -4.06225197e-03 9.99991673e-01 6.07957882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21907232899997 meters 0.7397044839215204 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.96, Z:60.80 [[ 9.99934580e-01 1.14373607e-02 -1.52244845e-04 -3.68840602e+01] [-1.14359170e-02 9.99907097e-01 7.41731882e-03 -6.89554085e+01] [ 2.37065251e-04 -7.41509252e-03 9.99972480e-01 6.08009173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.24907232899994 meters 0.7360479899643648 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.95, Z:60.80 [[ 9.99921947e-01 1.24770816e-02 -6.49483378e-04 -3.68816135e+01] [-1.24724490e-02 9.99899733e-01 6.70540347e-03 -6.89495504e+01] [ 7.33082123e-04 -6.69677945e-03 9.99977308e-01 6.08011460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279072329 meters 0.7073317165373918 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.94, Z:60.83 [[ 9.99773518e-01 2.01412574e-02 -6.87330025e-03 -3.68794605e+01] [-2.00225910e-02 9.99656385e-01 1.69176864e-02 -6.89387449e+01] [ 7.21168196e-03 -1.67762335e-02 9.99833261e-01 6.08310669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.30907232899995 meters 0.6686174719940673 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.93, Z:60.83 [[ 9.99776910e-01 1.98642801e-02 -7.17924711e-03 -3.68786667e+01] [-1.97472151e-02 9.99676575e-01 1.60247648e-02 -6.89342824e+01] [ 7.49524558e-03 -1.58794197e-02 9.99845821e-01 6.08319058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339072329 meters 0.6965333264342924 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.92, Z:60.84 [[ 9.99752992e-01 2.09900500e-02 -7.30562239e-03 -3.68824880e+01] [-2.08813108e-02 9.99674544e-01 1.46552582e-02 -6.89238746e+01] [ 7.61085934e-03 -1.44990873e-02 9.99865917e-01 6.08381176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.36907232899995 meters 0.653902571018347 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.92, Z:60.84 [[ 9.99758945e-01 2.06404011e-02 -7.48505302e-03 -3.68822263e+01] [-2.05334962e-02 9.99689895e-01 1.40885998e-02 -6.89212469e+01] [ 7.77352622e-03 -1.39315093e-02 9.99872735e-01 6.08387554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399072329 meters 0.6956902006729676 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.92, Z:60.84 [[ 9.99762820e-01 2.03550196e-02 -7.74448194e-03 -3.68816350e+01] [-2.02501030e-02 9.99705241e-01 1.33927145e-02 -6.89177034e+01] [ 8.01480815e-03 -1.32327115e-02 9.99880322e-01 6.08395203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.42907232899995 meters 0.6944975847764974 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.92, Z:60.84 [[ 9.99765239e-01 2.02093341e-02 -7.81348307e-03 -3.68816795e+01] [-2.01059692e-02 9.99712177e-01 1.30886919e-02 -6.89161993e+01] [ 8.07574792e-03 -1.29285216e-02 9.99883811e-01 6.08400013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459072329 meters 0.7052283329004841 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.91, Z:60.83 [[ 9.99712886e-01 2.32000369e-02 -5.99195432e-03 -3.68907179e+01] [-2.31605907e-02 9.99710164e-01 6.57077186e-03 -6.89109940e+01] [ 6.14265979e-03 -6.43010810e-03 9.99960460e-01 6.08303597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.48907232899995 meters 0.7039883263370944 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.91, Z:60.83 [[ 9.99717433e-01 2.30150034e-02 -5.94666578e-03 -3.68912229e+01] [-2.29771248e-02 9.99715752e-01 6.36140702e-03 -6.89100917e+01] [ 6.09138325e-03 -6.22297221e-03 9.99962084e-01 6.08307488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519072329 meters 0.7070906741541074 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.91, Z:60.83 [[ 9.99724625e-01 2.26580420e-02 -6.10626809e-03 -3.68906437e+01] [-2.26228534e-02 9.99727411e-01 5.77146351e-03 -6.89069628e+01] [ 6.23537366e-03 -5.63173299e-03 9.99964701e-01 6.08309702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.54907232899996 meters 0.709965677444119 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.90, Z:60.83 [[ 9.99731003e-01 2.23236117e-02 -6.29112771e-03 -3.68902988e+01] [-2.22908146e-02 9.99737817e-01 5.23601427e-03 -6.89043566e+01] [ 6.40636504e-03 -5.09437144e-03 9.99966502e-01 6.08315913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579072329 meters 0.6921959330585561 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.90, Z:60.86 [[ 9.99760802e-01 2.02263070e-02 -8.32082878e-03 -3.68903171e+01] [-2.01420038e-02 9.99746177e-01 1.00936186e-02 -6.88974304e+01] [ 8.52287339e-03 -9.92360607e-03 9.99914438e-01 6.08568802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.60907232899996 meters 0.6920056651347581 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.89, Z:60.86 [[ 9.99750593e-01 2.05627970e-02 -8.71341883e-03 -3.68886668e+01] [-2.04812711e-02 9.99746567e-01 9.34452769e-03 -6.88923765e+01] [ 8.90336019e-03 -9.16373520e-03 9.99918375e-01 6.08573164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639072329 meters 0.6881934029302333 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.89, Z:60.86 [[ 9.99738101e-01 2.09842700e-02 -9.13180658e-03 -3.68867464e+01] [-2.09059229e-02 9.99744526e-01 8.59210218e-03 -6.88870425e+01] [ 9.30977264e-03 -8.39894307e-03 9.99921390e-01 6.08576052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66907232899996 meters 0.6549502594259478 Centerline is valid? [False, False] Translation: X:-36.90, Y:-68.87, Z:60.88 [[ 9.99572039e-01 2.92107671e-02 -1.57135169e-03 -3.69045640e+01] [-2.92002681e-02 9.99553511e-01 6.33423938e-03 -6.88656489e+01] [ 1.75567809e-03 -6.28564469e-03 9.99978704e-01 6.08816054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699072329 meters 0.6645682178010762 Centerline is valid? [False, False] Translation: X:-36.90, Y:-68.86, Z:60.88 [[ 9.99572200e-01 2.91748361e-02 -2.06034426e-03 -3.69023548e+01] [-2.91626168e-02 9.99558253e-01 5.73070394e-03 -6.88622587e+01] [ 2.22662646e-03 -5.66816732e-03 9.99981457e-01 6.08815577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72907232899996 meters 0.6531122935841751 Centerline is valid? [False, False] Translation: X:-36.89, Y:-68.86, Z:60.90 [[ 9.99667506e-01 2.55894758e-02 -3.17109616e-03 -3.68947496e+01] [-2.55500144e-02 9.99602529e-01 1.19155886e-02 -6.88634379e+01] [ 3.47474941e-03 -1.18306052e-02 9.99923979e-01 6.08955317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759072329 meters 0.6670321579463518 Centerline is valid? [False, False] Translation: X:-36.90, Y:-68.85, Z:60.89 [[ 9.99412442e-01 3.41724415e-02 -2.64854271e-03 -3.69015572e+01] [-3.41481203e-02 9.99378563e-01 8.74033194e-03 -6.88536087e+01] [ 2.94557529e-03 -8.64475374e-03 9.99958295e-01 6.08862412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78907232899996 meters 0.6665533174252702 Centerline is valid? [False, False] Translation: X:-36.90, Y:-68.85, Z:60.89 [[ 9.99421529e-01 3.38893420e-02 -2.84943975e-03 -3.69011286e+01] [-3.38647740e-02 9.99392220e-01 8.26846613e-03 -6.88514222e+01] [ 3.12792080e-03 -8.16718743e-03 9.99961756e-01 6.08868423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819072329 meters 0.6511209142800537 Centerline is valid? [False, False] Translation: X:-36.90, Y:-68.85, Z:60.90 [[ 9.99666398e-01 2.56723216e-02 -2.83273690e-03 -3.68993358e+01] [-2.56410776e-02 9.99615397e-01 1.05637305e-02 -6.88531790e+01] [ 3.10284291e-03 -1.04875720e-02 9.99940190e-01 6.09022902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84907232899997 meters 0.6726538817849571 Centerline is valid? [False, False] Translation: X:-36.88, Y:-68.86, Z:60.88 [[ 9.99715436e-01 2.07818123e-02 -1.17116891e-02 -3.68845107e+01] [-2.06171062e-02 9.99689238e-01 1.40129075e-02 -6.88649873e+01] [ 1.19992631e-02 -1.37674588e-02 9.99833223e-01 6.08840260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87907232899994 meters 0.6587920341079042 Centerline is valid? [False, False] Translation: X:-36.91, Y:-68.85, Z:60.90 [[ 9.99858439e-01 1.67971438e-02 -9.78244363e-04 -3.69061953e+01] [-1.67920530e-02 9.99846510e-01 4.99841245e-03 -6.88520450e+01] [ 1.06205326e-03 -4.98127814e-03 9.99987029e-01 6.09027271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90907232899997 meters 0.671197736535283 Centerline is valid? [False, False] Translation: X:-36.91, Y:-68.86, Z:60.90 [[ 9.99979544e-01 6.32107576e-03 9.77167682e-04 -3.69145860e+01] [-6.32341614e-03 9.99977101e-01 2.41082290e-03 -6.88574606e+01] [-9.61906312e-04 -2.41695262e-03 9.99996617e-01 6.08950181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93907232899994 meters 0.6664098188763086 Centerline is valid? [False, False] Translation: X:-36.92, Y:-68.86, Z:60.90 [[ 9.99995939e-01 2.57377427e-03 1.22406572e-03 -3.69206913e+01] [-2.57172294e-03 9.99995291e-01 -1.67446471e-03 -6.88559656e+01] [-1.22836965e-03 1.67130995e-03 9.99997849e-01 6.09005800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96907232899997 meters 0.6798001293830337 Centerline is valid? [False, False] Translation: X:-36.92, Y:-68.86, Z:60.90 [[ 9.99998481e-01 1.39471720e-03 1.04501926e-03 -3.69172744e+01] [-1.39365975e-03 9.99998517e-01 -1.01194502e-03 -6.88616319e+01] [-1.04642908e-03 1.01048708e-03 9.99998942e-01 6.08959851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99907232899994 meters 0.6627392279047423 Centerline is valid? [False, False] Translation: X:-36.92, Y:-68.86, Z:60.92 [[ 9.99982625e-01 -5.16468966e-03 -2.84179320e-03 -3.69199345e+01] [ 5.16381216e-03 9.99986617e-01 -3.16033035e-04 -6.88617163e+01] [ 2.84338738e-03 3.01353058e-04 9.99995912e-01 6.09203458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 20375.22 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%| | 0/15067 [00:00